CN213338042U - Fertilizer box surplus monitoring system - Google Patents
Fertilizer box surplus monitoring system Download PDFInfo
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- CN213338042U CN213338042U CN202022366822.5U CN202022366822U CN213338042U CN 213338042 U CN213338042 U CN 213338042U CN 202022366822 U CN202022366822 U CN 202022366822U CN 213338042 U CN213338042 U CN 213338042U
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Abstract
The utility model relates to a fertilizer box residue monitoring system, which comprises a fertilizer applicator, wherein the fertilizer applicator comprises a fertilizer box, a fertilizer discharging mechanism, a cab, an electric control system and a master control device; the electric control system comprises: the laser ranging sensor array is used for monitoring the distance information of the container chemical fertilizer in the fertilizer box from the inner side of the top of the fertilizer box in real time and sending the information to the controller; the opening detection sensor is used for detecting the opening of a fertilizer discharging shaft in the fertilizer discharging mechanism and sending the opening to the controller; the rotating speed detection sensor is used for detecting the rotating speed of a fertilizer discharging shaft in the fertilizer discharging mechanism and sending the rotating speed to the controller; the controller is used for processing all the received information and sending the information to the main control equipment; the 5V power supply is used for supplying power to each sensor and the controller; the main control equipment is used for performing fertilizer tank allowance calculation, fertilizer application time prediction and emptying early warning. The utility model discloses can wide application in fertile case surplus monitoring field.
Description
Technical Field
The utility model relates to an intelligence agricultural machinery field, unmanned fertilizer distributor field, granule chemical fertilizer warehousing and transportation equipment field, in particular to fertile case surplus monitoring system.
Background
The use of fertilizers makes a significant contribution to increasing the yield of agricultural production. At present, the use of Chinese fertilizers is increased year by year, and is doubled within 25 years. Although the application amount of the fertilizer is large, the utilization rate of the fertilizer is less than 40%, and the unused fertilizer enters soil, water and atmosphere through ecological cycle, so that the environment is polluted and economic loss is caused.
The variable fertilization technology can reduce the application amount of the fertilizer and reduce the influence of the fertilizer on the environment. The fertilization quality is one of the important factors influencing the crop yield. Monitoring of fertilization quality is one of the main directions of current fertilizer applicators research. In the variable fertilization process, the residual amount of the fertilizer stored in the fertilizer box is insufficient and is not supplemented in time, or the fertilizer has poor flowability and is difficult to flow to a fertilizer outlet, so that the fertilization amount is far lower than the target fertilization amount, and the yield reduction of crops is caused. In order to prevent the situation that the fertilizing quality is difficult to guarantee due to the fact that the residual amount of the fertilizer stored in the fertilizer box is insufficient and the fertilizer is not supplemented in time or the fertilizer is poor in fluidity and is difficult to flow to a fertilizer discharging port, a manual monitoring method is commonly used. However, the manual monitoring method is not accurate, and a large amount of manpower and material resources are consumed, so that the fertilization cost is increased.
Disclosure of Invention
To the above problem, the utility model aims at providing a fertilizer case surplus monitoring system for effectively monitor the chemical fertilizer surplus in the chemical fertilizer case, can solve because the not enough crops that lead to of chemical fertilizer surplus in the chemical fertilizer case subtract the output problem.
In order to achieve the purpose, the utility model adopts the following technical proposal: a fertilizer box allowance monitoring system comprises a fertilizer applicator, wherein the fertilizer applicator comprises a fertilizer box, a fertilizer discharging mechanism and a cab, and the fertilizer discharging mechanism is arranged at a fertilizer outlet on the side wall of the fertilizer box; it still includes: the system comprises an electric control system and a master control device; the electric control system comprises a laser ranging sensor array, an opening detection sensor, a rotating speed detection sensor, a 5V power supply and a controller; the laser ranging sensor array is arranged on the inner side of the top of the fertilizer box and used for monitoring distance information of the container fertilizer in the fertilizer box from the inner side of the top of the fertilizer box in real time and sending the distance information to the controller; the opening detection sensor is arranged in the fertilizer discharging mechanism and used for detecting the opening of a fertilizer discharging shaft in the fertilizer discharging mechanism and sending the opening to the controller; the rotating speed detection sensor is arranged in the fertilizer discharging mechanism and used for detecting the rotating speed of a fertilizer discharging shaft in the fertilizer discharging mechanism and sending the rotating speed to the controller; the controller and the 5V power supply are arranged on the side edge of the fertilizer box, the controller is used for sending all received information to the main control equipment, and the 5V power supply is used for supplying power to each sensor and the controller.
Furthermore, the laser ranging sensor array comprises a plurality of laser ranging sensors, and each laser ranging sensor is arranged on the top of the fertilizer box through a plurality of fixed guide rails arranged on the same horizontal plane on the inner side of the top of the fertilizer box to form a sensor plane lattice.
Further, the number of the laser ranging sensors is 24, and the laser ranging sensors are arranged in a 4 x 6 array.
The controller comprises a first sub controller, a second sub controller, a third sub controller, a fourth sub controller and a third sub controller, wherein the first sub controller, the second sub controller and the third sub controller are respectively connected with the laser ranging sensors in each row in the laser ranging sensor array and are used for receiving distance information collected by the laser ranging sensors in each row and obtaining real-time distance information after analog-to-digital conversion is carried out through a built-in A/D conversion module; the second sub-controller is used for receiving the displacement change information acquired by the opening detection sensor, and obtaining real-time displacement information after analog-to-digital conversion is carried out by the built-in A/D conversion module; the third sub-controller is used for receiving the rotating speed information acquired by the rotating speed sensor, and obtaining a real-time speed value after analog-to-digital conversion is carried out by the built-in A/D conversion module.
Furthermore, the first sub-controller, the second sub-controller, the third sub-controller and the fourth sub-controller adopt Arduino controllers.
Furthermore, the master control equipment and the electric control system adopt CAN communication.
The utility model discloses owing to take above technical scheme, it has following advantage: (1) the electric control system of the utility model is provided with the laser ranging sensor array, which can monitor the stacking shape and the allowance of the fertilizer in the fertilizer box in real time, the error of the fitting graph is small, and the detection linearity of the allowance is high; (2) the electric control system of the utility model is provided with an opening detection sensor and a rotating speed detection sensor, can monitor the opening and the rotating speed of the fertilizer discharging shaft in the fertilizer box in real time, and can carry out emptying early warning when the fertilizer is applied in combination with the fertilizer box allowance prediction; (3) the utility model discloses utilize the CAN bus to communicate between controller and the display screen, CAN realize real-time communication, communication speed is fast, the good reliability. Therefore, the utility model discloses can the wide application in fertile case surplus monitoring field.
Drawings
Fig. 1 is a schematic view of the structure principle of the residue detection device of the present invention;
FIG. 2 is a model of the fertilizer discharging mechanism of the present invention;
fig. 3a and 3b are a partial view of the fertilizer discharging box and an installation effect view of a sheave inside the fertilizer discharging box, respectively;
FIG. 4 is a schematic flow chart of the detection system of the present invention;
FIG. 5 shows the principle of online detection of the amount of chemical fertilizer box;
FIG. 6 is a fertilizer surface fit image with noisy data;
FIG. 7 is a least squares algorithm versus RANSAC algorithm optimization;
FIG. 8 is the error result of RANSAC algorithm;
the reference numerals in the figures are as follows: 1. fertilizer box; 2. fixing the guide rail; 3. a laser ranging sensor; 4. an Arduino controller; 5. a 5V power supply; 6. an encoder; 7. a fertilizer discharging box; 8. a jam sensor; 9. an opening degree detection sensor; 10. a push rod; 11. a 24V power supply; 12. an electric motor.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1 and fig. 2, for the utility model provides a pair of fertilizer box surplus monitoring system, it includes: the existing fertilizer applicator, and an electric control system and a main control device which are arranged in the fertilizer applicator. Specifically, the fertilizer applicator comprises a fertilizer box 1, a fertilizer discharging mechanism and a cab, wherein the fertilizer discharging mechanism is arranged at a fertilizer outlet on the side wall of the lower part of the fertilizer box 1 and is used for adjusting the fertilizing rate; the electric control system comprises a laser ranging sensor array, an opening detection sensor 9, a rotating speed detection sensor, a 5V power supply 5, a 24V power supply 11 and a controller; the laser ranging sensor array is arranged on the inner side of the top of the fertilizer box 1 and used for monitoring distance information of the container fertilizer in the fertilizer box from the inner side of the top of the fertilizer box (namely a sensor plane) in real time and sending the distance information to the controller; the opening detection sensor is arranged in the fertilizer mechanism and used for detecting the opening of a fertilizer shaft in the fertilizer mechanism and sending the opening to the controller; the rotating speed detection sensor is arranged in the fertilizer mechanism and used for detecting the rotating speed of a fertilizer shaft in the fertilizer mechanism and sending the rotating speed to the controller; the controller is arranged on one side of the fertilizer box 1 and used for sending all received information to the main control equipment; and the 5V power supply is used for supplying power to each sensor and the controller. The main control equipment is arranged in the cab and used for monitoring the fertilizer box allowance according to the received information, predicting the fertilizer application time and carrying out emptying early warning according to the fertilizer box allowance and the current fertilizer application rate.
Preferably, the laser range finding sensor array includes a plurality of laser range finding sensors 1, and each laser range finding sensor sets up at fertile 1 tops of the case through a plurality of fixed guide 2 that set up on the same horizontal plane in fertile 1 tops, constitutes the plane dot matrix for gather the point cloud information detection depth information on chemical fertilizer surface. More preferably, the number of laser ranging sensors is 24, arranged in a 4 x 6 array.
Preferably, the controller comprises a first sub-controller 4, a second sub-controller 4, a third sub-controller 4, a fourth sub-controller 4 and an Arduino controller, wherein an A/D conversion module is arranged in each sub-controller. The first sub-controller, the second sub-controller, the third sub-controller and the fourth sub-controller are respectively connected with the laser ranging sensors in each row in the laser ranging sensor array, and are used for receiving the distance information collected by the laser ranging sensors in each row and obtaining real-time distance information after analog-to-digital conversion is carried out by the A/D conversion module; the second sub-controller is used for receiving the displacement change information acquired by the opening detection sensor, and obtaining real-time displacement information after analog-to-digital conversion is carried out by the A/D conversion module; the third sub-controller is used for receiving the rotating speed information collected by the rotating speed sensor, and obtaining a real-time speed value after analog-to-digital conversion is carried out by the A/D conversion module.
Preferably, as shown in fig. 2 and fig. 3a and 3b, the fertilizing mechanism comprises a fertilizer discharging box 7, a fertilizer discharging grooved wheel 13, a fertilizer discharging shaft 14, a fertilizer box 1, an opening degree adjusting push rod 10, a rotating speed adjusting motor 12, an encoder 6 and a 24V power supply 11. The fertilizer box 7 is arranged at a fertilizer outlet on the wall of the fertilizer box 1, a fertilizer groove wheel 13 is arranged in the fertilizer box 7, a fertilizer shaft 14 is inserted in the fertilizer groove wheel 13, the opening adjusting push rod 10 and the rotating speed adjusting motor 12 are respectively connected with the fertilizer shaft 14, the opening and the rotating speed of the fertilizer shaft 14 are adjusted by adjusting the opening adjusting push rod 10 and the rotating speed adjusting motor 12, and the fertilizer application rate is further adjusted; the encoder 6 is used for reading the rotating speed of the rotating speed adjusting motor 12 and sending the rotating speed to the main control equipment, and the 24V power supply 11 is used for supplying power to the rotating speed adjusting motor 12.
Preferably, the communication mode of the master control device and the electric control system adopts CAN communication.
As shown in fig. 4, based on the fertilizer box residual amount monitoring system, the utility model also provides a fertilizer box residual amount monitoring method, including the following steps:
1) resetting the laser ranging sensor array in the electric control system, checking whether the resetting is completed, if so, entering the step 2), and if not, continuously resetting.
2) The main control equipment reads information of each sensor processed by the controller in the electric control system, eliminates errors by using an RANSAC algorithm, and realizes fitting reconstruction of the surface of the fertilizer by using a three-dimensional reconstruction technology to obtain the chemical fertilizer allowance in the fertilizer box.
In the electric control system, depth information detected by each laser ranging sensor is input into the main control equipment, a graph and a calculation result can be fitted through algorithm calculation, the fertilizing time is predicted, and fertilizer discharging early warning is carried out. The utility model discloses studied the three-dimensional reconstruction method based on laser point cloud, carried out the monitoring of chemical fertilizer case surplus, specific, including following step:
2.1) as shown in figure 5, constructing a sensor dot matrix plane by using the plane where the laser ranging sensor array is located, and calibrating the volume from the bottom of the chemical fertilizer box to the sensor dot matrix plane to obtain the calibrated empty box volume.
2.2) based on the depth information of the lattice plane of the distance sensor from the surface of the fertilizer in the fertilizer box, which is detected by the laser ranging sensor, the curved surface reconstruction is carried out by utilizing the three-dimensional reconstruction principle, and then the space volume from the lattice plane of the sensor to the surface of the fertilizer is calculated.
As shown in fig. 6, since the depth data is collected by using the time-of-flight method with the laser ranging sensor array, in the actual use process, noise data is generated, which affects the overall detection data and requires preprocessing of the detection information of the sensor array. In order to reject noise data, to the influence of detection effect, the utility model discloses the noise data are rejected to the method that plans to adopt many times repeated detection. The most common method for optimizing data is the least square method, but when the least square method is used for optimizing data, the final result has a large difference from the true value due to the interference of noise data. Therefore, the present invention intends to adopt Random Sample Consensus (RANSAC) algorithm for data optimization. The RANSAC algorithm assumes that the data contains both correct data and anomalous data (otherwise known as noise). Correct data are denoted as inner points (inliers) and abnormal data are denoted as outer points (outliers). RANSAC also assumes that, given a correct set of data, there is a way to calculate the model parameters that fit into the data. The randomness is to select the sampling data at random according to the probability of occurrence of the correct data, and the randomness simulation can approximate to obtain the correct result according to the law of large numbers.
As shown in fig. 7, the depth data is optimized by using the least square method and the random sampling consensus algorithm. As can be seen from fig. 7, an algorithm mechanism based on random sample consensus (RANSAC) divides data into outliers and inliers for data optimization, and compared with a least square method for performing minimum variance analysis data optimization on all data, a RANSAC algorithm can be used to exclude fewer outliers.
As shown in fig. 8, since the accuracy of the random sampling consensus algorithm cannot reach 100%, when sampling for multiple iterations is performed, there is a certain probability that one outlier may cause an erroneous result in multiple samplings, and therefore, a threshold value is added to the optimized result for judgment.
And 2.3) subtracting the space volume between the sensor lattice plane and the fertilizer surface by using the calibrated empty box volume to obtain the actual volume of the residual fertilizer in the fertilizer box.
And 2.4) obtaining the actual residual fertilizer quality in the fertilizer box according to the volume and the stacking density of the actual residual fertilizer in the fertilizer box.
The residual mass can be obtained by multiplying the residual volume of the known fertilizer by the bulk density, and the mass of the residual fertilizer in the fertilizer box can be obtained by the formula (1).
M＝ρ×V (1)
In the formula: m represents the quality of the residual fertilizer in the fertilizer box; rho represents the stacking density of the fertilizer in the fertilizer box; v represents the volume of fertilizer remaining in the fertilizer tank.
3) And judging whether the residual amount of the fertilizer box is sufficient or not according to a fertilization rate control table calibrated in advance, if so, displaying the residual amount information of the fertilizer box through a human-computer interface, and otherwise, giving an empty box alarm.
The utility model discloses well fertilizing mechanism can be arbitrary row's fertile form, before the fertilization, needs to mark to the fertile speed of row of fertilizer distributor, and generates the fertilization speed control table of full factor.
Through the electric control system, can obtain: the residual amount of the fertilizer in the fertilizer box, the real-time opening information and the real-time rotating speed information. The rate (q) of fertilizer discharge from the tank is determined by the real-time opening (L) and rotation speed (N). At the in-process that uses the fertilizer distributor, through the repetition test the utility model discloses reach the conclusion: when the residual quantity in the fertilizer box is lower than a fixed value delta, the fertilizer discharge rate in the fertilizer box is far lower than (q). Therefore, through the utility model discloses the three information that obtains just can send early warning information before the chemical fertilizer surplus can not guarantee normal work in the chemical fertilizer case. And simultaneously, the utility model discloses also can predict the time of chemical fertilizer evacuation.
The prediction of fertilization time is calculated by the following formula (2):
T＝M/q (2)
in the formula: m represents the quality of the residual fertilizer in the fertilizer box; t represents the emptying time of the fertilizer; q represents the rate of discharge from the fertilizer tank.
The above is only the embodiment of the present invention, not the limitation of the protection scope of the present invention, all the equivalent structures or equivalent processes of the content of the specification and the drawings are used for conversion, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.
Claims (6)
1. A fertilizer box allowance monitoring system comprises a fertilizer applicator, wherein the fertilizer applicator comprises a fertilizer box, a fertilizer discharging mechanism and a cab, and the fertilizer discharging mechanism is arranged at a fertilizer outlet on the side wall of the fertilizer box; it is characterized by also comprising:
the system comprises an electric control system and a master control device;
the electric control system comprises a laser ranging sensor array, an opening detection sensor, a rotating speed detection sensor, a 5V power supply and a controller;
the laser ranging sensor array is arranged on the inner side of the top of the fertilizer box and used for monitoring distance information of the container fertilizer in the fertilizer box from the inner side of the top of the fertilizer box in real time and sending the distance information to the controller;
the opening detection sensor is arranged in the fertilizer discharging mechanism and used for detecting the opening of a fertilizer discharging shaft in the fertilizer discharging mechanism and sending the opening to the controller;
the rotating speed detection sensor is arranged in the fertilizer discharging mechanism and used for detecting the rotating speed of a fertilizer discharging shaft in the fertilizer discharging mechanism and sending the rotating speed to the controller;
the controller and the 5V power supply are arranged on the side edge of the fertilizer box, the controller is used for sending all received information to the main control equipment, and the 5V power supply is used for supplying power to each sensor and the controller.
2. The fertilizer box residue monitoring system of claim 1, wherein: the laser ranging sensor array comprises a plurality of laser ranging sensors, and each laser ranging sensor is arranged at the top of the fertilizer box through a plurality of fixed guide rails arranged on the same horizontal plane on the inner side of the top of the fertilizer box to form a sensor plane lattice.
3. The fertilizer box residue monitoring system of claim 1, wherein: the number of the laser ranging sensors is 24, and the laser ranging sensors are arranged in a 4 x 6 array.
4. The fertilizer box residue monitoring system of claim 1, wherein: the controller comprises a first sub controller, a second sub controller, a third sub controller, a fourth sub controller and a third sub controller, wherein the first sub controller, the second sub controller and the third sub controller are respectively connected with the laser ranging sensors in each row in the laser ranging sensor array, and are used for receiving the distance information collected by the laser ranging sensors in each row and obtaining real-time distance information after analog-to-digital conversion is carried out by a built-in A/D conversion module; the second sub-controller is used for receiving the displacement change information acquired by the opening detection sensor, and obtaining real-time displacement information after analog-to-digital conversion is carried out by the built-in A/D conversion module; the third sub-controller is used for receiving the rotating speed information acquired by the rotating speed sensor, and obtaining a real-time speed value after analog-to-digital conversion is carried out by the built-in A/D conversion module.
5. The fertilizer box residue monitoring system of claim 4, wherein: the first sub-controller to the fourth sub-controller all adopt Arduino controllers.
6. The fertilizer box residue monitoring system of claim 1, wherein: and the master control equipment and the electric control system adopt CAN communication.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112162298A (en) * | 2020-10-22 | 2021-01-01 | 中国农业大学 | Fertilizer box allowance monitoring system and monitoring method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112162298A (en) * | 2020-10-22 | 2021-01-01 | 中国农业大学 | Fertilizer box allowance monitoring system and monitoring method |
| CN112162298B (en) * | 2020-10-22 | 2024-07-02 | 中国农业大学 | Fertilizer box allowance monitoring system and monitoring method |
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