Efficient energy-saving soil monitoring reagent self-dripping system

Abstract

The utility model provides a kind of efficient energy-saving soil monitoring reagent self-dripping system, including shell, support mechanism is installed in the inside top of shell, reagent dripping mechanism is slidably connected in the bottom of support mechanism, soil experiment tank is fixed below reagent dripping mechanism and at the bottom surface of shell, instrument storage mechanism is fixed on the outer top surface of shell;By setting microcomputer, and in microcomputer configuration threshold detection algorithm, to control reagent dripping mechanism to carry out reagent dripping, and to the image data obtained by camera data processing, to adjust the rotational speed of stepper motor, to position and adjust the dripping position of reagent dripping mechanism, by setting single-chip microcontroller, and different pin control stepper motor, rudder is utilized, and data is shown by liquid crystal display, so that the system modularization of the utility model has intelligentization, high accuracy, good stability, low manufacturing cost and the advantages of easy to use.

Description

Technical Field

[0001] This invention relates to the field of slope flow velocity measurement technology, specifically to a high-efficiency and energy-saving self-drip system for soil monitoring reagents. Background Technology

[0002] Simulated rainfall experiments are a crucial component in the field of soil erosion. These experiments investigate the effects of factors such as slope on sediment load, flow velocity, water depth, and the sediment-carrying capacity of slope flows. This research is significant for understanding erosion dynamics and has practical implications for addressing erosion hazard types and mitigation planning. Slope flow velocity measurement is a critical element in simulated rainfall experiments.

[0003] In slope velocity measurement, the dye tracer method is the most commonly used method for both field and laboratory slope velocity observation. This method primarily involves manually adding reagents such as potassium permanganate solution and using a stopwatch to record the time it takes for the reagents to flow, thereby calculating the runoff velocity. However, due to factors such as dye diffusion in water and raindrop impact, it is impossible to accurately determine whether the dye in the water has reached the measurement section with the naked eye. Timing is often too early or too late, so the error introduced by visual observation cannot be ignored. Furthermore, the timing error using a manual stopwatch is too large, and excessive time observation error will inevitably affect the accuracy of slope water flow velocity. This method completely obscures the true regularity of slope water flow velocity. At the same time, there are also more accurate methods such as salt solution tracing and propeller microvelocity measuring instruments. However, these methods have strict requirements on slope conditions and limited applicability. As for more advanced and reliable methods, such as measuring instruments based on optics (such as lasers) and combined with automation technology, their degree of automation and measurement accuracy are very high. However, these precision measuring instruments are expensive, have high daily maintenance costs, are not convenient for field use, have harsh operating conditions, and are mostly used to measure the flow velocity of clear water, not suitable for measuring the flow velocity of water with high sand content.

[0004] Patent application CN108445254A discloses a novel tracer dispensing device for measuring slope runoff and interflow velocity. The device includes a base, a main support rod, a tracer barrel sleeve, a tracer barrel, a tracer bag, a tracer bag connecting rod, a tracer bag connecting rod frame, a sliding shaft bracket for the end of a hand-held rotating rod, a main connecting rod for the tracer connecting rod frame, and a hand-held rotating rod. The tracer barrel is placed inside the tracer barrel sleeve. The upper part of the main support rod is equipped with a sliding shaft bracket for the end of the hand-held rotating rod. The starting rotating shaft of the hand-held rotating rod is sleeved within the sliding groove of the end of the hand-held rotating rod sliding shaft bracket and is movably connected by the sliding shaft. However, because this invention relies primarily on manual operation, the error caused by visual observation is significant, affecting the accuracy of velocity measurement. Furthermore, the device has a complex structure and high manufacturing cost. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention aims to provide a high-efficiency and energy-saving soil monitoring reagent self-drip system. By setting up an instrument storage mechanism and acquiring data inside the soil test tank through a camera and transmitting the data to a microcomputer for data processing, and by configuring a threshold detection algorithm in the microcomputer to control the reagent dripping mechanism to drip the reagent, the system has the advantages of being intelligent, highly accurate, stable, low in manufacturing cost, and easy to use.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A high-efficiency and energy-saving soil monitoring reagent self-drip system includes a housing 10. A support mechanism is installed on the top inner side of the housing 10. A reagent dripping mechanism is slidably connected to the bottom of the support mechanism. A soil test trough 1 is fixed below the reagent dripping mechanism and on the bottom surface of the housing 10. An instrument storage mechanism is fixed on the top outer surface of the housing 10.

[0008] The support mechanism includes a pair of support frames 2 arranged on the top inner side of the housing 10. The two ends of the guide rail 3 are slidably connected to the support frame 2. A stepper motor 301 is fixed to one end of the guide rail 3. The power output end of the stepper motor 301 is connected to a slide rod 302. The other end of the slide rod 302 is rotatably connected to the other end of the guide rail 3. A slider 303 is slidably arranged on the slide rod 302. A reagent dripping mechanism is fixed to the bottom of the slider 303. A camera 601 is provided inside the housing 10 on the side opposite to the support frame 2.

[0009] The reagent dispensing mechanism includes a connecting component 4 fixed to the bottom of the slider 303. A mechanical claw 401 is horizontally installed inside the connecting component 4. A reagent bottle 402 is vertically inverted inside the connecting component 4. The reagent bottle 402 contains a potassium permanganate reagent solution for tracing. The reagent dispensing port of the reagent bottle 402 penetrates the bottom surface of the connecting component 4. The mechanical claw 401 can just grasp and squeeze the body of the reagent bottle 402. A servo motor 403 for controlling the mechanical claw 401 is fixed on one side inside the connecting component 4.

[0010] The instrument storage mechanism includes an instrument storage box 5 located on the outer top surface of the housing 10. The instrument storage box 5 has a double-layer structure. The lower layer of the instrument storage box 5 is equipped with a driver 8 and a transformer 9, and the upper layer of the instrument storage box 5 is equipped with a microcomputer 6 and a single-chip microcomputer 7. An LCD screen 701 is installed on the top of the instrument storage box 5.

[0011] The power output terminal of the transformer 9 is connected to the power input terminal of the driver 8. The driver 8 is bidirectionally connected to the microcontroller 7. The microcontroller 7 is bidirectionally connected to the microcomputer 6. The signal output terminal of the microcontroller 7 is connected to the signal input terminals of the servo motor 403, the LCD screen 701, and the stepper motor 301, respectively. The microcomputer 6 is bidirectionally connected to the camera 601.

[0012] The microcomputer 6 is equipped with a threshold detection algorithm, specifically:

[0013] First, images of the soil test tank 1 are acquired using camera 601. Then, the hue value H of each pixel within the defined area is calculated using the following formula:

[0014]

[0015] Where R' = R / 255, G' = G / 255, B' = B / 255,

[0016] C max =max(R′,G′,B'),C min =min(R′,G′,B'),Δ=C max -C min ;

[0017] The system obtains the hue values ​​H of all pixels within the defined area and determines whether any pixel has a hue value H greater than the set movement threshold. If not, it acquires a new image again using the camera 601. If a pixel does have a hue value H, it records the closest distance between these pixels and the endpoint of the detection area. Then, it updates the communication data based on the difference between two consecutive distances to adjust the speed of the stepper motor 301. Finally, it checks whether the distance is 0. If it is 0, it indicates that the flow path has exceeded the detection area, and the program ends. If it is not 0, it acquires the latest image again and continues the program. Simultaneously, during the detection process, after detecting a pixel with a hue value greater than the movement threshold, it also checks whether the hue value is lower than the set dripping threshold each time it is processed. If it is, it updates the communication data to control the reagent dripping mechanism to add reagent to the soil test tank 1. If not, no operation is performed.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] 1. By setting up a microcomputer 6 and configuring a threshold detection algorithm in the microcomputer 6 to control the reagent dripping mechanism to drip reagents, and by processing the image data acquired by the camera 601 to adjust the speed of the stepper motor 301, the dripping position of the reagent dripping mechanism is positioned and adjusted, so that the present invention has the advantages of intelligent operation and ease of use.

[0020] 2. By performing image processing through a threshold detection algorithm and controlling a high-precision mechanical gripper 401, the mechanical structure and image processing algorithm are combined, giving the present invention the advantages of high accuracy and good stability.

[0021] 3. By setting up a microcontroller 7 and using different pins to control the stepper motor 301 and servo motor 403, and displaying the data through the LCD screen 701, the system of the present invention is modularized, ensuring that other mechanisms are not disturbed when a single structure fails, thus improving the stability of the present invention.

[0022] 4. By providing a support mechanism inside the housing 10, a reagent dispensing mechanism at the bottom of the support mechanism, and an instrument storage mechanism at the top of the housing 10, the present invention has a simple structure, thereby reducing manufacturing costs.

[0023] In summary, by setting up a microcomputer 6 and configuring a threshold detection algorithm in the microcomputer 6 to control the reagent dripping mechanism to drip reagents, and by processing the image data acquired by the camera 601 to adjust the speed of the stepper motor 301, the dripping position of the reagent dripping mechanism is positioned and adjusted. By setting up a microcontroller 7 and using different pins to control the stepper motor 301 and the servo motor 403, and displaying the data through the LCD screen 701, the system of the present invention is modular and has the advantages of intelligence, high accuracy, good stability, low manufacturing cost, and ease of use. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the system structure of the present invention.

[0025] Figure 2 This is a schematic diagram showing the connection relationship of the various structures in this invention.

[0026] Figure 3 This is a flowchart of the threshold detection algorithm configured in the microcomputer 6 of this invention.

[0027] Figure 4 This is a pin configuration diagram of the microcontroller in an embodiment of the present invention.

[0028] Figure 5 This is a block diagram of the FSMC control in an embodiment of the present invention.

[0029] In the diagram, 1. Soil test trough, 2. Support frame, 3. Guide rail, 301. Stepper motor, 302. Slide bar, 303. Slider, 4. Connecting component, 401. Mechanical gripper, 402. Reagent bottle, 403. Servo motor, 5. Instrument storage box, 6. Microcomputer, 601. Camera, 7. Microcontroller, 701. LCD screen, 8. Driver, 9. Transformer, 10. Housing. Detailed Implementation

[0030] The present invention will now be described in detail with reference to the accompanying drawings.

[0031] refer to Figure 1 A high-efficiency and energy-saving soil monitoring reagent self-drip system includes a housing 10. A support mechanism is installed on the top inner side of the housing 10. A reagent dripping mechanism is slidably connected to the bottom of the support mechanism via a slider 303. A soil test trough 1 is fixed below the reagent dripping mechanism and on the bottom surface of the housing 10. An instrument storage mechanism is fixed on the top outer surface of the housing 10. By setting a support mechanism inside the housing 10, setting a reagent dripping mechanism at the bottom of the support mechanism, and setting an instrument storage mechanism at the top of the housing 10, the structure of the present invention is simple, thereby reducing manufacturing costs.

[0032] The support mechanism includes a pair of support frames 2 fixed to the top of the inner side of the housing 10. The two ends of the guide rail 3 are slidably connected to the support frame 2. A stepper motor 301 is fixed to one end of the guide rail 3. The power output end of the stepper motor 301 is connected to a slide rod 302. The other end of the slide rod 302 passes through the other end of the guide rail 3 and is rotatably connected. A slider 303 is slidably arranged on the slide rod 302. A connecting part 4 of the reagent dripping mechanism is fixed to the bottom of the slider 303. A camera 601 for acquiring image data of the soil experimental tank 1 is provided on the side of the housing 10 opposite to the support frame 2.

[0033] The reagent dispensing mechanism includes a connecting component 4 fixed to the bottom of the slider 303. A mechanical claw 401 is horizontally installed inside the connecting component 4. A reagent bottle 402 is vertically inverted inside the connecting component 4. The reagent bottle 402 contains a potassium permanganate reagent solution for tracing. The reagent dispensing port of the reagent bottle 402 penetrates the bottom surface of the connecting component 4. The mechanical claw 401 can just grasp and squeeze the body of the reagent bottle 402. A servo motor 403 for controlling the mechanical claw 401 is fixed on one side inside the connecting component 4.

[0034] The instrument storage mechanism includes an instrument storage box 5 located on the outer top surface of the housing 10. The instrument storage box 5 has a double-layer structure. The lower layer of the instrument storage box 5 is equipped with a driver 8 and a transformer 9, while the upper layer is equipped with a microcomputer 6 and a microcontroller 7. An LCD screen 701 is installed on the top of the instrument storage box 5. By setting up the microcomputer 6 and configuring a threshold detection algorithm in the microcomputer 6, the reagent dripping mechanism is controlled to drip reagents, and the image data acquired by the camera 601 is processed to adjust the speed of the stepper motor 301, thereby positioning and adjusting the dripping position of the reagent dripping mechanism. This invention has the advantages of intelligent operation and ease of use.

[0035] refer to Figure 2 The power output terminal of the transformer 9 is connected to the power input terminal of the driver 8. The driver 8 is bidirectionally connected to the microcontroller 7. The microcontroller 7 is bidirectionally connected to the microcomputer 6. The signal output terminal of the microcontroller 7 is connected to the signal input terminals of the servo motor 403, the LCD screen 701, and the stepper motor 301, respectively. The microcomputer 6 is bidirectionally connected to the camera 601. By setting up the microcontroller 7 and using different pins to control the stepper motor 301 and the servo motor 403, and displaying the data through the LCD screen 701, the system of the present invention is modularized. In the event of a single structural failure, other mechanisms are not disturbed, thus improving the stability of the present invention.

[0036] refer to Figure 3 The microcomputer 6 is equipped with a threshold detection algorithm, specifically:

[0037] First, images of the soil test tank 1 are acquired using camera 601. Then, the hue value H of each pixel within the defined area is calculated using the following formula:

[0038]

[0039] Where R' = R / 255, G' = G / 255, B' = B / 255,

[0040] C max =max(R′,G′,B'),C min =min(R′,G′,B'),Δ=C max -C min ;

[0041] The system obtains the hue values ​​H of all pixels within the defined area and determines whether any pixel has a hue value H greater than the set movement threshold. If not, it acquires a new image again using the camera 601. If a pixel does have a hue value H, it records the closest distance between these pixels and the endpoint of the detection area. Then, it updates the communication data based on the difference between two consecutive distances to adjust the speed of the stepper motor 301. Finally, it checks whether the distance is 0. If it is 0, it indicates that the flow path has exceeded the detection area, and the program ends. If it is not 0, it acquires the latest image again and continues the program. Simultaneously, during the detection process, after detecting a pixel with a hue value greater than the movement threshold, it also checks whether the hue value is lower than the set dripping threshold each time it is processed. If it is, it updates the communication data to control the reagent dripping mechanism to add reagent to the soil test tank 1. If not, no operation is performed.

[0042] refer to Figure 4In the embodiments of the present invention, the selected microcontroller is an STM32F407ZGTx. Microcontroller control requires configuration of its pins, specifically including:

[0043] (1) Stepper motor drive control: Configure PA6, PE5, and PE6 pins to connect to PUL+, DIR+, and ENA+ of the stepper motor driver respectively. The common cathode connection is adopted. The speed control of the stepper motor is realized by using the PWM frequency of the PUL+ port, and the direction and enable control are realized by the level and height of DIR+ and ENA+.

[0044] (2) Servo control: Configure the PD12 timer to generate PWM, and control the servo at different angles by adjusting the duty cycle. The PWM frequency is calculated as [(TIM_Prescaler+1)*(TIM_Period+1)] / TIMxCLK, and the duty cycle is calculated as [CCRx_Val / (TIM_Period+1)]*100%. In the formula, TIMxCLK is the timer clock frequency, TIM_Period is the timer auto-reload value, TIM_Prescaler is the timer prescaler coefficient, and CCRx_Val is the channel x level transition value.

[0045] (3) The LCD screen is controlled by FSMC. The FSMC control block diagram is shown below. Figure 5 From the FSMC's perspective, the external storage device is divided into several 256MB banks. The entire address space of Bank1 is divided into four 64MB sub-banks, corresponding to the 26 address buses of the FSMC peripherals. Independent read / write control is implemented using the asynchronous mode A timing model of Bank1. In STM32CubeMX, the basic settings of SRAM4 are configured first, and FSMC A6 is used to control whether data or commands are written to the LCD. The LCD controller is an NT35510 controller, configured with read and write timings of 60 and 8 cycles respectively. For ease of control, the underlying send / read functions and initialization functions are encapsulated so that they can be called from the main function, directly displaying the corresponding content on the screen.

[0046] (4) Serial port: Configure PA9 and PA10 pins as USART1_RX and USART1_TX, with a baud rate of 115200 for serial communication. Use interrupts to receive instruction information transmitted from the Raspberry Pi, thereby controlling the stepper motor, servo motor and LCD display.

[0047] refer to Figure 5In the embodiments provided by this invention, an FSMC (Variable Static Memory Controller) is used as a peripheral to control the LCD screen. The FSMC can issue corresponding data, address, and control signal types to match the signal speed according to different external memory types. The asynchronous mode A timing model of FSMC's BANK1 is used to realize independent read and write control. In STM32CubeMX, the basic settings of SRAM4 are configured first, and FSMC A6 is used to control whether to write data or commands to the LCD. Since the NT35510 controller of the LCD screen is configured to communicate through the 8080 interface, its operation timing is similar to that of SRAM control. When using FSMC as an SRAM device, it can realize more efficient and convenient control than ordinary I / O interfaces. The read and write timing times are configured to be 60 and 8 cycles respectively. In order to facilitate control, the underlying send and read functions, initialization functions, etc. are encapsulated and can be called from the main function to directly display the corresponding content on the screen. The LCD screen displays parameters such as rotation speed and direction in real time, which better realizes the human-computer interaction function.

Claims

1. A high-efficiency energy-saving soil monitoring reagent self-dropping system comprising a shell (10), characterized in that, The shell (10) is provided with a support mechanism on the top inside, the bottom of the support mechanism is slidably connected with a reagent dropping mechanism, the soil experiment tank (1) is fixed on the bottom surface of the shell (10) below the reagent dropping mechanism, and the outer top surface of the shell (10) is fixed with an instrument storage mechanism; The support mechanism comprises a pair of support frames (2) arranged on the top inside of the shell (10), both ends of a guide rail (3) are slidably connected to the support frames (2), one end of the guide rail (3) is fixed with a stepping motor (301), the power output end of the stepping motor (301) is connected with a slide rod (302), the other end of the slide rod (302) is rotatably connected with the other end of the guide rail (3), the slide rod (302) is slidably provided with a sliding block (303), the bottom of the sliding block (303) is fixed with the reagent dropping mechanism, and the inside of the shell (10) is provided with a camera (601) opposite to the support frame (2); The reagent dropping mechanism comprises a connecting part (4) fixed to the bottom of the sliding block (303), a mechanical claw (401) is horizontally arranged in the connecting part (4), a reagent bottle (402) is vertically arranged in the connecting part (4), the reagent bottle (402) is filled with potassium permanganate reagent solution for tracing, the reagent dropping opening of the reagent bottle (402) penetrates through the bottom surface of the connecting part (4), the mechanical claw (401) can just grab and squeeze the bottle body of the reagent bottle (402), and a rudder (403) for controlling the mechanical claw (401) is fixed to one side of the connecting part (4); The instrument storage mechanism comprises an instrument storage box (5) on the top surface of the shell (10), and a microcomputer (6) and a single-chip microcomputer (7) are arranged on the upper layer of the instrument storage box (5); The microcomputer (6) is provided with a threshold detection algorithm, and the threshold detection algorithm comprises: Firstly, the image in the soil experiment tank (1) is acquired through the camera (601), and then the hue value of the pixel points in the demarcated region is calculated through the RGB value of the pixel points by the following formula H : wherein , , , , , ； Obtaining hue values of all pixels in the delimited region H Determining whether there are pixels with hue values greater than a set movement threshold H If not, a new image is obtained by the camera (601); if yes, the distance between these pixels and the end of the detection region is recorded, and the difference between the distances of two consecutive times is used to update the communication data to adjust the speed of the stepper motor (301); finally, it is determined whether the distance is 0, if yes, the program ends, if not, the latest image is obtained again and the program continues; meanwhile, during the detection process, after detecting the presence of pixels with hue values greater than the movement threshold, it is also necessary to determine whether the hue value is lower than the set drop threshold at each processing, if yes, the communication data is updated to control the reagent drop mechanism to supplement the reagent into the soil test tank (1); if not, no operation is performed.

2. The high efficiency energy saving soil monitoring reagent self-dripping system according to claim 1, characterized in that, The instrument storage box (5) is a double-layer structure, a driver (8) and a transformer (9) are arranged on the lower layer of the instrument storage box (5), and a liquid crystal display screen (701) is arranged on the top of the instrument storage box (5).

3. The self-dripping system of a high-efficiency energy-saving soil monitoring reagent according to claim 2, characterized in that, The power output end of the transformer (9) is connected with the power input end of the driver (8), the driver (8) and the single-chip microcomputer (7) are bidirectionally connected, the single-chip microcomputer (7) and the microcomputer (6) are bidirectionally connected, the signal output end of the single-chip microcomputer (7) is connected with the signal input end of the rudder (403), the liquid crystal display screen (701) and the stepping motor (301) respectively, and the microcomputer (6) and the camera (601) are bidirectionally connected.

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