Material feeding detection device, detection method and unmanned equipment

Abstract

The invention discloses a material feeding detection device and method and unmanned equipment, and relates to the technical field of equipment control. The material feeding detection device comprises a material box, a material feeding opening is formed in the bottom of the material box, and the material feeding opening is used for feeding materials; a sound detection assembly is arranged on the inner wall of the material feeding opening; the sound detection assembly is used for detecting sound data generated by friction between the material and the sound detection assembly when the material passes in the material feeding process. Through the technical means, whether the materials in the material box are normally put or not can be judged according to the sound data generated by friction between the materials and the sound detection assembly when the materials pass, the situation that no materials exist in the material box can be sensed in time, the hardware structure setting stability of the scheme is good, and the durability of equipment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned equipment, and in particular to a material delivery detection device, a detection method and unmanned equipment. Background Art

[0002] Unmanned plant protection equipment technology can use unmanned equipment to achieve agricultural production such as plant disease and pest control and fertilization. It has significant advantages in plant protection of large areas of farmland, not only improving work efficiency but also reducing labor costs.

[0003] At present, when using unmanned equipment for tasks such as spreading fertilizer and sowing, materials are prone to sticking together due to the complex environment of the material box, and accurate identification is required to determine whether there is no material in the material box.

[0004] Therefore, how to accurately sense whether the material in the material box is normally placed is a problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0005] The present application provides a material delivery detection device, a detection method and unmanned equipment. During the material delivery process, by analyzing the sound data generated by the friction between the material and the sound detection component when passing through, it can determine whether the material in the material box is delivered normally. It can timely sense the situation where there is no material in the material box, and can record the position when a delivery breakpoint occurs, thereby improving the accuracy of the breakpoint recording position of the unmanned equipment.

[0006] In a first aspect, the present application provides a material delivery detection device, which is arranged in an unmanned device and includes:

[0007] A material box, wherein a material delivery port is provided at the bottom of the material box, and the material delivery port is used to deliver materials;

[0008] The inner wall of the material delivery port is provided with a sound detection component;

[0009] The sound detection component is used to detect the sound data generated by the friction between the material and the sound detection component when the material passes through during the material delivery process.

[0010] In a second aspect, the present application provides a material delivery detection method, the method comprising:

[0011] The sound detection component is arranged on the inner wall of the material delivery port of the material box to collect the sound data generated by the friction between the material and the sound detection component when the material passes through during the material delivery process;

[0012] According to the sound data, identifying the delivery status of the material in the material box;

[0013] When a delivery breakpoint is identified, the breakpoint position is recorded.

[0014] In a third aspect, the present application provides an unmanned device, which includes the material delivery detection device described in the above technical solution.

[0015] In the present application, a material box is provided with a material delivery port at the bottom of the material box, and the material delivery port is used to deliver materials; a sound detection component is provided on the inner wall of the material delivery port; the sound detection component is used to detect the sound data generated by the friction between the material and the sound detection component when the material passes through during the material delivery process. Through the above-mentioned material delivery detection device, during the material delivery process, by analyzing the sound data generated by the friction between the material and the sound detection component when the material passes through, it can be determined whether the material in the material box is delivered normally, and the situation where there is no material in the material box can be sensed in time, and the position can be recorded when a delivery breakpoint occurs, thereby improving the accuracy of the breakpoint recording position of the unmanned equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a material delivery detection device provided in Example 1 of the present application;

[0017] Figure 2 It is a structural schematic diagram of a sound detection component provided in Example 2 of the present application;

[0018] Figure 3 It is a structural schematic diagram of a sensing mechanism provided in Example 3 of the present application;

[0019] Figure 4 It is a structural schematic diagram of a sound detection component provided in Embodiment 4 of the present application;

[0020] Figure 5 It is a structural schematic diagram of a material delivery detection device provided in Example 5 of the present application;

[0021] Figure 6 It is a flow chart of a material delivery detection method provided in Example 6 of the present application;

[0022] Figure 7 This is a structural diagram of an unmanned device provided in Example 7 of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present application, rather than to limit the present application.

[0024] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] Embodiment 1

[0026] Figure 1 Schematic diagram of the structure of the material delivery detection device provided in Example 1 of the present application. Figure 1 As shown, the specific steps include:

[0027] A material box, wherein a material delivery port is provided at the bottom of the material box, and the material delivery port is used to deliver materials;

[0028] The inner wall of the material delivery port is provided with a sound detection component;

[0029] The sound detection component is used to detect the sound data generated by the friction between the material and the sound detection component when the material passes through during the material delivery process.

[0030] The application scenario of this solution can be to monitor the material delivery situation when using unmanned equipment carrying a material box to deliver materials, so as to accurately record the delivery position when there is no material.

[0031] Based on the above usage scenarios, it can be understood that the executor of the present application can be the unmanned equipment control terminal, specifically the processor of the unmanned equipment control terminal, etc., and no excessive restrictions are made here.

[0032] The material box can be a box structure for holding the materials to be put in. The shape of the material box can be an inverted trapezoidal polyhedron structure, a rectangular parallelepiped structure or a regular polyhedron splicing structure. A top cover can be provided to prevent the materials from being contaminated, or a top cover can be not provided to facilitate the viewing of the material put in and save the time of adding materials. The material box can be made of corrosion-resistant ceramic lining, galvanized cast iron, stainless steel or fiberglass. The volume of the material box can be selected in different specifications such as 16 liters, 25 liters or 30 liters according to limiting factors such as the size of the area to be put in and the rated load weight of the unmanned equipment. The connection between the material box and the unmanned equipment can be a split design, which can be combined by threaded connection or snap connection. While ensuring that the material box will not fall off when the unmanned equipment is performing the putting operation, the material box can be easily replaced to simplify the assembly procedure.

[0033] The material delivery port can be used to deliver materials. The material delivery port can be set at the bottom of the material box, or it can be extended horizontally from the bottom of the material box, such as Figure 1 As shown in the position of the material delivery port, the material at the bottom of the material box is pushed toward the material delivery port by a propulsion device such as an auger to increase the contact probability between the material and the sound detection component, and to prevent the material from agglomerating and being unable to be delivered through the delivery port. It is understandable that a certain gap is left between the propulsion device such as an auger and the inner wall of the material delivery port, so that no material is left in the material box, and the propulsion device will not contact the sound detection component to affect the detection result.

[0034] The sound detection component can be used to detect the sound generated by the friction between the material and the sound detection component when the material passes through the sound detection component during the material delivery process. It can be set on the inner wall of the material delivery port. When the unmanned equipment is equipped with a material delivery detection device for delivery, the material in the material box is filled to the bottom due to gravity, and the material at the bottom of the material box is pushed to the material delivery port by propulsion equipment such as an auger. During the movement of the material, it will pass through the sound detection component located on the inner wall of the material delivery port and rub against the sound detection component to generate sound data. If the sound detection component collects the sound data, there is material in the material box at this time; if the sound detection component does not collect such sound data, there is no material in the material box at this time, and the current breakpoint position should be recorded and returned to add material.

[0035] In the present application, a material box is provided with a material delivery port at the bottom of the material box, and the material delivery port is used to deliver materials; a sound detection component is provided on the inner wall of the material delivery port; the sound detection component is used to detect the sound data generated by the friction between the material and the sound detection component when the material passes through during the material delivery process. Through the above-mentioned material delivery detection device, during the material delivery process, by analyzing the sound data generated by the friction between the material and the sound detection component when the material passes through, it can be determined whether the material in the material box is delivered normally, and the situation where there is no material in the material box can be sensed in time, and the position can be recorded when a delivery breakpoint occurs, thereby improving the accuracy of the breakpoint recording position of the unmanned equipment.

[0036] Embodiment 2

[0037] Figure 2 It is a structural diagram of the sound detection component provided in the second embodiment of the present application. This solution makes a better improvement on the above embodiment, and the specific improvement is: the sound detection component includes: a shock absorbing mechanism connected between the inner wall of the material delivery port and the sensing mechanism, which is used to attenuate the vibration noise of the material delivery port; a sensing mechanism, which is connected to the inner wall of the material delivery port through the shock absorbing mechanism, and has at least one side facing the material channel of the material delivery port.

[0038] like Figure 2As shown, specifically including the following:

[0039] A shock absorbing mechanism, connected between the inner wall of the material delivery port and the sensing mechanism, and used to attenuate the vibration noise of the material delivery port;

[0040] The sensing mechanism is connected to the inner wall of the material feeding port through the shock absorbing mechanism and has at least one side facing the material passage of the material feeding port.

[0041] The shock absorbing mechanism can be arranged between the inner wall of the material delivery port and the sensing mechanism to prevent the vibration noise generated by the material box during the movement of the unmanned equipment from affecting the sound collection effect of the sensing structure on the material friction sound detection component. The shock absorbing mechanism can be made of materials such as rubber, silicone or shock absorbing rubber. Taking rubber as an example, when the material box vibrates, since the elasticity of rubber is generated by the change of its curled molecular conformation, the interaction between rubber molecules will hinder the movement of the molecular chain, thereby showing the characteristics of viscous damping. Therefore, it can filter and attenuate the transmission of the vibration of the material box to avoid affecting the sensing mechanism's detection of the material.

[0042] The sensing mechanism may be a sound sensor, a device for sensing and collecting sound data generated by the friction between the material and the sound detection component when the material passes through. An opening may be provided on the inner wall of the material delivery port, and a shock absorbing mechanism may be arranged around the inner wall of the opening. The sensing mechanism may be arranged at the center of the shock absorbing mechanism and connected to the inner wall of the material delivery port through the shock absorbing mechanism. At this time, at least one side of the sensing mechanism faces the material channel of the material delivery port, and may contact the material and generate friction with the material when the material is delivered.

[0043] The method of collecting sound data through the sensing mechanism is that when the material friction sound detection component generates sound, the sound wave will cause the film in the sound-sensitive capacitive electret microphone in the sensing mechanism to vibrate, causing the value of the capacitor to change, and then changing the value of the voltage in the circuit. By recording the changes in the voltage value, the changes in the sound generated by the current material friction sound detection component can be reflected.

[0044] The advantage of this arrangement of the present invention is that the impact of vibrations generated during the movement of unmanned equipment on the sensing mechanism can be reduced through the shock-absorbing mechanism, thereby reducing the sound of material friction collected by the sensing mechanism and making the detection results more accurate.

[0045] Embodiment 3

[0046] Figure 3 This is a schematic diagram of the structure of the sensing mechanism provided in Example 3 of the present application. This solution makes a better improvement on the above-mentioned embodiment, and the specific improvement is as follows: the sensing mechanism includes: a metal cavity for shielding the vibration noise of the material delivery port; and a sound sensor for collecting sound data generated by the friction between the material and the sound detection component when the material passes through.

[0047] like Figure 3 As shown, specifically including the following:

[0048] Metal cavity, used to shield the vibration noise of the material delivery port;

[0049] The sound sensor is used to collect sound data generated by the friction between the material and the sound detection component when the material passes through.

[0050] The metal cavity can be a completely sealed stainless steel cavity, and a sound sensor can be set inside the cavity. The metal cavity can be a hollow polyhedron, which is embedded in the inner wall of the material delivery port through a shock-absorbing mechanism, and the bottom is exposed in the material channel of the material delivery port, which is used to generate friction with the material to generate sound, and transmit the sound to the sound sensor. Among them, the closed design of the metal cavity can isolate the sound generated by the vibration of unmanned equipment, wind sound and other external environmental sounds from being transmitted to the internal sound sensor. The material of the metal cavity can use corrosion-resistant metals such as stainless steel or aluminum alloy to prevent corrosive materials from damaging the metal cavity when contacting the metal cavity.

[0051] Based on this solution, optionally, the shock absorbing mechanism and the metal cavity are aligned with one side of the inner wall of the material delivery port.

[0052] In this solution, the movement of materials depends on a propulsion device such as an auger. If the propulsion device comes into contact with the shock absorbing mechanism or the metal cavity during operation, it will not only affect the detection of the sound generated by the material by the sound sensor, but also there is a hidden danger that the propulsion device is blocked by the shock absorbing mechanism or the metal cavity and cannot normally propel the material. Therefore, in this embodiment, the shock absorbing mechanism and the metal cavity are aligned with one side of the inner wall of the material delivery port, ensuring that they can contact the material while avoiding contact with the propulsion device.

[0053] The advantage of this arrangement of the present invention is that the use of a metal cavity to wrap the sound sensor can isolate the sound of the unmanned equipment moving to a certain extent, prevent the sound sensor from being corroded by the material, and help increase the accuracy of the detection results.

[0054] Embodiment 4

[0055] Figure 4 This is a structural diagram of the sound detection component provided in Example 4 of the present application. This solution makes a better improvement on the above-mentioned embodiment, and the specific improvement is: the sound detection component also includes: a comparison mechanism, including another sound sensor, which is arranged on the inner wall side of the shock absorbing mechanism away from the material delivery port, for detecting environmental comparison noise data.

[0056] like Figure 4 As shown, specifically including the following:

[0057] The comparison mechanism includes another sound sensor, which is arranged on the inner wall side of the shock absorbing mechanism away from the material feeding port and is used to detect environmental comparison noise data.

[0058] The comparison mechanism can be arranged in the shock absorbing mechanism at one end of the sound detection component away from the material delivery port. The comparison mechanism includes another sound sensor, and the sound sensor is directly arranged in the shock absorbing mechanism without being wrapped in a metal cavity or contacting the material. Figure 4 shown.

[0059] The comparison mechanism is used to collect external environmental sounds such as the sound generated by the vibration of unmanned equipment and the sound of wind through another sound sensor. When the external environmental sound is too loud and affects the sound sensor in the metal cavity, the sound collected by the comparison mechanism can be used to calibrate the excessive external sound collected by the sensing mechanism to avoid affecting the judgment of the material delivery situation.

[0060] The environmental comparison noise data may be the sound data of the external environment collected by the comparison organization, for example, propeller noise of unmanned equipment, wind noise, insect sounds and other environmental sounds.

[0061] The advantage of this arrangement of the present scheme is that a comparison mechanism can be set up to compare the sound data collected by the sensing mechanism, thereby preventing the sound data collected by the sensing mechanism from being affected by the external environment, thereby improving the accuracy of the detection results.

[0062] Embodiment 5

[0063] Figure 5 This is a structural diagram of the material delivery detection device provided in Example 5 of the present application. This solution makes a better improvement on the above-mentioned embodiment, and the specific improvement is: the device also includes: a sound data processing module, which is connected to the sensing mechanism and the comparison mechanism, and is used to perform noise filtering on the sound data according to the environmental comparison noise data.

[0064] like Figure 5 As shown, specifically including the following:

[0065] The sound data processing module is connected to the sensing mechanism and the comparing mechanism, and is used to compare the noise data with the environment and perform noise filtering on the sound data.

[0066] The sound processing module can be a program design used by the unmanned equipment control terminal to filter out noise from the sound data collected by the sensing mechanism according to the environmental comparison noise data. The sound processing module can be set in the unmanned equipment and connected to the sensing mechanism and the comparison mechanism.

[0067] The method of noise filtering can be that before the unmanned equipment performs the delivery operation, the sound processing module obtains the sound data collected by the sensing mechanism and the comparison mechanism at the same time, and obtains the ratio between the same external environment sounds collected by the sensing mechanism and the comparison mechanism by comparing the two sets of sound data. When the unmanned equipment performs the delivery operation, the sound processing module obtains the sound data generated by the material collected by the sensing mechanism and the environmental contrast noise data collected by the comparison mechanism during the corresponding time, and after scaling the environmental contrast noise data according to the ratio, matches and filters the scaled environmental contrast noise data in the sound data collected by the sensing mechanism. At this time, the retained sound data collected by the sensing mechanism are all sound data generated by the material friction sound detection component.

[0068] The advantage of this arrangement of the present scheme is that the sound data collected by the sensing mechanism and the comparison mechanism can be processed, the noise in the environment can be filtered out, and the sound of the friction between the material and the sound detection component can be retained for analysis, so that the detection results are more rigorous and accurate.

[0069] Embodiment 6

[0070] Figure 6 Schematic diagram of the material delivery detection method provided in Example 6 of the present application. Figure 6 As shown, specifically including the following:

[0071] S601, collecting sound data generated by the friction between the material passing through and the sound detection component during the material delivery process by means of a sound detection component disposed on the inner wall of the material delivery port of the material box;

[0072] S602, identifying the delivery status of the material in the material box according to the sound data;

[0073] S603: When a delivery breakpoint is identified, the breakpoint position is recorded.

[0074] Furthermore, before identifying the delivery status of the material in the material box according to the sound data, the method further includes:

[0075] Acquiring detection environment comparative noise data through a sound sensor provided on the sound detection component;

[0076] Acquire a first sound signal curve of the sound data, and acquire a second sound signal curve of the environment contrast noise data;

[0077] Attenuating the second sound signal curve according to a predetermined attenuation coefficient to obtain a noise signal curve;

[0078] The first sound signal curve is subjected to noise filtering processing based on the noise signal curve to obtain real friction sound data.

[0079] In the present application, a sound detection component is arranged on the inner wall of the material delivery port of the material box to collect sound data generated by the friction between the material and the sound detection component when the material passes through during the material delivery process; the delivery situation of the material in the material box is identified based on the sound data; when a delivery breakpoint is identified, the breakpoint position is recorded. Through the above-mentioned material delivery detection method, during the material delivery process, by analyzing the sound data generated by the friction between the material and the sound detection component when the material passes through, it can be determined whether the material in the material box is delivered normally, and the situation where there is no material in the material box can be sensed in time, and the position can be recorded when a delivery breakpoint occurs, thereby improving the accuracy of the breakpoint recording position of the unmanned equipment.

[0080] The material delivery detection method provided in the embodiment of the present application corresponds to the material delivery detection device provided in the above embodiment, and has the same functional modules and beneficial effects. To avoid repetition, they will not be described here.

[0081] Embodiment 7

[0082] like Figure 7 As shown, an embodiment of the present application also provides an unmanned device, and the unmanned device 700 includes: a material delivery detection device 701 as described in the above embodiments, and can achieve the same technical effect as the material delivery detection device described in the above embodiments. To avoid repetition, it will not be repeated here.

[0083] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A material delivery detection device, characterized in that: The material delivery detection device is arranged in the unmanned equipment, and comprises: A material box, wherein a material delivery port is provided at the bottom of the material box, and the material delivery port is used to deliver materials; The inner wall of the material delivery port is provided with a sound detection component; The sound detection component is used to detect the sound data generated by the friction between the material and the sound detection component when the material passes through during the material delivery process.

2. The material delivery detection device according to claim 1, characterized in that: The sound detection component comprises: A shock absorbing mechanism, connected between the inner wall of the material delivery port and the sensing mechanism, and used to attenuate the vibration noise of the material delivery port; The sensing mechanism is connected to the inner wall of the material feeding port through the shock absorbing mechanism and has at least one side facing the material passage of the material feeding port.

3. The material delivery detection device according to claim 2, characterized in that: The sensing mechanism comprises: Metal cavity, used to shield the vibration noise of the material delivery port; The sound sensor is used to collect sound data generated by the friction between the material and the sound detection component when the material passes through.

4. The material delivery detection device according to claim 3, characterized in that: The shock absorbing mechanism and the metal cavity are aligned with one side of the inner wall of the material feeding port.

5. The material delivery detection device according to claim 2, characterized in that: The sound detection component further includes: The comparison mechanism includes another sound sensor, which is arranged on the inner wall side of the shock absorbing mechanism away from the material feeding port and is used to detect environmental comparison noise data.

6. The material delivery detection device according to claim 5, characterized in that: The device also includes: The sound data processing module is connected to the sensing mechanism and the comparing mechanism, and is used to compare the noise data with the environment and perform noise filtering on the sound data.

7. The material delivery detection device according to any one of claims 1 to 6, characterized in that: The sound detection component is arranged above the inner wall of the material feeding port.

8. A detection method, characterized in that: The method comprises: The sound detection component is arranged on the inner wall of the material delivery port of the material box to collect the sound data generated by the friction between the material and the sound detection component when the material passes through during the material delivery process; According to the sound data, identifying the delivery status of the material in the material box; When a delivery breakpoint is identified, the breakpoint position is recorded.

9. The detection method according to claim 8, characterized in that: Before identifying the delivery status of the material in the material box according to the sound data, the method further includes: Acquiring detection environment comparative noise data through a sound sensor provided on the sound detection component; Acquire a first sound signal curve of the sound data, and acquire a second sound signal curve of the environment contrast noise data; Attenuating the second sound signal curve according to a predetermined attenuation coefficient to obtain a noise signal curve; The first sound signal curve is subjected to noise filtering processing based on the noise signal curve to obtain real friction sound data.

10. An unmanned device, characterized in that: The unmanned equipment includes the material delivery detection device as described in any one of claims 1-7.

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