Integrated intelligent hoist system and control method

Abstract

An integrated intelligent hoist system is arranged on a valve, the valve is arranged at the communicating position of a main channel and a branch channel of a farmland, a reflective strip is further arranged on the side wall of the branch channel, the valve is provided with a hoist, an image sampling mechanism is arranged between a connecting base and a driving body, and the input end of a main controller is further arranged to be connected with a sampler. The output end is connected with the driving main body; the master controller comprises a clock module, an image processing module, a first parameter comparison module, a second parameter comparison module and an execution module, and the execution module can control the lead screw of the driving body to rotate according to results of the first parameter comparison module and the second parameter comparison module. Different from a networking control mode, the hoist of the device can be arranged in a farmland valve, opening and closing of the valve are freely controlled in an independent and autonomous mode, then non-networking type intelligent irrigation is achieved, meanwhile, the method can be used in cooperation with the system, and autonomous control over the single valve is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field, and in particular to an integrated intelligent gate hoist system and a control method. Background Art

[0002] In the valve control of smart agriculture, it is generally chosen to control all valves through an Internet connection, that is, without staff intervention, a single valve cannot be adaptively adjusted according to the conditions of the farmland. This method cannot cope with the existing small-scale smart agricultural operations. However, in the case of a small number of valves, the design of a complex control system is not only costly, but also very complicated. The above method requires a larger farmland scale and cannot connect farmland that is far away to the above smart agriculture system. Summary of the invention

[0003] In order to solve the problem that the above-mentioned small farmland cannot be intelligently controlled by a small number of valves, the present invention provides an integrated intelligent hoist system and control method.

[0004] The technical solution of the present invention is as follows:

[0005] An integrated intelligent hoist system is arranged on a valve, and the valve is arranged at a position where the main channel and the branch channel of a farmland are connected, and a reflective strip is also arranged on the side wall of the branch channel. The valve is provided with a hoist, and the hoist includes a driving body and a connecting seat, and the driving body includes a screw rod for driving the valve gate;

[0006] An image sampling mechanism is arranged between the connecting seat and the driving body, and the image sampling mechanism comprises a collar coaxial with the screw rod, and two movable seats capable of rotating around the central axis of the collar are arranged outside the collar, and the movable seat is connected to a sampler capable of rotating in a vertical plane;

[0007] Set the input end of the main controller to be connected to the sampler, and the output end to be connected to the driving body;

[0008] The main controller includes a clock module, an image processing module, a first parameter comparison module, a second parameter comparison module and an execution module;

[0009] The image processing module can perform cropping, grayscale processing, total grayscale value calculation, binarization processing and binary image area calculation on the picture taken by the sampler, the first parameter comparison module can compare the total grayscale value of the captured image with the preset grayscale value, and the second parameter comparison module can compare the binary image area of ​​the captured image with the preset area value, and the execution module can control the rotation of the screw of the driving body according to the results of the above-mentioned first parameter comparison module and the second parameter comparison module.

[0010] Different from the networked control method, the opening and closing machine of this device can be set in the valve of the farmland, and the opening and closing of the valve can be freely controlled in an independent and autonomous manner, thereby realizing non-networked smart irrigation.

[0011] To facilitate understanding of the water level, one and only one sampler is aimed at the reflective strip.

[0012] In order to understand the farmland conditions, there is at least one sampler aimed at the farmland in the canal irrigation area.

[0013] In order to facilitate the adjustment of the imaging position of the sampler, the movable seat can rotate synchronously with the lead screw.

[0014] The method for driving the movable seat to rotate is that the collar is made of non-metallic material, the screw rod is provided with a sleeve of magnetic material at the position section of the movable seat, and the movable seat is provided with an electromagnet in the direction of the screw rod.

[0015] In order to facilitate the adjustment of the actual position of the sampler, the energization of the electromagnet is controlled by the main controller, and the lead screw is connected with an angle encoder.

[0016] In order to facilitate power supply, the hoist is provided with a battery and a photovoltaic power generation system.

[0017] A control method for an integrated intelligent gate hoist system uses the above-mentioned integrated intelligent gate hoist system and comprises the following steps:

[0018] S1, image acquisition, the main controller controls two samplers to perform image sampling;

[0019] S2, first parameter comparison, comparing the gray value of the sampler facing the farmland with the preset gray value through the first parameter comparison module, if it is greater than the preset gray value, executing step S5, if it is less than the preset gray value, executing step S3;

[0020] S3, second parameter comparison, comparing the binary image area of ​​the sampler facing the reflective strip with a preset area value through a second parameter comparison module, if it is greater than the preset area value, executing step S4, if it is less than the preset value, executing step S5;

[0021] S4, open the valve, the main controller controls the screw to rotate to open the valve, and after a preset time, execute step S3;

[0022] S5. Close the valve. The main controller controls the screw to rotate and close the valve.

[0023] It can cooperate with the above system to carry out autonomous control irrigation of farmland without access to the network. It can freely and individually carry out autonomous control of small farms. If necessary, it can also be used in large farms.

[0024] In order to obtain more farmland information, in step S2, the sampler can be rotated to different angles to take multiple photos for comparison.

[0025] In order to facilitate the control of water sources, the main channel is provided with reflective strips, and the sampler can be rotated to face the main channel, and can count the binary area value of the main channel, and by comparing the binary area values ​​of the main channel and the branch channel, the opening and closing of the valve can be controlled.

[0026] The beneficial effects of the present invention are as follows: the present invention is an integrated intelligent gate opening and closing machine system and control method, which is different from the existing network-controlled smart agricultural irrigation system. The present device can realize adaptive control of a single valve to a single branch channel, collect information independently, process independently, and adjust the valve to control irrigation independently. It does not need to access the network throughout the process. Therefore, it can be selectively used in the autonomous control of farmland in a small range without network adjustment, and is more suitable for small-scale agricultural operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] By reading the detailed description of the preferred embodiment below, the scheme and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0028] In the attached picture:

[0029] Figure 1 It is a schematic diagram of the layout structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the present invention;

[0031] Figure 3 It is a structural schematic diagram of the image sampling mechanism of the present invention;

[0032] Figure 4 for Figure 3 Schematic diagram of the structure from top view;

[0033] Figure 5 This is a schematic diagram of sampling of reflective strip images;

[0034] The components represented by the reference numerals in the figure are:

[0035] 1. Farmland; 2. Main channel; 3. Branch channel; 4. Valve; 5. Opening and closing machine; 6. Image sampling mechanism; 61. Ring; 62. Movable seat; 63. Sampler; 7. Reflective strip. DETAILED DESCRIPTION

[0036] An integrated intelligent hoist system, such as Figure 1As shown, it is arranged on the valve 4. The valve 4 can be a conventional manually driven gate 4 structure. After modification, automatic control can be realized, and the valve 4 is arranged at the connecting position between the main channel 2 and the branch channel 3 of the farmland 1, that is, it can control the flow of water in the main channel 2 and the branch channel 3. It should be noted that in order to realize automatic control, a reflective strip 7 is also arranged on the side wall of the branch channel 3. The reflective strip 7 has different reflective effects in the water immersion state and the normal state. It is reflected behind the sampler 63 and can monitor the water level. An integrated intelligent hoist system includes a hoist 5 and an image sampling mechanism 6, wherein the hoist 5 includes a driving body and a connecting seat, and the driving body includes a screw rod for driving the gate of the valve 4. By driving the screw rod with a motor, the lifting and lowering of the gate of the valve 4 can be controlled, and the connecting seat can be directly fixed to the gate 4 by bolts, which is convenient for assembly, and in this way, it can adapt to all types of valves 4 as much as possible.

[0037] Moreover, an image sampling mechanism 6 is provided between the connection seat and the driving body, and the image sampling mechanism 6 is used to collect various information, and then the lifting and lowering of the gate can be controlled by the gate hoist, and the whole process does not need to be connected to the network. Figure 3 , 4 As shown, the image sampling mechanism 6 includes a collar 61 coaxial with the screw rod. The collar 61 can connect the gate opening and closing machine and the connecting seat, and the collar 61 will not affect the normal rotation of the screw rod. Then, two movable seats 62 that can rotate around the central axis of the collar 61 are arranged outside the collar 61. In this way, it is ensured that the movable seat 62 can rotate around the horizontal plane, so that sampling can be performed at different positions. This design can be applicable to various farmland conditions, and the movable seat 62 is connected to a sampler 63 that can rotate in the vertical plane. In this way, the angle of the vertical plane can be adjusted, and then the adjustment adaptability of the two coordinates can be used to ensure that the sampler can be oriented to the desired position.

[0038] Finally, it is necessary to connect the input end of the main controller to the sampler 63 and the output end to the driving body. Through the information collected by the sampler 63, various actions of the driving body are controlled, thereby achieving self-control. In other words, without being connected to the Internet, by adding the above system, autonomous adaptive irrigation can be achieved according to the conditions of the farmland.

[0039] It should be noted that, in the above structure, the main controller includes a clock module, an image processing module, a first parameter comparison module, a second parameter comparison module and an execution module;

[0040] The function of the clock module is relatively conventional. It can monitor time and facilitate timing. The image processing module can perform cropping, grayscale processing, total grayscale value calculation, binarization processing and binary image area calculation on the pictures taken by the sampler 63. The purpose of cropping is to obtain the required image information and remove irrelevant images. The grayscale processing is convenient for color judgment based on grayscale, and the total grayscale value calculation method can obtain the information of the picture, and then judge whether the plant in the picture is normal green. If it is yellow, the total grayscale value will be low. Through the above method, it can be directly judged whether irrigation is carried out. The climate, binarization processing can switch the image to black and white by presetting the grayscale threshold. , and the setting of the water grayscale threshold needs to be able to distinguish the reflective strip 7 from other environmental information, so that after the subsequent binary image area calculation, the area information of the reflective strip 7 can be obtained. Through this area information, the leakage length of the reflective strip 7 can be understood, and then the water level information can be obtained. Through the water level information and the color information of the plant, the subsequent gate opening and closing judgment can be performed. That is to say, the first parameter comparison module can compare the total grayscale value of the captured image with the preset grayscale value, and the second parameter comparison module can compare the binary image area of ​​the captured image with the preset area value, and the execution module can control the rotation of the screw rod of the driving body according to the results of the above-mentioned first parameter comparison module and the second parameter comparison module.

[0041] It should be noted that in the above structure, in order to facilitate understanding of the water level, there is only one sampler 63 aimed at the reflective strip 7. In order to facilitate understanding of the situation of the farmland 1, there is at least one sampler 63 aimed at the farmland 1 in the irrigation area of ​​the branch channel 3. Both samplers 63 are camera devices that can take images.

[0042] Through the above system, it can be achieved that, different from the networked control method, the opening and closing machine 5 of the device can be set in the valve 4 of the farmland 1, and the opening and closing of the valve 4 can be freely controlled in an independent manner, thereby realizing non-networked smart irrigation. In this way, any gate can be modified and is not limited by the location of the gate or the terrain of the farmland.

[0043] In addition to the above structure, in order to facilitate the adjustment of the image capturing position of the sampler 63, the movable seat 62 can rotate synchronously with the screw rod. In this way, the movable seat 62 can be automatically adjusted according to the needs.

[0044] In the above structure, the method for driving the movable seat 62 to rotate is that the collar 61 is made of non-metallic material, and the screw rod is provided with a sleeve of magnetic material in the position section of the movable seat 62, and the movable seat 62 is provided with an electromagnet in the direction of the screw rod. In order to facilitate the adjustment of the actual position of the sampler 63, the power supply of the electromagnet is controlled by the main controller, and the screw rod is connected to an angle encoder. After the main controller controls the electromagnet of the movable seat 62 to be powered, the electromagnet can cooperate with the magnetic material to achieve synchronization, and then in the process of the gate opening machine controlling the screw rod to rotate, the movable seat 62 can be assisted to rotate by the screw rod, and the specific position of the movable seat 62 can be controlled by the design of the angle encoder.

[0045] Finally, in order to facilitate power supply, the gate hoist 5 is provided with a battery and a photovoltaic power generation system, which is convenient for power supply and does not require the laying of a ground wire for power supply.

[0046] In addition to the above system, a control method for an integrated intelligent gate hoist system is also included, using the above integrated intelligent gate hoist system and including the following steps:

[0047] S1, image acquisition, the main controller controls two samplers 63 to perform image sampling, and the image sampling includes images of the farmland and images of the reflective strips;

[0048] S2, first parameter comparison, using the first parameter comparison module to compare the gray value of the sampler 63 facing the farmland 1 with the preset gray value, if it is greater than the preset gray value, then execute step S5, if it is less than the preset gray value, then execute step S3, that is, when the total gray value of the farmland is relatively low, it can be judged that the plant is yellowish, and then it can be irrigated, and the above-mentioned preset gray value can be a variable value, which is adjusted according to time to ensure that it can be adjusted according to the specific healthy color of the plant at different time periods;

[0049] S3, the second parameter comparison, such as Figure 5 As shown, the second parameter comparison module compares the binary image area of ​​the sampler 63 facing the reflective strip 7 with the preset area value. If it is greater than the preset area value, step S4 is executed, and if it is less than the preset value, step S5 is executed. That is to say, when the water level of the branch channel 3 is relatively low, irrigation is required, and when the water level of the branch channel 3 is relatively high, the gate can be opened for irrigation;

[0050] S4, open valve 4, the main controller controls the screw rod to rotate to open valve 4, and after a preset time, execute step S3;

[0051] S5, close valve 4, and the main controller controls the screw to rotate and close valve 4.

[0052] Through the above steps, it can be achieved that the above system is used to autonomously control the irrigation of farmland 1 without connecting to the network. It can freely and individually control small farms, and can also be applied to large farms if necessary.

[0053] Furthermore, in the above structure, in order to obtain more information about the farmland 1, in step S2, the sampler 63 can be rotated to different angles to take multiple photos for comparison.

[0054] Finally, in extremely special cases, the water level in the branch channel is higher than that in the main channel. At this time, in order to facilitate the control of the water source, the main channel 2 is provided with a reflective strip 7, and the sampler 63 can be rotated to face the main channel 2, and can count the binary area value of the main channel 2, and by comparing the binary area values ​​of the main channel 2 and the branch channel 3, the valve 4 can be controlled to open and close, and the above-mentioned water level difference can be judged by the area of ​​water leaking out of the two reflective strips 7.

Claims

1. An integrated intelligent hoist system, characterized in that: The valve (4) is arranged on a valve (4), and the valve (4) is arranged at a position where a main channel (2) and a branch channel (3) of a farmland (1) are connected. A reflective strip (7) is also arranged on a side wall of the branch channel (3). The valve (4) is provided with a hoist (5). The hoist (5) comprises a driving body and a connecting seat. The driving body comprises a screw rod for driving a gate plate of the valve (4). An image sampling mechanism (6) is arranged between the connecting seat and the driving body, and the image sampling mechanism (6) comprises a collar (61) coaxial with the screw rod, and two movable seats (62) capable of rotating around the central axis of the collar (61) are arranged outside the collar (61), and the movable seat (62) is connected to a sampler (63) capable of rotating in a vertical plane; The input end of the main controller is connected to the sampler (63), and the output end is connected to the driving body; The main controller includes a clock module, an image processing module, a first parameter comparison module, a second parameter comparison module and an execution module; The image processing module is capable of cropping, grayscale processing, total grayscale value calculation, binarization processing and binary image area calculation of the image taken by the sampler (63); the first parameter comparison module is capable of comparing the total grayscale value of the captured image with a preset grayscale value; and the second parameter comparison module is capable of comparing the binary image area of ​​the captured image with a preset area value; and the execution module is capable of controlling the rotation of the screw of the driving body according to the results of the first parameter comparison module and the second parameter comparison module.

2. The integrated intelligent gate hoist system according to claim 1, characterized in that: There is only one sampler (63) aimed at the reflective strip (7).

3. The integrated intelligent gate hoist system according to claim 1, characterized in that: The present invention has at least one sampler (63) aimed at the farmland (1) in the irrigation area of ​​the branch channel (3).

4. The integrated intelligent gate hoist system according to claim 1, characterized in that: The movable seat (62) can rotate synchronously with the screw rod.

5. The integrated intelligent hoist system according to claim 4 is characterized in that: The sleeve ring (61) is made of non-metallic material, the screw rod is sleeved with magnetic material at the position section of the movable seat (62), and the movable seat (62) is provided with an electromagnet in the direction of the screw rod.

6. The integrated intelligent hoist system according to claim 1, characterized in that: The energization of the electromagnet is controlled by a main controller, and the lead screw is connected with an angle encoder.

7. An integrated intelligent gate hoist system according to any one of claims 1 to 6, characterized in that: The hoist (5) is provided with a storage battery and a photovoltaic power generation system.

8. A control method for an integrated intelligent gate hoist system, characterized in that: The integrated intelligent gate hoist system according to claim 7 is used, and comprises the following steps: S1, image acquisition, the main controller controls two samplers (63) to perform image sampling; S2, first parameter comparison, comparing the gray value of the sampler (63) facing the farmland (1) with a preset gray value through a first parameter comparison module, and if it is greater than the preset gray value, executing step S5, and if it is less than the preset gray value, executing step S3; S3, second parameter comparison, comparing the binary image area of ​​the sampler (63) facing the reflective strip (7) with a preset area value through a second parameter comparison module, if it is greater than the preset area value, executing step S4, if it is less than the preset value, executing step S5; S4, opening the valve (4), the main controller controls the screw rod to rotate to open the valve (4), and after a preset time, executes step S3; S5. Close the valve (4). The main controller controls the screw to rotate and close the valve (4).

9. The control method of an integrated intelligent gate hoist system according to claim 8, characterized in that: In step S2, the sampler (63) can be rotated to different angles to take multiple photos for comparison.

10. The control method of an integrated intelligent gate hoist system according to claim 8, characterized in that: The main channel (2) is provided with a reflective strip (7), and the sampler (63) can be rotated to face the main channel (2) and can count the binary area value of the main channel (2). Moreover, by comparing the binary area values ​​of the main channel (2) and the branch channel (3), the opening and closing of the valve (4) can be controlled.

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