CN103792378B - Self-moving granary detecting device and detecting method thereof - Google Patents
Self-moving granary detecting device and detecting method thereof Download PDFInfo
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- CN103792378B CN103792378B CN201410079996.XA CN201410079996A CN103792378B CN 103792378 B CN103792378 B CN 103792378B CN 201410079996 A CN201410079996 A CN 201410079996A CN 103792378 B CN103792378 B CN 103792378B
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Abstract
The invention discloses a self-moving granary detecting device and a detecting method thereof, belongs to the field of granary grain mildew detecting equipment, and particularly relates to a detecting device which can move freely in a granary. The self-moving granary detecting device is characterized in that a detector and a guiding device are included, the detector is provided with an outer shell (3), the bottom of the outer shell (3) is connected with a transparent cover (1), the top of the outer shell (3) is connected with the guiding device, a circuit board (10) is fixedly arranged in the middle inside the detector, an image capture device and an internal environment detection device are mounted on one side, facing the transparent cover (1), of the circuit board (10), and a wireless transmitting device is mounted in the middle of the circuit board (10); one side of the outer portion of the guiding device is connected with a recovery device, and the recovery device is used for driving the detector to achieve self moving. By means of the self-moving granary detecting device and the detecting method thereof, image capture at any position inside the granary can be achieved, the device can move freely in grain heaps, and thus the grain mildew condition can be detected rapidly and accurately.
Description
Technical field
From mobile silo pick-up unit and detection method thereof, belong to silo grain and to go mouldy checkout equipment field, be specifically related to a kind of pick-up unit that can move freely in silo.
Background technology
China is large agricultural country, and within 2013, total output of grain breaks through 600,000,000 tons, is grain-production and consumption big country.Grain is very easily subject to mould contamination in the process of gathering in the crops, preserve and processing, and go mouldy the local flavor and outward appearance that not only affect grain, and containing the mycotoxin harmful to people, animal, eats the grain that goes mouldy and cause serious threat to people, animal life.
Wherein, the secondary metabolite that aflatoxin is mainly produced by aspergillus flavus (aspergillus flavus) aspergillus parasiticus (a.parasiticus), especially occur in the grain in damp-heat area, feed and food that the probability of aflatoxin is very high, aspergillus flavus toxin is very large to domestic animal and harm, therefore detects the grain infecting aflatoxin particularly important.
At present, most grain processing enterprise, main dependence naked-eye observation judges whether grain goes mouldy, and manually sorts out the particle that goes mouldy.Conventional chemical analysis has higher accuracy and reliability.But no matter be chemical analysis or instrumental analysis, the pre-service of its sample, the consuming time of test itself and the destruction to material are again that many occasions institute is unallowed.Although now seed photometric sorter can be adopted, but this kind of color selector common configuration is complicated, expensive, be difficult to popularize, and only have qualified and defective two classification levels, and operate very loaded down with trivial details in use, detecting device can only detect in fixing position, can not move freely arbitrarily as required.Therefore find one can fast, accurately detect grain moulding ability, whether infect aflatoxin, and the pick-up unit that can move freely in silo, particularly important.
Summary of the invention
Technical matters to be solved by this invention is: overcome the deficiencies in the prior art, provide a kind of by grain heap in optional position freely walk and gather image and can detect fast and accurately grain go mouldy situation and whether infect aflatoxin from mobile silo pick-up unit and detection method thereof.
The technical solution adopted for the present invention to solve the technical problems is: should from mobile silo pick-up unit, it is characterized in that: comprise detecting device and guide piece, detecting device is provided with shell, outer casing bottom connects translucent cover, top connects guide piece, in detecting device, circuit board is fixedly equipped with in middle part, and installing image collecting device and internal environment pick-up unit by circuit board towards translucent cover side, wireless launcher is installed in portion in the circuit board; Guide piece is connected with the retracting device being arranged on silo top, drives detecting device to realize from mobile by retracting device; Guide piece comprises guide piece body, steering mechanism, guiding empennage and draw ring, guide piece body bottom portion is threaded detector housing, top is provided with guiding empennage, top connects draw ring, retracting device is connected by draw ring, guide piece body middle and lower part is provided with and turns to groove, installs steering mechanism turning to groove internal fixtion.Rely on and enter in grain heap from the Action of Gravity Field of mobile silo pick-up unit self, and utilize camera to take pictures in grain heap, and under the guide effect of guide piece, further realization is from mobile silo pick-up unit moving freely in grain heap, and then realize the image acquisition of plurality of positions in grain heap, and the power of recovery is provided by retracting device, will from mobile silo pick-up unit pull-out grain heap.Can be changed from the moving direction of mobile silo pick-up unit in grain heap by guide piece, be convenient to the image acquisition of different depth, multiple position.
Described steering mechanism is provided with more than three groups, Duo Zu steering mechanism is distributed on the multiple of annular setting and turns in groove, Mei Zu steering mechanism comprises swiveling wheel and steer motor, and steer motor is fixedly mounted on by installing plate and turns in groove, and the output terminal of steer motor installs swiveling wheel.
Described image collecting device comprises camera and light source, camera is just to the translucent cover above it, light source comprises fluorescent light and white light, fluorescent light and white light are separately positioned on the both sides of camera, the detection that white light goes mouldy for grain provides light source, and the detection that fluorescent light is aflatoxin provides light source; The side of fluorescent light or white light is provided with heater strip, and heater strip bottom is fixedly connected with on circuit boards.The effect of heater strip is mainly used for changing the humidity and temperature that camera is taken pictures in space, avoids because humidity or temperature form water smoke with the bigger difference of outside on translucent cover, and then affects shooting effect.Fluorescence light source is produced by six 365nm ultraviolet lamp pearls, and white light source is produced by six white light pearls.Be that fluorescence light source and white light source are powered by constant current source power supply, keep the stable of light intensity; Fluorescence light source and white light source are provided simultaneously, avoid because the single impact of light source judges, there is color distortion in the feature of face, place, embryo portion as own in particles such as iblets and another side, and effectively can not differentiate the difference of color on corn particle, causes the problem of error in judgement of going mouldy; And Aspergillus flavus metabolic product can produce the effect of fluorescence under 365nm uviol lamp, judge that whether grain is aflatoxin-contaminated further by the yellow-green fluorescence part extracting image.
Described internal environment pick-up unit comprises interior humidity sensor and internal temperature sensor, is arranged in the space inside translucent cover by circuit board.Detect the working environment of camera perform region in real time, accurately, comprise the humidity and temperature in detecting device.
On described outer casing underpart outer ring, correspondence is provided with the temperature outside sensor and outside humidity sensor that detect for detecting device external environment condition.Be convenient to the temperature difference or the psychrometric difference that differentiate detecting device internal and external environment, judge whether to adopt heater strip heating and dehumidification.
Described retracting device, by the top of support installing at silo, comprises stay cord, gear train and transverse mobile motor, and transverse mobile motor output terminal connects stay cord one end by gear train, and the stay cord other end connects the draw ring of guide piece.Driven by retracting device and realize moving on a large scale above silo from mobile silo pick-up unit, and then meet the detection needs of silo optional position.
Described gear train is belt wheel transmission mechanism or sprocket chain strip transmission mechanism.
According to the above-mentioned detection method from mobile silo pick-up unit, it is characterized in that: comprise the following steps:
A, first install back receiving apparatus at silo internal upper part, by the draw ring of retracting device one end by the guide piece at connecting rope connection detector top, will be got up from mobile silo pick-up unit integral hanging by retracting device;
The power source of b, startup retracting device, retracting device drives and arrives from mobile silo pick-up unit the position needing to detect, and progresses in silo grain from gravity one end of mobile silo pick-up unit dependence self;
C, startup steering mechanism, rotated by steering mechanism, rely on rotation and the guiding empennage combination of steering mechanism, freely rotate in silo grain from mobile silo pick-up unit, and opened and closed by the power source controlling retracting device and steering mechanism, realize from the stop of mobile silo pick-up unit in grain heap, and in grain heap, image collecting device Real-time Collection picture is passed through within the time stopped, and picture is beamed back outside receiving device by wireless launcher, carry out image procossing by computer software;
Start steer motor, rotated by steer motor driven rotary wheel, rely on rotation and the guiding empennage combination of swiveling wheel, freely rotate in silo grain from mobile silo pick-up unit, and realize from the stop of mobile silo pick-up unit in grain heap by the keying controlling transverse mobile motor and steer motor, and in grain heap, camera captured in real-time picture is passed through within the time stopped, and picture is beamed back outside receiving device by wireless launcher, carry out image procossing by computer software, after process, data add up;
D, elongation gradually along with retracting device and the connecting rope between mobile silo pick-up unit, when this connecting rope length reaches maximum length, the power source controlling retracting device realizes reversion, thus this connecting rope is regained gradually, and then will retract from grain heap from mobile silo pick-up unit;
E, image analysis processing software is utilized to process collected image information, and the data drawn are added up, then the data loaded at the beginning of new grain contrast with silo, to judge whether the grain in silo there occurs the degree of going mouldy and going mouldy.Undertaken subtracting computing by grain granule number accumulated value and the silo grain loaded at the beginning of the new grain granule number accumulated value that goes mouldy that goes mouldy, if result is 0, illustrate that the grain in silo does not go mouldy, if result is not 0, grain then in silo there occurs and goes mouldy, and difference is larger, then go mouldy larger.
Compared with prior art, the beneficial effect that the present invention has is:
1, moving freely arbitrarily in silo can be realized: provided by retracting device and transfer power, driven by retracting device and realize moving on a large scale above silo from mobile silo pick-up unit, and dependence enters in grain heap from the Action of Gravity Field of mobile silo pick-up unit self, and utilize camera to take pictures in grain heap, and under the guide effect of guide piece, further realization from mobile silo pick-up unit moving freely in grain heap, and then realizes the image acquisition in silo optional position, plurality of positions.
2, image acquisition accurately, in time: adopt two kinds of light sources, can avoid the effect affecting image acquisition because of the color difference of grain self; Adopt heater strip with the use of, the humidity and temperature that camera is taken pictures in space can be changed in good time, avoid because humidity or temperature and the bigger difference of outside form water smoke on translucent cover, and then affect shooting effect.
Accompanying drawing explanation
Fig. 1 is from mobile silo structure of the detecting device cross-sectional schematic.
Fig. 2 is from the installation relation schematic diagram of mobile silo pick-up unit in silo.
Fig. 3 is from mobile silo pick-up unit surface structure schematic diagram.
Wherein, 1, translucent cover 2, temperature outside sensor 3, shell 4, guide piece body 5, swiveling wheel 6, steer motor 7, guiding empennage 8, draw ring 9, battery 10, circuit board 11, wireless transmission antenna 12, outside humidity sensor 13, interior humidity sensor 14, internal temperature sensor 15, fluorescent light 16, camera 17, white light 18, heater strip 19, belt 20, stay cord 21, belt pulley 22, rope sheave 23, support 24, turn to groove 25, installing plate.
Embodiment
Fig. 1 ~ 3 are most preferred embodiments of the present invention, and below in conjunction with accompanying drawing 1 ~ 3, the present invention will be further described.
With reference to accompanying drawing 1 ~ 3: from mobile silo pick-up unit, comprise detecting device and guide piece, detecting device is provided with shell 3, translucent cover 1 is connected bottom shell 3, top connects guide piece, in detecting device, circuit board 10 is fixedly equipped with at middle part, by circuit board 10 installing image collecting device and internal environment pick-up unit towards translucent cover 1 side, in the middle part of circuit board 10, installs wireless launcher; Guide piece is connected with the retracting device being arranged on silo top, drives detecting device to realize from mobile by retracting device.
Guide piece comprises guide piece body 4, steering mechanism, guiding empennage 7 and draw ring 8, guide piece body 4 bottom thread connection detector shell 3, top is provided with guiding empennage 7, top connects draw ring 8, retracting device is connected by draw ring 8, guide piece body 4 middle and lower part is provided with and turns to groove 24, installs steering mechanism turning to groove 24 internal fixtion.Steering mechanism is provided with more than three groups, Duo Zu steering mechanism is distributed on the multiple of annular setting and turns in groove 24, Mei Zu steering mechanism comprises swiveling wheel 5 and steer motor 6, steer motor 6 is fixedly mounted on by installing plate 25 and turns in groove 24, installing plate 25 and guide piece body 4 axes normal are installed, one end is fixedly connected with and turns to inside groove 24, and the other end vertically stretches out and installs steer motor 6, and the output terminal of steer motor 6 installs swiveling wheel 5.
Image collecting device comprises camera 16 and light source, camera 16 is just to the translucent cover 1 above it, light source comprises fluorescent light 15 and white light 17, fluorescent light 15 and white light 17 are separately positioned on the both sides of camera 16, the detection that white light 17 goes mouldy for grain provides light source, and the detection that fluorescent light 15 is aflatoxin provides light source; The side of fluorescent light 15 or white light 17 is provided with heater strip 18, and heater strip 18 bottom is fixedly connected with on the circuit board 10.
Internal environment pick-up unit comprises interior humidity sensor 13 and internal temperature sensor 14, is arranged in the space inside translucent cover 1 by circuit board 10.On outer ring, shell 3 bottom, correspondence is provided with the temperature outside sensor 2 and outside humidity sensor 12 that detect for detecting device external environment condition.
Retracting device is arranged on the top of silo by support 23, comprise stay cord 20, gear train and transverse mobile motor, transverse mobile motor output terminal connection for transmission mechanism, rope sheave 22 is provided with in the middle part of gear train, stay cord 20 one ends wound is on rope sheave 22, and stay cord 20 other end connects the draw ring 8 of guide piece.Gear train can be belt wheel transmission mechanism or sprocket chain strip transmission mechanism.
The above-mentioned detection method from mobile silo pick-up unit, comprises the following steps:
A, first mounting bracket 23 in silo, support 23 top is traversed above silo, installs back receiving apparatus on support 23 top, connects a stay cord 20 in the middle part of the gear train of retracting device;
One end that b, stay cord 20 hang down is connected to the draw ring 8 of the guide piece top setting that detecting device connects as one, and will be hung up by draw ring 8 from mobile silo pick-up unit;
The transverse mobile motor of c, startup guide piece, transverse mobile motor will take the position needing to detect to by gear train and stay cord 20 from mobile silo pick-up unit, along with the rotation of the rope sheave 22 on actuating unit, discharge the length of stay cord 20 gradually, rely on the gravity of self to enter in silo grain with stay cord 20 one end from mobile silo pick-up unit;
D, start steer motor 6, rotated by steer motor 6 driven rotary wheel 5, rely on rotation and guiding empennage 7 combination of swiveling wheel 5, freely rotate in silo grain from mobile silo pick-up unit, and realize from the stop of mobile silo pick-up unit in grain heap by the keying controlling transverse mobile motor and steer motor 6, and in grain heap, camera 16 captured in real-time picture is passed through within the time stopped, and picture is beamed back outside receiving device by wireless launcher, image procossing is carried out by computer software, and the data after process are stored,
E, release gradually along with stay cord 20, when stay cord 20 is put into maximum length, control transverse mobile motor and realize reversion, rope sheave 22 reverses equally, is regained gradually by stay cord 20 thus, and then will retract from grain heap from mobile silo pick-up unit;
F, image analysis processing software is utilized to process collected image information, and the data drawn are added up, then the data loaded at the beginning of new grain contrast with silo, to judge whether the grain in silo there occurs the degree of going mouldy and going mouldy.Computing is subtracted to grain granule number accumulated value and the silo grain loaded at the beginning of the new grain granule number accumulated value that goes mouldy that goes mouldy, if result is 0, illustrates that the grain in silo does not go mouldy, if result is not 0, grain then in silo there occurs and goes mouldy, and difference is larger, then go mouldy larger.
At the beginning of new grain filling, place camera 16 and freely walk in grain heap, be fixed the shooting of number of times, add up the granule number and the new grain that adds up goes mouldy; Interval some cycles, then place camera 16 and freely walk in grain heap, take the picture of same number, add up the granule number and the old grain that adds up goes mouldy, the accumulated value of the granule number that then goes mouldy with new grain contrasts, and difference is larger, then moulding ability is more serious.
The above is only preferred embodiment of the present invention, and be not restriction the present invention being made to other form, any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the Equivalent embodiments of equivalent variations.But everyly do not depart from technical solution of the present invention content, any simple modification, equivalent variations and the remodeling done above embodiment according to technical spirit of the present invention, still belong to the protection domain of technical solution of the present invention.
Claims (8)
1. from mobile silo pick-up unit, it is characterized in that: comprise detecting device and guide piece, detecting device is provided with shell (3), shell (3) bottom connects translucent cover (1), top connects guide piece, in detecting device, circuit board (10) is fixedly equipped with at middle part, is installing image collecting device and internal environment pick-up unit by circuit board (10) towards translucent cover (1) side, installs wireless launcher at circuit board (10) middle part; Guide piece is connected with the retracting device being arranged on silo top, drives detecting device to realize from mobile by retracting device; Guide piece comprises guide piece body (4), steering mechanism, guiding empennage (7) and draw ring (8), guide piece body (4) bottom thread connection detector shell (3), top is provided with guiding empennage (7), top connects draw ring (8), retracting device is connected by draw ring (8), guide piece body (4) middle and lower part is provided with and turns to groove (24), installs steering mechanism turning to groove (24) internal fixtion.
2. according to claim 1 from mobile silo pick-up unit, it is characterized in that: described steering mechanism is provided with more than three groups, Duo Zu steering mechanism is distributed on the multiple of annular setting and turns in groove (24), Mei Zu steering mechanism comprises swiveling wheel (5) and steer motor (6), steer motor (6) is fixedly mounted on by installing plate (25) and turns in groove (24), and the output terminal of steer motor (6) installs swiveling wheel (5).
3. according to claim 1 from mobile silo pick-up unit, it is characterized in that: described image collecting device comprises camera (16) and light source, camera (16) is just to the translucent cover (1) above it, light source comprises fluorescent light (15) and white light (17), fluorescent light (15) and white light (17) are separately positioned on the both sides of camera (16), the detection that white light (17) goes mouldy for grain provides light source, and the detection that fluorescent light (15) is aflatoxin provides light source; The side of fluorescent light (15) or white light (17) is provided with heater strip (18), and heater strip (18) bottom is fixedly connected on circuit board (10).
4. according to claim 1 from mobile silo pick-up unit, it is characterized in that: described internal environment pick-up unit comprises interior humidity sensor (13) and internal temperature sensor (14), be arranged on by circuit board (10) in the space of translucent cover (1) inner side.
5. according to claim 1 from mobile silo pick-up unit, it is characterized in that: on described shell (3) outer ring, bottom, correspondence is provided with the temperature outside sensor (2) and outside humidity sensor (12) that detect for detecting device external environment condition.
6. according to claim 1 from mobile silo pick-up unit, it is characterized in that: described retracting device is arranged on the top of silo by support (23), comprise stay cord (20), gear train and transverse mobile motor, transverse mobile motor output terminal connects stay cord (20) one end by gear train, and stay cord (20) other end connects the draw ring (8) of guide piece.
7. according to claim 6 from mobile silo pick-up unit, it is characterized in that: described gear train is belt wheel transmission mechanism or sprocket chain strip transmission mechanism.
8., according to the arbitrary described detection method from mobile silo pick-up unit of claim 1 ~ 7, it is characterized in that: comprise the following steps:
A, first install back receiving apparatus at silo internal upper part, by the draw ring (8) of retracting device one end by the guide piece at connecting rope connection detector top, will be got up from mobile silo pick-up unit integral hanging by retracting device;
The power source of b, startup retracting device, retracting device drives and arrives from mobile silo pick-up unit the position needing to detect, and progresses in silo grain from gravity one end of mobile silo pick-up unit dependence self;
C, startup steering mechanism, rotated by steering mechanism, rely on rotation and guiding empennage (7) combination of steering mechanism, freely rotate in silo grain from mobile silo pick-up unit, and opened and closed by the power source controlling retracting device and steering mechanism, realize from the stop of mobile silo pick-up unit in grain heap, and in grain heap, image collecting device Real-time Collection picture is passed through within the time stopped, and picture is beamed back outside receiving device by wireless launcher, carry out image procossing by computer software;
D, elongation gradually along with retracting device and the connecting rope between mobile silo pick-up unit, when this connecting rope length reaches maximum length, the power source controlling retracting device realizes reversion, thus this connecting rope is regained gradually, and then will retract from grain heap from mobile silo pick-up unit;
E, image analysis processing software is utilized to process collected image information, and the data drawn are added up, then the data loaded at the beginning of new grain contrast with silo, to judge whether the grain in silo there occurs the degree of going mouldy and going mouldy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410079996.XA CN103792378B (en) | 2014-03-06 | 2014-03-06 | Self-moving granary detecting device and detecting method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410079996.XA CN103792378B (en) | 2014-03-06 | 2014-03-06 | Self-moving granary detecting device and detecting method thereof |
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| Publication Number | Publication Date |
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| CN103792378A CN103792378A (en) | 2014-05-14 |
| CN103792378B true CN103792378B (en) | 2015-04-15 |
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| CN201410079996.XA Expired - Fee Related CN103792378B (en) | 2014-03-06 | 2014-03-06 | Self-moving granary detecting device and detecting method thereof |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107960838B (en) * | 2016-10-20 | 2023-12-22 | 佛山市顺德区美的电热电器制造有限公司 | Storage device and cooking utensil |
| CN107105194A (en) * | 2016-11-27 | 2017-08-29 | 申俊 | A kind of camera that can be moved |
| CN107422074A (en) * | 2017-06-27 | 2017-12-01 | 苏州天键衡电子信息科技有限公司 | One kind has positioning function large granary data monitoring detection means |
| CN109548467B (en) * | 2017-09-26 | 2020-08-28 | 雷沃重工股份有限公司 | Harvester monitoring device, harvester grain bin monitoring method and harvester |
| CN107581984B (en) * | 2017-11-07 | 2020-06-23 | 仪征正乾机械有限公司 | Intelligent cleaning system based on mildew detection and control method thereof |
| CN108318084A (en) * | 2018-04-18 | 2018-07-24 | 山西尚风科技股份有限公司 | Totally-enclosed coal bunker monitors system |
| CN109060734B (en) * | 2018-06-19 | 2020-11-24 | 江苏大学 | Fluorescence imaging visual rapid screening system and method for zearalenone |
| CN108844581B (en) * | 2018-06-29 | 2021-07-02 | 河南工业大学 | Self-moving type grain condition multi-point detection system |
| CN112557391A (en) * | 2019-09-25 | 2021-03-26 | 浙江维创智能科技有限公司 | Tobacco detection device with mechanical arm |
| CN111279977B (en) * | 2020-03-19 | 2021-11-02 | 甘肃农业大学 | Vibrating type agaricus bisporus fermentation material detection device and using method thereof |
| CN111390923A (en) * | 2020-03-31 | 2020-07-10 | 杭州万知科技有限公司 | Detection robot |
| CN117882571B (en) * | 2024-03-15 | 2024-05-24 | 深圳市集贤科技有限公司 | Unattended intelligent granary system and method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06317379A (en) * | 1993-02-22 | 1994-11-15 | Kaneko Agricult Mach Co Ltd | Storing method for grain and its device |
| CN2395276Y (en) * | 1999-04-21 | 2000-09-06 | 白月 | Self walking barn data detector |
| CN2525477Y (en) * | 2002-02-05 | 2002-12-11 | 宝鸡市汇永科技工贸有限公司 | Multifunction digital video frequency granary detector |
| JP2007093099A (en) * | 2005-09-28 | 2007-04-12 | Iseki & Co Ltd | Device for detecting amount of grain set in grain storage chamber |
| CN103394471B (en) * | 2013-08-09 | 2015-04-15 | 中国农业大学 | Fast on-line detecting and screening system for mildewed grains |
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