CN109188977A - A kind of tea place weeding apparatus and control method - Google Patents
A kind of tea place weeding apparatus and control method Download PDFInfo
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- CN109188977A CN109188977A CN201811115858.7A CN201811115858A CN109188977A CN 109188977 A CN109188977 A CN 109188977A CN 201811115858 A CN201811115858 A CN 201811115858A CN 109188977 A CN109188977 A CN 109188977A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention belongs to weeding technique fields, disclosing a kind of tea place weeding apparatus and control method, tea place weeding apparatus includes: temperature detecting module, humidity detecting module, air-leakage test module, main control module, storing module, ignition module, flame module, firepower adjustment module, mobile module, display module.The present invention can accurately judge the air-tightness of tested module according to negative pressure, first pressure value, second pressure value and third pressure value；Gas leakage is prevented, ensures the safety used；The high voltage pulse that 3V low-voltage DC is generated to 4000V by ignition module by oscillating circuit sparks to form spark completion electronic ignition process by high pressure cusp；The problems such as having prevented with match, lighter igniting inconvenience and danger.
Description
Technical field
The invention belongs to weeding technique field more particularly to a kind of tea place weeding apparatus and control methods.
Background technique
Weed in tea garden had not only striven ground with tea tree, and had won honour for, strives water, striving fertilizer, but also was the important vector for propagating diseases and pests of tea tree,
Tea place weeding is an important process in the field management of tea place.Currently, tea place weeding is manually pulled out and is uprooted substantially, much time
Power applies weeding by machine's equipment in a small amount of situation.It is that physics cutter head cuts or digs that weeding by machine's equipment, which is finally realized all, and weeding is not
Can completeness, it is again raw after rain, simultaneously as mechanical head safety operation is inconvenient, it is also possible to injure tealeaves itself and even operate
Personnel.Other crops weedings at present most are herbicides, after particularity-leaf picking that tealeaves is processed by its product
Directly walk to wither, finish etc. processing programs, fresh leaf be without washing, if being had tea and exactly being made tea with medicament with herbicide,
Therefore, herbicide cannot apply tea place weeding.
Tea place tilth is all named shallow plowing less than 15 centimetres.In general, will be ploughed in the spring every year, summer hoeing and weeding, the autumn uproots and the winter
It ploughs.Spring ploughing and winter ploughing are based on loosening the soil.Tilth is ploughed in the spring 10 centimetres or so, 10 centimetres~15 centimetres of winter ploughing.Summer hoeing and weeding and autumn hoe
Based on weeding, number of hoeing up weeds often has certain difference because of weed growth difference.Depth of hoeing up weeds is advisable with 5 centimetres or so.Newly open
The First Year in tea place is warded off, in order to avoid driving tea seed and tea shoot, is preferably taken advantage of away from the weeds within 30 centimetres of tea shoot and connects root with hand after rain
It pulls out, ploughing shallowly other than 30 centimetres as usual can use hand hoe weeding after tea shoot is grown up.It can plough shallowly comprehensively after autumn.In tea
Childhood and young stage are set, in the ranks gap is big in tea place, is easy growth of weeds.In order to reduce weeds contention soil moisture and nutrient,
Shallow plowing period, the arrangement of number often carry out before top dressing primary.Summer and autumn weeds are more, and weeds are layered on ground after shallow plowing and are shone
It is dry or rake off outside garden, compost is made at accumulation one, especially rainy season more it is noted that.If prime of life tea place tree crown coverage
Height is grown, yield height.Since the operations such as picking, fertilising, deinsectization are more frequent, tea in the ranks soil be easy it is hardened, plough shallowly with dredge
Based on mellow soil, number can be reduced suitably 1 time~2 times.However, when existing tea place weeding apparatus passes through firepower weeding, for combustion gas
Bottle gas leakage is not easy to discover, and is easy to cause waste and safety accident；Meanwhile when igniter use it is long, putty absorption it is more after
Its using effect is had a greatly reduced quality immediately, it is sometimes desirable to which repeatedly sparking can just light combustion gas.
In conclusion problem of the prior art is:
First is that the current main herbicidal methods in tea place or artificial weed eradication, inefficient, somewhat expensive；Second is that a small amount of machinery removes
Careless equipment basic principle is that driving machine drives connecting rod control machinery to cut head, dig head or spraying pesticide head, and inconvenient, weeding is not thorough,
Security risks are big.
Existing tea place weeding apparatus pass through firepower weeding when, be not easy to discover for fuel gas bottle gas leakage, be easy to cause waste and
Safety accident；Meanwhile when igniter use it is long, putty absorption it is more after its using effect has a greatly reduced quality immediately, it is sometimes desirable to
Repeatedly sparking can just light combustion gas.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of tea place weeding apparatus and control methods.The present invention
A kind of firepower weeding apparatus is provided, weeds aerial part can be killed, big underground can also kill weeds root deeply, weeding is thorough.Behaviour
Make flexibly, safety convenient.
The invention is realized in this way a kind of control method of tea place weeding apparatus, the control of the tea place weeding apparatus
Method includes:
The air-tightness data of fuel cartridge are detected using air-tightness detection device by air-leakage test module；Air-leakage test
Device is detected and is analyzed to fuel cartridge leakage gas data by integrated gas leakage detection module, is specifically had:
The characteristic spectrum of gas data signal determines decision plane based on the received；
Judge whether the communication channel for receiving gas data signal is presented mutatis mutandis static conversion characteristic；
When mutatis mutandis static conversion characteristic is presented in the communication channel, using support vector machine method in the decision plane
In select decision boundary；
When mutatis mutandis static conversion characteristic is not presented in communication channel, using fuzzy clustering method in the decision plane
Select decision boundary；
The gas data signal received is detected according to the decision boundary；
The size of safe valve regulation flame is utilized by firepower adjustment module；After safety valve is connect with control module, pass through
The integrated big minor adjustment program of flame of control module carries out the opening size of control safety valve；The big minor adjustment program bag of flame includes:
The firepower sized images data to be adjusted are obtained from firepower adjustment module using integrated correlation function；
Picture format is converted into the accessible IplImage format of OpenCV by QImage, wherein since classifier exists
It is detected on gray level image, so RGB image is converted into gray level image firstly the need of by cvCvtColor (), is then led to
Cross cvEqualizeHist () progress histogram equalization；
Histogram equalization formula are as follows:
Wherein, S in formulakGray value after indicating equalization, ∑ indicate summation, and nj is some gray scale j in original image
Pixel quantity, the range of j is 0-k, and N is total number of image pixels；
Trained classifier is first loaded, detection function the cvHaarDectectObjects () detection of OpenCV is recalled
All firepower sized images in image, leave position size information；
Realize detection, when judgement first will do pretreatment work to image, and RGB image is converted to gray level image；
Then wherein white area proportion is counted, is decided that when ratio is less than threshold value and change behavior has occurred；
Threshold value chooses the half of the white area average value of preceding 40 frame, is suitable for all firepower sized images；
With fuzzy logic method come to collect information carries out fusion decision.
Further, the control method of the tea place weeding apparatus specifically includes:
Step 1 detects tea garden environment temperature data using temperature sensor by temperature detecting module；It is examined by humidity
It surveys module and detects tea garden environment humidity data using humidity sensor；Air-tightness detection device is utilized by air-leakage test module
Detect the air-tightness data of fuel cartridge；
Step 2 stores liquefied gas as fuel using fuel cartridge by storing module；
Step 3 dispatches ignition module by main control module and carries out ignition operation to combustion gas using igniter；
Step 4 sprays the fire lighted using firn-jet head by flame module；Safety valve is utilized by firepower adjustment module
Adjust the size of flame；
Step 5 carries out land mobile operation using Electric Motor Wheel by mobile module；
Step 6 utilizes tea place temperature, the humidity, fuel cartridge air-tightness data of display screen display acquisition by display module
Information.
Further, described to determine that decision plane includes: according to the characteristic spectrum for receiving signal
Linear transformation is carried out to the discrete signal vector for receiving signal and obtains unitary transformation matrix；
According in the unitary transformation matrix the elements in a main diagonal and counter-diagonal element calculate receive signal energy
Characteristic spectrum；
Decision plane is obtained from energy feature spectrum；
According in the unitary transformation matrix the elements in a main diagonal and counter-diagonal element calculate receive signal energy
Characteristic spectrum includes:
To counter-diagonal element composition matrix carry out square and multiplied by the elements in a main diagonal form matrix, received
The energy feature of signal is composed；
Obtaining decision plane from energy feature spectrum includes:
According to the encircled energy of energy feature spectrum, waveform symmetry and local wave function variance from the energy
At least one set of feature vector is extracted in characteristic spectrum；
The feature vector as decision plane is obtained from the feature vector of extraction in the way of pattern classification；
The discrete signal vector for receiving signal samples to obtain by Nyquist law, and sampling length is covered and connect
The predetermined ratio energy of the collection of letters number；
Before obtaining decision plane in composing from the energy feature, the method also includes:
The energy feature is composed and carries out sliding average processing；
The signal acceptance method is applied to the communication system or on-off keying modulation of time-hopping pulse position modulation mode
The communication system of mode；
The eigenvector method of the extraction specifically includes the following steps:
Signal is obtained, data are acquired by sensor and processing is amplified to signal；
Signal carries out segment processing；Mean value, variance, the accumulated value of signal and peak value 4 are extracted in every segment signal
Basic time domain parameter, the case where doubtful leakage is judged whether there is by the difference of 4 parameter values of adjacent segment signal occur
One layer of decision judgement: executing the denoising of step wavelet packet down if having, and no person jumps to execution and obtains signal；
Wavelet packet denoising；The signal of acquisition is denoised using improvement Wavelet Packet Algorithm；
WAVELET PACKET DECOMPOSITION and reconstruct；I.e. using improve Wavelet Packet Algorithm to the signal of acquisition carry out WAVELET PACKET DECOMPOSITION with again
Structure obtains list band reconstruction signal；
Extract signal characteristic parameter；It is extracted in the list band signal of reconstruct: time domain energy, time domain peak, frequency domain energy
The parameter of amount, frequency domain peak value, coefficient of kurtosis, variance, frequency spectrum and coefficient skewness 8 expression signal characteristics；
Composition characteristic vector, that is, utilize principal component analytical method, and Binding experiment analysis selects 3 to 8 from above-mentioned parameter
Can obviously indicate sound emission signal characteristic parameter composition feature vector, and by these feature vectors be input to support vector machines into
The judgement of row decision, i.e., second layer decision judges, judges whether there is leakage according to the output of support vector machines；
Wavelet packet denoising and WAVELET PACKET DECOMPOSITION include: with reconstruct
Signals extension carries out parabola continuation to each layer signal of WAVELET PACKET DECOMPOSITION；
If signal data is x (a), x (a+1), x (a+2), the then expression formula of continuation operator E are as follows:
Eliminate list band un-necessary frequency ingredient；
By the signal after continuation and decompose low-pass filter h0Convolution obtains low frequency coefficient, then calculates by HF-cut-IF
Subprocessing removes extra frequency content, then carries out down-sampling, obtains next layer of low frequency coefficient；By after continuation signal with
Decompose high-pass filter g0Convolution obtains high frequency coefficient, then by LF-cut-IF operator handle, remove extra frequency at
Point, then down-sampling is carried out, next layer of high frequency coefficient is obtained, HF-cut-IF operator uses following formula
LF-cut-IF operator uses following formula
In HF-cut-IF operator public affairs and LF-cut-IF operator formula, x (n) is 2jThe coefficient of wavelet packet, N on scalej
It indicates 2jThe length of data on scale,K=0,1 ..., Nj-1；N=0,1 ..., Nj-1；
The reconstruct of list band signal:
Obtained high and low frequency coefficient is up-sampled, then respectively with high pass reconstruction filter g1It is filtered with low-pass reconstruction
Wave device h1Obtained signal is used HF-cut-IF, LF-cut-IF operator to handle by convolution respectively, obtains list band reconstruction signal.
Further, the step of firepower size deviation detection is as follows:
(1) color clustering is carried out to firepower sized images using the color space CIELab information, the firepower after identification cluster
Big region or firepower zonule；
Heuristic search lane sideline algorithm is used in the big region of firepower, so that the pixel at edge is detected, to these
Edge pixel point is fitted using least square method；
Judge that algorithm judges whether each pixel is effective edge pixel by reliability, it finally will be all effective
Edge pixel is fitted to the parameter of firepower size matched curve, that is, detects firepower size；
(2) firepower is calculated in current size position, and calculation formula is as follows:
Wherein, y0Indicate firepower central point to Edge Distance, it is known that firepower volume is b, can find out fire according to formula
Distance of the power current location relative to central point to boundary；As Δ y > 0, show that firepower is safety zone；Δ y < 0, is considered as
Firepower has occurred that deviation.
Further, steps are as follows for firepower hazard analysis:
(1) discussion scope for the factors of evaluation things is determined, wherein it sets set of factors U:U={ u1, u2, u3 }, u1 surpasses within 10%,
U2 surpasses 20%, u3 danger；
(2) evaluation approach domain is selected, wherein set evaluate collection V={ v1, v2 ... v4 }, v1: outstanding, v2: good, v3:
It passes, v4: poor；
(3) it carries out simple element evaluation and obtains membership vector:
ri=(ri1,ri2,…,rim)；
Form subordinated-degree matrix:
(4) it determines factor of evaluation weight vector, collects denumerable value and normalization to judging:
A=(a1,a2,…,an),
Their respective weights are determined according to the extent of injury of each behavior；Wherein u3, u4, u6, u8 danger level are level-one, respectively
Accounting example 3/18, u2, u7 danger level are that second level respectively accounts for 1/9, and u1, u5 danger level are that three-level respectively accounts for 1/18；
(5) Comprehensive Evaluation (Comprehensis pertaining) vector is calculated:
(6) judge is made according to degree of membership maximum principle, calculates comprehensive evaluation value, obtains firepower size behavior grade.
Further, the air-leakage test module detection method includes:
(1) one storage cavity of connection and a test chamber；
(2) negative pressure is provided to the storage cavity；
(3) the storage cavity or the pressure of the test chamber are measured, to obtain a first pressure value；
(4) air-tightness of the test chamber is judged according to the negative pressure and the first pressure value；
(5) stop providing the negative pressure to the storage cavity；
(6) the storage cavity or the pressure of the test chamber are measured, to obtain a second pressure value；
(7) after stopping providing one preset time of negative pressure to the storage cavity, the storage cavity or the detection are measured
The pressure of cavity, to obtain a third pressure value；
(8) air-tightness of the test chamber is judged according to the second pressure value and the third pressure value.
Further, when the absolute value of the difference of the described negative pressure and the first pressure value is greater than a preset value, judge the inspection
Survey cavity gas leakage；
When the absolute value of the difference of the negative pressure and the first pressure value is less than or equal to 5kPa, the dynamic of the test chamber is judged
State air-tightness is qualified；
When the absolute value of the difference of the negative pressure and the first pressure value is less than or equal to the 5% of the negative pressure, the detection is judged
The dynamic air-tightness of cavity is qualified.
Further, when the absolute value of the difference of the described second pressure value and the third pressure value is greater than a preset value, sentence
Break the test chamber gas leakage；
When the absolute value of the difference of the second pressure value and the third pressure value is less than or equal to 5kPa, the test chamber is judged
The static air-tightness of body is qualified；
The absolute value of the difference of the second pressure value and the third pressure value is less than or equal to the 5% of the second pressure value
When, judge that the static air-tightness of the test chamber is qualified.
Further, the ignition module includes 3V DC power supply, linkage ignition switch, DC power control and delay electricity
Road, oscillating circuit and electrion mechanism composition, feature include:
The linkage ignition switch is by single-pole double-throw switch (SPDT) Kl and single-pole double-throw switch (SPDT) K2, electrolytic capacitor Cl and electrolysis electricity
Hold C2 composition, the cathode of electrolytic capacitor Cl is connected with the common end of single-pole double-throw switch (SPDT) Kl, the cathode and hilted broadsword of electrolytic capacitor C2
The common end of commutator mouth is connected, the anode of electrolytic capacitor Cl and electrolytic capacitor C2 with connecing circuit GND, single-pole double-throw switch (SPDT) Kl
Normally-closed contact and the normally-closed contact of single-pole double-throw switch (SPDT) gallbladder meet 3V DC power cathode VCC；
The DC power control and delay circuit is made of P-channel field-effect transistor (PEFT) pipe VTl and resistance R1, resistance R2, P ditch
One end of road field-effect tube VTl grid connecting resistance Rl and one end of resistance R2, the other end order double-pole double throw switch Kl of resistance R1
Normally opened contact, the normally opened contact of the other end order double-pole double throw switch K2 of resistance R2, the source electrode of P-channel field-effect transistor (PEFT) pipe VT1 connects
3V DC power cathode VCC, the drain electrode of P-channel field-effect transistor (PEFT) pipe VT1 connect the Same Name of Ends of oscillation transformer B primary coil Ll, and 3V is straight
With circuit GND's stream positive pole is connected；
The oscillating circuit and electrion mechanism is by PNP transistor VT2, oscillation transformer B, resistance R3 and high pressure
Another termination oscillation transformer B of discharge end composition, one end of the base stage connecting resistance R3 of PNP transistor VT2, resistance R3 is primary
The different name end of coil Ll, the drain electrode of the termination P-channel field-effect transistor (PEFT) pipe VTl of the same name of oscillation transformer B primary coil L2, positive-negative-positive are brilliant
The collector of body pipe VT2 connects the different name end of oscillation transformer B primary coil L2, and the emitter of PNP transistor VT2 is with connecing circuit
A termination gas cooker metal shell of GND, oscillation transformer B step-up coil L3, oscillation transformer B step-up coil L3's is another
Terminated high voltage discharge end
Another object of the present invention is to provide a kind of tea place weeding apparatus, the tea place weeding apparatus includes:
Temperature detecting module is connect with main control module, for detecting tea garden environment temperature data by temperature sensor；
Humidity detecting module is connect with main control module, for detecting tea garden environment humidity data by humidity sensor；
Air-leakage test module, connect with main control module, for detecting the airtight of fuel cartridge by air-tightness detection device
Property data；
Main control module, with temperature detecting module, humidity detecting module, air-leakage test module, storing module, igniting mould
Block, flame module, firepower adjustment module, mobile module, display module connection are normal for controlling modules by single-chip microcontroller
Work；
Storing module, connect with main control module, for storing liquefied gas as fuel by fuel cartridge；
Ignition module is connect with main control module, for carrying out ignition operation to combustion gas by igniter；
Flame module, connect with main control module, for spraying the fire lighted by firn-jet head；
Firepower adjustment module, connect with main control module, for the size by safe valve regulation flame；
Mobile module is connect with main control module, for carrying out land mobile operation by Electric Motor Wheel；
Display module is connect with main control module, for tea place temperature, the humidity, fuel cartridge by display screen display acquisition
The data informations such as air-tightness.
Advantages of the present invention and good effect are as follows:
When the present invention can be by storage cavity offer negative pressure by air-leakage test module, stop providing storage cavity
When negative pressure and after a predetermined time, first pressure value, second pressure value and third pressure value are measured respectively.According to negative pressure,
One pressure value, second pressure value and third pressure value and the air-tightness that can accurately judge tested module；Gas leakage is prevented,
Ensure the safety used；Meanwhile it is high by the pulse that 3V low-voltage DC is generated 4000V by oscillating circuit by ignition module
Pressure sparks to form spark completion electronic ignition process by high pressure cusp；It is inconvenient with match, lighter igniting to have prevented
And the problems such as dangerous.
The present invention detects the air-tightness data of fuel cartridge by air-leakage test module using air-tightness detection device；It is airtight
Property detection device gas data is revealed to fuel cartridge by integrated gas leakage detection module detected and analyzed, specifically
Have:
The characteristic spectrum of gas data signal determines decision plane based on the received；
Judge whether the communication channel for receiving gas data signal is presented mutatis mutandis static conversion characteristic；
When mutatis mutandis static conversion characteristic is presented in the communication channel, using support vector machine method in the decision plane
In select decision boundary；
When mutatis mutandis static conversion characteristic is not presented in communication channel, using fuzzy clustering method in the decision plane
Select decision boundary；
The gas data signal received is detected according to the decision boundary；It can get accurate detection data,
Guarantee is provided for the safe operation of equipment.
The present invention utilizes the size of safe valve regulation flame by firepower adjustment module；Safety valve is connect with control module
Afterwards, the opening size of control safety valve is carried out by the big minor adjustment program of flame that control module integrates；The big minor adjustment journey of flame
Sequence includes:
The firepower sized images data to be adjusted are obtained from firepower adjustment module using integrated correlation function；
Picture format is converted into the accessible IplImage format of OpenCV by QImage, wherein since classifier exists
It is detected on gray level image, so RGB image is converted into gray level image firstly the need of by cvCvtColor (), is then led to
Cross cvEqualizeHist () progress histogram equalization；
Be related to by above-mentioned, to solve in the prior art weeding by machine's device drives machine drive connecting rod control machinery cut head,
Head or spraying pesticide head are dug, inconvenient, weeding is not thorough, and the big problem of security risks provides good solution.
Detailed description of the invention
Fig. 1 is that the present invention implements the tea place weeding apparatus control method flow chart provided.
Fig. 2 is that the present invention implements the tea place weeding apparatus structure chart provided.
Fig. 3 is that the present invention implements the ignition module schematic diagram provided.
In figure: 1, temperature detecting module；2, humidity detecting module；3, air-leakage test module；4, main control module；5, storing
Module；6, ignition module；7, flame module；8, firepower adjustment module；9, mobile module；10, display module.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
With reference to the accompanying drawing and specific embodiment is further described application principle of the invention.
As shown in Figure 1, weeding apparatus control method in tea place provided in an embodiment of the present invention the following steps are included:
S101 detects tea garden environment temperature data using temperature sensor by temperature detecting module；Pass through Humidity Detection
Module detects tea garden environment humidity data using humidity sensor；It is examined by air-leakage test module using air-tightness detection device
Survey the air-tightness data of fuel cartridge；
S102 stores liquefied gas as fuel using fuel cartridge by storing module；
S103 dispatches ignition module by main control module and carries out ignition operation to combustion gas using igniter；
S104 sprays the fire lighted using firn-jet head by flame module；Safety valve tune is utilized by firepower adjustment module
Save the size of flame；
S105 carries out land mobile operation using Electric Motor Wheel by mobile module；
S106 utilizes the data such as the tea place temperature, humidity, fuel cartridge air-tightness of display screen display acquisition by display module
Information.
As shown in Fig. 2-Fig. 3, tea place weeding apparatus provided by the invention includes: temperature detecting module 1, humidity detecting module
2, air-leakage test module 3, main control module 4, storing module 5, ignition module 6, flame module 7, firepower adjustment module 8, movement
Module 9, display module 10.
Temperature detecting module 1 is connect with main control module 4, for detecting tea garden environment temperature data by temperature sensor；
Humidity detecting module 2 is connect with main control module 4, for detecting tea garden environment humidity data by humidity sensor；
Air-leakage test module 3 is connect with main control module 4, for detecting the gas of fuel cartridge by air-tightness detection device
Close property data；
Main control module 4, with temperature detecting module 1, humidity detecting module 2, air-leakage test module 3, storing module 5, point
Fiery module 6, flame module 7, firepower adjustment module 8, mobile module 9, display module 10 connect, each for being controlled by single-chip microcontroller
A module works normally；
Storing module 5 is connect with main control module 4, for storing liquefied gas as fuel by fuel cartridge；
Ignition module 6 is connect with main control module 4, for carrying out ignition operation to combustion gas by igniter；
Flame module 7 is connect with main control module 4, for spraying the fire lighted by firn-jet head；
Firepower adjustment module 8 is connect with main control module 4, for the size by safe valve regulation flame；
Mobile module 9 is connect with main control module 4, for carrying out land mobile operation by Electric Motor Wheel；
Display module 10 is connect with main control module 4, for tea place temperature, the humidity, combustion gas by display screen display acquisition
The data informations such as tank air-tightness.
3 detection method of air-leakage test module provided by the invention is as follows:
(1) one storage cavity of connection and a test chamber；
(2) negative pressure is provided to the storage cavity；
(3) the storage cavity or the pressure of the test chamber are measured, to obtain a first pressure value；
(4) air-tightness of the test chamber is judged according to the negative pressure and the first pressure value；
(5) stop providing the negative pressure to the storage cavity；
(6) the storage cavity or the pressure of the test chamber are measured, to obtain a second pressure value；
(7) after stopping providing one preset time of negative pressure to the storage cavity, the storage cavity or the detection are measured
The pressure of cavity, to obtain a third pressure value；
(8) air-tightness of the test chamber is judged according to the second pressure value and the third pressure value.
When the absolute value of the difference of the negative pressure provided by the invention and the first pressure value is greater than a preset value, the inspection is judged
Survey cavity gas leakage；
When the absolute value of the difference of the negative pressure and the first pressure value is less than or equal to 5kPa, the dynamic of the test chamber is judged
State air-tightness is qualified；
When the absolute value of the difference of the negative pressure and the first pressure value is less than or equal to the 5% of the negative pressure, the detection is judged
The dynamic air-tightness of cavity is qualified.
When the absolute value of the difference of the second pressure value provided by the invention and the third pressure value is greater than a preset value, sentence
Break the test chamber gas leakage；
When the absolute value of the difference of the second pressure value and the third pressure value is less than or equal to 5kPa, the test chamber is judged
The static air-tightness of body is qualified；
The absolute value of the difference of the second pressure value and the third pressure value is less than or equal to the 5% of the second pressure value
When, judge that the static air-tightness of the test chamber is qualified.
As shown in figure 3, ignition module 6 provided by the invention includes 3V DC power supply, linkage ignition switch, DC power supply control
System and delay circuit, oscillating circuit and electrion mechanism composition, feature include:
The linkage ignition switch is by single-pole double-throw switch (SPDT) Kl and single-pole double-throw switch (SPDT) K2, electrolytic capacitor Cl and electrolysis electricity
Hold C2 composition, the cathode of electrolytic capacitor Cl is connected with the common end of single-pole double-throw switch (SPDT) Kl, the cathode and hilted broadsword of electrolytic capacitor C2
The common end of commutator mouth is connected, the anode of electrolytic capacitor Cl and electrolytic capacitor C2 with connecing circuit GND, single-pole double-throw switch (SPDT) Kl
Normally-closed contact and the normally-closed contact of single-pole double-throw switch (SPDT) gallbladder meet 3V DC power cathode VCC；
The DC power control and delay circuit is made of P-channel field-effect transistor (PEFT) pipe VTl and resistance R1, resistance R2, P ditch
One end of road field-effect tube VTl grid connecting resistance Rl and one end of resistance R2, the other end order double-pole double throw switch Kl of resistance R1
Normally opened contact, the normally opened contact of the other end order double-pole double throw switch K2 of resistance R2, the source electrode of P-channel field-effect transistor (PEFT) pipe VT1 connects
3V DC power cathode VCC, the drain electrode of P-channel field-effect transistor (PEFT) pipe VT1 connect the Same Name of Ends of oscillation transformer B primary coil Ll, and 3V is straight
With circuit GND's stream positive pole is connected；
The oscillating circuit and electrion mechanism is by PNP transistor VT2, oscillation transformer B, resistance R3 and high pressure
Another termination oscillation transformer B of discharge end composition, one end of the base stage connecting resistance R3 of PNP transistor VT2, resistance R3 is primary
The different name end of coil Ll, the drain electrode of the termination P-channel field-effect transistor (PEFT) pipe VTl of the same name of oscillation transformer B primary coil L2, positive-negative-positive are brilliant
The collector of body pipe VT2 connects the different name end of oscillation transformer B primary coil L2, and the emitter of PNP transistor VT2 is with connecing circuit
A termination gas cooker metal shell of GND, oscillation transformer B step-up coil L3, oscillation transformer B step-up coil L3's is another
Terminated high voltage discharge end.
Below with reference to concrete analysis, the invention will be further described.
The control method of tea place weeding apparatus provided in an embodiment of the present invention, the control method packet of the tea place weeding apparatus
It includes:
The air-tightness data of fuel cartridge are detected using air-tightness detection device by air-leakage test module；Air-leakage test
Device is detected and is analyzed to fuel cartridge leakage gas data by integrated gas leakage detection module, is specifically had:
The characteristic spectrum of gas data signal determines decision plane based on the received；
Judge whether the communication channel for receiving gas data signal is presented mutatis mutandis static conversion characteristic；
When mutatis mutandis static conversion characteristic is presented in the communication channel, using support vector machine method in the decision plane
In select decision boundary；
When mutatis mutandis static conversion characteristic is not presented in communication channel, using fuzzy clustering method in the decision plane
Select decision boundary；
The gas data signal received is detected according to the decision boundary；
The size of safe valve regulation flame is utilized by firepower adjustment module；After safety valve is connect with control module, pass through
The integrated big minor adjustment program of flame of control module carries out the opening size of control safety valve；The big minor adjustment program bag of flame includes:
The firepower sized images data to be adjusted are obtained from firepower adjustment module using integrated correlation function；
Picture format is converted into the accessible IplImage format of OpenCV by QImage, wherein since classifier exists
It is detected on gray level image, so RGB image is converted into gray level image firstly the need of by cvCvtColor (), is then led to
Cross cvEqualizeHist () progress histogram equalization；
Histogram equalization formula are as follows:
Wherein, S in formulakGray value after indicating equalization, ∑ indicate summation, and nj is some gray scale j in original image
Pixel quantity, the range of j is 0-k, and N is total number of image pixels；
Trained classifier is first loaded, detection function the cvHaarDectectObjects () detection of OpenCV is recalled
All firepower sized images in image, leave position size information；
Realize detection, when judgement first will do pretreatment work to image, and RGB image is converted to gray level image；
Then wherein white area proportion is counted, is decided that when ratio is less than threshold value and change behavior has occurred；
Threshold value chooses the half of the white area average value of preceding 40 frame, is suitable for all firepower sized images；
With fuzzy logic method come to collect information carries out fusion decision.
The control method of the tea place weeding apparatus specifically includes:
Step 1 detects tea garden environment temperature data using temperature sensor by temperature detecting module；It is examined by humidity
It surveys module and detects tea garden environment humidity data using humidity sensor；Air-tightness detection device is utilized by air-leakage test module
Detect the air-tightness data of fuel cartridge；
Step 2 stores liquefied gas as fuel using fuel cartridge by storing module；
Step 3 dispatches ignition module by main control module and carries out ignition operation to combustion gas using igniter；
Step 4 sprays the fire lighted using firn-jet head by flame module；Safety valve is utilized by firepower adjustment module
Adjust the size of flame；
Step 5 carries out land mobile operation using Electric Motor Wheel by mobile module；
Step 6 utilizes tea place temperature, the humidity, fuel cartridge air-tightness data of display screen display acquisition by display module
Information.
It is described to determine that decision plane includes: according to the characteristic spectrum for receiving signal
Linear transformation is carried out to the discrete signal vector for receiving signal and obtains unitary transformation matrix；
According in the unitary transformation matrix the elements in a main diagonal and counter-diagonal element calculate receive signal energy
Characteristic spectrum；
Decision plane is obtained from energy feature spectrum；
According in the unitary transformation matrix the elements in a main diagonal and counter-diagonal element calculate receive signal energy
Characteristic spectrum includes:
To counter-diagonal element composition matrix carry out square and multiplied by the elements in a main diagonal form matrix, received
The energy feature of signal is composed；
Obtaining decision plane from energy feature spectrum includes:
According to the encircled energy of energy feature spectrum, waveform symmetry and local wave function variance from the energy
At least one set of feature vector is extracted in characteristic spectrum；
The feature vector as decision plane is obtained from the feature vector of extraction in the way of pattern classification；
The discrete signal vector for receiving signal samples to obtain by Nyquist law, and sampling length is covered and connect
The predetermined ratio energy of the collection of letters number；
Before obtaining decision plane in composing from the energy feature, the method also includes:
The energy feature is composed and carries out sliding average processing；
The signal acceptance method is applied to the communication system or on-off keying modulation of time-hopping pulse position modulation mode
The communication system of mode；
The eigenvector method of the extraction specifically includes the following steps:
Signal is obtained, data are acquired by sensor and processing is amplified to signal；
Signal carries out segment processing；Mean value, variance, the accumulated value of signal and peak value 4 are extracted in every segment signal
Basic time domain parameter, the case where doubtful leakage is judged whether there is by the difference of 4 parameter values of adjacent segment signal occur
One layer of decision judgement: executing the denoising of step wavelet packet down if having, and no person jumps to execution and obtains signal；
Wavelet packet denoising；The signal of acquisition is denoised using improvement Wavelet Packet Algorithm；
WAVELET PACKET DECOMPOSITION and reconstruct；I.e. using improve Wavelet Packet Algorithm to the signal of acquisition carry out WAVELET PACKET DECOMPOSITION with again
Structure obtains list band reconstruction signal；
Extract signal characteristic parameter；It is extracted in the list band signal of reconstruct: time domain energy, time domain peak, frequency domain energy
The parameter of amount, frequency domain peak value, coefficient of kurtosis, variance, frequency spectrum and coefficient skewness 8 expression signal characteristics；
Composition characteristic vector, that is, utilize principal component analytical method, and Binding experiment analysis selects 3 to 8 from above-mentioned parameter
Can obviously indicate sound emission signal characteristic parameter composition feature vector, and by these feature vectors be input to support vector machines into
The judgement of row decision, i.e., second layer decision judges, judges whether there is leakage according to the output of support vector machines；
Wavelet packet denoising and WAVELET PACKET DECOMPOSITION include: with reconstruct
Signals extension carries out parabola continuation to each layer signal of WAVELET PACKET DECOMPOSITION；
If signal data is x (a), x (a+1), x (a+2), the then expression formula of continuation operator E are as follows:
Eliminate list band un-necessary frequency ingredient；
By the signal after continuation and decompose low-pass filter h0Convolution obtains low frequency coefficient, then calculates by HF-cut-IF
Subprocessing removes extra frequency content, then carries out down-sampling, obtains next layer of low frequency coefficient；By after continuation signal with
Decompose high-pass filter g0Convolution obtains high frequency coefficient, then by LF-cut-IF operator handle, remove extra frequency at
Point, then down-sampling is carried out, next layer of high frequency coefficient is obtained, HF-cut-IF operator uses following formula
LF-cut-IF operator uses following formula
In HF-cut-IF operator public affairs and LF-cut-IF operator formula, x (n) is 2jThe coefficient of wavelet packet, N on scalej
It indicates 2jThe length of data on scale,K=0,1 ..., Nj-1；N=0,1 ..., Nj-1；
The reconstruct of list band signal:
Obtained high and low frequency coefficient is up-sampled, then respectively with high pass reconstruction filter g1It is filtered with low-pass reconstruction
Wave device h1Obtained signal is used HF-cut-IF, LF-cut-IF operator to handle by convolution respectively, obtains list band reconstruction signal.
The step of firepower size deviation detection, is as follows:
(1) color clustering is carried out to firepower sized images using the color space CIELab information, the firepower after identification cluster
Big region or firepower zonule；
Heuristic search lane sideline algorithm is used in the big region of firepower, so that the pixel at edge is detected, to these
Edge pixel point is fitted using least square method；
Judge that algorithm judges whether each pixel is effective edge pixel by reliability, it finally will be all effective
Edge pixel is fitted to the parameter of firepower size matched curve, that is, detects firepower size；
(2) firepower is calculated in current size position, and calculation formula is as follows:
Wherein, y0Indicate firepower central point to Edge Distance, it is known that firepower volume is b, can find out fire according to formula
Distance of the power current location relative to central point to boundary；As Δ y > 0, show that firepower is safety zone；Δ y < 0, is considered as
Firepower has occurred that deviation.
Steps are as follows for firepower hazard analysis:
(1) discussion scope for the factors of evaluation things is determined, wherein it sets set of factors U:U={ u1, u2, u3 }, u1 surpasses within 10%,
U2 surpasses 20%, u3 danger；
(2) evaluation approach domain is selected, wherein set evaluate collection V={ v1, v2 ... v4 }, v1: outstanding, v2: good, v3:
It passes, v4: poor；
(3) it carries out simple element evaluation and obtains membership vector:
ri=(ri1,ri2,…,rim)；
Form subordinated-degree matrix:
(4) it determines factor of evaluation weight vector, collects denumerable value and normalization to judging:
A=(a1,a2,…,an),
Their respective weights are determined according to the extent of injury of each behavior；Wherein u3, u4, u6, u8 danger level are level-one, respectively
Accounting example 3/18, u2, u7 danger level are that second level respectively accounts for 1/9, and u1, u5 danger level are that three-level respectively accounts for 1/18；
(5) Comprehensive Evaluation (Comprehensis pertaining) vector is calculated:
(6) judge is made according to degree of membership maximum principle, calculates comprehensive evaluation value, obtains firepower size behavior grade.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of control method of tea place weeding apparatus, which is characterized in that the control method of the tea place weeding apparatus includes:
The air-tightness data of fuel cartridge are detected using air-tightness detection device by air-leakage test module；Air-tightness detection device
Fuel cartridge leakage gas data is detected and is analyzed by integrated gas leakage detection module, is specifically had:
The characteristic spectrum of gas data signal determines decision plane based on the received；
Judge whether the communication channel for receiving gas data signal is presented mutatis mutandis static conversion characteristic；
When mutatis mutandis static conversion characteristic is presented in the communication channel, selected in the decision plane using support vector machine method
Decision boundary out；
When mutatis mutandis static conversion characteristic is not presented in communication channel, selected in the decision plane using fuzzy clustering method
Decision boundary；
The gas data signal received is detected according to the decision boundary；
The size of safe valve regulation flame is utilized by firepower adjustment module；After safety valve is connect with control module, pass through control
The integrated big minor adjustment program of flame of module carries out the opening size of control safety valve；The big minor adjustment program bag of flame includes:
The firepower sized images data to be adjusted are obtained from firepower adjustment module using integrated correlation function；
Picture format is converted into the accessible IplImage format of OpenCV by QImage, wherein since classifier is in gray scale
It is detected on image, so RGB image is converted into gray level image firstly the need of by cvCvtColor (), is then passed through
CvEqualizeHist () carries out histogram equalization；
Histogram equalization formula are as follows:
Wherein, S in formulakGray value after indicating equalization, ∑ indicate summation, and nj is the pixel of some gray scale j in original image
Quantity, the range of j are 0-k, and N is total number of image pixels；
Trained classifier is first loaded, detection function cvHaarDectectObjects () detection image of OpenCV is recalled
In all firepower sized images, leave position size information；
Realize detection, when judgement first will do pretreatment work to image, and RGB image is converted to gray level image；
Then wherein white area proportion is counted, is decided that when ratio is less than threshold value and change behavior has occurred；
Threshold value chooses the half of the white area average value of preceding 40 frame, is suitable for all firepower sized images；
With fuzzy logic method come to collect information carries out fusion decision.
2. the control method of tea place weeding apparatus as described in claim 1, which is characterized in that the control of the tea place weeding apparatus
Method processed specifically includes:
Step 1 detects tea garden environment temperature data using temperature sensor by temperature detecting module；Pass through Humidity Detection mould
Block detects tea garden environment humidity data using humidity sensor；It is detected by air-leakage test module using air-tightness detection device
The air-tightness data of fuel cartridge；
Step 2 stores liquefied gas as fuel using fuel cartridge by storing module；
Step 3 dispatches ignition module by main control module and carries out ignition operation to combustion gas using igniter；
Step 4 sprays the fire lighted using firn-jet head by flame module；Safe valve regulation is utilized by firepower adjustment module
The size of flame；
Step 5 carries out land mobile operation using Electric Motor Wheel by mobile module；
Step 6 is believed by display module using the tea place temperature, humidity, fuel cartridge air-tightness data of display screen display acquisition
Breath.
3. the control method of tea place weeding apparatus as described in claim 1, which is characterized in that
It is described to determine that decision plane includes: according to the characteristic spectrum for receiving signal
Linear transformation is carried out to the discrete signal vector for receiving signal and obtains unitary transformation matrix；
According in the unitary transformation matrix the elements in a main diagonal and counter-diagonal element calculate receive signal energy feature
Spectrum；
Decision plane is obtained from energy feature spectrum；
According in the unitary transformation matrix the elements in a main diagonal and counter-diagonal element calculate receive signal energy feature
Spectrum includes:
To counter-diagonal element composition matrix carry out square and multiplied by the elements in a main diagonal form matrix, obtain receive signal
Energy feature spectrum；
Obtaining decision plane from energy feature spectrum includes:
According to the encircled energy of energy feature spectrum, waveform symmetry and local wave function variance from the energy feature
At least one set of feature vector is extracted in spectrum；
The feature vector as decision plane is obtained from the feature vector of extraction in the way of pattern classification；
The discrete signal vector for receiving signal samples to obtain by Nyquist law, and sampling length covers reception letter
Number predetermined ratio energy；
Before obtaining decision plane in composing from the energy feature, the method also includes:
The energy feature is composed and carries out sliding average processing；
The signal acceptance method is applied to the communication system or on-off keying modulation system of time-hopping pulse position modulation mode
Communication system；
The eigenvector method of the extraction specifically includes the following steps:
Signal is obtained, data are acquired by sensor and processing is amplified to signal；
Signal carries out segment processing；It is basic that mean value, variance, the accumulated value of signal and peak value 4 are extracted in every segment signal
Time domain parameter, the first layer that the case where judging whether there is doubtful leakage by the difference of 4 parameter values of adjacent segment signal occurs
Decision judgement: executing the denoising of step wavelet packet down if having, and no person jumps to execution and obtains signal；
Wavelet packet denoising；The signal of acquisition is denoised using improvement Wavelet Packet Algorithm；
WAVELET PACKET DECOMPOSITION and reconstruct；I.e. using Wavelet Packet Algorithm is improved to the signal progress WAVELET PACKET DECOMPOSITION of acquisition and reconstruct, obtain
To list band reconstruction signal；
Extract signal characteristic parameter；It is extracted in the list band signal of reconstruct: time domain energy, time domain peak, frequency domain energy, frequency
Domain peak value, coefficient of kurtosis, variance, the parameter of frequency spectrum and coefficient skewness 8 expression signal characteristics；
Composition characteristic vector, that is, utilize principal component analytical method, and Binding experiment analysis selects 3 to 8 energy bright from above-mentioned parameter
The aobvious parameter for indicating sound emission signal characteristic forms feature vector, and these feature vectors are input to support vector machines and are determined
Plan judgement, i.e., second layer decision judges, judges whether there is leakage according to the output of support vector machines；
Wavelet packet denoising and WAVELET PACKET DECOMPOSITION include: with reconstruct
Signals extension carries out parabola continuation to each layer signal of WAVELET PACKET DECOMPOSITION；
If signal data is x (a), x (a+1), x (a+2), the then expression formula of continuation operator E are as follows:
Eliminate list band un-necessary frequency ingredient；
By the signal after continuation and decompose low-pass filter h0Convolution obtains low frequency coefficient, then by HF-cut-IF operator
Reason, removes extra frequency content, then carry out down-sampling, obtains next layer of low frequency coefficient；By after continuation signal and decomposition
High-pass filter g0Convolution obtains high frequency coefficient, then handles by LF-cut-IF operator, removes extra frequency content, then
Down-sampling is carried out, next layer of high frequency coefficient is obtained, HF-cut-IF operator uses following formula
LF-cut-IF operator uses following formula
In HF-cut-IF operator public affairs and LF-cut-IF operator formula, x (n) is 2jThe coefficient of wavelet packet, N on scalejIt indicates
2jThe length of data on scale,K=0,1 ..., Nj-1；N=0,1 ..., Nj-1；
The reconstruct of list band signal:
Obtained high and low frequency coefficient is up-sampled, then respectively with high pass reconstruction filter g1With low-pass reconstruction filter h1
Obtained signal is used HF-cut-IF, LF-cut-IF operator to handle by convolution respectively, obtains list band reconstruction signal.
4. the control method of tea place weeding apparatus as described in claim 1, which is characterized in that
The step of firepower size deviation detection, is as follows:
(1) color clustering is carried out to firepower sized images using the color space CIELab information, the firepower great Qu after identification cluster
Domain or firepower zonule；
Heuristic search lane sideline algorithm is used in the big region of firepower, so that the pixel at edge is detected, to these edges
Pixel is fitted using least square method；
Judge that algorithm judges whether each pixel is effective edge pixel by reliability, finally by all efficient frontiers
Pixel fit detects firepower size at the parameter of firepower size matched curve；
(2) firepower is calculated in current size position, and calculation formula is as follows:
Wherein, y0Indicate firepower central point to Edge Distance, it is known that firepower volume is b, and it is current can to find out firepower according to formula
Distance of the position relative to central point to boundary；As Δ y > 0, show that firepower is safety zone；Δ y < 0 has been considered as firepower
Through being deviateed.
5. the control method of tea place weeding apparatus as described in claim 1, which is characterized in that
Steps are as follows for firepower hazard analysis:
(1) discussion scope for the factors of evaluation things is determined, wherein set set of factors U:U={ u1, u2, u3 }, u1 surpasses within 10%, u2 is super
20%, u3 is dangerous；
(2) evaluation approach domain is selected, wherein set evaluate collection V={ v1, v2 ... v4 }, v1: outstanding, v2: good, v3: and
Lattice, v4: poor；
(3) it carries out simple element evaluation and obtains membership vector:
ri=(ri1,ri2,…,rim)；
Form subordinated-degree matrix:
(4) it determines factor of evaluation weight vector, collects denumerable value and normalization to judging:
A=(a1,a2,…,an),
Their respective weights are determined according to the extent of injury of each behavior；Wherein u3, u4, u6, u8 danger level are level-one, each accounting
Example 3/18, u2, u7 danger level are that second level respectively accounts for 1/9, and u1, u5 danger level are that three-level respectively accounts for 1/18；
(5) Comprehensive Evaluation (Comprehensis pertaining) vector is calculated:
(6) judge is made according to degree of membership maximum principle, calculates comprehensive evaluation value, obtains firepower size behavior grade.
6. the control method of tea place weeding apparatus as claimed in claim 2, which is characterized in that the air-leakage test module inspection
Survey method includes:
(1) one storage cavity of connection and a test chamber；
(2) negative pressure is provided to the storage cavity；
(3) the storage cavity or the pressure of the test chamber are measured, to obtain a first pressure value；
(4) air-tightness of the test chamber is judged according to the negative pressure and the first pressure value；
(5) stop providing the negative pressure to the storage cavity；
(6) the storage cavity or the pressure of the test chamber are measured, to obtain a second pressure value；
(7) after stopping providing one preset time of negative pressure to the storage cavity, the storage cavity or the test chamber are measured
Pressure, to obtain a third pressure value；
(8) air-tightness of the test chamber is judged according to the second pressure value and the third pressure value.
7. the control method of tea place weeding apparatus as claimed in claim 6, which is characterized in that the described negative pressure and first pressure
When the absolute value of the difference of force value is greater than a preset value, the test chamber gas leakage is judged；
When the absolute value of the difference of the negative pressure and the first pressure value is less than or equal to 5kPa, the dynamic gas of the test chamber is judged
Close property is qualified；
When the absolute value of the difference of the negative pressure and the first pressure value is less than or equal to the 5% of the negative pressure, the test chamber is judged
Dynamic air-tightness it is qualified.
8. the control method of tea place weeding apparatus as claimed in claim 6, which is characterized in that the described second pressure value with should
When the absolute value of the difference of third pressure value is greater than a preset value, the test chamber gas leakage is judged；
When the absolute value of the difference of the second pressure value and the third pressure value is less than or equal to 5kPa, the test chamber is judged
Static air-tightness is qualified；
When the absolute value of the difference of the second pressure value and the third pressure value is less than or equal to the 5% of the second pressure value, sentence
Break the test chamber static air-tightness it is qualified.
9. the control method of tea place weeding apparatus as described in claim 1, which is characterized in that the ignition module includes 3V straight
Galvanic electricity source, linkage ignition switch, DC power control and delay circuit, oscillating circuit and electrion mechanism composition, feature
Include:
The linkage ignition switch is by single-pole double-throw switch (SPDT) Kl and single-pole double-throw switch (SPDT) K2, electrolytic capacitor Cl and electrolytic capacitor C2
Composition, the cathode of electrolytic capacitor Cl are connected with the common end of single-pole double-throw switch (SPDT) Kl, the cathode and single-pole double throw of electrolytic capacitor C2
The common end for switching mouth is connected, and the anode of electrolytic capacitor Cl and electrolytic capacitor C2 with connecing circuit GND, single-pole double-throw switch (SPDT) Kl's is normal
The normally-closed contact of closed contact and single-pole double-throw switch (SPDT) gallbladder meets 3V DC power cathode VCC；
The DC power control and delay circuit is made of P-channel field-effect transistor (PEFT) pipe VTl and resistance R1, resistance R2, P-channel field
One end of effect pipe VTl grid connecting resistance Rl and one end of resistance R2, the other end order double-pole double throw switch Kl's of resistance R1 is normal
Contact is opened, the normally opened contact of the other end order double-pole double throw switch K2 of resistance R2, it is straight that the source electrode of P-channel field-effect transistor (PEFT) pipe VT1 meets 3V
Power cathode VCC is flowed, the drain electrode of P-channel field-effect transistor (PEFT) pipe VT1 connects the Same Name of Ends of oscillation transformer B primary coil Ll, 3V direct current
With circuit GND's source anode is connected；
The oscillating circuit and electrion mechanism is by PNP transistor VT2, oscillation transformer B, resistance R3 and electrion
End composition, one end of the base stage connecting resistance R3 of PNP transistor VT2, another termination oscillation transformer B primary coil of resistance R3
The different name end of Ll, the drain electrode of the termination P-channel field-effect transistor (PEFT) pipe VTl of the same name of oscillation transformer B primary coil L2, PNP transistor
The collector of VT2 connects the different name end of oscillation transformer B primary coil L2, the emitter of PNP transistor VT2 with connecing circuit GND,
A termination gas cooker metal shell of oscillation transformer B step-up coil L3, another termination of oscillation transformer B step-up coil L3
Electrion end.
10. a kind of tea place weeding apparatus, which is characterized in that the tea place weeding apparatus includes:
Temperature detecting module is connect with main control module, for detecting tea garden environment temperature data by temperature sensor；
Humidity detecting module is connect with main control module, for detecting tea garden environment humidity data by humidity sensor；
Air-leakage test module, connect with main control module, for detecting the air-tightness number of fuel cartridge by air-tightness detection device
According to；
Main control module, with temperature detecting module, humidity detecting module, air-leakage test module, storing module, ignition module, spray
Fiery module, firepower adjustment module, mobile module, display module connection, work normally for controlling modules by single-chip microcontroller；
Storing module, connect with main control module, for storing liquefied gas as fuel by fuel cartridge；
Ignition module is connect with main control module, for carrying out ignition operation to combustion gas by igniter；
Flame module, connect with main control module, for spraying the fire lighted by firn-jet head；
Firepower adjustment module, connect with main control module, for the size by safe valve regulation flame；
Mobile module is connect with main control module, for carrying out land mobile operation by Electric Motor Wheel；
Display module is connect with main control module, for airtight by the tea place temperature, humidity, fuel cartridge of display screen display acquisition
Property data information.
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| CN113197187A (en) * | 2021-04-23 | 2021-08-03 | 华中科技大学 | Weeding device based on high-voltage discharge |
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| CN113197187A (en) * | 2021-04-23 | 2021-08-03 | 华中科技大学 | Weeding device based on high-voltage discharge |
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