阅读说明：本技术 基于行程感知的行走与排种速度匹配的控制系统及其方法 (Travel sensing-based walking and seed metering speed matching control system and method thereof ) 是由 官洪民 张文举 王东伟 万雨波 刘开欣 鞠杰 李永超 于 2019-07-24 设计创作，主要内容包括：本发明公开一种基于行程感知的行走与排种速度匹配的控制系统及其方法,针对单署均匀排种系统,基于行程感知利用旋转编码器检测行走轮的行进速度判断地形的复杂情况,来控制电机排种,达到均匀播种的目的；利用电机和行走轮的有机配合来实现均匀排种的作业效果。本方案通过触摸屏的参数设置,以单片机为控制核心,实时调节直流电机转速,以带动排种轴按需播种,通过无级变速调速技术和PID控制技术相融合,使高转速输出的拖拉机尾部动力与慢速排种的播种转轴之间实现无障碍的对接,从而保证在不同工况下机具变速前行状况下马铃薯种株距的恒定。(The invention discloses a travel sensing-based walking and seed discharging speed matching control system and a method thereof, aiming at a single-arrangement uniform seed discharging system, a rotary encoder is used for detecting the advancing speed of a walking wheel on the basis of travel sensing to judge the complex situation of the terrain, so as to control the seed discharging of a motor and achieve the purpose of uniform seed discharging; the operation effect of uniform seeding is realized by the organic cooperation of the motor and the travelling wheels. The scheme is that the direct current motor rotating speed is adjusted in real time by setting parameters of the touch screen and using the single chip microcomputer as a control core so as to drive the seed discharging shaft to sow as required, and the tractor tail power with high rotating speed output and the seeding rotating shaft with slow seed discharging are enabled to realize barrier-free butt joint by combining the stepless speed change and speed regulation technology and the PID control technology, so that the constant of the potato seed spacing under the condition that machines and tools move forward at variable speed under different working conditions is ensured.)

1. A control system for matching walking and seed sowing speeds based on stroke sensing is characterized by comprising a microcontroller, a direct current motor, a rotary encoder, a rotating speed measuring module, a PWM (pulse-width modulation) driving module and a touch screen, wherein the rotary encoder, the rotating speed measuring module, the PWM driving module and the touch screen are all connected with the microcontroller;

the rotary encoder is arranged on a travelling wheel and a sowing shaft of the tractor, is used for detecting the speed of the tractor and the sowing speed respectively, and forms a closed-loop speed regulating system with the microcontroller; the touch screen is used as a human-computer interaction interface of the system and used for starting and stopping, data display and parameter setting, and the microcontroller is connected with the touch screen through a communication serial port;

the speed measuring module is used for detecting the speed information of the direct current motor and transmitting the speed information to the microcontroller for analysis and processing, the PWM driving module realizes the speed regulation control of the direct current motor, and the voltage of the direct current motor is changed by a PWM regulation method and A \ D analog quantity in the speed regulation process;

the direct current motor is connected with the microcontroller through the voltage conversion circuit, stable operation of the direct current motor is achieved based on an analog quantity voltage control program, and automatic matching of speed is achieved through voltage adjustment.

2. The travel sensing-based walking and metering speed matching control system according to claim 1, wherein: the microcontroller comprises a starting program module, an encoder detection program module, a filtering oscillation program module, an analog quantity voltage control program module and a PID speed regulation control module.

3. The travel sensing-based walking and metering speed matching control system according to claim 1, wherein: the rotary encoder adopts a photoelectric rotary encoder or an ohm dragon rotary encoder.

4. The control method for matching the walking speed with the seed sowing speed based on the stroke sensing is characterized in that: the method comprises the following steps:

(1) before sowing, sowing personnel input different plant spacing values according to production requirements, click a start working button on a touch screen, input the plant spacing as a character type variable, and transmit the variable to a single chip microcomputer through serial port communication;

(2) during sowing, the number of sowns and the sowing area are displayed on the touch screen in real time, sowing personnel can judge the real-time situation according to the working situation and make a judgment, and the system can be stopped by clicking a touch screen stop button when the sowing is finished;

during sowing, if the actual rotating speed of the sowing machine is detected to be equal to the set rotating speed, sowing is carried out according to a normal program;

if the actual rotating speed of the seeder is less than the set rotating speed, the analog quantity output voltage is increased through the PWM driving module, the rotating speed of the direct current motor is controlled, and automatic matching of the seeding speed is realized;

if the actual rotating speed of the seeder is greater than the set rotating speed, the analog quantity output voltage is reduced through the PWM driving module, the rotating speed of the direct current motor is controlled, and automatic matching of the seeding speed is realized.

5. The travel sensing-based walking and seed metering speed matching control method as claimed in claim 4, wherein: in the step (2), the displayed quantity and the seeding area are floating point numerical values, the pulse number acquired by the rotary encoder is converted into a rotating speed value through a formula, the walking distance is further obtained, and the seeding quantity is calculated through the walking distance; the seeding area is calculated based on the row spacing and the walking distance.

Technical Field

The invention relates to the technical field of agricultural sowing, in particular to a single potato uniform seed sowing system matched with walking and seed sowing speeds based on stroke sensing and a control method thereof.

Background

At present, although the existing sowing method and sowing machine are greatly improved in agricultural production, more problems exist for the complex situation of agriculture in China, and the sowing method and the sowing machine mainly comprise the following aspects: (1) the adaptability to terrain is weak: the rural cultivated land in China has complex topography, more regions with poor landform and more cultivated lands with uneven topography, which puts higher requirements on the plant spacing speed changer of the seeder; (2) the operation effect does not meet the expected requirement: because the technology development time is short, the working reliability of key parts is to be improved and optimized in long-term work so as to improve the working quality; (3) the work efficiency is lower: the manpower cost is high, and simultaneously because the drive ratio of derailleur is fixed, its effect is unstable. Therefore, the precision sowing equipment which can adapt to different varieties and different terrains needs to be developed urgently.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the travel-sensing walking and seed-metering speed matching control system and method are provided, aiming at single-plant uniform seed metering control, uniform seed metering is realized, and the plant spacing is controllable, so that the uniformity and the precision in the seeding process are improved.

The invention is realized by adopting the following technical scheme: a control system for matching walking and seed sowing speeds based on stroke sensing comprises a microcontroller, a direct current motor, a rotary encoder, a rotating speed measuring module, a PWM (pulse width modulation) driving module and a touch screen, wherein the rotary encoder, the rotating speed measuring module, the PWM driving module and the touch screen are all connected with the microcontroller;

the rotary encoder is arranged on a travelling wheel and a sowing shaft of the tractor, is used for detecting the speed of the tractor and the sowing speed respectively, and forms a closed-loop speed regulating system with the microcontroller; the touch screen is used as a human-computer interaction interface of the system and used for starting and stopping, data display and parameter setting, and the microcontroller is connected with the touch screen through a communication serial port;

the speed measuring module is used for detecting the speed information of the direct current motor and transmitting the speed information to the microcontroller for analysis and processing, the PWM driving module realizes the speed regulation control of the direct current motor, and the voltage of the direct current motor is changed by a PWM regulation method and A \ D analog quantity in the speed regulation process;

the direct current motor is connected with the microcontroller through the voltage conversion circuit, stable operation of the direct current motor is achieved based on an analog quantity voltage control program, and automatic matching of speed is achieved through voltage adjustment.

Furthermore, the microcontroller comprises a starting program module, an encoder detection program module, a filtering oscillation program module, an analog quantity voltage control program module and a PID speed regulation control module.

Further, the rotary encoder adopts a photoelectric rotary encoder or an ohm dragon rotary encoder.

The invention also provides a travel sensing-based walking and seed metering speed matching control method, which comprises the following steps:

(1) before sowing, sowing personnel input different plant spacing values according to production requirements, click a start working button on a touch screen, input the plant spacing as a character type variable, and transmit the variable to a single chip microcomputer through serial port communication;

(2) during sowing, the number of sowns and the sowing area are displayed on the touch screen in real time, sowing personnel can judge the real-time situation according to the working situation and make a judgment, and the system can be stopped by clicking a touch screen stop button when the sowing is finished;

during sowing, if the actual rotating speed of the sowing machine is detected to be equal to the set rotating speed, sowing is carried out according to a normal program;

if the actual rotating speed of the seeder is less than the set rotating speed, the analog quantity output voltage is increased through the PWM driving module, the rotating speed of the direct current motor is controlled, and automatic matching of the seeding speed is realized;

if the actual rotating speed of the seeder is greater than the set rotating speed, the analog quantity output voltage is reduced through the PWM driving module, the rotating speed of the direct current motor is controlled, and automatic matching of the seeding speed is realized.

Furthermore, in the step (2), the displayed quantity and the seeding area are floating point numerical values, the number of pulses acquired by the rotary encoder is converted into a rotating speed value through a formula, so that the walking distance is obtained, and then the seeding quantity is calculated through the walking distance; the seeding area is calculated based on the row spacing and the walking distance. .

Compared with the prior art, the invention has the advantages and positive effects that:

the scheme is that the direct current motor rotating speed is adjusted in real time by setting parameters of the touch screen and using the single chip microcomputer as a control core so as to drive the seed discharging shaft to sow as required, and the tractor tail power with high rotating speed output and the seeding rotating shaft with slow seed discharging are enabled to realize barrier-free butt joint by combining the stepless speed change and speed regulation technology and the PID control technology, so that the constant of the potato seed spacing under the condition that machines and tools move forward at variable speed under different working conditions is ensured.

Drawings

FIG. 1 is a functional block diagram of a control system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a PWM control circuit according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a PWM speed regulation principle according to an embodiment of the present invention;

FIG. 4 is a flowchart of a control method according to an embodiment of the present invention.

Detailed Description

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.