CN105527970A - Vehicle-mounted self-balancing method and device for crop growth sensor - Google Patents
Vehicle-mounted self-balancing method and device for crop growth sensor Download PDFInfo
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- CN105527970A CN105527970A CN201511005093.8A CN201511005093A CN105527970A CN 105527970 A CN105527970 A CN 105527970A CN 201511005093 A CN201511005093 A CN 201511005093A CN 105527970 A CN105527970 A CN 105527970A
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- gear
- sensor
- single pendulum
- plant growth
- growth sensor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
Abstract
The invention discloses a self-balancing device for a crop growth sensor. The self-balancing device for a crop growth sensor comprises a single swing gear damping system, a single swing non-circular gear damping system, a single swing gear driving system and a control assembly; the self-balancing device for a crop growth sensor can be installed on a tractor frame via a fixed plate 7; a first gear 1, a second gear 2, a third gear 4 and a fourth gear 5 constitute the single swing gear damping system; a non-circular gear 10 and a non-circular gear 11 constitute the single swing non-circular gear damping system, which is used for suppressing the influence of tractor inclination. A self-balancing method for a crop growth sensor adopts kinematic and dynamic analysis, and adopts numerical simulation and experimental analysis to obtain response models of the self-balancing device for a crop growth sensor under different excitation. The vehicle-mounted self-balancing device for a crop growth sensor can improve the information monitoring accuracy of the crop growth sensor, and solves the problem of poor monitoring effect of the crop growth sensor due to tractor inclination.
Description
Technical field
The present invention relates to precision agriculture field, be specifically related to the vehicle-mounted self-balance method of a kind of plant growth sensor and device.
Background technology
Precision agriculture is the new trend of world today's agricultural development; its principle is the actual conditions by each operating unit of field; meticulously adjust every soil and crop management measure exactly; optimize every countryside tax system to greatest extent; to obtain production peak and maximum economic benefit; protecting agriculture ecologic environment simultaneously, with the sustainable development of the efficiency utilization and agricultural industry that keep agricultural resource.
Wherein because agricultural land information is large by effect of natural conditions, Spatial-Temporal Variability is strong, Real-time Collection difficulty is high, and it is time-consuming directly to carry out field bulk information acquisition and processing cost, and thus the research and development of agricultural land information Real-time Collection equipment and technology have become research emphasis and the difficult point in precision agriculture field.In precision agriculture field, when obtaining ground crop growth information, have strict requirement for the sensor measured and ground relative position, the information acquisition vehicle carrying sensor be everlasting that field is narrow, Uneven road, circumstance complication when work, the acquisition precision of sensor can be affected.Therefore for improving the accuracy that sensor information gathers, need reduce and eliminate the impact that the reasons such as ground out-of-flatness produce sensor.Because tractor is when walking in field, meeting run-off the straight phenomenon, and when crop growing state sensor requirements is perpendicular to crop surface, the measuring accuracy of crop growing state sensor can be had influence on when producing.
Summary of the invention
The object of the invention is to: for the problems referred to above, the vehicle-mounted self-balance method of a kind of plant growth sensor and device are provided, with the inclination reducing to produce when tractor is walked in field on the impact of sensor, improve the real-time information collection precision of crop sensor.
Technical scheme of the present invention is:
A kind of plant growth sensor self balancing device, comprise single pendulum gear damping system, single pendulum non-circular gear damping system, single pendulum gear drive train is unified Control Component, device can be installed on tractor frame by fixed head by described plant growth sensor self balancing device, first gear, second gear, 3rd gear and the 4th gear form single pendulum gear damping system, non-circular gear and non-circular gear form single pendulum non-circular gear damping system, the impact of tilting for suppressing tractor, by the first gear, second gear, it is rack-mount that 3rd gear and the 4th gear form single pendulum gear damping system, 3rd gear and the 4th gear are all by being with the pivot pin of bearing to be arranged on fixed head, non-circular gear and non-circular gear structure are respectively by the first pivot pin being with bearing, the second pivot pin with bearing is rack-mount, crop growing state sensor is arranged on the adjustable plate of position, gyroscope detects the attitude information of crop growing state sensor, control signal acted on single pendulum gear pair according to predetermined target and by the first brushless motor driver, the single pendulum drive system model that second brushless motor driver and the 3rd brushless motor driver are formed, target control signal adopts PID control strategy according to exciter response model, thus realize the closed-loop control of the balanced steady state of crop growing state sensor, described Control Component comprises processor and gyroscope, described gyroscope detects the attitude information of crop growing state sensor, described in described processor controls according to crop growing state sensor attitude information, described brushless motor driver assembly controls single pendulum gear train assembly and drives described housing assembly to carry out pose adjustment to ensure that crop growing state sensor is kept at an angle scope with monitored crop all the time to crop growing state sensor.
Adopt single pendulum gear pair system as the damping system of plant growth sensor self balancing device and kinematic train.
A kind of plant growth sensor self-balance method, is characterized in that comprising the following steps:
To employing kinematics and dynamic analysis, find out the response model of plant growth sensor self balancing device under difference excitation by numerical simulation, experiment analytical method.Single pendulum gear gear mesh force F
n, the length L of meshing point and pin joint and sensor weight m is relevant with response model, its pass is:
In formula, A,
for constant, be decided by the original state of single pendulum gear, f (t) is added excitation.
According to plant growth sensor self balancing device exciter response modelling pid control algorithm, realize the closed-loop control of the balanced steady state of plant growth sensor.
The present invention has beneficial effect:
The vehicle-mounted self balancing device of plant growth sensor of the present invention, can improve the accuracy of crop growing state Sensor monitoring information, avoids the problem of the crop growing state Sensor monitoring weak effect tilting to cause due to tractor.The vehicle-mounted self-balance method of plant growth sensor proposed by the invention is then conducive to the Closed-loop Control Strategy finding out the flat steady state (SS) of crop growing state sensor.So the vehicle-mounted self-balance method of a kind of plant growth sensor proposed by the invention and the monitoring information of device on the impact suppressing tractor inclination on crop growing state sensor, lifting crop growing state sensor have valuable help.
Accompanying drawing explanation
Fig. 1 is one of structural representation of the present invention.
Fig. 2 is structural representation two of the present invention.
Fig. 3 is single pendulum damping system schematic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described:
The preferred embodiments of the present invention are as Fig. 1, 2, shown in 3: a kind of plant growth sensor self balancing device, comprise single pendulum gear damping system, single pendulum non-circular gear damping system, single pendulum gear drive train is unified Control Component, device can be installed on tractor frame by fixed head 7 by described plant growth sensor self balancing device, first gear 1, second gear 2, 3rd gear 4 and the 4th gear 5 form single pendulum gear damping system, non-circular gear 10 and non-circular gear 11 form single pendulum non-circular gear damping system, the impact of tilting for suppressing tractor, by the first gear 1, second gear 2, 3rd gear 4 and the 4th gear 5 form single pendulum gear damping system and install on the frame 6, 3rd gear 4 and the 4th gear 5 are all by being with the pivot pin 16 of bearing to be arranged on fixed head 7, non-circular gear 10 and non-circular gear 11 structure are respectively by the first pivot pin 12 being with bearing, the second pivot pin 14 with bearing is installed on the frame 6, crop growing state sensor 3 is arranged on position adjustable plate 13, gyroscope detects the attitude information of crop growing state sensor 3, control signal acted on single pendulum gear pair according to predetermined target and by the first brushless motor driver 8, the single pendulum drive system model that second brushless motor driver 9 and the 3rd brushless motor driver 15 are formed, target control signal adopts PID control strategy according to exciter response model, thus realize the closed-loop control of the balanced steady state of crop growing state sensor, described Control Component comprises processor and gyroscope, described gyroscope detects the attitude information of crop growing state sensor, described in described processor controls according to crop growing state sensor attitude information, described brushless motor driver assembly controls single pendulum gear train assembly and drives described housing assembly to carry out pose adjustment to ensure that crop growing state sensor is kept at an angle scope with monitored crop all the time to crop growing state sensor.
Adopt single pendulum gear pair system as the damping system of plant growth sensor self balancing device and kinematic train.
A kind of plant growth sensor self-balance method, is characterized in that comprising the following steps:
To employing kinematics and dynamic analysis, find out the response model of plant growth sensor self balancing device under difference excitation by numerical simulation, experiment analytical method.Single pendulum gear gear mesh force F
n, the length L of meshing point and pin joint and sensor weight m is relevant with response model, its pass is:
In formula, A,
for constant, be decided by the original state of single pendulum gear, f (t) is added excitation.
According to plant growth sensor self balancing device exciter response modelling pid control algorithm, realize the closed-loop control of the balanced steady state of plant growth sensor.
To employing kinematics and dynamic analysis, find out the response model of plant growth sensor self balancing device under difference excitation by numerical simulation, experiment analytical method.
Embodiment recited above is only be described the preferred embodiment of the present invention; not the spirit and scope of the present invention are limited; do not departing under design concept prerequisite of the present invention; the various modification that in this area, common engineering technical personnel make technical scheme of the present invention and improvement; all should fall into protection scope of the present invention, the technology contents of request protection of the present invention is all recorded in detail in the claims.
Claims (3)
1. a plant growth sensor self balancing device, comprise single pendulum gear damping system, single pendulum non-circular gear damping system, single pendulum gear drive train is unified Control Component, device can be installed on tractor frame by fixed head (7) by described plant growth sensor self balancing device, first gear (1), second gear (2), 3rd gear (4) and the 4th gear (5) form single pendulum gear damping system, non-circular gear (10) and non-circular gear (11) form single pendulum non-circular gear damping system, the impact of tilting for suppressing tractor, by the first gear (1), second gear (2), 3rd gear (4) and the 4th gear (5) form single pendulum gear damping system and are arranged on support (6), 3rd gear (4) and the 4th gear (5) are all by being with the pivot pin of bearing (16) to be arranged on fixed head (7), non-circular gear (10) and non-circular gear (11) structure are respectively by the first pivot pin (12) being with bearing, the second pivot pin (14) with bearing is arranged on support (6), crop growing state sensor (3) is arranged on position adjustable plate (13), gyroscope detects the attitude information of crop growing state sensor (3), control signal acted on single pendulum gear pair according to predetermined target and by the first brushless motor driver (8), the single pendulum drive system model that second brushless motor driver (9) and the 3rd brushless motor driver (15) are formed, target control signal adopts PID control strategy according to exciter response model, thus realize the closed-loop control of the balanced steady state of crop growing state sensor, described Control Component comprises processor and gyroscope, described gyroscope detects the attitude information of crop growing state sensor, described in described processor controls according to crop growing state sensor attitude information, described brushless motor driver assembly controls single pendulum gear train assembly and drives described housing assembly to carry out pose adjustment to ensure that crop growing state sensor is kept at an angle scope with monitored crop all the time to crop growing state sensor.
2. a kind of plant growth sensor self balancing device according to claim 1, is characterized in that: adopt single pendulum gear pair system as the damping system of plant growth sensor self balancing device and kinematic train.
3. a plant growth sensor self-balance method, is characterized in that comprising the following steps:
To employing kinematics and dynamic analysis, find out the response model of plant growth sensor self balancing device under difference excitation by numerical simulation, experiment analytical method, single pendulum gear gear mesh force F
n, the length L of meshing point and pin joint and sensor weight m is relevant with response model, its pass is:
In formula, A,
for constant, be decided by the original state of single pendulum gear, f (t) is added excitation.
According to plant growth sensor self balancing device exciter response modelling pid control algorithm, realize the closed-loop control of the balanced steady state of plant growth sensor.
According to plant growth sensor self balancing device exciter response modelling pid control algorithm, realize the closed-loop control of the balanced steady state of plant growth sensor.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511005093.8A CN105527970B (en) | 2015-12-28 | 2015-12-28 | The vehicle-mounted self-balance method of plant growth sensor and device |
| PCT/CN2016/112803 WO2017114438A1 (en) | 2015-12-28 | 2016-12-28 | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
| US16/066,802 US10539437B2 (en) | 2015-12-28 | 2016-12-28 | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511005093.8A CN105527970B (en) | 2015-12-28 | 2015-12-28 | The vehicle-mounted self-balance method of plant growth sensor and device |
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| Publication Number | Publication Date |
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| CN105527970A true CN105527970A (en) | 2016-04-27 |
| CN105527970B CN105527970B (en) | 2018-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201511005093.8A Active CN105527970B (en) | 2015-12-28 | 2015-12-28 | The vehicle-mounted self-balance method of plant growth sensor and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017114438A1 (en) * | 2015-12-28 | 2017-07-06 | 南京农业大学 | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
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| CN2500515Y (en) * | 2001-08-19 | 2002-07-17 | 高林 | Automatic control device for balance of car |
| US6540039B1 (en) * | 1999-08-19 | 2003-04-01 | Massachusetts Institute Of Technology | Omnidirectional vehicle with offset wheel pairs |
| US20040232632A1 (en) * | 2003-02-21 | 2004-11-25 | Beck Michael S. | System and method for dynamically controlling the stability of an articulated vehicle |
| CN102132645A (en) * | 2011-03-03 | 2011-07-27 | 浙江理工大学 | Wide/narrow row transplanting mechanism with helical planetary gear train for walking seedling planting machine |
| CN202331207U (en) * | 2011-11-25 | 2012-07-11 | 中国电子科技集团公司第三十八研究所 | Passive control stabilizing platform based on damping technology |
| CN105179887A (en) * | 2015-08-07 | 2015-12-23 | 中国人民武装警察部队后勤学院 | Anti-bumping two-dimensional automatic balancing instrument |
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2015
- 2015-12-28 CN CN201511005093.8A patent/CN105527970B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6540039B1 (en) * | 1999-08-19 | 2003-04-01 | Massachusetts Institute Of Technology | Omnidirectional vehicle with offset wheel pairs |
| CN2500515Y (en) * | 2001-08-19 | 2002-07-17 | 高林 | Automatic control device for balance of car |
| US20040232632A1 (en) * | 2003-02-21 | 2004-11-25 | Beck Michael S. | System and method for dynamically controlling the stability of an articulated vehicle |
| CN102132645A (en) * | 2011-03-03 | 2011-07-27 | 浙江理工大学 | Wide/narrow row transplanting mechanism with helical planetary gear train for walking seedling planting machine |
| CN202331207U (en) * | 2011-11-25 | 2012-07-11 | 中国电子科技集团公司第三十八研究所 | Passive control stabilizing platform based on damping technology |
| CN105179887A (en) * | 2015-08-07 | 2015-12-23 | 中国人民武装警察部队后勤学院 | Anti-bumping two-dimensional automatic balancing instrument |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017114438A1 (en) * | 2015-12-28 | 2017-07-06 | 南京农业大学 | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
| US10539437B2 (en) | 2015-12-28 | 2020-01-21 | Nanjing Agricultural University | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
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| CN105527970B (en) | 2018-07-13 |
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