CN105527970B - The vehicle-mounted self-balance method of plant growth sensor and device - Google Patents
The vehicle-mounted self-balance method of plant growth sensor and device Download PDFInfo
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- CN105527970B CN105527970B CN201511005093.8A CN201511005093A CN105527970B CN 105527970 B CN105527970 B CN 105527970B CN 201511005093 A CN201511005093 A CN 201511005093A CN 105527970 B CN105527970 B CN 105527970B
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- gear
- plant growth
- single pendulum
- sensor
- balancing device
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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
A kind of plant growth sensor self balancing device, including single pendulum gear damping system, single pendulum non-circular gear damping system, single pendulum drive system model and control assembly, device can be installed on tractor frame by the plant growth sensor self balancing device by fixed plate 7, first gear 1, second gear 2, third gear 4 and the 4th gear 5 constitute single pendulum gear damping system, non-circular gear 10 constitutes single pendulum non-circular gear damping system with non-circular gear 11, for inhibiting the inclined influence of tractor.A kind of plant growth sensor self-balance method finds out response model of the plant growth sensor self balancing device under different excitations to using kinematics and dynamic analysis by numerical simulation, experiment analytical method.The vehicle-mounted self balancing device of plant growth sensor of the present invention, can be improved the accuracy of crop growing state Sensor monitoring information, avoid the problem of crop growing state Sensor monitoring effect difference caused by being tilted due to tractor.
Description
Technical field
The present invention relates to precision agriculture fields, and in particular to a kind of vehicle-mounted self-balance method of plant growth sensor and dress
It sets.
Background technology
Precision agriculture is the new trend of world today's agricultural development, and principle is the specific item by each operating unit in field
Part, finely accurately adjusts every soil and crop management measure, optimizes every countryside tax system to the maximum extent, to obtain highest
Yield and maximum economic benefit, while agroecological environment is protected, to keep the efficient of agricultural resource to utilize and agricultural industry
Sustainable development.
Wherein big by effect of natural conditions due to agricultural land information, Spatial-Temporal Variability is strong, and it is high to acquire difficulty in real time, and directly into
The bulk information acquisition of row field and processing cost are time-consuming, thus the research and development of the real-time collecting device of agricultural land information and technology have become
For the research emphasis and difficult point in precision agriculture field.In precision agriculture field, when obtaining ground crop growth information, for surveying
The sensor of amount has strict requirements with ground relative position, carry the information acquisition vehicle of sensor often field it is narrow,
It works in the case of Uneven road, environment complexity, the acquisition precision of sensor can be influenced.Therefore it is acquired to improve sensor information
Accuracy, need to reduce and eliminate the influence that the reasons such as ground out-of-flatness generate sensor.Since tractor is walked in field
When, it may occur that tilt phenomenon, and work as crop growing state sensor requirements perpendicular to crop surface, it influences whether to make when generating inclination
The measurement accuracy of object growing way sensor.
Invention content
It is an object of the invention to：In view of the above-mentioned problems, provide a kind of vehicle-mounted self-balance method of plant growth sensor and
Device improves the real-time letter of crop sensor to reduce the influence of inclination that tractor is generated when field is walked to sensor
Cease acquisition precision.
The technical scheme is that：
A kind of plant growth sensor self balancing device, including single pendulum gear damping system, single pendulum non-circular gear damping system
System, single pendulum drive system model and control assembly, the plant growth sensor self balancing device can be by devices by fixed plate
It being installed on tractor frame, first gear, second gear, third gear and the 4th gear constitute single pendulum gear damping system,
Non-circular gear constitutes single pendulum non-circular gear damping system with non-circular gear, for inhibiting the inclined influence of tractor, by the first tooth
Wheel, second gear, third gear and the 4th gear composition single pendulum gear damping system are rack-mount, third gear and the 4th
Gear is mounted on by the pivot pin with bearing in fixed plate, and non-circular gear passes through first with bearing respectively with non-circular gear structure
Pivot pin, the second pivot pin with bearing are rack-mount, and crop growing state sensor is mounted on the adjustable plate of position, gyroscope detection
The posture information of crop growing state sensor will control signal function in single pendulum gear pair and by the first nothing according to scheduled target
The single pendulum drive system model that brush motor driver, the second brushless motor driver and third brushless motor driver are constituted, mesh
Mark control signal uses PID control strategy according to exciter response model, to realize the balance and stability shape of crop growing state sensor
The closed-loop control of state, the control assembly include processor and gyroscope, the appearance of the gyroscope detection crop growing state sensor
State information, the processor according to crop growing state sensor attitude information control described in, the brushless motor driver component control
Single pendulum gear train assembly processed drives the rack components to carry out pose adjustment to crop growing state sensor to ensure crop growing state
Sensor is kept at an angle range with the crop monitored always.
Damping system and transmission system using single pendulum gear subsystem as plant growth sensor self balancing device.
A kind of plant growth sensor self-balance method, it is characterised in that include the following steps：
To using kinematics and dynamic analysis, plant growth sensor is found out by numerical simulation, experiment analytical method
Response model of the self balancing device under different excitations.Single pendulum gear gear mesh force Fn, meshing point and hinge joint length L with
And sensor weight m is related to response model, relationship is：
In formula, A,For constant, it is decided by that the original state of single pendulum gear, f (t) are added excitation.
According to plant growth sensor self balancing device exciter response modelling pid control algorithm, plant growth is realized
The closed-loop control of the balanced steady state of sensor.
The present invention has advantageous effect：
The vehicle-mounted self balancing device of plant growth sensor of the present invention, can be improved the standard of crop growing state Sensor monitoring information
True property avoids the problem of crop growing state Sensor monitoring effect difference caused by being tilted due to tractor.And it is proposed by the invention
The vehicle-mounted self-balance method of plant growth sensor is then conducive to find out the closed-loop control plan of the flat stable state of crop growing state sensor
Slightly.So a kind of vehicle-mounted self-balance method of plant growth sensor and device proposed by the invention are to inhibiting tractor inclination pair
The influence of crop growing state sensor, the monitoring information for promoting crop growing state sensor have valuable help.
Description of the drawings
Fig. 1 is one of the structural schematic diagram of the present invention.
Fig. 2 is the second structural representation of the present invention.
Fig. 3 is the single pendulum damping system schematic diagram of the present invention.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings：
The preferred embodiment of the present invention is as shown in Figure 1, 2, 3：A kind of plant growth sensor self balancing device, including single pendulum
Gear damping system, single pendulum non-circular gear damping system, single pendulum drive system model and control assembly, the plant growth sensing
Device can be installed on tractor frame by device self balancing device by fixed plate 7, first gear 1, second gear 2, third tooth
Wheel 4 and the 4th gear 5 constitute single pendulum gear damping system, and non-circular gear 10 constitutes the damping of single pendulum non-circular gear with non-circular gear 11
System is made of for inhibiting the inclined influence of tractor first gear 1, second gear 2, third gear 4 and the 4th gear 5
Single pendulum gear damping system is installed on the frame 6, and third gear 4 is mounted on by the pivot pin 16 with bearing with the 4th gear 5
In fixed plate 7, non-circular gear 10 passes through the first pivot pin 12 with bearing, the second pivot pin with bearing respectively with 11 structure of non-circular gear
On the frame 6, crop growing state sensor 3 is mounted on position adjustable plate 13 for 14 installations, and gyroscope detects crop growing state sensor 3
Posture information, according to scheduled target will control signal function in single pendulum gear pair and by the first brushless motor driver 8,
The single pendulum drive system model that second brushless motor driver 9 and third brushless motor driver 15 are constituted, target control signal
According to exciter response model use PID control strategy, to realize crop growing state sensor balanced steady state closed loop control
System, the control assembly include processor and gyroscope, and the posture information of the gyroscope detection crop growing state sensor is described
According to described in the control of crop growing state sensor attitude information, the brushless motor driver component control single pendulum gear passes processor
Rack components described in dynamic system drive pose adjustment is carried out to crop growing state sensor with ensure crop growing state sensor always with
The crop monitored is kept at an angle range.
Damping system and transmission system using single pendulum gear subsystem as plant growth sensor self balancing device.
A kind of plant growth sensor self-balance method, it is characterised in that include the following steps：
To using kinematics and dynamic analysis, plant growth sensor is found out by numerical simulation, experiment analytical method
Response model of the self balancing device under different excitations.Single pendulum gear gear mesh force Fn, meshing point and hinge joint length L with
And sensor weight m is related to response model, relationship is：
In formula, A,For constant, it is decided by that the original state of single pendulum gear, f (t) are added excitation.
According to plant growth sensor self balancing device exciter response modelling pid control algorithm, plant growth is realized
The closed-loop control of the balanced steady state of sensor.
To using kinematics and dynamic analysis, plant growth sensor is found out by numerical simulation, experiment analytical method
Response model of the self balancing device under different excitations.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and range is defined, under the premise of not departing from design concept of the present invention, ordinary engineering and technical personnel is to this hair in this field
The all variations and modifications that bright technical solution is made should all fall into protection scope of the present invention, the claimed skill of the present invention
Art content has all been recorded in detail in the claims.
Claims (3)
1. a kind of plant growth sensor self balancing device, including single pendulum gear damping system, single pendulum non-circular gear damping system,
Single pendulum drive system model and control assembly, the plant growth sensor self balancing device can be by devices by fixed plate (7)
It is installed on tractor frame, first gear (1), second gear (2), third gear (4) and the 4th gear (5) constitute single pendulum tooth
Damping system is taken turns, the first non-circular gear (10) constitutes single pendulum non-circular gear damping system with the second non-circular gear (11), for pressing down
The inclined influence of tractor processed constitutes single pendulum by first gear (1), second gear (2), third gear (4) and the 4th gear (5)
Gear damping system is mounted on holder (6), and third gear (4) is pacified by the pivot pin (16) with bearing with the 4th gear (5)
In fixed plate (7), the first non-circular gear (10) passes through the first pivot pin with bearing respectively with the second non-circular gear (11)
(12), the second pivot pin (14) with bearing is mounted on holder (6), and crop growing state sensor (3) is mounted on position adjustable plate
(13) on, gyroscope detects the posture information of crop growing state sensor (3), and signal function will be controlled in list according to scheduled target
Put gear pair and by the first brushless motor driver (8), the second brushless motor driver (9) and third brushless motor driver
(15) the single pendulum drive system model constituted, target control signal use PID control strategy according to exciter response model, to real
The closed-loop control of the balanced steady state of existing crop growing state sensor, the control assembly include processor and gyroscope, described
Gyroscope detects the posture information of crop growing state sensor, and the processor controls institute according to crop growing state sensor attitude information
Stating brushless motor driver component control single pendulum gear train assembly drives the rack components to carry out crop growing state sensor
Pose adjustment, to ensure that crop growing state sensor is kept at an angle range with the crop monitored always.
2. a kind of plant growth sensor self balancing device according to claim 1, it is characterised in that：Using single pendulum gear
Damping system and transmission system of the subsystem as plant growth sensor self balancing device.
3. a kind of plant growth sensor self-balance method, it is characterised in that include the following steps：
Using kinematics and dynamic analysis, found out such as claim 1 or claim by numerical simulation, experiment analytical method
Response model of the plant growth sensor self balancing device under different excitations described in 2, single pendulum gear gear mesh force Fn、
Meshing point and the length L of hinge joint and sensor weight m are related with response model, and relationship is：
In formula, A,For constant, it is decided by that the original state of single pendulum gear, f (t) are added excitation；
According to plant growth sensor self balancing device exciter response modelling pid control algorithm, plant growth sensing is realized
The closed-loop control of the balanced steady state of device.
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 |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105527970A CN105527970A (en) | 2016-04-27 |
| CN105527970B true 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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Families Citing this family (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 |
Citations (5)
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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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040232632A1 (en) * | 2003-02-21 | 2004-11-25 | Beck Michael S. | System and method for dynamically controlling the stability of an articulated vehicle |
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- 2015-12-28 CN CN201511005093.8A patent/CN105527970B/en active Active
Patent Citations (5)
| 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 |
| 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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| CN105527970A (en) | 2016-04-27 |
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