AU2015301386B2 - Real-time adjustment control system and control method for response parameters of castration operation of corn castration machine - Google Patents
Real-time adjustment control system and control method for response parameters of castration operation of corn castration machine Download PDFInfo
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- AU2015301386B2 AU2015301386B2 AU2015301386A AU2015301386A AU2015301386B2 AU 2015301386 B2 AU2015301386 B2 AU 2015301386B2 AU 2015301386 A AU2015301386 A AU 2015301386A AU 2015301386 A AU2015301386 A AU 2015301386A AU 2015301386 B2 AU2015301386 B2 AU 2015301386B2
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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
- G05B19/0428—Safety, monitoring
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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
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2609—Process control
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Abstract
(12):ItH**11f *$itMG*AiEE*ii!$ (19) tW UONM (43)N "*#F WO 2016/050089 At 2016 4 4 1 7 f (07.04.2016) WIPO IPCT (51) R"-O||3 : (CN)= *A (XIE,Bin); |[N ThML. A1H 1/02(2006.01) 651119/042(2006.01) RE X [A k$ h.3#, Gansu 735009 (CN), (21) Ol@ ": PCT/CN2015/079851 (74) ftMA Af:lr fl4 E$#* (*n (22) r$fEtH: 2015 4 5)] 26|l (26.05.2015) *t)(CHOFN IN ELLECI UAL PROPERTY); IlEM -I TfitW [A-lb$6 8V11 [11- A 12 PA (25) $WW : 1215-1218 t, Beijing 10080 (CNB (26) tWrl& (81) ~r4 ~ ~ yW4 51tdLftf (30) P, t): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, 201410511643.2 2014 9 i 29 -1 (29.09.2014) CN 1311, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE,DK,4c , R, K DO, DZ, EC, EE, EG, ES, Fl, GB, (71) $fjA: Mn ftrL fmuRg ws ij . GD, E, Gil, GM, GT, IN, HI, HU, ID, IL, IN, IR, IS, UQUAN OK SEED MACHINERY CO., LTD.) JP, KE, KG, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LU, ICN/CNI; 1Th1 1 Z Wl I EIkIN E, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, Gansu 735009 (CN) NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, (72) CtlA: 1M$l (JA, Shenghuo); [ [M Wil@cki SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, if N I; ]An A [XiXA 3#, Gansu 735009 (CN) 4 VC, VN, ZA, ZM, ZW. N95 (MAO. Enrong); [1 H PI 1 7 M1d1Z I (&4) 4-tM(ROA41M11 ,Z-f i-fS4 NJ±gVf |LX[ A 'k 3#, Gansu 735009 (CN). X41 (JIA, f): ARIPO (BW, GH, GM. KE, LR, LS, MW, MZ, NA, rJn); ''[| H M T $iI k 1 3# RW, SD, SL, ST, SZ, TZ, UGO, ZM, ZW), R Z (AM, AZ, Gansu 735009 (CN), R (XIE, Tao); IN H A BY, KG, KZ, RU, Ti, TM), Kki (AL, AT, BE, DG, CH, -a jN % [ f |N T k F A E K 3#, Gausu 735009 CY, CZ, D OK, FE., ES, Fl, FR, GB, GR, HR, HU, IE, (54) Title REAL-TIME ADJUSTING AND CONTROLLING SYSTEM FOR CASTRATION OPERATION RESPONSE PARA METERS OF CORN CASTRATION MACHINE AND CONTROL METHOD E 1Fig.1 (57) Abstract: A real-time adjusting and controllmig system for castration operation response pammeters of a com castation ma 00 chine and a control method. The adjusting and controlling system comprises a control unit (1), a corn height sensor (2), a vehicle speed sensor (3) and a castration mechanism (4), wherein the input end of the control unit (1) is connected with the corn height sensor (2) and the vehicle speed sensor (3), and the output end of the control unit (1) is connected with the castration mechanism (4), 'When the castration mechanism (4) reaches the position of corn of which height signals are collected, the control unit (I) outputs corresponding execution signals to drive the castration mechanistn (4) according to the corn height signals collected by the com height sensor (2) and real-time vehicle speed signals collected by the vehicle speed sensor (3). The controlling system improves the O accuracy of the castration operation, and meets the requirement for adjusting the response parameters in real time under the condi N ions ofdifferent vehicle speeds and different com production status. (57)*%: W O 2016/050089 A l l111111||||1|||||l||||||||||||1||11||||||1|| |||||| || || ||| IS, IT, LT, LU, LV, MC, MK, MT N, NO, PL, PT, RO, : RS, SE, SI, SK ' SM. TR). GAPI (BF, RLCF, C , C, -A Kt *N I TG)o -C A GQ315tJfflt}4tW1WJE ki 4fllIit, iKi, iL, MR, N$1]E ( i) , 2 X-$IO$ (2) , !I1 %A$ ( 3) , flij( 4) , 1]1 ( l 1) W~ilA-s~niid(2) , 'Vjlf 8 (3 ) 1l6, &1]MT (1l) MJUK196A!M%$;*C ( 4) ; 19 MA4)$ ( 4) fjtNfi ±4)1 nTf, P J~n (1) t43It( ft1 (2) ±3ijt'i§5fT4@ (3) KAnt U l J f] l (4) V L J. iiiltil
Description
Real-time Adjustment Control System and Control Method for Response Parameters of Castration Operation of Corn Castration Machine 2015301386 02 Jun2017
Technical Field
The present invention relates to the field of controlling castration operation, and particularly to a real-time adjustment control system and a control method for response parameters of a castration operation of a corn castration machine.
Background Art A high-clearance self-propelled corn castration machine, which has high castration efficiency and low cost and improves operation conditions, is the best choice for corn tasseling operations in the future. However, the operation speed of a castration machine is different during the operation process due to influence of factors such as driving of the driver, the topographical condition, the soil type, and soil wettability. An existing castration operation control system, when at different operation speeds, cannot yet make a real-time adjustment of response parameter; however, the operation speed is a main factor for determining the response parameter of the castration operation control system, and directly affects whether a castration mechanism can make actions precisely according to a height of a corn.
Disclosure of the Invention
An object of the present invention is to provide a real-time adjustment control system for response parameters of a castration operation of a corn castration machine.
The other object of the present invention is to provide a real-time adjustment control method for response parameters of a castration operation of a corn castration machine, to solve the problem in the prior art that a response parameter cannot be adjusted in real time when the castration operation is at different operation speeds.
In a first aspect, the present invention provides a real-time adjustment control system for response parameters of a castration operation of a corn castration machine. The adjustment control system comprises a control unit, a corn height sensor, a speed sensor, and a castration mechanism. An input end of the control unit is connected with the corn height sensor and the speed sensor, and an output end of the control unit is connected with the castration mechanism. The control unit stores a corn spacing and a distance between the corn height sensor and the castration mechanism, and the control unit calculates a number n of corns between the height sensor and the castration mechanism according to the corn spacing and the distance between the height sensor and the castration mechanism. During the castration operation of the castration mechanism, when the corn height sensor is reading height information of a corn at a position at a certain moment, the speed sensor reads an operation speed at this time into the control unit, as an n-th group of data, wherein n-1 groups of corn height information and speed information data have been already stored in the control unit. The control unit calculates a travelling duration t required for travelling through the distance between the 1 corn height sensor and the castration mechanism at a speed in the n-th group of data, divides the duration t by n to get an executing time t-ι of an execution signal for adjustment of the castration mechanism according to corn height information in a first group of data, and the control unit starts to output a corresponding execution signal according to the corn height information in the first group of data, to push the castration mechanism to extract a corn stamen with an output time of the execution signal being h; then, the control unit deletes the first group of data stored, forwards the remaining stored data in storage position in turn, with the position of the n-th group of data vacated after the forwarding is completed; the corn height sensor and the speed sensor again read corn height information and an operation speed at this time into the control unit, as the n-th group of data, and the control unit takes again the speed in the n-th group of data and a corn height signal in the first group of data at this time to obtain an executing time t2 of an execution signal for adjustment of the castration mechanism, and tn-i and tn are obtained in the same manner. After the executing time tn-i, the castration mechanism arrives at the corn at the position, and at this time, the control unit starts to output an execution signal according to a height signal stored at this time in the first group of data, to push the castration mechanism to extract a corn stamen with an output time of the execution signal being tn. 2015301386 02 Jun2017
In an embodiment, an 8-bit ATMEL microcontroller is used as the control unit.
In another embodiment, the corn height sensor is a photoelectric sensor.
In another embodiment, the corn height sensor is mounted in front of the castration mechanism.
In a second aspect, the present invention provides a real-time adjustment control method for response parameters of a castration operation of a corn castration machine. The method comprises the steps as follows:
Step A: storing, in a control unit, a corn spacing and a distance between a corn height sensor versus and a castration mechanism and the control unit calculating a number n of corns between the height sensor and the castration mechanism according to the corn spacing and the distance between the height sensor and the castration mechanism;
Step B: during castration operation of the castration mechanism, when the corn height sensor is reading height information of a corn at a position (a) at a certain moment, a speed sensor reading an operation speed at this time into the control unit, as an n-th group of data, wherein n-1 groups of corn height information and speed information data have been already stored in the control unit;
Step G: the control unit calculating a traveling duration required for traveling through the distance between the corn height sensor and the castration mechanism at speed in the n-th group of data, dividing the duration t by n to get an executing time ti of an execution signal for adjustment of the castration mechanism according to corn height information in a first group of data, and the control unit starting to output a corresponding execution signal according to the corn height information in the first group of data, to push the castration 2 mechanism to extract a corn stamen with an output time of the execution signal being h; then, the control unit deleting the first group of data stored, forwarding the remaining stored data in storage position in turn, with the position of the n-th group of data vacated after the forwarding is completed; the corn height sensor and the speed sensor again reading corn height information and an operation speed at this time into the control unit, as the n-th group of data, and the control unit taking again the speed in the n-th group of data and a corn height signal in the first group of data at this time to obtain an executing time t2 of an execution signal for adjustment of the castration mechanism, and tn-i and tn are obtained in the same manner; and 2015301386 02 Jun2017
Step D: after the executing time tn-i, the castration mechanism arriving at the corn at the position (a), and at this time, the control unit starting to output an execution signal according to a height signal stored at this time in the first group of data, to push the castration mechanism to extract a corn stamen with an output time of the execution signal being tn.
The beneficial effects of the present invention are as follows: this control system improves preciseness of the castration operation. The corn height position is acquired by the corn height sensor, and according to different realtime operation speeds, the control unit controls and adjusts the time point for starting to output the height adjustment execution signal of the castration mechanism, achieving the real-time adjustment of response parameters for different operation speeds and different corn production conditions, and realizing the precise tasseling and solving the problem that the tasseling cannot carried out due to influence of speed.
Brief Description of Drawings
Fig. 1 is a system block diagram of the present invention.
Detailed Description of Embodiments
Below, the present invention is further described in detail in conjunction with the figure. A real-time adjustment control system for response parameters of a castration operation of a corn castration machine is shown in Fig. 1. This adjustment control system comprises a control unit 1, a corn height sensor 2, a
2A
P01550542CD speed sensor 3, and a castration mechanism 4, wherein an input end of the control unit 1 is connected with the corn height sensor 2 and the speed sensor 3, and an output end of the control unit 1 is connected with the castration mechanism 4, wherein when the castration mechanism 4 arrives at the position of a corn whose height signal is acquired, the control unit 1 outputs, according to a corn height signal acquired by the corn height sensor 2 and a real-time speed signal acquired by the speed sensor 3, a corresponding execution signal to control the castration mechanism 4 to actuate; an 8-bit ATMEL microcontroller is used as the control unit 1, and the corn height sensor 2 is a photoelectric sensor.
The response parameter of the castration operation control system refers to a time period from obtaining the corn height signal to starting to output a height adjustment execution signal of the castration mechanism 4. Because the corn height sensor 2 is mounted a certain distance in front of the castration mechanism 4, actually the castration mechanism 4 is still at a corn behind the corn height sensor 2 while the castration machine is reading corn height information. At this time, an error will be caused that the castration mechanism 4 cannot make adjustment according to the height of the actual corresponding corn if an execution signal is output according to the height information read by the corn height sensor 2, therefore, the execution signal cannot be output immediately after the corn height information is obtained, and contrarily the corresponding height adjustment execution signal starts to be output timely only when the castration mechanism 4 arrives at the position of the corn whose signal is acquired. A real-time adjustment control method for response parameters of an castration operation of a corn castration machine comprises the following steps:
Step A: storing, in a control unit, pre-set precise position information of a corn height sensor versus a castration mechanism;
Step B: a speed sensor feeding, when the corn height sensor acquires a corn height signal, a real-time operation speed signal acquired at this time into the control unit;
Step C: the control unit calculating a traveling duration for traveling through a distance between the corn height sensor and the castration mechanism at a real-time operation speed in the Step B, subtracting a duration of executing the height adjustment execution signal to the castration mechanism from the traveling duration, to obtain a time point for starting to output the height adjustment execution signal of the castration mechanism;
Step D: the control unit, when the castration mechanism arrives at a position of a corn whose height signal is acquired, immediately starting to output the 3
P01550542CD
P01550542CD height adjustment execution signal of the castration mechanism in the Step C, to allow the castration mechanism to precisely extract a corn stamen.
The specific process is as follows: a real-time adjustment control system for response parameters of a castration operation of a corn castration machine firstly stores in the control unit 3 a corn spacing Si and a distance s between the corn height sensor 2 and the castration mechanism 4, and the control unit 3 calculates the number n of corns between the height sensor and the castration mechanism according to the spacing and the distance between the height sensor and the castration mechanism.
When the castration mechanism arrives at one corn, the corn height sensor 2 is reading a height of the n-th corn ahead. During the castration operation, when the corn height sensor 2 is reading height information of a corn “a” at a position at a certain moment, the speed sensor 1 reads an operation speed at this time into the control unit 3, as the n-th group of data, wherein n-1 groups of corn height information and speed information data have been already stored in the control unit 3; the control unit 3 calculates the duration t required for travelling through the distance between the corn height sensor 2 and the castration mechanism 4 at the speed in the n-th group of data; the duration t is divided by n to get an executing time t-ι of the execution signal for adjustment of the castration mechanism according to the corn height information in the first group of data, at this time, the control unit 3 starts to output a corresponding execution signal according to the corn height information in the first group of data, to push the castration mechanism 4 to act. Output time of the execution signal is t-ι. After the output of the execution signal is stopped, the control unit 3 deletes the first group of data stored, the remaining stored data are forwarded in the storage position in turn, and the position of the n-th group of data is vacated after the forwarding is completed. At this time, the corn height sensor 2 and the speed sensor 1 again read corn height information and an operation speed at this time into the control unit 3, as the n-th group of data, and the speed in the n-th group of data and the corn height signal in the first group of data are taken again at this time to obtain an executing time t2, and tn-i and tn are obtained in the same manner. In this way, after the executing time tn-i,, the castration mechanism 4 also arrives at the corn at the position “a”, and at this time, the control unit 3 starts to output the execution signal according to the height signal stored at this time in the first group of data, i.e. the corn height signal at the position “a”, to push the castration mechanism 4 to act, and the output time of the execution signal is tn. 4
P01550542CD
Claims (5)
- The claims defining the invention are as follows:1. A real-time adjustment control system for response parameters of a castration operation of a corn castration machine, wherein the adjustment control system comprises a control unit, a corn height sensor, a speed sensor, and a castration mechanism, wherein an input end of the control unit is connected with the corn height sensor and the speed sensor and an output end of the control unit is connected with the castration mechanism, wherein the control unit stores a corn spacing and a distance between the corn height sensor and the castration mechanism, and the control unit calculates a number n of corns between the height sensor and the castration mechanism according to the corn spacing and the distance between the height sensor and the castration mechanism; during the castration operation of the castration mechanism, when the corn height sensor is reading height information of a corn at a position at a certain moment, the speed sensor reads an operation speed at this time into the control unit, as an n-th group of data, wherein n-1 groups of corn height information and speed information data have been already stored in the control unit; the control unit calculates a travelling duration t required for travelling through the distance between the corn height sensor and the castration mechanism at a speed in the n-th group of data, divides the duration t by n to get an executing time ti of an execution signal for adjustment of the castration mechanism according to corn height information in a first group of data, and the control unit starts to output a corresponding execution signal according to the corn height information in the first group of data, to push the castration mechanism to extract a corn stamen with an output time of the execution signal being ti; then, the control unit deletes the first group of data stored, forwards the remaining stored data in storage position in turn, with the position of the n-th group of data vacated after the forwarding is completed; the corn height sensor and the speed sensor again read corn height information and an operation speed at this time into the control unit, as the n-th group of data, and the control unit takes again the speed in the n-th group of data and a corn height signal in the first group of data at this time to obtain an executing time t2 of an execution signal for adjustment of the castration mechanism, and tn-i and tn are obtained in the same manner; and after the executing time tn_i, the castration mechanism arrives at the corn at the position, and at this time, the control unit starts to output an execution signal according to a height signal stored at this time in the first group of data, to push the castration mechanism to extract a corn stamen With an output time of the execution signal being tn.
- 2. The real-time adjustment control system for response parameters of a castration operation of a corn castration machine according to Claim 1, wherein an 8-bit ATMEL microcontroller is used as the control unit.
- 3. The real-time adjustment control system for response parameters of a castration operation of a corn castration machine according to Claim 1, wherein the corn height sensor is a photoelectric sensor.
- 4. The real-time adjustment control system for response parameters of a castration operation of a corn castration machine according to Claim 1, wherein the corn height sensor is mounted in front of the castration mechanism.
- 5. A real-time adjustment control method for response parameters of a castration operation of a corn castration machine, the method comprising the steps as follows: Step A: storing, in a control unit, a corn spacing and a distance between a corn height sensor and a castration mechanism and the control unit calculating a number n of corns between the height sensor and the castration mechanism according to the corn spacing and the distance between the height sensor and the castration mechanism; Step B: during castration operation of the castration mechanism, when the com height sensor is reading height information of a corn at a position (a) at a certain moment, a speed sensor reading an operation speed at this time into the control unit, as an n-th group of data, wherein n-1 groups of corn height information and speed information data have been already stored in the control unit; Step C: the control unit calculating a traveling duration required for traveling through the distance between the corn height sensor and the castration mechanism at a speed in the n-th group of data, dividing the duration t by n to get an executing time ti of an execution signal for adjustment of the castration mechanism according to corn height information in a first group of data, and the control unit starting to output a corresponding execution signal according to the corn height information in the first group of data, to push the castration mechanism to extract a corn stamen with an output time of the execution signal being t-ι; then, the control unit deleting the first group of data stored, forwarding the remaining stored data in storage position in turn, with the position of the n-th group of data vacated after the forwarding is completed; the corn height sensor and the speed sensor again reading corn height information and an operation speed at this time into the control unit, as the n-th group of data, and the control unit taking again the speed in the n-th group of data and a corn height signal in the first group of data at this time to obtain an executing time Ϊ2 of an execution signal for adjustment of the castration mechanism, and tn-i and tn are obtained in the same manner; and Step D: after the executing time tn.i, the castration mechanism arriving at the corn at the position (a), and at this time, the control unit starting to output an execution signal according to a height signal stored at this time in the first group of data, to push the castration mechanism to extract a corn stamen with an output time of the execution signal being tn.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410511643.2A CN104267644A (en) | 2014-09-29 | 2014-09-29 | Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method |
| CN201410511643.2 | 2014-09-29 | ||
| PCT/CN2015/079851 WO2016050089A1 (en) | 2014-09-29 | 2015-05-26 | Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method |
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| AU2015301386A1 AU2015301386A1 (en) | 2016-04-14 |
| AU2015301386B2 true AU2015301386B2 (en) | 2017-07-27 |
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| CN104267644A (en) * | 2014-09-29 | 2015-01-07 | 酒泉奥凯种子机械股份有限公司 | Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method |
| CN105892456B (en) * | 2015-06-03 | 2018-12-28 | 祖元丁 | One kind being used for uniline crop plant strain head track mark automatic tracking control method |
| CN106489420B (en) * | 2016-10-18 | 2018-09-14 | 刘晓岚 | One kind being used for corncob head cutter device |
| CN114868480A (en) * | 2022-04-08 | 2022-08-09 | 新疆九御科技有限公司 | Multipurpose agricultural intelligent robot |
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| EP2474220A1 (en) * | 2011-01-06 | 2012-07-11 | CNH Belgium N.V. | Automatic header lateral tilt to ground speed response |
| US8381502B2 (en) * | 2011-06-06 | 2013-02-26 | Walter Dunn | Cut sight gauge |
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Also Published As
| Publication number | Publication date |
|---|---|
| AU2015301386A1 (en) | 2016-04-14 |
| WO2016050089A1 (en) | 2016-04-07 |
| CN104267644A (en) | 2015-01-07 |
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