CN101840211A - Variable control device for fertilizing and sowing - Google Patents
Variable control device for fertilizing and sowing Download PDFInfo
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Abstract
The invention relates to the agricultural machinery, in particular to a variable control device for fertilizing and sowing and belongs to the variable input technology of the fine agricultural intelligent machinery. The variable control device overcomes the defects and solves the problems of an actuating mechanism of a conventional variable control device for fertilizing and sowing and solves the problems of inconvenience use and increased cost caused by an IC card serving as the variable work prescribing information storage medium. The device comprises a singlechip and a GPS or DGPS communication control module connected with the singlechip, wherein the singlechip is connected with a USB memory device read-write control module and a step motor driving circuit; a step motor adjusts and controls the actuating mechanism; the actuating mechanism comprises an impulse stepless speed variator; and the step motor drives an adjusting shaft of the impulse stepless speed variator through a worm wheel-worm reducing mechanism. The variable control device of the invention is specially used for controlling the fine agricultural variable fertilizing and variable sowing work.
Description
Technical field
The present invention relates to agricultural machinery, particularly fertilising and sowing agricultural machinery are specially and are used to the variable control device that applies fertilizer and sow, belong to the intelligent agricultural machinery variable of precision agriculture input technology.
Background technology
" precision agriculture " is the hot fields of research of agricultural science in the world in recent years, and it is the combination of existing agricultural production measure and modern high technology.Application by automated control technologies such as Geographic Information System, Global Positioning System (GPS), remote sensing, actual conditions according to each operating unit of field, meticulous every control measures of adjusting soil and crop exactly, optimize to greatest extent and use every agricultural to drop into, transfer soil productivity, reach equal income or higher income, improve environment with input minimum or that save most, utilize all kinds of agricultural resources efficiently, obtain good economic benefit and environmental benefit.
At present, abroad be used to apply fertilizer and the topworks of the variable control device sowed mainly contains control modes such as automatically controlled, hydraulic control, gas control and mechanical speed change, these mechanism controls difficulty are big, price is high, directly introduce and are difficult in domestic application.Variable fertilization, its variable topworks of seeder of more domestic scientific research institutions of colleges and universities development mainly adopts two types on electric-controlled mechanical stepless change type and motor direct-drive type.Electric-controlled mechanical buncher variable topworks aspect, its gear ratio governor motion adopts DC servo-motor, lead screw pair, gear ratio signal feedback assembly, Control of DC Servo Motor device etc., realize closed-loop control to mechanical stepless transmission, control mode is comparatively complicated, and the height of controlling cost.Motor direct-drive type variable topworks is by one-chip computer; stepper motor driver; stepper motor; the ground wheel speed sensor; compositions such as fertilizer (kind) device; owing to use motor direct-drive fertilizer apparatus and feed mechanism for seed axle to rotate; and vehicle power supply electric power provides limited; driving number can not be too much; otherwise driving moment is excessive; simultaneously in order to export bigger torque; select the stepper motor of relative-high voltage rated for use; can't directly utilize the electric power of tractor generators output like this; must be through inversion boosting; this control method causes the genset overload through regular meeting because resistance is changeed; and unstable properties; it realizes more complicated, and the cost height is difficult with the fertilizer applicator and the seeder of wheel drive combine routinely at present.
The starting point of precision agriculture Variable Control is that the land for growing field crops piece is refined as little field piece, collect the field status information by little field piece, make operating decision according to its otherness, promptly work out out field fertilization or sowing variable operation prescription information according to field status informations such as current soil nutrient situation and crop growth conditions, comprise farming variable job informations such as due rate of fertilizer application of field zones of different or application rate, locating information, stepper motor step value in the operation prescription information, and implemented targetedly.But different farmlands, the agricultural land information distribution space differs greatly, and causes the size definition gap of unit grids working area bigger, so just must adopt the GPS or the DGPS of different accuracy according to sizing grid.The GPS locating information of set form and baud rate is all adopted in Variable Control operating system gps signal decipher at present both at home and abroad, adaptability a little less than, the cost height.
Aspect variable operation prescription information storage medium, both at home and abroad most equipment adopts IC-card, but the microcomputer of standard configuration is not at present supported IC-card, must increase equipment carries out the read-write operation of IC-card, causes and uses inconvenience and cost increase.
Precision agriculture is the new trend of world today's agricultural development, and as the reading intelligent agriculture plant equipment of " precision agriculture " technology of support, domestic is to introduce advanced foreign technology equipment, the follow-up study that digests, absorbs substantially.Research and development is fit to the advanced person's with independent intellectual property right of China's national situation automatic variable operation control technology, has great social significance.
Summary of the invention
The present invention is in order to solve the problem that the existing variable control device that is used to apply fertilizer and sows exists, particularly existing defective of its topworks and problem, and the use inconvenience that caused as variable operation prescription information storage medium of IC-card and the problem of cost increase, a kind of variable control device of applying fertilizer and sowing of being used to is provided, particularly its topworks is simple in structure for this device, cost low and with the USB memory device as variable operation prescription information storage medium, can easily be applied to realize quantity-variation type seeding and variable fertilization on the fertilizer applicator and seeder of present wheel drive routinely.
The present invention is that another purpose is to solve the GPS locating information that set form and baud rate are all adopted in Variable Control operating system gps signal decipher both at home and abroad at present, adaptability a little less than, the problem that cost is high.
The present invention adopts following technical scheme to realize: be used to the variable control device that applies fertilizer and sow, comprise the single-chip microcomputer that corresponding Control Software is supported, the GPS or the DGPS communication control module that link to each other with the singlechip serial communication interface through the serial ports control chip, the LCD MODULE that links to each other with single-chip microcomputer, be connected with USB memory device read-write control module on the single-chip microcomputer, be connected with the USB memory device that is stored with field fertilization or sowing variable operation prescription information with USB memory device read-write control module, the general input/output port of single-chip microcomputer is connected with stepper motor driving circuit, and stepper motor implements to regulate control to topworks; Topworks comprises pulse-type continuously variable transmission, the power input shaft of pulse-type continuously variable transmission and (fertilizer applicator or seeder) be chain-chain sprocket drive between the wheel shaft drivingly, chain-chain sprocket drive between the power output shaft of pulse-type continuously variable transmission and (fertilizer applicator or seeder) fertilizer or the feed shaft, stepper motor drive the regulating shaft (rotating shaft of arc speed adjusting plate) of pulse-type continuously variable transmission through turbine and worm decelerator.During work, utilize USB memory device read-write control module to read, provide field fertilization or sowing variable operation prescription information; Utilize GPS or DGPS control module (GPS or DGPS control module link to each other with GPS or DGPS receiver during use) to obtain the dynamic positional information in operation agricultural machinery field; Single-chip microcomputer combines agricultural machinery field dynamic location information with farm work farming prescription information, form the intelligent agricultural machinery job control information and regulate and control variable operation control executing mechanism, be the action and the state of control step motor, drive worm type of reduction gearing to regulate the gear ratio of pulse-type continuously variable transmission, thereby regulate the rotating speed of fertilizer or feed shaft, realize field variable fertilization and quantity-variation type seeding Based Intelligent Control; Device uses the open loop of regulating shaft (but not directly driving fertilizer apparatus or feed mechanism for seed axle) the realization regulating shaft angular displacement of step motor drive variator accurately to control, the stepper motor power demand is little, need not large power supply, stable and reliable operation, can be easily with the fertilizer applicator and the seeder of wheel drive combine routinely at present, worm-gear speed reducer itself has the moment of torsion of increase and auto-lock function simultaneously, can accurately regulate the arc speed adjusting plate angle of pulse-type continuously variable transmission fast, to change gear ratio, and fix its position, and then realize operation agricultural machinery variable operation control.As variable operation prescription information storage medium, make things convenient for use with the USB memory device, reduced cost.Described pulse-type continuously variable transmission is existing known products.
During concrete enforcement, multiple stepper motor driving circuit can easily be designed in this area particularly technician in automatic control field.The present invention has provided a kind of particular circuit configurations of stepper motor driving circuit, and this stepper motor driving circuit more reasonable structure is moved more reliable and more stable.It comprises the three-phase winding drive circuit of the stepper motor that links to each other with the controller general input/output port, every phase winding driving circuit comprises the photoelectric coupled device (isolate by photoelectric coupled device, can avoid the big electric current of stepper motor that single-chip microcomputer is caused interference) that a not gate, Sheffer stroke gate output terminal link to each other, the Darlington transistor (as the driving stage of stepper motor) that links to each other with the output terminal of photoelectric coupled device.Single-chip microcomputer is according to agricultural machinery field dynamic location information and the different control signal of farm work farming prescription information output, and is effective with high level; High level makes light emitting diode dead electricity in the photoelectric coupled device through not gate, and the phototriode in the photoelectricity coupling unit ends, and then the Darlington transistor conducting, and the corresponding phase winding of stepper motor gets electric, makes stepper motor produce corresponding actions.
Undoubtedly, the normal operation of described variable control device be unable to do without the support of the corresponding Control Software of single-chip microcomputer, described Control Software is that those skilled in the art realize easily, at least (the GPS locating information of set form and baud rate is all adopted in its gps signal decipher can to adopt the existing employed Control Software of variable control device, adaptability a little less than, the cost height).The present invention is in order to solve the GPS locating information that set form and baud rate are all adopted in Variable Control operating system gps signal decipher both at home and abroad at present, adaptability a little less than, the problem that cost is high, promptly in order to adapt to different model GPS or DGPS, adopt the standard baud rate method of exhaustion in the Single-chip Controlling software design, SMOD and the timer initial value of single-chip microcomputer serial communication control register PCON are set according to following table, change single-chip microcomputer (microprocessor) serial port baud rate time constant, and attempt receiving " $ " character that GPS or DGPS send with different baud rates, up to correctly receiving, and the synchronous mark position is set is 1, realizes that the GPS of different baud rates or DGPS and single-chip microcomputer asynchronous serial communication baud rate detect identification automatically; To the decipher of different length NMEA-0183 statement, separator ", " detects in the character string to receiving in the program design, to realize the transmission and the decipher of different accuracy and model GPS or DGPS spatial data.
The invention provides a kind of field variable operation intelligence controlling device based on the USB memory device, the GPS or the DGPS receiver that can adapt to different accuracy, agricultural machinery real time job locating information is obtained in decipher, in conjunction with the farm work farming prescription information that the monolithic microprocessing systems reads from the USB memory device, form the intelligent agricultural machinery job control information and regulate and control variable operation control executing mechanism; Topworks's reasonable in design, novelty, problems such as topworks's complexity that prior art exists, cost height have better been solved, and adjust through simple, this variable control device just can be applied to realize quantity-variation type seeding and variable fertilization on the fertilizer applicator and seeder of present wheel drive routinely.As variable operation prescription information storage medium, make things convenient for use with the USB memory device, reduced cost.Variable control device of the present invention is exclusively used in precision agriculture variable fertilization and quantity-variation type seeding operation control.
Description of drawings
Fig. 1 is the structured flowchart of the variable control device that is used to apply fertilizer and sows of the present invention;
Fig. 2 is the stepper motor driving circuit schematic diagram;
Fig. 3 is the structural representation of topworks;
Fig. 4 is for being serial ports control chip---the hardware structure diagram of MAX232 chip;
Fig. 5 is the Changing Pattern of pulse-type continuously variable transmission ratio of gear with speed governing shaft angle degree;
Fig. 6 is the Changing Pattern of pulse-type continuously variable transmission ratio of gear rate of change with the stepper motor corner;
Fig. 7 is a Hall element speed detect circuit schematic diagram;
Among the figure: 1-driving land wheel; 2-drive sprocket; 3-pulsating mechanical stepless transmission; 4-output chain gear; 5-transmission output shaft; 6-input sprocket; 7-transmission input shaft; 8-seeding (fertilizer) axle; 9-driven sprocket; 10-variator regulating shaft; 11-worm and gear (pair) reducing gear; 12-shaft coupling; 13-stepper motor.
Embodiment
Be used to the variable control device that applies fertilizer and sow, comprise the single-chip microcomputer that corresponding Control Software is supported, the GPS or the DGPS communication control module that link to each other with the singlechip serial communication interface through the serial ports control chip, the LCD MODULE that links to each other with single-chip microcomputer, be connected with USB memory device read-write control module on the single-chip microcomputer, be connected with the USB memory device that is stored with field fertilization or sowing variable operation prescription information with USB memory device read-write control module, the general input/output port of single-chip microcomputer is connected with stepper motor driving circuit, and 13 pairs of topworkies of stepper motor implement to regulate control; Topworks comprises pulse-type continuously variable transmission 3, chain-chain sprocket drive between 1 of the power input shaft 7 of pulse-type continuously variable transmission and (fertilizer applicator or seeder) driving land wheel, chain-chain sprocket drive between the power output shaft 5 of pulse-type continuously variable transmission and (fertilizer applicator or seeder) fertilizer or the feed shaft 8, stepper motor 13 drive the regulating shaft 10(arc speed adjusting plate rotating shaft of pulse-type continuously variable transmission through turbine and worm decelerator 11).During concrete enforcement, single-chip microcomputer is selected AT89S55 for use; The size definition gap of precision agriculture variable input unit grid work area is bigger, so just must adopt the GPS or the DGPS of different accuracy according to sizing grid.This be used for applying fertilizer and the variable control device sowed adopt the AG132 of sub-meter grade or be widely used in GPS25-lvsOEM plate that the GARMIN company of precision agriculture produces as GPS or DGPS communication control module gathering operation agricultural machinery locating information, and be that the serial ports control chip links to each other with the serial communication interface of one chip microcomputer by U.S.'s letter MAX232 of company chip.Hardware configuration such as Fig. 4, MAX232 chip can change two groups of serial communication signals, use TXD2 to be connected with GPS with RXD2 in this module, and MCU_RXD is connected with single-chip microcomputer with MCU_TXD.The electric capacity of four 1uf that the MAX232 chip is external is boost capacitor.The usb bus common interface chip CH375B that permanent company limited produces oozes in USB memory device read-write control module employing Nanjing.This chip is supported HOST host mode and slave unit mode, and dynamically switches main frame and slave unit mode.The usb host mode of CH375 is supported various USB commonly used equipment at full speed, the also built-in private communication protocol firmware of handling mass memory unit, and support meets the Bulk-Only host-host protocol.Under the USB-HOST pattern, realize the control of chip microprocessor to the USB movable storage device, finish the storage with the agricultural machinery and implement work information of reading of agricultural machinery working prescription information, and under the USB-DEVICE pattern, communicate by letter with PC, carry out exchanges data.LCD MODULE adopts ts12864A-3, and this inside modules has control module, carries Chinese character base, can character display, character, picture.Module has two instruction set: basic instruction set and expansion instruction set, can come the selection instruction collection by control word.LCD is by the 74LS00(Sheffer stroke gate) with the 74HC138(code translator) be connected with the AT89S55P0 mouth, peripherals adopts storer to unify addressing mode, known by the hardware connection: the write command code address is 0xe000, the write data code address is 0xe100, the read states instruction address is 0xe200, and the read data instruction address is 0xe300.During demonstration, content displayed writes in the display random access memory, and control module will be controlled demonstration automatically.This module can show four lines, and eight words of every row show 32 Chinese characters at most.
Stepper motor driving circuit as shown in Figure 2, the three-phase winding drive circuit that comprises the stepper motor that links to each other with the controller general input/output port, every phase winding driving circuit comprises the photoelectric coupled device (isolate by photoelectric coupled device, can avoid the big electric current of stepper motor that single-chip microcomputer is caused interference) that a not gate, Sheffer stroke gate output terminal link to each other, the Darlington transistor (as the driving stage of stepper motor) that links to each other with the output terminal of photoelectric coupled device.The general input and output P1 of one chip microcomputer AT89S55 mouth output step motor control signal, P1.0 control A phase winding driving circuit, P1.1 control B phase winding driving circuit, P1.2 control C phase winding driving circuit, isolate by photoelectric coupled device P621 in control signal output stage and step motor drive inter-stage, can avoid the big electric current of stepper motor that single-chip microcomputer is caused interference like this, driving stage adopts Darlington transistor TIP127 and stepper motor to join.
Two-stage chain transmission is adopted in topworks's main transmission, and the centre installs the pulsating mechanical stepless transmission additional, is driven by walking ground wheel 1, can realize the synchronous of unit pace and seeding (fertilizer) process.The route of transmission of power: drive land wheel 1 → drive sprocket, 2 → input sprocket, 6 → input shaft, 7 → pulse-type continuously variable transmission, 3 → output shaft, 5 → output chain gear, 4 → driven sprocket, 9 → seeding (fertilizer) axle 8.The variable of fertilizer or feed shaft 8 is implemented, and the ratio of gear that changes system by pulse-type continuously variable transmission 3 is realized.According to the operating characteristic of pulse-type continuously variable transmission, the range of adjustment of variator regulating shaft 10 is 0～45 °, and correspondingly transmission ratio is 0～0.5921, and its Changing Pattern as shown in Figure 5.The angular adjustment of variator regulating shaft 10, stepper motor 13 by gps system control drives, it by shaft coupling 12 and reduction gear ratio 1: 40 worm and gear sub-control, can utilize the mechanical precision and the auto-lock function of worm and gear transmission, realize the accurate location of variator regulating shaft 10, guarantee the accuracy of system's ratio of gear.The transmission ratio rate of change with stepper motor corner and rule as shown in Figure 6.As seen, in speed adjustable range, 1 ° of stepper motor revolution, the rate of change of transmission ratio is 0.0163%～0.104%, has very high adjusting speed accuracy.
Be connected with fertilizer or feed shaft and land wheel rotating shaft rotation speed monitoring module with single-chip microcomputer, this module is made of A3240LLHLT-T Hall chip, permanent magnetism and target gear.This rotation speed monitoring module Hall element triggers type and adopts partition-type, mainly monitors fertilizer or feed shaft rotating speed, land wheel skids and land axle and fertilizer or feed shaft gear ratio.The Hall element speed detect circuit as shown in Figure 7.Single-chip microcomputer shows the fertilizer that monitors or the rotating speed of feed shaft and land wheel rotating shaft, and when fertilizer or feed shaft, land wheel skids or hinder when changeing, single-chip microcomputer sends alerting signal, with prompting operation person.
The GPS output protocol has two kinds of TSIP and NMEA-0183, adopts the NMEA-0183 standard format mostly.NMEA-0183 is American National ocean Institution of Electronics customization, and its data layout is set to 1 start bit, 8 data bit, and 1 position of rest, no parity, baud rate is 300,600,1200,2400,4800,9600,19200 optional.The NMEA-0183 output data is an ASCII character, and statement comprises GPGGA, GPGLL, GPGSA, GPRMC etc., its content mainly contain longitude, latitude, highly, speed, time, date etc.System adopts the GPGGA locating information to obtain information such as required time, position as required.The structure of GPGGA statement is: ＄ GPGGA,＜1 〉,＜2 〉,＜3〉and,＜4 〉,＜5〉and,＜6 〉,＜7〉and,＜8 〉,＜9〉and,＜10 〉,＜11〉and,＜12〉* hh＜CR〉＜LF 〉.Wherein, " ＄ " is the statement beginning flag,＜CR〉＜LF〉be the Statement Completion sign.
In system, the gps data communication port is connected with single-chip microcomputer by the RS232 serial communication interface, Data Receiving adopts interrupt mode, in order to adapt to different model GPS, adopt the standard baud rate method of exhaustion in the Control Software design, SMOD and the timer initial value of single-chip microcomputer serial communication control register PCON are set according to following table, change single-chip microcomputer (microprocessor) serial port baud rate time constant, and attempt receiving " $ " character that GPS or DGPS send with different baud rates, up to correctly receiving, and the synchronous mark position is set is 1, realizes that the GPS of different baud rates or DGPS and single-chip microcomputer asynchronous serial communication baud rate detect identification automatically;
NMEA-0183 statement form is to be the statement beginning flag with " ＄ ",＜CR〉＜LF〉be the Statement Completion sign, when receiving " $ " character that GPS sends, it is 1 that NMEA statement beginning flag position is set, what the serial ports interrupt service routine was accepted afterwards all is valid data, up to receiving＜CR〉till.
Aspect the gps data decipher, because the starting point of precision agriculture variable input is that the land for growing field crops piece is refined as little field piece, collect the field status information by little field piece, make operating decision according to its otherness, and implemented targetedly.But different farmlands, the agricultural land information distribution space differs greatly, and causes the size definition gap of unit grids working area bigger, so just must adopt the GPS or the DGPS of different accuracy according to sizing grid.Because the NMEA-0183 statement length difference that receives has caused a lot of inconvenience in the statement decipher, as:
AG132：$GPGGA,112010.00,3748.115012,N,11233.280035,E,0,01,0.0,50.11,M,20.27,M,,*5F<CR><LF>
GPS－OEM：$GPGGA,101810,3725.2569,N,11234.3614,E,1,06,2.2,807.7,M,-19.8,M,,*66<CR><LF>
Information number of significant digit such as its time, longitude, dimension and elevation are different, can't be by the regular length decipher.Know that by analysis the separator between its information is ", ", and the item of information fixed order.So when the information decipher, in receiving character string, search second "; " be dimensional information afterwards, till the 3rd ", ", promptly to the decipher of different length NMEA-0183 statement, separator ", " detects in the character string to receiving in the program design, to realize the transmission and the decipher of different accuracy and model GPS or DGPS spatial data.。But same information such as method decipher precision, elevation and position location satellite number.The data of Jie Shouing all are ASCII character simultaneously, can't carry out table lookup operation, in application character are changed into numerical value, and radix point carries out shifting function, and decimal is converted to integer, then the data storage after the conversion to outside extended memory.
Aspect the calculating of stepper motor relative step input, what the variable operation prescription of reading from the USB mobile memory comprised is the absolute value of stepper motor stepping amount, according to the absolute value of last time action, calculate when time stepping motor relative step input in conjunction with this stepper motor stepping amount.
Claims (9)
1. one kind is used to the variable control device that applies fertilizer and sow, comprise the single-chip microcomputer that corresponding Control Software is supported, the GPS or the DGPS communication control module that link to each other with the singlechip serial communication interface through the serial ports control chip, the LCD MODULE that links to each other with single-chip microcomputer, it is characterized by: be connected with USB memory device read-write control module on the single-chip microcomputer, be connected with the USB memory device that is stored with field fertilization or sowing variable operation prescription information with USB memory device read-write control module, the general input/output port of single-chip microcomputer is connected with stepper motor driving circuit, and stepper motor (13) implements to regulate control to topworks; Topworks comprises pulse-type continuously variable transmission (3), chain-chain sprocket drive between power input shaft of pulse-type continuously variable transmission (7) and driving land wheel (1) axle, chain-chain sprocket drive between power output shaft of pulse-type continuously variable transmission (5) and fertilizer or the feed shaft (8), stepper motor (13) drive the regulating shaft (10) of pulse-type continuously variable transmission through turbine and worm decelerator (11).
2. the variable control device that applies fertilizer and sow of being used to according to claim 1, it is characterized by: stepper motor driving circuit comprises the three-phase winding drive circuit of the stepper motor that links to each other with the controller general input/output port, and every phase winding driving circuit comprises the photoelectric coupled device that a not gate, Sheffer stroke gate output terminal link to each other, the Darlington transistor that links to each other with the output terminal of photoelectric coupled device.
3. the variable control device that applies fertilizer and sow of being used to according to claim 1 and 2, it is characterized by: single-chip microcomputer is selected AT89S55 for use; Adopt the AG132 of sub-meter grade or GPS25-lvsOEM plate that GARMIN company produces as GPS or DGPS communication control module, and be that the serial ports control chip links to each other with the serial communication interface of one chip microcomputer by U.S.'s letter MAX232 of company chip; The usb bus common interface chip CH375B that permanent company limited produces oozes in USB memory device read-write control module employing Nanjing.
4. the variable control device that applies fertilizer and sow of being used to according to claim 1 and 2, it is characterized by: the range of adjustment of variator regulating shaft (10) is 0～45 °, the reduction gear ratio of turbine and worm decelerator is 1: 40.
5. the variable control device that applies fertilizer and sow of being used to according to claim 1 and 2 is characterized by: be connected with fertilizer or feed shaft and land wheel rotating shaft rotation speed monitoring module with single-chip microcomputer.
6. the variable control device that applies fertilizer and sow of being used to according to claim 4 is characterized by: be connected with fertilizer or feed shaft and land wheel rotating shaft rotation speed monitoring module with single-chip microcomputer.
7. the variable control device that applies fertilizer and sow of being used to according to claim 5, it is characterized by: the rotation speed monitoring module is made of A3240LLHLT-T Hall chip, permanent magnetism and target gear.
8. the variable control device that applies fertilizer and sow of being used to according to claim 1 and 2, it is characterized by: adopt the standard baud rate method of exhaustion in the Single-chip Controlling software design, SMOD and the timer initial value of single-chip microcomputer serial communication control register PCON are set according to following table, change serial port of single chip computer baud rate time constant, and attempt receiving " $ " character that GPS or DGPS send with different baud rates, up to correctly receiving, and the synchronous mark position is set is 1, realizes that the GPS of different baud rates or DGPS and single-chip microcomputer asynchronous serial communication baud rate detect identification automatically; To the decipher of different length NMEA-0183 statement, separator ", " detects in the character string to receiving in the program design, with the transmission and the decipher of realization different accuracy and model GPS or DGPS spatial data,
9. the variable control device that applies fertilizer and sow of being used to according to claim 4, it is characterized by: adopt the standard baud rate method of exhaustion in the Single-chip Controlling software design, SMOD and the timer initial value of single-chip microcomputer serial communication control register PCON are set according to following table, change serial port of single chip computer baud rate time constant, and attempt receiving " $ " character that GPS or DGPS send with different baud rates, up to correctly receiving, and the synchronous mark position is set is 1, realizes that the GPS of different baud rates or DGPS and single-chip microcomputer asynchronous serial communication baud rate detect identification automatically; To the decipher of different length NMEA-0183 statement, separator ", " detects in the character string to receiving in the program design, with the transmission and the decipher of realization different accuracy and model GPS or DGPS spatial data,
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Cited By (10)
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| CN102096378A (en) * | 2010-11-02 | 2011-06-15 | 湖南农业大学 | Automatic variable rape seeding control system |
| CN102487644A (en) * | 2011-11-28 | 2012-06-13 | 山东农业大学 | Full variable fertilizing device capable of adjusting fertilizer sowing quantity and proportion and control method thereof |
| CN102860163A (en) * | 2012-09-28 | 2013-01-09 | 南京农业大学 | Automatic control device for seeding rate of suspension rice seeder |
| CN103424272A (en) * | 2012-06-10 | 2013-12-04 | 华中农业大学 | Multiple-path precision seed-metering device seed-metering performance detection system |
| CN106843062A (en) * | 2017-03-08 | 2017-06-13 | 江苏大学 | Intelligent variable fertilization control system and control method |
| CN106941842A (en) * | 2017-03-03 | 2017-07-14 | 山东农业大学 | A kind of variable fertilization adjusting means and its control method |
| CN107357208A (en) * | 2017-07-17 | 2017-11-17 | 杨新高 | Agricultural work vehicle control device and its control system |
| CN110651569A (en) * | 2019-10-15 | 2020-01-07 | 吉林农业大学 | Ground wheel driving force monitoring system of precision planter |
| CN110786110A (en) * | 2019-10-24 | 2020-02-14 | 中国农业大学 | Variable rate fertilizer applicator lag correction method, device and system |
| CN112400424A (en) * | 2020-11-11 | 2021-02-26 | 邢台发森机械设备有限公司 | Control mechanism for controlling synchronization of driving shaft and driven shaft and seeding mechanism comprising same |
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| WO2008135772A1 (en) * | 2007-05-08 | 2008-11-13 | University Of Copenhagen | Precision seeders |
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| CN102487644A (en) * | 2011-11-28 | 2012-06-13 | 山东农业大学 | Full variable fertilizing device capable of adjusting fertilizer sowing quantity and proportion and control method thereof |
| CN103424272A (en) * | 2012-06-10 | 2013-12-04 | 华中农业大学 | Multiple-path precision seed-metering device seed-metering performance detection system |
| CN103424272B (en) * | 2012-06-10 | 2016-02-03 | 华中农业大学 | A kind of multichannel precise seeder seed-metering performance detection system |
| CN102860163A (en) * | 2012-09-28 | 2013-01-09 | 南京农业大学 | Automatic control device for seeding rate of suspension rice seeder |
| CN102860163B (en) * | 2012-09-28 | 2015-12-02 | 南京农业大学 | Suspended rice sowing machine sowing amount automaton |
| CN106941842A (en) * | 2017-03-03 | 2017-07-14 | 山东农业大学 | A kind of variable fertilization adjusting means and its control method |
| CN106843062A (en) * | 2017-03-08 | 2017-06-13 | 江苏大学 | Intelligent variable fertilization control system and control method |
| CN106843062B (en) * | 2017-03-08 | 2019-04-30 | 江苏大学 | Intelligent variable fertilization control system and control method |
| CN107357208A (en) * | 2017-07-17 | 2017-11-17 | 杨新高 | Agricultural work vehicle control device and its control system |
| CN110651569A (en) * | 2019-10-15 | 2020-01-07 | 吉林农业大学 | Ground wheel driving force monitoring system of precision planter |
| CN110786110A (en) * | 2019-10-24 | 2020-02-14 | 中国农业大学 | Variable rate fertilizer applicator lag correction method, device and system |
| CN112400424A (en) * | 2020-11-11 | 2021-02-26 | 邢台发森机械设备有限公司 | Control mechanism for controlling synchronization of driving shaft and driven shaft and seeding mechanism comprising same |
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