CN102763519A - Automatic line aligning system of modular bus-type intelligent cotton picker - Google Patents
Automatic line aligning system of modular bus-type intelligent cotton picker Download PDFInfo
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- CN102763519A CN102763519A CN201210248024XA CN201210248024A CN102763519A CN 102763519 A CN102763519 A CN 102763519A CN 201210248024X A CN201210248024X A CN 201210248024XA CN 201210248024 A CN201210248024 A CN 201210248024A CN 102763519 A CN102763519 A CN 102763519A
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Abstract
The invention relates to an automatic line aligning system of a modular bus-type intelligent cotton picker. The system comprises an analog signal input acquisition module, a serial data communication module, a CAN (controller area network) communication module and a stepping motor control module, wherein the analog signal input acquisition module is used for acquiring external analog signals of the cotton picker, and the analog signals are processed by a single chip microcomputer and then are sent to an upper computer; the serial data communication module is used for downloading programs and debugging the programs; the CAN communication module is used for transmitting the data, and can transmit the acquired signals to the upper computer or receive control signals emitted from the upper computer; and the stepping motor control module is used for outputting PWM (pulse-width modulation) waves through a PCA (program communication area) module of a chip so as to control the rotating speed and angle of a motor, and the direction of the motor is controlled by a port. The system disclosed by the invention is controlled by a CAN bus and is relatively strong in real-time performance and reliability.
Description
Technical field
What the present invention relates to is a kind of vehicle-mounted automatically to the row system, and the modular bus Hu Zhineng cotton picker that specifically is based on the CAN bus communication belongs to the electromechanical equipment technical field automatically to the row system.
Background technology
The CAN bus protocol has become the STD bus of Computer Controlled System for Vehicle and built-in industrial control area net, is widely used in automotive field.Unique advantages such as the CAN bus has the efficient height, and price is low, the reliability height and obtain application more and more widely.Cotton picker itself is exactly one and belongs to automotive field, and the CAN bus is the on-the-spot LAN control bus of a maturation, and therefore adopting CAN to communicate by letter is a fine selection.
The PWM ripple is to utilize the numeral of microprocessor to export a kind of very effective technology that analog circuit is controlled, and is widely used in from many fields of measurement, the power of communicating by letter control and conversion.For stepper motor, come the control step motor through modulation (PWM) pulse frequency and quantity, be more reasonable, select easily.
Summary of the invention
The objective of the invention is to be directed to the deficiency of prior art; Provide a kind of modular busization intelligence cotton picker automatically to the row system; Making it provide a kind of vehicle-mounted can carry out vehicle automatically through sensor signal row is corrected the position; And can carry out the CAN communicating devices with PC, reduced cotton picker operating personnel's work load.
The present invention realizes through following technical scheme; A kind of modular busization intelligence cotton picker comprises a central processing unit to the row system automatically, it is characterized in that: said central processing unit connects a RS232 excuse, connects a stepper motor, connects a CAN interface and insert sensor signal and analog signal through a CAN transceiver through a stepper motor driver through a level translator.At first central processing unit receives the control command of PC through CAN transceiver and CAN interface; Central processing unit gets into automatically to row mode; Receive the external sensor signal, corresponding its signal correspondingly exports control signal, the rotation that the process motor driver comes the control step motor.
The intelligent cotton picker of above-mentioned modular busization is automatically in the row system; The analog signal input is that the external input voltage signal is carried out dividing potential drop earlier; Then that dividing potential drop is later signal inputs to central processing unit, utilizes the AD module of central processing unit self to convert signal to digital quantity.
The intelligent cotton picker of above-mentioned modular busization is automatically in the row system; Serial data communication adopts the CAN2.0B agreement; Level translator is connected PC and central processing unit, and level translator is MAX232, utilizes serial communication; Can the program that compiling on the PC is good be input to central processing unit, also can use serial ports that program is debugged.
The intelligent cotton picker of above-mentioned modular busization is automatically in the row system; Said central processing unit self has the CAN control module; But the outside also need connect the CAN transceiver, communicates with outside CAN, carries out data communication with PC; Mainly be that PC is issued in the Information Monitoring of central processing unit, receive the control information of PC again.
Automatically in the row system, Stepping Motor Control is to use the PCA module of central processing unit to come the modulation (PWM) ripple to the intelligent cotton picker of above-mentioned modular busization, rotating speed and angle that dutycycle through changing the PWM ripple and quantity are regulated stepper motor; Use central processing unit external interrupt pick-up transducers signal, based on this signal, one of them output port that re-uses central processing unit is exported the direction that high-low level comes the control step motor.
The intelligent cotton picker of above-mentioned modular busization in the row system, is provided with the sensor signal of sensor acquisition to row automatically at the two ends of cotton picker.
The present invention has following conspicuous outstanding substantive distinguishing features and significantly technological progress compared with prior art:
1, first digitized control module is used in the cotton picker field, has filled up the blank of cotton picker field;
2, because driver's long-duration driving cotton picker carries out guild is produced sense of fatigue to cotton, use to the row system, can reduce driver's driving difficulty automatically.
Description of drawings
Fig. 1 is general frame figure of the present invention
Fig. 2 is the electrical connection diagram that the present invention implements
Fig. 3 is the side schematic view of five-element's cotton picker
Fig. 4 is the rear sketch map of five-element's cotton picker
Fig. 5 is front five-element's cotton-picker head of five-element's cotton picker.
Embodiment
Below in conjunction with accompanying drawing preferred case study on implementation of the present invention is elaborated:
Embodiment one:
Referring to Fig. 1; This modular busization intelligence cotton picker is automatically to the row system; Comprise a central processing unit (1), it is characterized in that: said central processing unit (1) connects a RS232 excuse (3), connects a stepper motor (5), connects a CAN interface (6) and insert sensor signal (8) and analog signal (9) through a CAN transceiver (7) through a stepper motor driver (4) through a level translator (2); At first central processing unit receives the control command of PC through CAN transceiver (1) and CAN interface (6); Central processing unit gets into automatically to row mode; Receive external sensor signal (8); Corresponding its signal correspondingly exports control signal, the rotation that process motor driver (4) comes control step motor (5).
Embodiment two:
Present embodiment and embodiment one are basic identical; Special feature is following: said analog signal (9) input is that the external input voltage signal is carried out dividing potential drop earlier; Then that dividing potential drop is later signal inputs to central processing unit (1), utilizes the AD module of central processing unit (1) self to convert signal to digital quantity.Serial data communication adopts the CAN2.0B agreement; Level translator (2) is connected PC and central processing unit (1), and level translator is MAX232, utilizes serial communication; Can the program that compiling on the PC is good be input to central processing unit (1), also can use serial ports that program is debugged.Said central processing unit (1) self has the CAN control module; But the outside also need connect CAN transceiver (7), communicates with outside CAN, carries out data communication with PC; Mainly be that PC is issued in the Information Monitoring of central processing unit (1), receive the control information of PC again.Stepping Motor Control is to use the PCA module of central processing unit (1) to come the modulation (PWM) ripple, rotating speed and angle that dutycycle through changing the PWM ripple and quantity are regulated stepper motor; Use central processing unit (1) external interrupt pick-up transducers signal (8), based on this signal, one of them output port that re-uses central processing unit (1) is exported the direction that high-low level comes control step motor (5).The sensor signal (8) of sensor acquisition to row is set at the two ends of cotton picker.
As shown in Figure 1, this modular busization intelligence cotton picker comprises the row system automatically: central processing unit (1), level conversion (2); RS232 interface (3), stepper motor driver (4), stepper motor (5); CAN interface (6); CAN transceiver (7), sensor signal (8) input, analog signal (9) input.What analog signal (9) was imported is voltage signal, is carrying out dividing potential drop filtering before earlier through central processing unit (1), gets into after the central processing unit (1), utilizes the inside AD module to convert signal into digital quantity automatically; Sensor signal (8) input is outside two feelers; Be used for to cotton picker row is installed in the cotton picker right ends, when left side sensor contact; Central processing unit (1) will send signal; Through stepper motor its certain angle of turning right is stopped then, after the contact of the right sensor, on the contrary effect; The RS23 module mainly is used for PC to the good program of central processing unit (1) download compiling, also can carry out the debugging of software, and it connects PC and central processing unit (1) through the MAX232 level transferring chip; The CAN communication module is used for communicating with PC (industrial computer); Central processing unit (1) can send data signal to PC through CAN; Such as the analog signal that collects, real-time pilot signal, toggle switch signal; Also can accept the signal that PC sends, the operation of control step motor (5); Stepper motor (5) sends the PWM ripple through central processing unit (1) and controls with switching value, the amount shipped out that central processing unit (1) can modulation (PWM) with send frequency and give stepper motor driver (4), the rotational angle and the speed of change stepper motor (5).
Above-mentioned each parts of present embodiment can adopt existing product to realize, specifically adopt the device model following:
Central processing unit (1) adopts 51 singlechip chips of the band CAN controller of Ai Temeier semiconductor company production to realize;
CAN transceiver (7) is that the MCP2551 chip that adopts Microchip Technology to produce is realized;
Serial ports level transferring chip (2) is that the MAX232 chip that adopts the U.S. U.S. letter company to produce is realized;
Stepper motor driver (4) is to adopt China to grind the YKA3606A that control company produces, and stepper motor also is the 86mm stepper motor that the said firm produces.
As shown in Figure 2, embodiments of the invention are set up connected mode,
[1], eight ports of P0 and 1,2,3 of AT89C51CC01; 4,5,6; 7,8 outside toggle switch link to each other, and through the switch of dial-up central processing unit (1) are imported high-low level; The numerical value of central processing unit (1) acquisition P0 port is confirmed ID number of this central processing unit (1) CAN, and it can be communicated with PC.
[2], analog input voltage 9,10 connects AD0 and the AD1 of AT89C51CC01, analog input voltage through dividing potential drop filtering, inputs to central processing unit (1) earlier again, central processing unit (1) utilizes the pleasantly surprised analog-to-digital conversion of AD module.
[3], external sensor input signal 11,12 connects INT0 and the INT1 of AT89C51CC01, utilizes central processing unit (1) external interrupt that output PWM ripple and P2.5 are controlled; Two feelers are installed in the cotton picker right ends; When the contact of left side sensor, central processing unit (1) will send signal, through stepper motor (5) its certain angle of turning right is stopped then; After the contact of the right sensor, on the contrary effect.
[4], external crystal-controlled oscillation 13,14 connects XTAL1 and the XTAL2 of AT89C51CC01, clock signal is provided for central processing unit (1).
[5], the PWM of AT89C51CC01 is connected stepper motor driver 15 with P2.5; 17; Stepper motor driver connects stepper motor (5); Central processing unit (1) can modulation (PWM) amount shipped out with send frequency and give stepper motor driver (4), change the rotational angle and the speed of stepper motor (5); The PWM2 of AT89C51CC01 is used for exporting high-power PWM ripple, and is subsequent use.
[6], the RXD of AT89C51CC01 is connected 18,19 of MAX232 with TXD; MAX232 connects the RS232 interface.
[7], the TXDC of AT89C51CC01 is connected 20,21 of MCP2551 with RXDC, MCP2551 connects the CAN interface, carries out transfer of data with PC.
[8], the VAREF of AT89C51CC01 connects 22, the reference voltage of input AD conversion; The PSEN of AT89C51CC01 connects 23, and wire jumper downloads; The RST of AT89C51CC01, GND, VCC connect 24,25,0 respectively, provide for central processing unit (1) and reset ground, power supply signal.
The car-mounted device of present embodiment is mounted on the intelligent cotton picker, and touch sensor is installed at the cotton picker two ends, is used for carrying out row.
As shown in Figure 3, the lateral sectional view figure of cotton picker.Five-element's cotton-picker head (12) of front, a pair of cotton-picker head in centre wherein is equipped with a pair of touch sensor (16,17), and its signal sends to central processing unit (1); It above the wheel broad in the middle cotton picker driver's cabin (13); Driver's cabin (13) is the hopper (14) of storage cotton behind; Behind small wheels is connecting and is being used for controlling the fluid-link steering axle (15) that turns to.
As shown in Figure 4, the back profile of cotton picker.Mark hopper (14) and trailing wheel fluid-link steering axle (15) among the figure.
As shown in Figure 5, five-element's cotton-picker head of cotton picker.Five pairs of cotton-picker heads of signal among the figure, the 3rd pair of wherein middle sensor is equipped with left sensor (17) and right sensor (16).
The course of work of present embodiment is following:
[1], the PSEN wire jumper is emitted, put low level, then the good program of PC compiling is downloaded to central processing unit (1) through RS232;
[2], toggle switch is pushed a certain numerical value, central processing unit (1) reads its value through the P0 port, as ID number of CAN communication;
[3], the analog input amount gathers through central processing unit (1), sends to PC through the CAN bus again;
[4], PC sends a signal through the CAN bus and gives central processing unit (1), and cotton picker is got into automatically to row mode;
[5], the signal that whether contacts of the sensor acquisition at cotton picker two ends; If left end sensor (17) touches signal; Central processing unit (1) will make stepper motor (5) certain angle that turns left through impulse wave of P2.5 port output; Simultaneously stepper motor (5) drives trailing wheel fluid-link steering axle (15) certain angle that turns left linearly; After having turned left; Central processing unit (1) continue to send an impulse wave and makes stepper motor (5) certain angle that turns right; Simultaneously stepper motor (5) drives trailing wheel hydraulic pressure turning cylinder (15) certain angle that turns right linearly, and cotton picker is carried out position reform (wherein stepper motor (5) speed of rotating and the angle of rotation are to be modulated by the PWM ripple that central processing unit (1) sends, and the rotational angle of stepper motor (5) is linear in speed and trailing wheel fluid-link steering axle); If the right-hand member sensor touches signal, otherwise; If left and right sides sensor all touches signal, then central processing unit (1) is not taked any measure, and cotton picker continues straight line to overtake.
[6] PC sends a signal through the CAN bus and gives central processing unit (1), is that cotton picker gets into manual mode;
[7] repetitive cycling 5 these processes when implementing 6, get into the free time, wait for 4 these processes.
Claims (6)
1. a modular busization intelligence cotton picker is automatically to the row system; Comprise a central processing unit (1), it is characterized in that: said central processing unit (1) connects a RS232 excuse (3), connects a stepper motor (5), connects a CAN interface (6) and insert sensor signal (8) and analog signal (9) through a CAN transceiver (7) through a stepper motor driver (4) through a level translator (2); At first central processing unit receives the control command of PC through CAN transceiver (1) and CAN interface (6); Central processing unit gets into automatically to row mode; Receive external sensor signal (8); Corresponding its signal correspondingly exports control signal, the rotation that process motor driver (4) comes control step motor (5).
2. the intelligent cotton picker of modular busization according to claim 1 is automatically to the row system; It is characterized in that: said analog signal (9) input is that the external input voltage signal is carried out dividing potential drop earlier; Then that dividing potential drop is later signal inputs to central processing unit (1), utilizes the AD module of central processing unit (1) self to convert signal to digital quantity.
3. the intelligent cotton picker of modular busization according to claim 1 is automatically to the row system; It is characterized in that: serial data communication adopts the CAN2.0B agreement; Level translator (2) is connected PC and central processing unit (1), and level translator is MAX232, utilizes serial communication; Can the program that compiling on the PC is good be input to central processing unit (1), also can use serial ports that program is debugged.
4. the intelligent cotton picker of modular busization according to claim 1 is automatically to the row system; It is characterized in that: said central processing unit (1) self has the CAN control module; But the outside also need connect CAN transceiver (7), communicates with outside CAN, carries out data communication with PC; Mainly be that PC is issued in the Information Monitoring of central processing unit (1), receive the control information of PC again.
5. the intelligent cotton picker of modular busization according to claim 1 is automatically to the row system; It is characterized in that: Stepping Motor Control is to use the PCA module of central processing unit (1) to come the modulation (PWM) ripple, rotating speed and angle that dutycycle through changing the PWM ripple and quantity are regulated stepper motor; Use central processing unit (1) external interrupt pick-up transducers signal (8), based on this signal, one of them output port that re-uses central processing unit (1) is exported the direction that high-low level comes control step motor (5).
6. the intelligent cotton picker of modular busization according to claim 1 to the row system, is characterized in that automatically: the sensor signal (8) of sensor acquisition to row is set at the two ends of cotton picker.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210248024XA CN102763519A (en) | 2012-07-18 | 2012-07-18 | Automatic line aligning system of modular bus-type intelligent cotton picker |
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| CN201210248024XA CN102763519A (en) | 2012-07-18 | 2012-07-18 | Automatic line aligning system of modular bus-type intelligent cotton picker |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103869728A (en) * | 2012-12-18 | 2014-06-18 | 苏州工业园区新宏博通讯科技有限公司 | Steering engine control device |
| CN104236654A (en) * | 2014-09-24 | 2014-12-24 | 上海大学 | Cotton flow sensor |
| CN107942811A (en) * | 2017-12-11 | 2018-04-20 | 上海大学 | A kind of cotton picker online building control system of cotton side's mould |
| CN108496513A (en) * | 2018-03-14 | 2018-09-07 | 山东农业大学 | It is a kind of automatically to row radish harvesting apparatus |
| CN111316812A (en) * | 2018-12-13 | 2020-06-23 | 中国科学院沈阳自动化研究所 | Automatic line alignment sensing device and automatic line alignment method for corn combine harvester |
| CN112977614A (en) * | 2021-04-02 | 2021-06-18 | 中国铁建重工集团股份有限公司 | Automatic line alignment method, device, medium and system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103869728A (en) * | 2012-12-18 | 2014-06-18 | 苏州工业园区新宏博通讯科技有限公司 | Steering engine control device |
| CN104236654A (en) * | 2014-09-24 | 2014-12-24 | 上海大学 | Cotton flow sensor |
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| CN111316812A (en) * | 2018-12-13 | 2020-06-23 | 中国科学院沈阳自动化研究所 | Automatic line alignment sensing device and automatic line alignment method for corn combine harvester |
| CN111316812B (en) * | 2018-12-13 | 2022-02-11 | 中国科学院沈阳自动化研究所 | Automatic line aligning method of corn combine harvester |
| CN112977614A (en) * | 2021-04-02 | 2021-06-18 | 中国铁建重工集团股份有限公司 | Automatic line alignment method, device, medium and system |
| WO2022205945A1 (en) * | 2021-04-02 | 2022-10-06 | 中国铁建重工集团股份有限公司 | Automatic alignment method and apparatus, medium, and system |
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Application publication date: 20121107 |