CN103262832A - Precision adjusting device based on stepper motor drive - Google Patents
Precision adjusting device based on stepper motor drive Download PDFInfo
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- CN103262832A CN103262832A CN2013101471604A CN201310147160A CN103262832A CN 103262832 A CN103262832 A CN 103262832A CN 2013101471604 A CN2013101471604 A CN 2013101471604A CN 201310147160 A CN201310147160 A CN 201310147160A CN 103262832 A CN103262832 A CN 103262832A
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- stepper motor
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- decelerator
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Abstract
The invention discloses a precision adjusting device based on stepper motor drive. The precision adjusting device comprises a CCD (charge coupled device) camera, a computer, a flow meter, a precision adjusting unit and a stepper motor driver. A stepper motor output shaft of the precision adjusting unit is connected to a reducer input shaft. A reducer output shaft is connected to an adjusting valve through a shaft coupling. A first gear is fixed on the end face of the shaft coupling and meshes with a second gear. The second gear and an angle sensor output shaft are in interference fit. An input end of the adjusting valve is connected to a chemical liquid output pipeline, and an output end of the adjusting valve is connected to a nozzle through the flow meter. The CCD camera is connected to the computer electrically through an Ethernet port. The computer and a controller are connected electrically and communicated in a serial manner. The flow meter is connected to the controller electrically. The controller is connected to the stepper motor driver electrically. The angle sensor is connected to the controller electrically. According to the precision adjusting device, loop control is formed by the stepper motor and the angle sensor, precise control of chemical liquid flow is realized, and chemicals consumption during plant protecting operations is reduced.
Description
Technical field
The present invention relates to a kind of smart quantity regulating device, especially relate to a kind of based on stepper motor driven smart quantity regulating device in the agricultural engineering field.
Background technology
The rough formula spray pattern of tradition makes a large amount of droplets be applied to the top layer of crop surrounding soil, cause the salinization of soil and " 3s " namely residual (residuce), pest again the pesticide resistance environmental problems such as (resistance) of rampant (resurgence) and pest increasingly sharpen, excessive residue of pesticide can cause food-safety problem again on crops simultaneously, yet in order to guarantee the grain stable yields, to increase production the chemical agent of having to again use.Smart amount technology can effectively solve this conflict, mainly regulates and sprays according to the having or not of destination object, size by image processing techniques.The introducing of this technology can not only reduce and sprays the medicament usage amount, can be as much as possible reduces using of agricultural chemicals guaranteeing to prevent and treat under the prerequisite of validity in conjunction with machine vision recognition method simultaneously.
Having aspect the essence amount regulation technology by magnetic valve being carried out pwm pulse control, this kind method mainly reaches affectionately wide by the pulse number of regulating unit interval inner control magnetic valve, this regulative mode needs magnetic valve perseveration power consumption bigger, simultaneously because the anti-wear performance that the high speed of high-frequency electromagnetic valve opens and closes magnetic valve also proposes very high request.
Summary of the invention
The object of the present invention is to provide a kind ofly based on stepper motor driven smart quantity regulating device, the essence amount that is intended to realize agricultural chemicals in the plant protection operation process is regulated and is sprayed, and alleviates because the environment that brings and the food-safety problem of extensive applying pesticides for a long time.
In order to achieve the above object, the technical solution used in the present invention is:
The present invention includes ccd video camera, calculator, flowmeter, smart amount regulon and stepper motor driver; Smart amount regulon comprises mounting seat, controller, control valve, valve body support member, shaft coupling, first gear, second gear, decelerator support member, angular transducer, decelerator, stepper motor; The stepper motor output shaft links to each other with reducer input shaft, reducer output shaft is connected by shaft coupling with control valve, decelerator is fixed by decelerator support member and mounting seat, control valve is fixed by valve body support member and mounting seat, first gear is fixed on the coupling end-face and with second gear and is meshed, second gear and angular transducer output shaft interference fit, angular transducer is fixed on the decelerator support member, the input termination soup output pipe of control valve, the control valve output is connected with shower nozzle through flowmeter; Ccd video camera is electrically connected by Ethernet interface with calculator, and calculator is electrically connected with controller and by the serial mode communication, flowmeter is electrically connected with controller, and controller is electrically connected with stepper motor driver, and angular transducer is electrically connected with controller.
Have a pair of rectangle slotted eye of regulation valve body support member position on the described valve body support member bottom surface, valve body support member vertical side has and satisfies the adjusting slotted eye of changing the different size valve body.
Described controller core is single-chip microcomputer, and realizes the smart amount modulation of flow by the PID control method.
The beneficial effect that the present invention has is:
Thereby the present invention is by changing the essence amount adjusting that control valve valve body aperture realizes the agricultural chemicals flow.In the plant protection operation process, pass through camera acquisition dispenser target information, by Computer Processing obtain the manipulating object target have that it's too late and size in conjunction with the predefined medicine composition of giving, send to dose to controller, controller is realized the essence amount control of soup by the smart amount of PID control method modulation regulon, thereby provide technically and improve the agricultural chemicals extensive style and spray the lavishment approach excessively, alleviate owing to excessively use food and the Environmental security problem that chemical agent brings.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is smart amount regulon structural representation.
Fig. 3 is valve body supporting piece structure figure.
Fig. 4 is the Single-chip Controlling flow chart.
Among the figure: 1. mounting seat, 2. controller, 3. control valve, 4. valve body support member, 5. shaft coupling, 6. first gear, 7. second gear, 8. decelerator support member, 9. angular transducer, 10. decelerator, 11. stepper motors, 12. ccd video cameras, 13. calculator, 14. flowmeters, 15. shower nozzles, 16. smart amount regulon, 17. stepper motor drivers.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 1 and Figure 2, comprise ccd video camera 12, calculator 13, flowmeter 14, smart amount regulon 16 and stepper motor driver 17.Smart amount regulon comprises mounting seat 1, controller 2, control valve 3, valve body support member 4, shaft coupling 5, first gear 6, second gear 7, decelerator support member 8, angular transducer 9, decelerator 10, stepper motor 11; Stepper motor 11 output shafts link to each other with decelerator 10 power shafts, decelerator 10 output shafts are connected by shaft coupling 5 with control valve 3, decelerator 10 is fixing with mounting seat 1 by decelerator support member 8, control valve 3 is fixing with mounting seat 1 by valve body support member 4, first gear 6 is fixed on shaft coupling 5 end faces and with second gear 7 and is meshed, second gear 7 and angular transducer 9 output shaft interference fit, angular transducer 9 is fixed on the decelerator support member 8, the input termination soup output pipe of control valve 3, control valve 3 outputs are connected with shower nozzle 15 through flowmeter 14; Ccd video camera 12 and calculator 13 are electrically connected by Ethernet interface, calculator 13 is electrically connected with controller 2 and by the serial mode communication, flowmeter 14 is electrically connected with controller 2, and controller 2 is electrically connected with stepper motor driver 17, and angular transducer 9 is electrically connected with controller 2.
As shown in Figure 3, have a pair of rectangle slotted eye of regulation valve body support member position on described valve body support member 8 bottom surfaces, valve body support member 8 vertical side have and satisfy the adjusting slotted eye of changing the different size valve body.
Described controller 2 cores are single-chip microcomputer, and realize the smart amount modulation of flow by the PID control method.
Operation principle of the present invention is as follows:
During use, this device is installed in the hydraulic coupling system with walking chassis, the soup output pipe that will have certain pressure is received the input of control valve 3, and the pipeline that will have shower nozzle 15 is received the output pipe of control valve 3.Stepper motor driver 17 is electrically connected with stepper motor 11 and controller 2, calculator 13 is connected with ccd video camera 12, start the walking chassis that has velocity sensor.In the bobbin movement process, preposition ccd video camera 12 is gathered manipulating object information and by Ethernet interface information is sent to calculator 13, the sick worm that calculator 13 calculates manipulating object by the respective algorithms grade of being injured, and with predefined formulation rate through row coupling, the medication information that calculates is sent to controller 2 by serial communication, carry out the pid stream amount by controller 2 and control to reach smart amount adjusting requirement.
The director demon flow chart of design as shown in Figure 4, after starting power supply, calculator 13 sends reset instruction, controller 2 reading angular sensors 9 data, and control step motor 11 carries out control valve 3 control that resets and guarantee that control valve 3 guarantees definitely to cut out when original state.Finishing the back controller 2 that resets is in holding state and accepts calculator 13 and send data, controller 2 entered the PID governing loop after calculator 13 sent data, drive decelerator 10 by stepper motor 11 and drive control valve 3 realization Flow-rate adjustment, controller 2 reading flow quantity sensors 14 data are finished the flow feedback regulation simultaneously.The angular displacement of control valve 3 passes to angular transducer 9 by first gear 6 and 7 engagements of second gear with adjusting angle, and when angular transducer 9 angle output valves were spent more than or equal to 90, controller 2 stopped to drive stepper motor 11, and Flow-rate adjustment reaches maximum.When control valve 3 valve bodies run into hard foreign matter when stuck, the step is lost in stepper motor 11 overload execution, the phenomenon of stopping, be that controller 2 sends certain umber of pulse but the respective corners displacement does not take place control valve 3 valve bodies, this moment, controller 2 stopped in action and buzzing prompting control valve 3 valve bodies foreign matter being arranged.When receiving computer 13 transmissions stopped to move, controller 2 reading angular sensors 9 data resetted control valve 3 and make valve body be in closed condition.
Claims (3)
1. one kind based on stepper motor driven smart quantity regulating device, it is characterized in that: comprise ccd video camera (12), calculator (13), flowmeter (14), smart amount regulon (16) and stepper motor driver (17); Smart amount regulon (16) comprising: mounting seat (1), controller (2), control valve (3), valve body support member (4), shaft coupling (5), first gear (6), second gear (7), decelerator support member (8), angular transducer (9), decelerator (10), stepper motor (11); Stepper motor (11) output shaft links to each other with decelerator (10) power shaft, decelerator (10) output shaft is connected by shaft coupling (5) with control valve (3), decelerator (10) is fixing by decelerator support member (8) and mounting seat (1), control valve (3) is fixing by valve body support member (4) and mounting seat (1), first gear (6) is fixed on shaft coupling (5) end face and with second gear (7) and is meshed, second gear (7) and angular transducer (9) output shaft interference fit, angular transducer (9) is fixed on the decelerator support member (8), the input termination soup output pipe of control valve (3), control valve (3) output is connected with shower nozzle (15) through flowmeter (14); CCD shooting (12) machine is electrically connected by Ethernet interface with calculator (13), calculator (13) is electrically connected with controller (2) and by the serial mode communication, flowmeter (14) is electrically connected with controller (2), controller (2) is electrically connected with stepper motor driver (17), and angular transducer (9) is electrically connected with controller (2).
2. according to claim 1 a kind of based on stepper motor driven smart quantity regulating device, it is characterized in that: have a pair of rectangle slotted eye of regulation valve body support member position on described valve body support member (8) bottom surface, valve body support member (8) vertical side has and satisfies the adjusting slotted eye of changing the different size valve body.
3. according to claim 1 a kind of based on stepper motor driven smart quantity regulating device, it is characterized in that: described controller (2) core is single-chip microcomputer, and realizes the smart amount modulation of flow by the PID control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310147160.4A CN103262832B (en) | 2013-04-25 | 2013-04-25 | Precision adjusting device based on stepper motor drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310147160.4A CN103262832B (en) | 2013-04-25 | 2013-04-25 | Precision adjusting device based on stepper motor drive |
Publications (2)
| Publication Number | Publication Date |
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| CN103262832A true CN103262832A (en) | 2013-08-28 |
| CN103262832B CN103262832B (en) | 2014-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310147160.4A Expired - Fee Related CN103262832B (en) | 2013-04-25 | 2013-04-25 | Precision adjusting device based on stepper motor drive |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104642284A (en) * | 2015-02-06 | 2015-05-27 | 浙江大学 | Sprayer switching device based on steering engine driving |
| CN106171833A (en) * | 2016-07-11 | 2016-12-07 | 北京航空航天大学 | A kind of energy-efficient irrigation system and method changing flow based on height change |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2503911Y (en) * | 2001-09-03 | 2002-08-07 | 张同合 | Spiral flow control valve of respirator |
| CN101927220A (en) * | 2010-07-05 | 2010-12-29 | 中国农业大学 | Accurate intelligent targeted spraying machine |
| CN202144896U (en) * | 2011-07-05 | 2012-02-15 | 成都高新区华汇实业有限公司 | Axial-flow type flow regulating valve |
| CN102669079A (en) * | 2012-04-09 | 2012-09-19 | 浙江大学 | Toward-target variable spray tester |
| CN203191829U (en) * | 2013-04-25 | 2013-09-11 | 浙江大学 | Precise adjustment device based on stepper motor driving |
-
2013
- 2013-04-25 CN CN201310147160.4A patent/CN103262832B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2503911Y (en) * | 2001-09-03 | 2002-08-07 | 张同合 | Spiral flow control valve of respirator |
| CN101927220A (en) * | 2010-07-05 | 2010-12-29 | 中国农业大学 | Accurate intelligent targeted spraying machine |
| CN202144896U (en) * | 2011-07-05 | 2012-02-15 | 成都高新区华汇实业有限公司 | Axial-flow type flow regulating valve |
| CN102669079A (en) * | 2012-04-09 | 2012-09-19 | 浙江大学 | Toward-target variable spray tester |
| CN203191829U (en) * | 2013-04-25 | 2013-09-11 | 浙江大学 | Precise adjustment device based on stepper motor driving |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104642284A (en) * | 2015-02-06 | 2015-05-27 | 浙江大学 | Sprayer switching device based on steering engine driving |
| CN106171833A (en) * | 2016-07-11 | 2016-12-07 | 北京航空航天大学 | A kind of energy-efficient irrigation system and method changing flow based on height change |
| CN106171833B (en) * | 2016-07-11 | 2019-08-06 | 北京航空航天大学 | A kind of energy-efficient irrigation system and method changing flow based on height change |
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| Publication number | Publication date |
|---|---|
| CN103262832B (en) | 2014-10-08 |
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