CN103262832B - Precision adjusting device based on stepper motor drive - Google Patents
Precision adjusting device based on stepper motor drive Download PDFInfo
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- CN103262832B CN103262832B CN201310147160.4A CN201310147160A CN103262832B CN 103262832 B CN103262832 B CN 103262832B CN 201310147160 A CN201310147160 A CN 201310147160A CN 103262832 B CN103262832 B CN 103262832B
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- stepper motor
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- decelerator
- gear
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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 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 " residual (residuce), pest again the environmental problems such as pesticide resistance (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 Stabilizing Grain Output, to increase production the chemical agent of having to again use.Essence amount technology can effectively solve this conflict, mainly by image processing techniques, according to the having or not of destination object, size, is regulated and sprays.The introducing of this technology can not only reduce and sprays 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.
Aspect essence amount regulation technology, having by magnetic valve is carried out to pwm pulse control, this kind of method mainly controlled the pulse number of magnetic valve and affectionately wide by regulating in the unit interval, this regulative mode needs magnetic valve perseveration power consumption larger, and the high speed switching due to high-frequency electromagnetic valve simultaneously also proposes very high request to the anti-wear performance of magnetic valve.
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 plant protection operation process Pesticides regulates and sprays, and alleviates due to the environment bringing 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, essence amount regulon and stepper motor driver; Essence amount regulon comprises mounting seat, controller, control valve, valve body support member, shaft coupling, the first gear, the second gear, decelerator support member, angular transducer, decelerator, stepper motor; Stepper motor output shaft is connected 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, the first gear is fixed on coupling end-face and with the second gear and is meshed, the second gear and angular transducer output shaft interference fit, angular transducer is fixed on decelerator support member, the input termination liquid output pipe of control valve, control valve output is connected with shower nozzle through flowmeter; Ccd video camera is electrically connected to by Ethernet interface with calculator, and calculator is electrically connected to controller and passes through serial mode communication, and flowmeter is electrically connected to controller, and controller is electrically connected to stepper motor driver, and angular transducer is electrically connected to controller.
On described valve body support member bottom surface, have a pair of rectangle slotted eye of regulation valve body support member position, valve body support member vertical side has and meets the adjusting slotted eye of changing different size valve body.
Described controller core is single-chip microcomputer, and realizes the modulation of flow essence amount by PID control method.
The beneficial effect that the present invention has is:
Thereby the present invention is the essence amount that realizes agricultural chemicals flow by changing control valve valve body aperture to be regulated.In plant protection operation process, pass through camera acquisition dispenser target information, by calculator process obtain manipulating object target have that it's too late and size in conjunction with predefined to medicine composition, to controller, send to dose, the essence amount that controller is realized liquid by PID control method modulation essence amount regulon is controlled, thereby provide technically and improve agricultural chemicals extensive style and spray excessively lavishment approach, alleviate due to excessive and use food and the environmental security that chemical agent brings.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is essence amount regulon structural representation.
Fig. 3 is valve body supporting piece structure figure.
Fig. 4 is Single-chip Controlling flow chart.
In figure: 1. mounting seat, 2. controller, 3. control valve, 4. valve body support member, 5. shaft coupling, 6. the first gear, 7. the second gear, 8. decelerator support member, 9. angular transducer, 10. decelerator, 11. stepper motors, 12. ccd video cameras, 13. calculators, 14. flowmeters, 15. shower nozzles, 16. essence amount regulons, 17. stepper motor drivers.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1 and Figure 2, comprise ccd video camera 12, calculator 13, flowmeter 14, essence amount regulon 16 and stepper motor driver 17.Essence amount regulon comprises mounting seat 1, controller 2, control valve 3, valve body support member 4, shaft coupling 5, the first gear 6, the second gear 7, decelerator support member 8, angular transducer 9, decelerator 10, stepper motor 11; Stepper motor 11 output shafts are connected 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, the first gear 6 is fixed on shaft coupling 5 end faces and with the second gear 7 and is meshed, the second gear 7 and angular transducer 9 output shaft interference fit, angular transducer 9 is fixed on decelerator support member 8, the input termination liquid output pipe of control valve 3, control valve 3 outputs are connected with shower nozzle 15 through flowmeter 14; Ccd video camera 12 is electrically connected to by Ethernet interface with calculator 13, calculator 13 is electrically connected to controller 2 and passes through serial mode communication, flowmeter 14 is electrically connected to controller 2, and controller 2 is electrically connected to stepper motor driver 17, and angular transducer 9 is electrically connected to 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 meet the adjusting slotted eye of changing different size valve body.
Described controller 2 cores are single-chip microcomputer, and realize the modulation of flow essence amount by PID control method.
Operation principle of the present invention is as follows:
During use, this device is arranged in the hydraulic coupling system with walking chassis, the liquid output pipe with certain pressure is received to the input of control valve 3, will with the pipeline of shower nozzle 15, receive the output pipe of control valve 3.Stepper motor driver 17 is electrically connected to stepper motor 11 and controller 2, calculator 13 is connected with ccd video camera 12, start the walking chassis with speed sensor.In bobbin movement process, preposition ccd video camera 12 collection manipulating object information exchanges are crossed Ethernet interface information are sent to calculator 13, the sick worm that calculator 13 calculates manipulating object by the respective algorithms grade of being injured, and mate through row with predefined formulation rate, the medication information calculating is sent to controller 2 by serial communication, by controller 2, carry out the control of pid stream amount and regulate requirement to reach essence amount.
The director demon flow chart of design as shown in Figure 4, start after power supply, calculator 13 sends reset instruction, controller 2 reading angular sensor 9 data, and control step motor 11 carries out control valve 3 reset controls and guarantees that control valve 3 guarantees definitely to cut out when original state.Complete the rear controller 2 that resets and accept calculator 13 transmission data in holding state, after calculator 13 sends data, controller 2 enters PID governing loop, by stepper motor 11, drive decelerator 10 to drive control valve 3 to realize Flow-rate adjustment, with Time Controller 2 reading flow quantity sensor 14 data, complete flow feedback regulation.The angular displacement of control valve 3 passes to angular transducer 9 by the first gear 6 and the engagement of the second gear 7 by adjusting angle, and when angular transducer 9 angle output valves are more than or equal to 90 while spending, controller 2 stops Driving Stepping Motor 11, and Flow-rate adjustment reaches maximum.When control valve 3 valve bodies run into hard foreign matter when stuck, step is lost in stepper motor 11 overload execution, the phenomenon of stopping, be that controller 2 sends certain umber of pulse but respective corners displacement does not occur control valve 3 valve bodies, this Time Controller 2 stops there is foreign matter in action buzzing prompting control valve 3 valve bodies.When receiving computer 13 transmissions stop moving, controller 2 reading angular sensor 9 data reset control valve 3 to make valve body in closed condition.
Claims (2)
1. based on a stepper motor driven smart quantity regulating device, it is characterized in that: comprise ccd video camera (12), calculator (13), flowmeter (14), essence amount regulon (16) and stepper motor driver (17), essence amount regulon (16) comprising: mounting seat (1), controller (2), control valve (3), valve body support member (4), shaft coupling (5), the first gear (6), the second gear (7), decelerator support member (8), angular transducer (9), decelerator (10), stepper motor (11), stepper motor (11) output shaft is connected 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), the first gear (6) is fixed on shaft coupling (5) end face and with the second gear (7) and is meshed, the second gear (7) and angular transducer (9) output shaft interference fit, angular transducer (9) is fixed on decelerator support member (8), the input termination liquid output pipe of control valve (3), control valve (3) output is connected with shower nozzle (15) through flowmeter (14), by stepper motor (11), drive decelerator (10) to drive control valve (3) to realize Flow-rate adjustment, same Time Controller (2) reading flow quantity sensor (14) data complete flow feedback regulation, CCD shooting (12) machine is electrically connected to by Ethernet interface with calculator (13), calculator (13) is electrically connected to controller (2) and passes through serial mode communication, flowmeter (14) is electrically connected to controller (2), controller (2) is electrically connected to stepper motor driver (17), and angular transducer (9) is electrically connected to controller (2),
Described controller (2) core is single-chip microcomputer, and realizes the modulation of flow essence amount by PID control method.
2. according to claim 1 a kind of based on stepper motor driven smart quantity regulating device, it is characterized in that: on described valve body support member (8) bottom surface, have a pair of rectangle slotted eye of regulation valve body support member position, valve body support member (8) vertical side has and meets the adjusting slotted eye of changing different size valve body.
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 |
|---|---|
| CN103262832A CN103262832A (en) | 2013-08-28 |
| CN103262832B true 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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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104642284B (en) * | 2015-02-06 | 2017-01-25 | 浙江大学 | Sprayer switching device based on steering engine driving |
| 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 |
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 |
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| CN103262832A (en) | 2013-08-28 |
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Granted publication date: 20141008 Termination date: 20190425 |
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