CN103383561B - Scrubbing brush parameter fine adjustment intelligent control system of walnut peeling machine - Google Patents

Abstract

The present invention relates to a kind of agricultural machinery, especially relate to a kind of for scrubbing brush parameter fine adjustment intelligent control system of walnut peeling machine, belong to agricultural machinery technological field.It is characterized in that: scrubbing brush parameter arrange and automatic regulating system include: host computer, machine vision device, slave computer, gap adjustment servomotor, angular transducer 1., angular adjustment servomotor, angular transducer 2., pressure transducer composition；Wherein host computer includes that scrubbing brush parameter arranges module, image processing module, scrubbing brush parameter intelligent fine setting decision-making module, communication module automatically.The control amount trimmed that slave computer sends according to host computer and the difference of current angular sensor feedback information, calculate the controlled quentity controlled variable needed for two servomotors by pid control algorithm, and send it to two servomotors, control it.

Description

Scrubbing brush parameter fine adjustment intelligent control system of walnut peeling machine

(1) technical field

The present invention relates to a kind of agricultural machinery, especially relate to a kind of for peeling green peel of walnut machine scrubbing brush small parameter perturbations intelligence Control system, belongs to agricultural machinery technological field.

(2) technical background

Walnut Resources in China is the abundantest, is walnut production big country of the world, the whole nation except Heilungkiang, Shanghai, Guangdong, Hainan, Outside Taiwan, in Liaoning, Tianjin, Beijing, Hebei, Shandong, Shanxi, Shaanxi, Ningxia, Qinghai, Gansu, Xinjiang, Henan, Anhui, river 24 provinces (district, city) such as Soviet Union, Hubei, Hunan, Guangxi, Sichuan, Guizhou, Yunnan and Tibet plant, and Walnut Cultivars is numerous and diverse, shape Shape is irregular, size difference is bigger.The continuous green walnut huller that our unit develops have employed scrubbing brush formula and takes off Pericarpium Citri Reticulatae Viride device, takes Obtained good de-Pericarpium Citri Reticulatae Viride effect.But, during due to processing different cultivars, different brackets Semen Juglandis, easily there is the excessive generation of pressure Broken fruit, hand regulation plate brush parameter degree of regulation is relatively low simultaneously.

(3) summary of the invention

In order to solve the problems referred to above, the present invention proposes scrubbing brush small parameter perturbations intelligence control system, it is achieved that continuous green Be automatically adjusted and the accurate of work process of walnut shelling machine scrubbing brush parameter control.

The present invention, for reaching object above, is achieved through the following technical solutions: scrubbing brush small parameter perturbations intelligence control system Including:

Host computer, when the host computer application of continuous green walnut huller parameter intelligent regulation system, below meeting Condition: hardware condition is because meeting system software module operation demand；Prepackage Windows XP system, system run all right；Work Stable, reliable, low-power consumption；Can carry out real-time efficient communication with miscellaneous part of the present invention, motility is good.Its major function is, if Determining the running parameter of continuous green walnut huller, the blue or green Semen Juglandis information of input spout is carried out pretreatment, decision-making is sent to The parameter of slave computer, and telecommunication management function.

Machine vision device, gathers the blue or green Semen Juglandis image information that goes out of spout, and sends it to host computer and process.

Slave computer, is made up of STC90C51 single-chip microcomputer and related peripherals parts, passes according to host computer decision signal and angle Sensor feedback information, completes gap adjustment servomotor and the control of angular adjustment servomotor.Slave computer is according to host computer The control amount trimmed sent and the difference of current angular sensor feedback information, calculate two servo electricity by pid control algorithm Controlled quentity controlled variable needed for machine, and send it to two servomotors, control it.

Gap adjustment servomotor, is connected with gap adjustment bar, regulates gap adjustment bar according to slave computer control signal The anglec of rotation.

Angular adjustment servomotor, is connected with angular adjustment bar, regulates angular adjustment bar according to slave computer control signal The anglec of rotation.

Angular transducer 1., angular transducer 2., be separately mounted at gap adjustment bar and angular adjustment bar, by angle believe Breath feeds back to slave computer.

Pressure transducer, is arranged at scrubbing brush, and scrubbing brush pressure information is fed back to host computer, with participative decision making.

Host computer in the present invention farther includes following functions module:

Scrubbing brush parameter arranges module automatically, and the Walnut Cultivars set according to user and grade, by the decision-making of external knowledge storehouse The suitable parameter that ejecting plate dataller is required when making, and send it to slave computer.And shown in real time currently by state displaying panel Scrubbing brush duty.

Image processing module, the image information collecting machine vision sensor processes, machine vision sensor Ccd video camera output image is bmp format color image, by USD2.0 interface, image is stored in host computer core buffer. In image processing time, utilize call back function image to be acquired and information processing, including image gray-scale transformation, segmentation, Denoising, working line acquisition of information, obtain the Semen Juglandis quantity series that synchronization participation processes, and send it to scrubbing brush parameter intelligence Decision-making module can be finely tuned.Wherein greyscale transformation uses 2G-R-B (R, G, B are the brightness that same pixel points out red, green, blue color) Mode process；Dividing processing uses grey level histogram method to complete, to reduce the false recognition rate of image；Denoising uses First expand the mode of post-etching, to reduce the effect of noise such as shade, spot in image.

Scrubbing brush parameter intelligent fine setting decision-making module, the Semen Juglandis number that the synchronization participation sent by image processing module processes Amount, with the blue or green Semen Juglandis stress model obtaining beforehand through Experiments of Machanics and setting and current scrubbing brush parameter information, calculates ejecting plate Brush pressure and pressure change rate threshold value, and according to the difference of threshold value Yu pressure transducer feedback information, pass through fuzzy control further Algorithm, decision-making goes out required scrubbing brush small parameter perturbations amount, sends it to slave computer.

Communication module, management host computer and the real-time Communication for Power of slave computer, and be responsible for gathering pressure transducer and angle sensor The feedback information of device, uses asynchronous serial mode to carry out data transmission.

Scrubbing brush parameter intelligent fine setting decision-making module working method includes step:

S1: the Semen Juglandis quantity series that the synchronization participation sent according to image processing module processes, with carrier bar transmission belt Speed, calculate current time participation process blue or green Semen Juglandis quantity.

S2: the stress model obtained according to blue or green Semen Juglandis Experiments of Machanics, as shown in Figure 6 (example), and current time pressure passes Sensor data, and the mode that is calculated as follows processes data.

$\stackrel{\‾}{F}=\frac{F}{n};$ $\stackrel{\stackrel{\‾}{\·}}{F}=\frac{\stackrel{\·}{F}}{n}$

$D_F=\frac{f_{\max }}{2};$ $D_{\stackrel{\·}{F}}=\frac{{\stackrel{\·}{f}}_{\max }}{2}$

$u_1=\stackrel{\‾}{F}-D_F;$ $u_2=\stackrel{\stackrel{\‾}{\·}}{F}-D_{\stackrel{\·}{F}}$

Wherein, F is pressure transducer feedback information,For the rate of change of F, f_maxHard for Semen Juglandis in blue or green Semen Juglandis stress model The maximum pressure that shell can bear,For Semen Juglandis duricrust pressure with the rate of change maximum of deformation, u₁, u₂Input for fuzzy control Amount.

S3: the input quantity obtained according to S2 step, uses FUZZY ALGORITHMS FOR CONTROL decision-making to go out required amount trimmed, two groups of inputs Amount and two groups of outputs are subdivided into five grades the most respectively, and its fuzzy rule curved surface is as shown in Figure 7.

S4: amount trimmed decision-making gone out is sent to slave computer.

The control amount trimmed that slave computer sends according to host computer and the difference of current angular sensor feedback information, pass through PID Control algolithm calculates the controlled quentity controlled variable needed for two servomotors, and sends it to two servomotors, controls it.

Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, common about technical field Technical staff, without departing from the spirit and scope of the present invention, it is also possible to make a variety of changes and deform, therefore used The technical scheme of equivalent falls within scope of the invention, depending on the scope of patent protection of the present invention should be by claim.

(4) accompanying drawing explanation

Accompanying drawing 1 is invention Based Intelligent Control peeling green peel of walnut machine structure diagram.

Accompanying drawing 2 is that invention system forms schematic diagram.

Accompanying drawing 3 is that invention scrubbing brush parameter arranges module workflow automatically.

Accompanying drawing 4 is that invention scrubbing brush parameter intelligent finely tunes decision-making module workflow.

Accompanying drawing 5 is invention working line acquisition of information flow chart

Accompanying drawing 6 is invention Semen Juglandis stress model curve example

Accompanying drawing 7 is invention gap fuzzy control rule curved surface.

Accompanying drawing 8 is that invention direction ambiguity controls ruled surface.

Accompanying drawing 9 is invention software interface figure.

(5) detailed description of the invention

Legend: legend: 1-charging aperture；2-CCD photographic head；3-scrubbing brush；4-green grass or young crops Semen Juglandis；5-cutting blade；6-conveyer belt；7- Pressure transducer；8-gap adjustment servomotor；9-angular transducer is 1.；10-gap adjustment bar；11-angular adjustment servo electricity Machine；12-angular transducer is 2.；13-angular adjustment bar；14-discharging opening.

Embodiment: scrubbing brush small parameter perturbations intelligence control system includes as shown in Figure 1 and Figure 2:

Host computer, when the host computer application of continuous green walnut huller parameter intelligent regulation system, below meeting Condition: hardware condition is because meeting system software module operation demand；Prepackage Windows XP system, system run all right；Work Stable, reliable, low-power consumption；Can carry out real-time efficient communication with miscellaneous part of the present invention, motility is good.Its major function is, if Determining the running parameter of continuous green walnut huller, the blue or green Semen Juglandis information of input spout is carried out pretreatment, decision-making is sent to The parameter of slave computer, and telecommunication management function.

Machine vision device, gathers the blue or green Semen Juglandis image information that goes out of spout, and sends it to host computer and process.

Slave computer, is made up of STC90C51 single-chip microcomputer and related peripherals parts, passes according to host computer decision signal and angle Sensor feedback information, completes gap adjustment servomotor and the control of angular adjustment servomotor.Slave computer is according to host computer The control amount trimmed sent and the difference of current angular sensor feedback information, calculate two servo electricity by pid control algorithm Controlled quentity controlled variable needed for machine, and send it to two servomotors, control it.

Gap adjustment servomotor 8, is connected with gap adjustment bar 10, regulates gap adjustment according to slave computer control signal The anglec of rotation of bar.

Angular adjustment servomotor 11, is connected with angular adjustment bar 13, adjusts according to slave computer control signal regulation angle The anglec of rotation of pole.

Angular transducer 1. 9, angular transducer 2. 12, be separately mounted at gap adjustment bar 10 and angular adjustment bar 13, Angle information is fed back to slave computer.

Pressure transducer, is arranged at scrubbing brush, and scrubbing brush pressure information is fed back to host computer, with participative decision making.

Host computer in the present invention farther includes following functions module:

Scrubbing brush parameter arranges module automatically, and the Walnut Cultivars set according to user and grade, by the decision-making of external knowledge storehouse The suitable parameter that ejecting plate dataller is required when making, and send it to slave computer.And shown in real time currently by state displaying panel Scrubbing brush duty.

Image processing module, the image information collecting machine vision sensor processes, machine vision sensor Ccd video camera output image is bmp format color image, by USD2.0 interface, image is stored in host computer core buffer. In image processing time, utilize call back function image to be acquired and information processing, including image gray-scale transformation, segmentation, Denoising, working line acquisition of information, obtain the Semen Juglandis quantity series that synchronization participation processes, and send it to scrubbing brush parameter intelligence Decision-making module can be finely tuned.Wherein greyscale transformation uses 2G-R-B (R, G, B are the brightness that same pixel points out red, green, blue color) Mode process；Dividing processing uses grey level histogram method to complete, to reduce the false recognition rate of image；Denoising uses First expand the mode of post-etching, to reduce the effect of noise such as shade, spot in image.

Scrubbing brush parameter intelligent fine setting decision-making module, the Semen Juglandis number that the synchronization participation sent by image processing module processes Amount, with the blue or green Semen Juglandis stress model obtaining beforehand through Experiments of Machanics and setting and current scrubbing brush parameter information, calculates ejecting plate Brush pressure and pressure change rate threshold value, and according to the difference of threshold value Yu pressure transducer feedback information, pass through fuzzy control further Algorithm, decision-making goes out required scrubbing brush small parameter perturbations amount, sends it to slave computer.

Communication module, management host computer and the real-time Communication for Power of slave computer, and be responsible for gathering pressure transducer and angle sensor The feedback information of device, uses asynchronous serial mode to carry out data transmission.

Scrubbing brush parameter intelligent fine setting decision-making module working method includes step:

S1: the Semen Juglandis quantity series that the synchronization participation sent according to image processing module processes, with carrier bar transmission belt Speed, calculate current time participation process blue or green Semen Juglandis quantity.

S2: the stress model obtained according to blue or green Semen Juglandis Experiments of Machanics, as shown in Figure 6 (example), and current time pressure passes Sensor data, and the mode that is calculated as follows processes data.

$\stackrel{\‾}{F}=\frac{F}{n};$ $\stackrel{\stackrel{\‾}{\·}}{F}=\frac{\stackrel{\·}{F}}{n}$

$D_F=\frac{f_{\max }}{2};$ $D_{\stackrel{\·}{F}}=\frac{{\stackrel{\·}{f}}_{\max }}{2}$

$u_1=\stackrel{\‾}{F}-D_F;$ $u_2=\stackrel{\stackrel{\‾}{\·}}{F}-D_{\stackrel{\·}{F}}$

Wherein, F is pressure transducer feedback information,For the rate of change of F, f_maxFor Semen Juglandis duricrust in blue or green Semen Juglandis stress model The maximum pressure that can bear,For Semen Juglandis duricrust pressure with the rate of change maximum of deformation, u₁, u₂Input for fuzzy control Amount.

S3: the input quantity obtained according to S2 step, uses FUZZY ALGORITHMS FOR CONTROL decision-making to go out required amount trimmed, two groups of inputs Amount and two groups of outputs are subdivided into five grades the most respectively, and its fuzzy rule curved surface is as shown in Figure 7.

S4: amount trimmed decision-making gone out is sent to slave computer.

The control amount trimmed that slave computer sends according to host computer and the difference of current angular sensor feedback information, pass through PID Control algolithm calculates the controlled quentity controlled variable needed for two servomotors, and sends it to two servomotors, controls it.

Claims (4)

1. peeling green peel of walnut wisdom energy fine adjustment control system, this system includes:

Host computer, its major function is, sets the scrubbing brush running parameter of continuous green walnut huller, the green grass or young crops to input spout Semen Juglandis information carries out pretreatment, decision-making and the dynamic micro-adjustments parameter of transmission slave computer, telecommunication management function；

Machine vision device, gathers the blue or green Semen Juglandis image information at spout, and sends it to host computer and process；

Slave computer, its major function is, according to dynamic micro-adjustments parameter and the angular transducer feedback information of host computer decision-making, completes To gap adjustment servomotor and the control of angular adjustment servomotor；This slave computer is by STC90C51 single-chip microcomputer and related peripherals Parts form, and the control amount trimmed that can send according to host computer and the difference of current angular sensor feedback information, by PID control Algorithm calculates the controlled quentity controlled variable needed for two servomotors, and sends it to two servomotors, controls servomotor System；

Gap adjustment servomotor (8), is connected with gap adjustment bar (10), regulates gap adjustment according to slave computer control signal The anglec of rotation of bar；

Angular adjustment servomotor (11), is connected with angular adjustment bar (13), adjusts according to slave computer control signal regulation angle The anglec of rotation of pole；

Angular transducer 1. (9), angular transducer 2. (12), is separately mounted to gap adjustment bar (10) and angular adjustment bar (13) Place, feeds back to slave computer by angle information；

Pressure transducer (7), is arranged at scrubbing brush, and scrubbing brush pressure information is fed back to host computer, with participative decision making.

2. peeling green peel of walnut wisdom energy fine adjustment control system as claimed in claim 1, its host computer should meet following condition: hard Part condition should meet system software module operation demand；Prepackage Windows XP system, system run all right.

3. peeling green peel of walnut wisdom energy fine adjustment control system as claimed in claim 1, its host computer farther includes following merit Energy module:

Scrubbing brush parameter arranges module automatically, and the Walnut Cultivars set according to user and grade, by external knowledge storehouse decision-making ejecting plate Suitable parameter required when dataller makees, sends it to slave computer, and shows current scrubbing brush work in real time by state displaying panel Make state；

Image processing module, the image information collecting machine vision device processes, machine vision device ccd video camera Output image is bmp format color image, by USD2.0 interface, image is stored in host computer core buffer, at image procossing In time, utilize call back function image to be acquired and information processing, its object is to obtain what synchronization participation processed Semen Juglandis quantity series, and send it to scrubbing brush parameter intelligent fine setting decision-making module；

Image processing step includes image gray-scale transformation, segmentation, denoising and working line acquisition of information；Wherein greyscale transformation uses The mode of 2G-R-B processes, and R, G, B are the brightness that same pixel points out red, green, blue color；Dividing processing uses gray scale straight Side's figure method completes, to reduce the false recognition rate of image；Denoising uses the mode first expanding post-etching, cloudy to reduce in image Shadow, spot effect of noise；

Scrubbing brush parameter intelligent fine setting decision-making module, the blue or green Semen Juglandis number that the synchronization participation sent by image processing module processes Amount, with the blue or green Semen Juglandis stress model obtaining beforehand through Experiments of Machanics and setting and current scrubbing brush parameter information, calculates ejecting plate Brush pressure and pressure change rate threshold value, and according to the difference of threshold value Yu pressure transducer feedback information, pass through fuzzy control further Algorithm, decision-making goes out required scrubbing brush small parameter perturbations amount, sends it to slave computer；

Communication module, the real-time Communication for Power of management host computer and slave computer, and it is responsible for gathering pressure transducer and angular transducer Feedback information, uses asynchronous serial mode to carry out data transmission.

4. peeling green peel of walnut wisdom energy fine adjustment control system as claimed in claim 1, its job step includes:

S1: the Semen Juglandis quantity series that the synchronization participation sent according to image processing module processes, with the speed of carrier bar transmission belt Degree, calculates the blue or green Semen Juglandis quantity that current time participation processes；

S2: the stress model obtained according to blue or green Semen Juglandis Experiments of Machanics, and current time pressure sensor data, be calculated fuzzy The input quantity of control algolithm；

S3: the input quantity obtained according to S2 step, uses FUZZY ALGORITHMS FOR CONTROL decision-making to go out required amount trimmed, two groups of input quantities and Two groups of outputs are subdivided into five grades the most respectively；

S4: amount trimmed decision-making gone out is sent to slave computer.