CN104267644A - Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method - Google Patents

Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method Download PDF

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Publication number
CN104267644A
CN104267644A CN201410511643.2A CN201410511643A CN104267644A CN 104267644 A CN104267644 A CN 104267644A CN 201410511643 A CN201410511643 A CN 201410511643A CN 104267644 A CN104267644 A CN 104267644A
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China
Prior art keywords
corn
emasculation
real
control module
vehicle speed
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Inventor
毛恩荣
薛涛
谢斌
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Jiuquan OK Seed Machinery Co Ltd
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Jiuquan OK Seed Machinery Co Ltd
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Priority to CN201410511643.2A priority Critical patent/CN104267644A/en
Publication of CN104267644A publication Critical patent/CN104267644A/en
Priority to AU2015301386A priority patent/AU2015301386B2/en
Priority to PCT/CN2015/079851 priority patent/WO2016050089A1/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428—Safety, monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2609—Process control

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Feedback Control In General (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a real-time adjusting and controlling system for castration operation response parameters of a corn castration machine and a control method. The adjusting and controlling system comprises a control unit, a corn height sensor, a vehicle speed sensor and a castration mechanism, wherein the input end of the control unit is connected with the corn height sensor and the vehicle speed sensor, and the output end of the control unit is connected with the castration mechanism. When the castration mechanism reaches the position of corn of which height signals are collected, the control unit outputs corresponding execution signals to drive the castration mechanism according to the corn height signals collected by the corn height sensor and real-time vehicle speed signals collected by the vehicle speed sensor. The accuracy of castration operation is improved, and the requirement for adjusting the response parameters in real time under the conditions of different vehicle speeds and different corn production statuses is met.

Description

The real-time regulation and control system of corn castration machine emasculation operation response parameter and control method
Technical field
The present invention relates to emasculation Operation control field, be specifically related to the real-time regulation and control system of a kind of corn castration machine emasculation operation response parameter and control method.
Background technology
High-clearance self-propelled corn castration machine emasculation efficiency is high, cost is low and improve operating condition, is the optimal selection that male operation taken out by following China corn.But because the factor such as driving, topographic condition, soil types, ground moistening degree by driver affects, cause detassel machine operation speed of a motor vehicle in operation process different.Existing emasculation operation-control system, can't carry out real-time response parameter and regulate when the different operation speed of a motor vehicle; And the operation speed of a motor vehicle is the principal element of the response parameter determining emasculation operation-control system, directly affects emasculation mechanism and accurately can make action according to the height of corn.
Summary of the invention
The object of this invention is to provide the real-time regulation and control system of a kind of corn castration machine emasculation operation response parameter.
Another object of the present invention is to provide the real-time adjustment control method of a kind of corn castration machine emasculation operation response parameter, in the face of different operation speed of a motor vehicle response parameters can not carry out the problem that regulates in real time during to solve emasculation operation in prior art.
The real-time regulation and control system of a kind of corn castration machine emasculation operation response parameter, this regulation and control system comprises control module, corn height sensor, vehicle speed sensor, emasculation mechanism, the input end of described control module is connected with corn height sensor, vehicle speed sensor, and the output terminal of described control module connects emasculation mechanism; When described emasculation mechanism arrives the corn position of collected altitude signal, described control module exports corresponding executive signal according to the corn altitude signal of corn height sensor collection and the real-time vehicle speed signal of vehicle speed sensor collection and controls the driving of emasculation mechanism.
Further, described control module adopts 8 ATMEL single-chip microcomputers.
Further, described corn height sensor is photoelectric sensor.
Further, described corn height sensor is arranged on the front of emasculation mechanism.
The real-time adjustment control method of a kind of corn castration machine emasculation operation response parameter, comprises the steps:
Steps A: by the accurate location that pre-sets between corn height sensor and emasculation mechanism stored in control module;
Step B: the real time job vehicle speed signal now gathered is sent into control module by vehicle speed sensor by vehicle speed sensor while corn height sensor collects corn altitude signal;
Step C: control module calculates the distance of passing by between corn height sensor and emasculation mechanism according to the real time job speed of a motor vehicle in the step B time used, the duration that the height deducting emasculation mechanism again regulates executive signal to perform, show that the height of emasculation mechanism regulates executive signal to start the time exported;
Step D: when emasculation mechanism arrives the corn position of collected altitude signal, the height that control module starts to export the emasculation mechanism described in step C instantaneously regulates executive signal, makes emasculation mechanism accurately win corn stamen.
The invention has the beneficial effects as follows: this control system improves the precision of emasculation operation, corn height and position is collected by corn height sensor, control module regulates executive signal to start the time exported according to the height of different real time job speed of a motor vehicle regulating and controlling emasculation mechanisms, meeting and can carry out real-time response parameter adjustment when the different operation speed of a motor vehicle and different Maize Production situation, taking out male irrealizable condition improved for accurately realizing by what affect because of the speed of a motor vehicle.
Accompanying drawing explanation
Fig. 1 is system chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
As shown in Figure 1, the real-time regulation and control system of a kind of corn castration machine emasculation operation response parameter, this regulation and control system comprises control module 1, corn height sensor 2, vehicle speed sensor 3, emasculation mechanism 4, the input end of control module 1 is connected with corn height sensor 2, vehicle speed sensor 3, and the output terminal of control module 1 connects emasculation mechanism 4; When emasculation mechanism 4 arrives the corn position of collected altitude signal, the corn altitude signal that control module 1 gathers according to corn height sensor 2 and the real-time vehicle speed signal that vehicle speed sensor 3 gathers export corresponding executive signal and control emasculation mechanism 4 and drive; Control module 1 adopts 8 ATMEL single-chip microcomputers, and corn height sensor 2 is photoelectric sensor.
The response parameter of emasculation operation-control system refers to obtain the time that corn altitude signal regulates executive signal to start when exporting to the height of Chou Xiong mechanism 4, due to before the installation of corn height sensor 2 in emasculation mechanism 4 certain distance, so detassel machine read corn elevation information while emasculation mechanism 4 in fact also at the corn at corn height sensor 2 rear, emasculation mechanism 4 will be caused can not to carry out according to the corresponding corn height of reality the error that regulates if the elevation information now read according to corn height sensor 2 exports executive signal, so executive signal can not export at once after obtaining the elevation information of corn, can only treat that position that emasculation mechanism 4 arrives collected signal corn just starts to export in good time and highly regulate executive signal accordingly.
The real-time adjustment control method of corn castration machine emasculation operation response parameter, comprises the steps:
Steps A: by the accurate location that pre-sets between corn height sensor and emasculation mechanism stored in control module;
Step B: the real time job vehicle speed signal now gathered is sent into control module by vehicle speed sensor by vehicle speed sensor while corn height sensor collects corn altitude signal;
Step C: control module calculates the distance of passing by between corn height sensor and emasculation mechanism according to the real time job speed of a motor vehicle in the step B time used, the duration that the height deducting emasculation mechanism again regulates executive signal to perform, show that the height of emasculation mechanism regulates executive signal to start the time exported;
Step D: when emasculation mechanism arrives the corn position of collected altitude signal, the height that control module starts to export the emasculation mechanism described in step C instantaneously regulates executive signal, makes emasculation mechanism accurately win corn stamen.
Detailed process is: the real-time regulation and control system of corn castration machine emasculation operation response parameter is first by the distance s between corn height sensor 2 and emasculation mechanism 4 and corn plants distance s 1stored in control module 3, control module 3 calculates the corn plants number n between height sensor and emasculation mechanism according to the distance between height sensor and emasculation mechanism and spacing in the rows.Emasculation mechanism at arrival one strain corn time, corn height sensor 2 is reading the height of front n-th strain corn, during emasculation work operations, while corn height sensor 2 reads the elevation information of a place corn a sometime, the operation speed of a motor vehicle is now read in by vehicle speed sensor in the control module 3 storing n-1 group corn elevation information and speed information data and is stored as n-th group of data by vehicle speed sensor 1, control module 3 calculates the time t that the distance of passing by between corn height sensor 2 and emasculation mechanism 4 according to the speed in n-th group of data needs, using time t divided by n as the executive signal execution time t carrying out emasculation institutional adjustment according to the corn elevation information in first group of data 1, now control module 3 starts to export corresponding executive signal according to the corn elevation information in the data of first group, and promote emasculation mechanism 4 action, executive signal output time is t 1after executive signal exports and stops, the first group of data stored are deleted by control module 3, all the other store data storage location and move forward successively, n-th group of data is vacated after having moved forward, now corn elevation information now and Operation Van's fast reading are entered in control module 3 to be stored as n-th group of data again by corn height sensor 2 and vehicle speed sensor 1, again get the speed of a motor vehicle in n-th group of data now and the corn altitude signal in first group of data draws execution time t 2, obtain t by that analogy n-1, t n, such t n-1after execution time completes, emasculation mechanism 4 also reaches corn place of a place, now control module 3 just starts to export executive signal according to the altitude signal in the first group of data now stored i.e. a place corn altitude signal, and promote emasculation mechanism 4 action, executive signal output time is t n.

Claims (5)

1. the real-time regulation and control system of corn castration machine emasculation operation response parameter, it is characterized in that: this regulation and control system comprises control module (1), corn height sensor (2), vehicle speed sensor (3), emasculation mechanism (4), the input end of described control module (1) is connected with corn height sensor (2), vehicle speed sensor (3), and the output terminal of described control module (1) connects emasculation mechanism (4);
When described emasculation mechanism (4) arrives the corn position of collected altitude signal, the corn altitude signal that described control module (1) gathers according to corn height sensor (2) and the real-time vehicle speed signal that vehicle speed sensor (3) gathers export corresponding executive signal and control emasculation mechanism (4) and drive.
2. the real-time regulation and control system of corn castration machine emasculation operation response parameter according to claim 1, is characterized in that: described control module (1) adopts 8 ATMEL single-chip microcomputers.
3. the real-time regulation and control system of corn castration machine emasculation operation response parameter according to claim 1, is characterized in that: described corn height sensor (2) is photoelectric sensor.
4. the real-time regulation and control system of corn castration machine emasculation operation response parameter according to claim 1, is characterized in that: described corn height sensor (2) is arranged on the front of emasculation mechanism (4).
5. the real-time adjustment control method of corn castration machine emasculation operation response parameter, is characterized in that, comprise the steps:
Steps A: by the accurate location that pre-sets between corn height sensor and emasculation mechanism stored in control module;
Step B: the real time job vehicle speed signal now gathered is sent into control module by vehicle speed sensor by vehicle speed sensor while corn height sensor collects corn altitude signal;
Step C: control module calculates the distance of passing by between corn height sensor and emasculation mechanism according to the real time job speed of a motor vehicle in the step B time used, the duration that the height deducting emasculation mechanism again regulates executive signal to perform, show that the height of emasculation mechanism regulates executive signal to start the time exported;
Step D: when emasculation mechanism arrives the corn position of collected altitude signal, the height that control module starts to export the emasculation mechanism described in step C instantaneously regulates executive signal, makes emasculation mechanism accurately win corn stamen.
CN201410511643.2A 2014-09-29 2014-09-29 Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method Pending CN104267644A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201410511643.2A CN104267644A (en) 2014-09-29 2014-09-29 Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method
AU2015301386A AU2015301386B2 (en) 2014-09-29 2015-05-26 Real-time adjustment control system and control method for response parameters of castration operation of corn castration machine
PCT/CN2015/079851 WO2016050089A1 (en) 2014-09-29 2015-05-26 Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method

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WO2016050089A1 (en) * 2014-09-29 2016-04-07 酒泉奥凯种子机械股份有限公司 Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method
CN105892456A (en) * 2015-06-03 2016-08-24 祖元丁 Single crop plant top locus automatic tracking control method
CN114868480A (en) * 2022-04-08 2022-08-09 新疆九御科技有限公司 Multipurpose agricultural intelligent robot

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CN106489420B (en) * 2016-10-18 2018-09-14 刘晓岚 One kind being used for corncob head cutter device

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WO2016050089A1 (en) * 2014-09-29 2016-04-07 酒泉奥凯种子机械股份有限公司 Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method
CN105892456A (en) * 2015-06-03 2016-08-24 祖元丁 Single crop plant top locus automatic tracking control method
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CN114868480A (en) * 2022-04-08 2022-08-09 新疆九御科技有限公司 Multipurpose agricultural intelligent robot

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