CN107561980A - Three joint arms profiling flower thinning vegetables and fruits device electric-control system - Google Patents
Three joint arms profiling flower thinning vegetables and fruits device electric-control system Download PDFInfo
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- CN107561980A CN107561980A CN201710733707.7A CN201710733707A CN107561980A CN 107561980 A CN107561980 A CN 107561980A CN 201710733707 A CN201710733707 A CN 201710733707A CN 107561980 A CN107561980 A CN 107561980A
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Abstract
The invention discloses a kind of three joint arms profiling flower thinning vegetables and fruits device electric-control system, including Airborne Terminal computer, real time dynamic differential GPS system, two dimensional laser scanning sensor, USBCAN I interfaces card, singlechip controller, linear electric cylinder and stepper motor；The real time dynamic differential GPS system, two dimensional laser scanning sensor are connected with Airborne Terminal computer respectively, the Airborne Terminal computer is connected by USBCAN I interfaces card with three singlechip controllers, and each singlechip controller controls a linear electric cylinder and a stepper motor respectively.The present invention can realize the automatic profiling positioning of flower thinning joint arm and the rotating speed control of each joint arm flower thinning axle, three joint arms profiling flower thinning device is reached optimal job state.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery control equipment, and particularly relates to an electric control system of a three-section-arm profiling flower thinning vegetable and fruit device.
Background
The flower thinning operation is one of important measures for improving the fruit quality, reducing the nutrient consumption, promoting the flower bud differentiation and continuously, stably and high yield. In the fruit trees, 10% -15% of the flowers of peach trees are mature, 5% -10% of the flowers of apple trees are mature, and 12% -15% of the flowers of pear trees are mature, so that high yield can be achieved. The flower thinning operation is concentrated on the full-bloom stage of the fruit trees, the fruit thinning operation is concentrated on about 35 days after the full-bloom stage of the fruit trees, the operation time is short, and the labor intensity is high. The flower thinning operation mode comprises a manual picking method, a chemical agent thinning method and a mechanical thinning method. The manual picking method has certain technical requirements on operators, and has the problems of high labor intensity, high labor cost year by year, low operation efficiency, uneven operation and the like. The chemical agent dredging method has large dependence on conditions such as weather, temperature and the like, pesticide residue is difficult to avoid, and manual auxiliary operation is needed once in the later period. The mechanical dredging method has the advantages of high operation efficiency, uniform operation, no pesticide pollution and the like.
The agricultural academy of sciences in Jiangsu province designs a multi-arm profiling flower and fruit thinning device (Chinese patent application No. 201710122822.0), which is provided with a bottom knuckle arm, a middle knuckle arm and a top knuckle arm, can adapt to the operation requirements of fruit trees with different shapes during flower and fruit thinning operation, and aims to better realize automatic profiling positioning of the flower and fruit thinning knuckle arms and rotating speed control of the knuckle arms so as to enable the profiling flower and fruit thinning device to reach an optimal operation state.
Disclosure of Invention
The invention aims to provide an electric control system of a three-section-arm profiling flower thinning device, which can better control the profiling flower thinning device with three section arms.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the three-section arm profiling flower and fruit thinning device electric control system comprises an airborne terminal computer, a real-time dynamic differential GPS system, a two-dimensional laser scanning sensor, a USBCAN-I interface card, a single chip microcomputer controller, a linear electric cylinder and a stepping motor; the real-time dynamic differential GPS system and the two-dimensional laser scanning sensor are respectively connected with an airborne terminal computer, the airborne terminal computer is connected with three single chip controllers through a USBCAN-I interface card, and each single chip controller respectively controls a linear electric cylinder and a stepping motor; wherein,
the real-time dynamic differential GPS system is used for measuring the global positioning information of the flower and fruit thinning device in real time and providing a global reference coordinate system for the measured value returned by the two-dimensional laser scanning sensor;
the two-dimensional laser scanning sensor is used for detecting outline information of the fruit tree target and returning the angle value and the distance value of each point of the target relative to the center of the sensor under the conditions of a set scanning angle range and angle resolution in real time;
the airborne terminal computer is used for acquiring and processing data, communicating and sending control commands;
the USBCAN-I interface card is used for expanding the CAN bus controller and the CAN transceiver for the airborne terminal computer and realizing the access of the airborne terminal computer to the CAN network;
the single chip controller is a controller which takes an ATmega16 single chip as a core and extends a CAN controller and a CAN transceiver, and is used for receiving a control command of an airborne terminal computer so as to control the linear electric cylinder and the stepping motor to act;
each flower thinning joint arm is provided with a linear electric cylinder, and the inclination angle of the flower thinning joint arm relative to the target is indirectly controlled through the displacement change of the linear electric cylinder so as to realize the positioning and profiling of the flower thinning joint arm;
and each flower thinning knuckle arm is provided with a stepping motor, and the rotating speed of the flower thinning knuckle arms is controlled by controlling the rotating speed of the stepping motors.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an electric control system of a three-section-arm profiling flower and fruit thinning device, which can better meet the control requirement of the profiling flower and fruit thinning device with three section arms.
Drawings
FIG. 1 is a schematic diagram of an electric control system of a three-section-arm profiling flower thinning device according to an embodiment of the present invention;
fig. 2 is a flow chart of the operation of the electric control system of the three-arm profiling flower thinning vegetable and fruit device in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the three-arm profiling flower thinning vegetable and fruit device electric control system provided by the embodiment of the invention comprises an airborne terminal computer, a real-time dynamic differential GPS system, a two-dimensional laser scanning sensor, a USBCAN-I interface card, a single chip microcomputer controller, a linear electric cylinder and a stepping motor; the real-time dynamic differential GPS system and the two-dimensional laser scanning sensor are respectively connected with an airborne terminal computer, the airborne terminal computer is connected with three single chip controllers through a USBCAN-I interface card, and each single chip controller respectively controls a linear electric cylinder and a stepping motor; wherein,
the real-time dynamic differential GPS system is used for measuring the global positioning information of the flower and fruit thinning device in real time and providing a global reference coordinate system for the measured value returned by the two-dimensional laser scanning sensor;
the two-dimensional laser scanning sensor is used for detecting outline information of the fruit tree target and returning the angle value and the distance value of each point of the target relative to the center of the sensor under the conditions of a set scanning angle range and angle resolution in real time;
the airborne terminal computer is used for acquiring and processing data, communicating and sending control commands;
the USBCAN-I interface card is used for expanding the CAN bus controller and the CAN transceiver for the airborne terminal computer and realizing the access of the airborne terminal computer to the CAN network;
the single chip controller is a controller which takes an ATmega16 single chip as a core and extends a CAN controller and a CAN transceiver, and is used for receiving a control command of an airborne terminal computer so as to control the linear electric cylinder and the stepping motor to act;
each flower thinning joint arm is provided with a linear electric cylinder, and the inclination angle of the flower thinning joint arm relative to the target is indirectly controlled through the displacement change of the linear electric cylinder so as to realize the positioning and profiling of the flower thinning joint arm;
and each flower thinning knuckle arm is provided with a stepping motor, and the rotating speed of the flower thinning knuckle arms is controlled by controlling the rotating speed of the stepping motors.
Fig. 2 shows a working process of the three-arm profiling flower thinning and fruit and vegetable thinning device electric control system provided by the embodiment of the invention. The working process comprises the following steps:
(1) the system is powered on to run, and equipment power-on, starting and debugging of the electric control system of the three-section-arm copying flower thinning device are completed;
(2) judging whether the flower thinning operation of the machine tool is finished or not, if the flower thinning operation is finished, closing the system, and if the flower thinning operation is not finished, normally operating the system;
(3) the system normally operates, and GPS positioning data and two-dimensional laser scanning data are collected in real time by an airborne terminal computer through an RS232 serial port and an Ethernet port respectively;
(4) carrying out data processing on the acquired GPS positioning data and the two-dimensional laser scanning data through airborne terminal computer software, wherein the data processing comprises serial port communication, protocol analysis and geometric transformation, and three-dimensional point cloud data of a target are obtained;
(5) carrying out data processing on the three-dimensional point cloud data of the target by airborne terminal computer software, wherein the data processing comprises area data block division, data filtering, least square method fitting of contour straight lines of corresponding areas and point cloud density calculation of the corresponding areas, and therefore contour straight line information and density information of the upper part, the middle part and the lower part of the target are respectively extracted;
(6) the airborne terminal computer software generates a control command data packet based on the contour straight line information and the density information of the upper part, the middle part and the lower part of the target and sends the control command data packet to the CAN bus network;
(7) the control command data packet is sent to each singlechip controller through the CAN bus network;
(8) the single chip microcomputer controller analyzes the received control command data packet, calculates the operation parameters of the linear electric cylinder and the stepping motor of the actuating mechanism and sends the operation parameters to corresponding ports;
(9) the linear electric cylinder and the stepping motor receive control commands to act, and the angle and the speed of the flower thinning arm are controlled.
The electric control system of the three-section-arm profiling flower thinning vegetable and fruit device provided by the embodiment of the invention can realize automatic profiling positioning of flower thinning sectional arms and rotating speed control of flower thinning shafts of the sectional arms, so that the three-section-arm profiling flower thinning device reaches an optimal operation state.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (1)
1. The three-section arm profiling flower and fruit thinning device electric control system is characterized by comprising an airborne terminal computer, a real-time dynamic differential GPS system, a two-dimensional laser scanning sensor, a USBCAN-I interface card, a single chip microcomputer controller, a linear electric cylinder and a stepping motor; the real-time dynamic differential GPS system and the two-dimensional laser scanning sensor are respectively connected with an airborne terminal computer, the airborne terminal computer is connected with three single chip controllers through a USBCAN-I interface card, and each single chip controller respectively controls a linear electric cylinder and a stepping motor; wherein,
the real-time dynamic differential GPS system is used for measuring the global positioning information of the flower and fruit thinning device in real time and providing a global reference coordinate system for the measured value returned by the two-dimensional laser scanning sensor;
the two-dimensional laser scanning sensor is used for detecting outline information of the fruit tree target and returning the angle value and the distance value of each point of the target relative to the center of the sensor under the conditions of a set scanning angle range and angle resolution in real time;
the airborne terminal computer is used for acquiring and processing data, communicating and sending control commands;
the USBCAN-I interface card is used for expanding the CAN bus controller and the CAN transceiver for the airborne terminal computer and realizing the access of the airborne terminal computer to the CAN network;
the single chip controller is a controller which takes an ATmega16 single chip as a core and extends a CAN controller and a CAN transceiver, and is used for receiving a control command of an airborne terminal computer so as to control the linear electric cylinder and the stepping motor to act;
each flower thinning joint arm is provided with a linear electric cylinder, and the inclination angle of the flower thinning joint arm relative to the target is indirectly controlled through the displacement change of the linear electric cylinder so as to realize the positioning and profiling of the flower thinning joint arm;
and each flower thinning knuckle arm is provided with a stepping motor, and the rotating speed of the flower thinning knuckle arms is controlled by controlling the rotating speed of the stepping motors.
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| CN201710733707.7A CN107561980A (en) | 2017-08-24 | 2017-08-24 | Three joint arms profiling flower thinning vegetables and fruits device electric-control system |
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| CN201710733707.7A CN107561980A (en) | 2017-08-24 | 2017-08-24 | Three joint arms profiling flower thinning vegetables and fruits device electric-control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111837701A (en) * | 2020-09-02 | 2020-10-30 | 山东农业大学 | Flower thinning arm based on image recognition and use method thereof |
| CN115067073A (en) * | 2021-03-15 | 2022-09-20 | 西北农林科技大学 | Apple flower thinning end effector with camera |
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| CN102217493A (en) * | 2011-04-25 | 2011-10-19 | 华南农业大学 | Ultrasonic targeted electric flower and fruit thinning machine |
| CN103404379A (en) * | 2013-07-30 | 2013-11-27 | 西北农林科技大学 | Self-propelled intelligent flower thinning machine for orchard |
| CN204157335U (en) * | 2014-07-03 | 2015-02-18 | 西北农林科技大学 | A kind of orchard automatic target detection formula flower thinning machine |
| CN105557672A (en) * | 2016-02-16 | 2016-05-11 | 江苏省农业科学院 | Fruit tree target detection system |
| CN205993148U (en) * | 2016-07-29 | 2017-03-08 | 中国华粮物流集团北良有限公司 | Silo three joint arms excavator |
| CN106857044A (en) * | 2017-03-03 | 2017-06-20 | 江苏省农业科学院 | A kind of single oil cylinder profiling flower and fruit thinning device |
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2017
- 2017-08-24 CN CN201710733707.7A patent/CN107561980A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102217493A (en) * | 2011-04-25 | 2011-10-19 | 华南农业大学 | Ultrasonic targeted electric flower and fruit thinning machine |
| CN103404379A (en) * | 2013-07-30 | 2013-11-27 | 西北农林科技大学 | Self-propelled intelligent flower thinning machine for orchard |
| CN204157335U (en) * | 2014-07-03 | 2015-02-18 | 西北农林科技大学 | A kind of orchard automatic target detection formula flower thinning machine |
| CN105557672A (en) * | 2016-02-16 | 2016-05-11 | 江苏省农业科学院 | Fruit tree target detection system |
| CN205993148U (en) * | 2016-07-29 | 2017-03-08 | 中国华粮物流集团北良有限公司 | Silo three joint arms excavator |
| CN106857044A (en) * | 2017-03-03 | 2017-06-20 | 江苏省农业科学院 | A kind of single oil cylinder profiling flower and fruit thinning device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111837701A (en) * | 2020-09-02 | 2020-10-30 | 山东农业大学 | Flower thinning arm based on image recognition and use method thereof |
| CN115067073A (en) * | 2021-03-15 | 2022-09-20 | 西北农林科技大学 | Apple flower thinning end effector with camera |
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Application publication date: 20180109 |