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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- 235000011430 Malus pumila Nutrition 0.000 description 1
- 235000015103 Malus silvestris Nutrition 0.000 description 1
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Abstract
本发明公开了一种三节臂仿形疏花蔬果装置电控系统，包括机载终端计算机、实时动态差分GPS系统、二维激光扫描传感器、USBCAN‑I接口卡、单片机控制器、直线式电动缸和步进电机；所述实时动态差分GPS系统、二维激光扫描传感器分别与机载终端计算机相连，所述机载终端计算机通过USBCAN‑I接口卡与三个单片机控制器相连，每个单片机控制器分别控制一个直线式电动缸和一个步进电机。本发明能够实现疏花节臂的自动仿形定位以及各节臂疏花轴的转速控制，使三节臂仿形疏花装置达到最佳作业状态。
The invention discloses an electric control system for a three-section arm profiling flower and vegetable thinning device, which includes 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 controller, and a linear electric cylinder and stepper motor; the real-time dynamic differential GPS system and the two-dimensional laser scanning sensor are respectively connected with the airborne terminal computer, and the airborne terminal computer is connected with three single-chip controllers through the USBCAN‑I interface card, and each single-chip control The controller controls a linear electric cylinder and a stepper motor respectively. The invention can realize the automatic profiling positioning of flower-thinning joint arms and the speed control of flower-thinning shafts of each joint arm, so that the three-section-arm profiling flower-thinning device can reach the best working state.
Description
技术领域technical field
本发明属于农业机械控制设备技术领域，更具体的涉及一种三节臂仿形疏花蔬果装置电控系统。The invention belongs to the technical field of agricultural machinery control equipment, and more specifically relates to an electric control system for a three-section arm profiling thinning flower and vegetable device.
背景技术Background technique
疏花作业是提高果实质量、减少养分消耗、促进花芽分化和持续稳定丰产的重要措施之一。果树中，桃树10％-15％的花结的果实成熟，苹果树5％-10％的花结的果实成熟，梨树12％-15％的花结的果实成熟，便可达到丰产。疏花作业集中在果树盛花期，疏果作业集中在果树盛花期后35天左右，作业时间短，劳动强度大。疏花作业方式包括人工摘除法、化学药剂疏除法和机械疏除法。人工摘除法对作业人员有一定的技术要求，存在劳动强度大、用工成本逐年增高、作业效率低、作业不均匀等问题。化学药剂疏除法对天气、温度等条件依赖性较大，农药残留难以避免，且后期还需要人工辅助作业一次。机械疏除法具有作业效率高、作业均匀、无农药污染等优点。Flower thinning operation is one of the important measures to improve fruit quality, reduce nutrient consumption, promote flower bud differentiation and maintain stable and high yield. Among the fruit trees, 10%-15% of peach trees have mature fruit, 5%-10% of apple tree has ripe fruit, and 12%-15% of pear tree has mature fruit, which can reach high yield. The flower thinning operation is concentrated in the full flowering period of the fruit trees, and the fruit thinning operation is concentrated in about 35 days after the fruit tree full flowering period. The operation time is short and the labor intensity is high. Flower thinning operations include manual removal, chemical agent thinning and mechanical thinning. The manual extraction method has certain technical requirements for operators, and there are problems such as high labor intensity, increasing labor costs year by year, low operating efficiency, and uneven operation. The chemical agent removal method is highly dependent on weather, temperature and other conditions, pesticide residues are unavoidable, and manual assistance is required once in the later stage. The mechanical thinning method has the advantages of high operating efficiency, uniform operation, and no pesticide pollution.
江苏省农业科学院设计了一种多节臂仿形疏花蔬果装置(中国专利申请号：201710122822.0)，其具有底部节臂、中部节臂、顶部节臂，能够在疏花疏果作业时适应不同形状果树的作业要求，为了更好的实现疏花疏果节臂的自动仿形定位以及各节臂的转速控制，使仿形疏花疏果装置达到最佳作业状态，为此，本申请研发了一种三节臂仿形疏花疏果装置电控系统，以更好的满足对具有三个节臂的仿形疏花疏果装置的控制需求。Jiangsu Academy of Agricultural Sciences has designed a multi-section arm imitation flower and fruit thinning device (Chinese patent application number: 201710122822.0), which has a bottom section arm, a middle section arm, and a top section arm, which can adapt to different flower and fruit thinning operations. In order to better realize the automatic profiling positioning of flower and fruit thinning joint arms and the speed control of each joint arm, so that the profiling flower and fruit thinning device can reach the best working state, for this reason, this application develops An electronic control system for a three-section arm profiling flower and fruit thinning device is developed to better meet the control requirements for a three-section arm profiling flower and fruit thinning device.
发明内容Contents of the invention
本发明的目的在于提供一种三节臂仿形疏花装置电控系统，能够更好对具有三个节臂的仿形疏花疏果装置进行控制。The object of the present invention is to provide an electric control system for a three-section arm profiling flower thinning device, which can better control the profiling flower and fruit thinning device with three joint arms.
为实现上述目的，本发明采用的技术方案如下：To achieve the above object, the technical scheme adopted in the present invention is as follows:
三节臂仿形疏花蔬果装置电控系统，包括机载终端计算机、实时动态差分GPS系统、二维激光扫描传感器、USBCAN-I接口卡、单片机控制器、直线式电动缸和步进电机；所述实时动态差分GPS系统、二维激光扫描传感器分别与机载终端计算机相连，所述机载终端计算机通过USBCAN-I接口卡与三个单片机控制器相连，每个单片机控制器分别控制一个直线式电动缸和一个步进电机；其中，The electronic control system of the three-section arm profiling flower thinning and fruit thinning device includes 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 the airborne terminal computer, and the airborne terminal computer is connected with three single-chip controllers through the USBCAN-I interface card, and each single-chip controller controls a linear electric cylinder and a stepper motor; where,
实时动态差分GPS系统，用于实时测量疏花疏果装置的全局定位信息，为二维激光扫描传感器返回的测量值提供全局参考坐标系；The real-time dynamic differential GPS system is used to measure the global positioning information of the flower and fruit thinning device in real time, and provide a global reference coordinate system for the measured values returned by the two-dimensional laser scanning sensor;
二维激光扫描传感器，用于探测果树靶标轮廓信息，实时返回设定扫描角度范围与角度分辨率条件下，靶标各点相对于传感器中心的角度值与距离值；The two-dimensional laser scanning sensor is used to detect the outline information of the fruit tree target, and returns in real time the angle value and distance value of each point of the target relative to the center of the sensor under the conditions of the set scanning angle range and angular resolution;
机载终端计算机，用于进行数据的采集、处理、通讯与控制命令的发送；The airborne terminal computer is used for data collection, processing, communication and sending of control commands;
USBCAN-I接口卡，用于为机载终端计算机扩展CAN总线控制器与CAN收发器，实现机载终端计算机接入CAN网络；The USBCAN-I interface card is used to expand the CAN bus controller and CAN transceiver for the airborne terminal computer, so as to realize the access of the airborne terminal computer to the CAN network;
单片机控制器，是以ATmega16单片机为核心扩展了CAN控制器与CAN收发器的控制器，用于接收机载终端计算机的控制命令，从而控制直线式电动缸与步进电机动作；The single-chip controller is based on the ATmega16 single-chip microcomputer as the core to expand the CAN controller and the CAN transceiver controller, which is used to receive the control commands of the on-board terminal computer, so as to control the linear electric cylinder and the stepper motor;
直线式电动缸，每个疏花节臂上配置一个直线式电动缸，通过直线电动缸的位移变化间接控制疏花节臂相对于靶标的倾斜角度，实现疏花节臂的定位与仿形；Linear electric cylinder, each flower thinning arm is equipped with a linear electric cylinder, through the displacement change of the linear electric cylinder, the inclination angle of the flower thinning arm relative to the target is indirectly controlled to realize the positioning and profiling of the flower thinning arm;
步进电机，每个疏花节臂上配置一个步进电机，通过控制步进电机的转速实现疏花节臂的转速控制。A stepping motor is configured on each flower thinning arm, and the speed control of the flower thinning arm is realized by controlling the speed of the stepping motor.
相对于现有技术，本发明具有如下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
本发明提供了一种三节臂仿形疏花蔬果装置电控系统，能够更好的满足对具有三个节臂的仿形疏花疏果装置的控制需求，该三节臂仿形疏花蔬果装置电控系统能够实现疏花节臂的自动仿形定位以及各节臂疏花轴的转速控制，使三节臂仿形疏花装置达到最佳作业状态。The invention provides an electric control system for a three-section arm profiling flower and fruit thinning device, which can better meet the control requirements for a three-section arm profiling flower and fruit thinning device. The three-section arm profiling flower and fruit thinning device The electronic control system can realize the automatic profiling positioning of the flower thinning section arm and the speed control of the flower thinning shaft of each section arm, so that the three-section arm profiling flower thinning device can reach the best working state.
附图说明Description of drawings
图1为本发明实施例三节臂仿形疏花蔬果装置电控系统的示意图；Fig. 1 is the schematic diagram of the electronic control system of the three-section arm profiling thinning flower and vegetable device of the embodiment of the present invention;
图2为本发明实施例三节臂仿形疏花蔬果装置电控系统的工作流程图。Fig. 2 is a working flow chart of the electric control system of the three-section arm profiling thinning flower and vegetable device according to the embodiment of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
如图1所示，本发明实施例提供的三节臂仿形疏花蔬果装置电控系统，包括机载终端计算机、实时动态差分GPS系统、二维激光扫描传感器、USBCAN-I接口卡、单片机控制器、直线式电动缸和步进电机；所述实时动态差分GPS系统、二维激光扫描传感器分别与机载终端计算机相连，所述机载终端计算机通过USBCAN-I接口卡与三个单片机控制器相连，每个单片机控制器分别控制一个直线式电动缸和一个步进电机；其中，As shown in Figure 1, the electronic control system of the three-section arm profiling flower and fruit thinning device provided by the embodiment of the present invention includes an airborne terminal computer, a real-time dynamic differential GPS system, a two-dimensional laser scanning sensor, a USBCAN-I interface card, and a single-chip microcomputer control system. device, linear electric cylinder and stepping motor; the real-time dynamic differential GPS system and the two-dimensional laser scanning sensor are respectively connected to the airborne terminal computer, and the airborne terminal computer is connected to three single-chip controllers through the USBCAN-I interface card connected, and each single-chip controller controls a linear electric cylinder and a stepper motor respectively; among them,
实时动态差分GPS系统，用于实时测量疏花疏果装置的全局定位信息，为二维激光扫描传感器返回的测量值提供全局参考坐标系；The real-time dynamic differential GPS system is used to measure the global positioning information of the flower and fruit thinning device in real time, and provide a global reference coordinate system for the measured values returned by the two-dimensional laser scanning sensor;
二维激光扫描传感器，用于探测果树靶标轮廓信息，实时返回设定扫描角度范围与角度分辨率条件下，靶标各点相对于传感器中心的角度值与距离值；The two-dimensional laser scanning sensor is used to detect the outline information of the fruit tree target, and returns in real time the angle value and distance value of each point of the target relative to the center of the sensor under the conditions of the set scanning angle range and angular resolution;
机载终端计算机，用于进行数据的采集、处理、通讯与控制命令的发送；The airborne terminal computer is used for data collection, processing, communication and sending of control commands;
USBCAN-I接口卡，用于为机载终端计算机扩展CAN总线控制器与CAN收发器，实现机载终端计算机接入CAN网络；The USBCAN-I interface card is used to expand the CAN bus controller and CAN transceiver for the airborne terminal computer, so as to realize the access of the airborne terminal computer to the CAN network;
单片机控制器，是以ATmega16单片机为核心扩展了CAN控制器与CAN收发器的控制器，用于接收机载终端计算机的控制命令，从而控制直线式电动缸与步进电机动作；The single-chip controller is based on the ATmega16 single-chip microcomputer as the core to expand the CAN controller and the CAN transceiver controller, which is used to receive the control commands of the on-board terminal computer, so as to control the linear electric cylinder and the stepper motor;
直线式电动缸，每个疏花节臂上配置一个直线式电动缸，通过直线电动缸的位移变化间接控制疏花节臂相对于靶标的倾斜角度，实现疏花节臂的定位与仿形；Linear electric cylinder, each flower thinning arm is equipped with a linear electric cylinder, through the displacement change of the linear electric cylinder, the inclination angle of the flower thinning arm relative to the target is indirectly controlled to realize the positioning and profiling of the flower thinning arm;
步进电机，每个疏花节臂上配置一个步进电机，通过控制步进电机的转速实现疏花节臂的转速控制。A stepping motor is configured on each flower thinning arm, and the speed control of the flower thinning arm is realized by controlling the speed of the stepping motor.
图2示出了本发明实施例提供的三节臂仿形疏花蔬果装置电控系统的工作流程。其工作流程步骤如下：Fig. 2 shows the workflow of the electric control system of the three-section arm profiling flower and vegetable thinning device provided by the embodiment of the present invention. Its workflow steps are as follows:
(1)系统上电运行，完成三节臂仿形疏花装置电控系统的设备上电、开机与调试；(1) The system is powered on and running, and the equipment of the electronic control system of the three-section arm profiling flower thinning device is powered on, started and debugged;
(2)判断机具疏花作业是否完成，若作业完成则关闭系统，若作业没有完成则系统正常运行；(2) Judging whether the flower thinning operation of the machine tool is completed, if the operation is completed, the system will be closed, if the operation is not completed, the system will run normally;
(3)系统正常运行，由机载终端计算机分别通过RS232串口与以太网口实时采集GPS定位数据与二维激光扫描数据；(3) The system is running normally, and the airborne terminal computer collects GPS positioning data and two-dimensional laser scanning data in real time through the RS232 serial port and the Ethernet port respectively;
(4)通过机载终端计算机软件对采集的GPS定位数据与二维激光扫描数据进行数据处理，包括串口通信、协议解析与几何变换，获得靶标的三维点云数据；(4) Process the collected GPS positioning data and two-dimensional laser scanning data through the airborne terminal computer software, including serial communication, protocol analysis and geometric transformation, to obtain the three-dimensional point cloud data of the target;
(5)通过机载终端计算机软件对靶标的三维点云数据进行数据处理，包括区域数据块划分、数据滤波、最小二乘法拟合相应区域的轮廓直线以及相应区域点云密度计算，从而分别提取靶标上中下三部分的轮廓直线信息与密度信息；(5) Perform data processing on the 3D point cloud data of the target through the computer software of the airborne terminal, including regional data block division, data filtering, least squares method to fit the contour line of the corresponding area and the calculation of the point cloud density of the corresponding area, so as to extract The contour line information and density information of the upper, middle and lower parts of the target;
(6)机载终端计算机软件基于靶标上中下三部分的轮廓直线信息与密度信息生成控制命令数据包发送至CAN总线网络；(6) The airborne terminal computer software generates a control command packet based on the contour line information and density information of the upper, middle and lower parts of the target and sends it to the CAN bus network;
(7)控制命令数据包通过CAN总线网络发送至各单片机控制器；(7) The control command data packet is sent to each single-chip controller through the CAN bus network;
(8)单片机控制器将接受到的控制命令数据包进行解析，计算执行机构直线电动缸与步进电机的运行参数并发送至相应端口；(8) The single-chip controller analyzes the received control command data packet, calculates the operating parameters of the linear electric cylinder and stepper motor of the actuator and sends them to the corresponding port;
(9)直线电动缸与步进电机接收到控制命令动作，实现疏花臂的角度与速度控制。(9) The linear electric cylinder and the stepping motor act upon receiving the control command to realize the angle and speed control of the flower thinning arm.
本发明实施例提供的三节臂仿形疏花蔬果装置电控系统，能够实现疏花节臂的自动仿形定位以及各节臂疏花轴的转速控制，使三节臂仿形疏花装置达到最佳作业状态。The electronic control system of the three-arm profiling flower thinning device provided by the embodiment of the present invention can realize the automatic profiling positioning of the flower thinning joint arm and the speed control of the flower thinning shaft of each joint arm, so that the three-section arm profiling flower thinning device can achieve the best Good working condition.
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。While preferred embodiments of the invention have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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