CN107844069A - A kind of rice transplanter navigation control unit system design - Google Patents
A kind of rice transplanter navigation control unit system design Download PDFInfo
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- CN107844069A CN107844069A CN201610830647.6A CN201610830647A CN107844069A CN 107844069 A CN107844069 A CN 107844069A CN 201610830647 A CN201610830647 A CN 201610830647A CN 107844069 A CN107844069 A CN 107844069A
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- rice transplanter
- control unit
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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
- G05B19/0426—Programming the control sequence
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23264—Assembly language, pass parameters by registers instead of stack
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to a kind of rice transplanter navigation control unit system design, the present invention is the Digital DC governing system formed with 25W dc motor, 16F873A single-chip microcomputers.Steering of the present invention by single-chip microcomputer controlled motor and rotating speed unit, realize the operation of rice transplanter self-navigation function, while Computer Aided Design micro machine control circuit, realizes its measurement to encoder corner.
Description
Technical field
Patent of the present invention is related to singlechip technology field, and in particular to a kind of rice transplanter navigation control unit system design.
Background technology
Agricultural production is the basis that human society exists and developed, and in order to constantly upgrade the efficiency, improves agricultural production
Environment, from the date of birth, the research to mode of agriculture just never stopped the mankind.Mechanization of agriculture, make machinery
Device instead of the work of people, and people is freed from heavy manual labor, has greatly promoted the development of agricultural production.
Into 21 century, the development of information technology, sensor technology, control technology, network technology etc., agricultural production is brought into automatically
Change the development epoch.
Agri-vehicle automatic navigation technology as Automation of Agricultural Production, an intelligentized important content, gradually by
The attention of people.Early in the twenties in last century, occur as soon as it is a kind of can be along the tractor of ditch dug with a plow automatic running；By 40 years
In generation, there is the automatic running tractor that can be moved in a circle under hawser guiding in field.The seventies, people further through
Cable is laid to guide tractor automatic running in field；The eighties, be born the automated guided vehicle based on imaging sensor, with
Occurs the automatic running vehicle based on a variety of navigation modes such as GPS, Multi-sensor Fusion again afterwards, agriculture self-navigation controls skill
The research of art constantly makes substantial progress.The application of this technology frees driver from frequently direction operation, real
Now vehicle is unmanned, allows machine to be worked out of doors instead of people, or harmful operation of such as being sprayed insecticide, pole
Big improves working environment.
Into the nineties, the appearance of precision agriculture, new requirement is proposed again for agri-vehicle self-navigation.Precision agriculture
By the high-tech such as remote sensing geographicinformation system, global positioning system, computer technology, communication and network technology, automatic technology
Organically combined with basic subjects such as geography, agricultural, ecology, plant physiology, soil, it is right in agricultural production process to realize
Crops, soil, soil are from macroscopic view to microcosmic real-time monitoring, to realize to plant growth, development condition, pest and disease damage, liquid manure
Situation and corresponding environmental aspect carry out periodic information acquisition and dynamic analysis, by diagnosis and decision-making implementation plan,
And the information-based agriculture of farm work is carried out in the case where global position system GPS and GIS integrated systems are supported.Precision Agriculture Technology
Using, homework precision can be largely improved, reduces and repeats operation, the saving energy, environmental protection, maintenance agricultural production
Sustainable development.Due to precision agriculture be built upon " spatial diversity " data acquisition with the informationization technology that in real time handles,
Accurate positional information and environmental information are needed, this just provides vast potential for future development for self-navigation control technology.
Patent of invention content
Patent of the present invention is related to a kind of rice transplanter navigation control unit system design, and the present invention is the direct current drive with a 25W
Machine, the Digital DC governing system that 16F873A single-chip microcomputers are formed.Steering and rotating speed of the present invention by single-chip microcomputer controlled motor
Unit, realize the operation of rice transplanter self-navigation function.Computer Aided Design micro machine control circuit simultaneously, realizes it to encoder
The measurement of corner.
Brief description of the drawings
Fig. 1：Flow chart.
Fig. 2：Main circuit diagram.
Fig. 3：The operation principle block diagram of TMR2 timer modules.
Fig. 4：Buzz circuit figure.
Fig. 5：Buzzer figure.
Fig. 6：The structured flowchart of PWM mode.
Fig. 7：Two Parameter Maps of PWM output waveforms.
Embodiment
In order that the object, technical solution and advantage of patent of the present invention are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, patent of the present invention is further elaborated.It should be appreciated that specific embodiment described herein is only explaining
Patent of the present invention, is not intended to limit the present invention patent.
Patent of the present invention is related to a kind of rice transplanter navigation control unit system design, and the present invention is the direct current with a 25W
Motor, the Digital DC governing system that 16F873A single-chip microcomputers are formed.The present invention by the steering of single-chip microcomputer controlled motor and
Rotating speed unit, realize the operation of rice transplanter self-navigation function.Computer Aided Design micro machine control circuit simultaneously, realize it to compiling
The measurement of code device corner.
Further, self-navigation control unit of the invention is to follow the side of survey with task using PIC16F877A as core
Formula enters writing for line program.Inspection process is followed come the whole task completed using an immediate skip.Signal input port distributes：Communication port
Whether new data RA0, timing 200ms to no RA1 are had, if need to adjust corner R A2, if need to brake RA3, if need
Regulate the speed RB0, if control rice transplanting platform RB1.Information output mouth distributes：Communication port reads data RB2, reads corner R B3, control
Motor steering RB4, RB5 is braked, regulate the speed RB6, rice transplanting platform lifting RB7.Flow is as shown in Figure 1.
Further, interrupt routine includes variable and its definition of constant and the setting of interrupt service routine.Program is realized
It is as follows：
#define MYFLAG 20H
#define COUNT 21H
#define LightFanZhuan 22H
#define LightZhengZhuan 23H
#define T1_count 24H
#define SHENG 25H
#define JIANG 26H
#define delcount1 27H
#define delcount2 28H
list p=16F873A
include "p16f873A.inc"
org 0x000 ；Reset entry address
nop
goto main
org 0004h ；Interrupt entry address
bcf INTCON,TOIF ；Reset TIMER0 interrupt identification
movlw 0x3d ；TMR0 assignment again
movwf TMR0
decf COUNT,f ；Interruption times subtract 1
btfsc STATUS,Z ；Judge whether to be subtracted
It is zero
bsf MYFLAG,0 ；Put generation 50ms and be timed to mark
cblock 0x20 ；Defined variable
wTemp ；Interrupt protection W register
statuaTemp ；Interrupt protection STATUS registers
pchTemp ；Interrupt protection PCLATH registers
endc ；Variable-definition terminates
org 0080h。
Further, in initialization program of the invention, the self-defined register to be used in program and timing are defined
Some relative programs of 200MS and PWM controls.It is wherein main to include importing timing 200ms data in register and PWM weeks
Phase sets.Initialization program is as follows:
main
banksel OPTION_REG
movlw b'00000101' ；Pre- frequency dividing numerical digit 64
movwf OPTION_REG
banksel TMR0
movlw 0x3d ；TMR0 assigns initial value
movwf TMR0
banksel INTCON ；Interrupt control register is set
movlw b'10100000'
clrf INTCON
bsf INTCON,T0IE ；Only interrupt TMR0
bsf INTCON,GIE ；Open global interrupt
bcf STATUS,RP0
bcf STATUS,RP1
movlw D'4'
movwf COUNT ;Set interruption times clear
To-zero counter
clrf MYFLAG
banksel TRISB ；The bank being switched to where TRISB
clrf TRISB ；It is output state to ensure RB
banksel TRISC ；The bank being switched to where TRISC
bcf TRISC,0 ；It is output state to ensure RC0
bcf TRISC,2 ；It is output state to ensure RC2
banksel PR2 ；The bank being switched to where PR2
movlw .156 ；PWM cycle value=.156
movwf PR2 ；Set PR2 periodic Control registers
clrf STATUS ；Select bank0
banksel T2CON ；The bank being switched to where T2CON
movlw b'00001100'
；Start TMR2, divide 1 in advance:1,1 is divided afterwards:2
banksel CCP1CON
；The register being switched to where CCP1CON
movlw b'00001100' ；Take PWM mode of operation control words
movwf CCP1CON ；Set CCP1 modules.
Further, the execution of instructions in block diagram is mainly completed in cyclic program, program is realized as follows：
loop
btfsc MYFLAG,0 ；There is new data no
call DUSHUJU ；Read new data
btfsc MYFLAG,1 ；200ms is timed to no
call DINGSHI ；Read corner, adjustment
Corner
btfsc MYFLAG,2 ；Adjustment turns to no
call ZHUANXIANG ；Adjust rotating
btfsc MYFLAG,3 ；Need to brake no
call ZHIDONG ；Braking
btfsc MYFLAG,4 ；Need adjustment rotating speed no
call TIAOSU ；Adjust rotating speed
btfsc MYFLAG,5 ；Need to control rice transplanting platform no
call SHENGJIANG ；Control the lifting of rice transplanting platform
clrwdt ；Close house dog
goto loop ；Repeat major cycle.
Further, subprogram is as follows：
DUSHUJU bcf MYFLAG,0
bsf TRISB,1
Return
Read corner
DINGSHI btfsc MYFLAG,1 ；Judge whether 200ms timings have arrived
call Tim0Proc
clrwdt
goto DINGSHI
Tim0Proc
bcf MYFLAG,0
movlw D'4'
movwf COUNT ；Interruption times are set to reset counter
call DUZHUANJIAO ；Read corner
DUZHUANJIAO bcf MYFLAG,1
movlw D'4'
movwf COUNT ；Interruption times are set to reset counter
bcf INTCON,GIE ；Temporarily forbid all interruptions
banksel TMR1H ；The bank being switched to where TMR1H
clrf T1_count ；Empty data in count
Get_T1Val movf TMR1H,w ；Read TMR1H values
movwf T1_count+1 ；It is sent to T1_count high bytes
movf TMR1L,w ；Read TMR1L values
movwf T1_count ；It is sent to T1_count low bytes
movf TMR1H,w ；TMR1H values are read again
xorwf T1_count+1,w
；See whether as the TMR1H contents originally read
Skpz ；It is to read 16 TMR1
Process terminates
goto Get_T1Val
；No, TMR1 low levels re-read TMR1 to high-order carry
bsf INTCON,GIE ；Reopen interruption
bsf TRISB,2 ；RB2 is set for input
Return
Timing 200ms, the time is to just going to read corner and adjust corner
ZHUANXIANG bcf MYFLAG,2
btfsc PORTA,5 ；Whether invert
call LightFanZhuan ；Reversion
btfss PORTA,5 ；Whether rotate forward
call LightZhengZhuan ；Rotate forward
return
Controlled motor turns to, PORTA, and 5 set to 0 as main story, puts 1 as reversion
ZHIDONG bcf MYFLAG,3
MOVLW b‘00001000’
IORWF PORTB,f
return
Whether brake：TRISB, 3 put 1 as braking
TIAOSU bcf MYFLAG,4
banksel CCPR1L ；The bank being switched to where CCPR1L
movlw .156 ；Default ripple starting point
movwf CCPR1L ；Set dutycycle output
banksel PORTB ；The bank being switched to where PORTB
movlw 0x00 ；It is sent to PORTB
movwf PORTB ；Read PORTB values
call delay500 ；Exchange delay 20ms
movlw 0xff ；It is sent to PORTB
movwf PORTB ；Read PORTB values
goto TIAOSU
Speed governing：Control PWM duty cycle governing speed size
delay500
movlw D'5'
movwf delcount2
del2 call delay5
decfsz delcount2
goto del2
return
delay5 movlw D'200'
movwf delcount1
del1 nop
nop
decfsz delcount1,1
goto del1
Return
Be delayed 20ms
SHENGJIANG bcf MYFLAG,5
btfsc PORTA,6 ；It is no to rise rice transplanting platform
call SHENG ；Rice transplanting platform liter
btfss PORTA,7 ；It is no that rice transplanting platform drops
call JIANG ；Rice transplanting platform drops
Elevating control：PORTA, 6 set to 0 to drop, and put 1 to rise
End ；Compilation terminates.
Further, main circuit is as shown in figure 1, this circuit diagram mainly completes the connection to SCM PWM pattern, by signal
Carry out producing steady, stable analog signal after filtering twice, and can be by controlling the speed of duty cycle adjustment motor.
Further, direct current generator course changing control modularized experiment scheme is using PIC16F873A as core, under PWM mode
Operating circuit.By controlling TMR2 registers to adjust PWM cycle, PWM duty cycle regulation output electricity is controlled by adjusting CCPxCON
Pressure.
Further, PIC16F87X is the middle level products of Wei Xin companies.It uses the PEGlike structures instruction system of 14,
On the premise of keeping low price, A/D converter, internal eeprom memory are added, compares output, catch input, PWM outputs
（After simple filter circuit, D/A outputs are also used as）, I2C buses and spi bus interface circuit, asynchronous serial lead to
Letter（USART）Many functions such as interface circuit, analog voltage comparator, LCD drivings, FLASH program storages, it is convenient to
Line repeatedly programming and debugging.
Further, the TMR2 timers of 8 bit widths have a preposition pre-divider and rearmounted pre-divider, also have simultaneously
A cycle control register realizes the counting for the MCU Instruction cycle together with its cooperation.This also means that TMR2 can only
Use, the pulse of outside input can not be counted as timer.When its pre- frequency dividing and after pre-divider frequency dividing ratio for most
Greatly, when the counting cycle is also maximum, the spilling frequency of timing is as the timer of 16：The spilling once counted is up to
65536 instruction cycles.For TMR2 timers compared with TMR0, maximum difference is that TMR2 has a cycle control register
PR2.TMR0 can only could produce interruption when counting and overflowing back 0, but TMR2 count value has one can freely set
The setting value of the upper limit, i.e. PR2 registers.As long as 0 will be returned automatically when TMR2 count value and equal PR2 setting value, together
When pass through rear frequency divider produce one interruption.Timer TMR2 will be close with CCP module PWM output functions in PIC single chip microcomputer
Coordinate, the PWM low and high levels width of output is exactly to lean on TMR2 timing substantially to realize.In addition, TMR2 timing spill over
Can also be as the clock of synchronous serial communication SSP modules.Operation principle block diagram such as Fig. 3 institutes on TMR2 timer modules
Show.
Further, magnetic valve by alive size control position unshakable in one's determination.Control of the single-chip microcomputer to magnetic valve
It is to be realized by PWM：Single-chip microcomputer produces PWM voltage signals, sends drive circuit to by Phototube Coupling, drive circuit will
PWM voltage signals are converted to PWM current signals, the break-make of PWM current signals control magnetic valve or position unshakable in one's determination.Simultaneously using electricity
The digital improvement of magnetic reversal valve realizes hydraulic system throttle grverning to the direct control of reversal valve.Reach control throttle, brake
Effect.
Further, control program is as follows：
MyFlag EQU 20H
list p=16F873A
include "p16f873A.inc"
org 0000h
main
banksel PORTB ；The bank being switched to where PORTB
clrf PORTB ；PORTB pins are arranged to export
banksel PORTC ；The bank being switched to where PORTB
clrf PORTC ；PORTB pins are arranged to export
clrf MyFlag ；By MyFlag register zero setting
loop
btfsc MyFlag,0 ；Judge to turn to
call zhengzhuan ；Motor rotates forward
call fanzhuan ；Motor reversal
goto loop
zhenzhuan bcf MyFlag,0
movlw b’00000001’ ；RB0 puts 1
iorwf PORTB,f
return
fanzhuan bcf MyFlag,0
movlw b’00010000’ ；RC4 puts 1
iorwf PORTC,f
return
end ；Compilation terminates.
Further, the structured flowchart of PWM mode is as shown in Figure 6.PWM output waveforms have two parameters：Cycle and work
Cycle, as shown in Figure 7.
Further, experimental arrangement of the present invention is as follows：
#define delcount2 20H
#define delcount1 21H
list P=16F873A
include "P16F873A.inc"
cblock 0x20 ；Defined variable
wTemp ；Interrupt protection W register
statuaTemp ；Interrupt protection STATUS registers
pchTemp ；Interrupt protection PCLATH registers
endc ；Variable-definition terminates
org 0x000 ；Reset entrance
nop ；Debugged for ICD2
goto main ；Program is gone at main
main
banksel TRISB ；The bank being switched to where TRISB
clrf TRISB ；TRISB pins are set for output
banksel TRISC ；The bank being switched to where TRISC
bcf TRISC,0 ；TRISC0 pin are set for output
bcf TRISC,2 ；TRISC2 pin are set for output
banksel PR2 ；The bank being switched to where PR2
movlw .156 ；PWM cycle value=.156
movwf PR2 ；Set PR2 periodic Control registers
clrf STATUS ；Select bank
banksel T2CON ；The bank being switched to where T2CON
movlw b'00001100' ；Start TMR2, divide 1 in advance:1,1 is divided afterwards:2
movwf T2CON ；Set TMR2 mode of operations
banksel CCP1CON
movlw b'00001100' ；Take PWM mode of operation control words
movwf CCP1CON；Set CCP1 modules
Loop
banksel CCPR1L
movlw .156 ；Default starting point
movwf CCPR1L ；Set dutycycle output
banksel PORTB
movlw 0x00
movwf PORTB
call delay500 ；Call delay procedure
movlw 0xff
movwf PORTB
;
goto Loop
delay500
movlw D'5'
movwf delcount2
del2 call delay5
decfsz delcount2
goto del2
return
delay5 movlw D'200'
movwf delcount1
del1 nop
nop
decfsz delcount1,1
goto del1
return
end。
The preferred embodiment of patent of the present invention is the foregoing is only, is not intended to limit the invention patent, it is all at this
All any modification, equivalent and improvement made within the spirit and principle of patent of invention etc., should be included in patent of the present invention
Protection domain within.
Claims (2)
1. patent of the present invention is related to a kind of rice transplanter navigation control unit system design, the present invention is the direct current with a 25W
Motivation, the Digital DC governing system that 16F873A single-chip microcomputers are formed；The present invention is by the steering of single-chip microcomputer controlled motor and turns
Fast unit, realizes the operation of rice transplanter self-navigation function, while Computer Aided Design micro machine control circuit, realizes it to coding
The measurement of device corner.
A kind of 2. rice transplanter navigation control unit system design according to claim 1, it is characterised in that it is of the invention from
Dynamic navigation control unit is using PIC16F877A as core, and writing for line program is entered in a manner of task follows survey, is referred to using a jump
The whole task for making completing follows inspection process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610830647.6A CN107844069A (en) | 2016-09-19 | 2016-09-19 | A kind of rice transplanter navigation control unit system design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610830647.6A CN107844069A (en) | 2016-09-19 | 2016-09-19 | A kind of rice transplanter navigation control unit system design |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107844069A true CN107844069A (en) | 2018-03-27 |
Family
ID=61656998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610830647.6A Pending CN107844069A (en) | 2016-09-19 | 2016-09-19 | A kind of rice transplanter navigation control unit system design |
Country Status (1)
| Country | Link |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008074236A (en) * | 2006-09-21 | 2008-04-03 | Iseki & Co Ltd | Working vehicle |
| JP4742524B2 (en) * | 2004-06-22 | 2011-08-10 | 井関農機株式会社 | Ride type rice transplanter |
| CN203673301U (en) * | 2014-01-24 | 2014-06-25 | 江苏博迅精密机械制造有限公司 | Rice transplanting machine operation control system based on GPS navigation |
| CN104699096A (en) * | 2013-12-09 | 2015-06-10 | 刘晶 | Intelligent walking auto-control system of rice transplanter |
| CN104699095A (en) * | 2013-12-09 | 2015-06-10 | 刘晶 | Automatic traveling navigation system on basis of machine vision for rice transplanter |
| CN104699090A (en) * | 2013-12-06 | 2015-06-10 | 刘扬 | Automatic control system of high-speed transplanter |
| CN104699089A (en) * | 2013-12-09 | 2015-06-10 | 刘晶 | Transplanting machine automatic control system based on CAN bus |
-
2016
- 2016-09-19 CN CN201610830647.6A patent/CN107844069A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4742524B2 (en) * | 2004-06-22 | 2011-08-10 | 井関農機株式会社 | Ride type rice transplanter |
| JP2008074236A (en) * | 2006-09-21 | 2008-04-03 | Iseki & Co Ltd | Working vehicle |
| CN104699090A (en) * | 2013-12-06 | 2015-06-10 | 刘扬 | Automatic control system of high-speed transplanter |
| CN104699096A (en) * | 2013-12-09 | 2015-06-10 | 刘晶 | Intelligent walking auto-control system of rice transplanter |
| CN104699095A (en) * | 2013-12-09 | 2015-06-10 | 刘晶 | Automatic traveling navigation system on basis of machine vision for rice transplanter |
| CN104699089A (en) * | 2013-12-09 | 2015-06-10 | 刘晶 | Transplanting machine automatic control system based on CAN bus |
| CN203673301U (en) * | 2014-01-24 | 2014-06-25 | 江苏博迅精密机械制造有限公司 | Rice transplanting machine operation control system based on GPS navigation |
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