CN110100548B - Accurate positioning method for single-track type fertilizer applicator - Google Patents

Accurate positioning method for single-track type fertilizer applicator Download PDF

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CN110100548B
CN110100548B CN201910529698.9A CN201910529698A CN110100548B CN 110100548 B CN110100548 B CN 110100548B CN 201910529698 A CN201910529698 A CN 201910529698A CN 110100548 B CN110100548 B CN 110100548B
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track
potentiometer
milliammeter
resistance
fertilizer applicator
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CN110100548A (en
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田光兆
顾宝兴
林相泽
李�和
王海青
周俊
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Nanjing Agricultural University
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Water Supply & Treatment (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Fertilizing (AREA)

Abstract

The invention relates to a precise positioning method of a single-track type fertilizer applicator, which comprises a single linear metal track and the fertilizer applicator, wherein a metal electrode is led out from the bottom of the fertilizer applicator, so that the track forms a track resistance I and a track resistance II, and two groups of impedance bridge circuits are respectively formed by the track, two groups of potentiometers, resistors and milliammeter. Through adjusting the potentiometre in each impedance bridge circuit, the potentiometre output value when obtaining minimum current, rethread calculation obtains track resistance I and track resistance II's resistance value, and finally, according to the resistance calculation of each section track resistance obtains the coordinate value of fertilizer distributor point to, effectively having solved under the condition that does not pass through GPS, the problem of accurate positioning fertilizer distributor has improved the convenience of use, and can make the location more accurate.

Description

Accurate positioning method for single-track type fertilizer applicator
Technical Field
The invention relates to a control method of agricultural machinery, in particular to a control method of a fertilizer applicator, and specifically relates to a precise positioning method of a single-track type fertilizer applicator.
Background
The trunk and the canopy of the dwarf and close-planted fruit tree are short, and the row spacing and the plant spacing are small. Because the space is narrow and small, the fertilization machinery of traditional manual driving can't carry the fertilizer can and get into inside the orchard and fertilize the operation. Therefore, an automatic rail fertilizer applicator is required to replace manual operation. Most of the existing fertilizer applicators are positioned by satellites. However, because the crown of the fruit tree blocks satellite signals, the traditional RTK-GPS positioning cannot be generally used in an orchard, and improvement is urgently needed.
Disclosure of Invention
The invention aims to provide a precise positioning method of a single-track type fertilizer applicator, aiming at the defects of the prior art, which can quickly position the coordinates of the fertilizer applicator on a track, is simple to realize and high in accuracy and is not influenced by temperature.
The technical scheme of the invention is as follows:
a precise positioning method of a single-track type fertilizer applicator comprises a single linear metal track and the fertilizer applicator, wherein the fertilizer applicator is arranged on the track and moves along the track; a metal electrode is led out from the bottom of the fertilizer applicator and is electrically contacted with the track; the fertilizer applicator divides the track into two sections at the position on the track, and a track resistance I and a track resistance II are correspondingly formed; the rail resistor I, the potentiometer I, the resistor I, the milliammeter I and the power supply are connected to form an impedance bridge circuit I; the rail resistor II, the potentiometer II, the resistor II, the milliammeter II and a power supply are connected to form an impedance bridge circuit II; the positioning method comprises the following steps:
1) determining the absolute coordinates of the two ends of the rail by means of a measuring tool: head end A (x)1，y1) And tail end B (x)2，y2) And calculating the length L of the track;
2) a fertilizer applicator is arranged on the track, and the position point of the fertilizer applicator on the track is P; installing an impedance bridge circuit I and an impedance bridge circuit II; wherein: track resistance I is RxThe track resistance II is RyThe potentiometer I is Rc1The potentiometer II is Rc2The resistance I is R1The resistance II is R2The power supply is 5V;
3) the industrial personal computer sends out a control instruction to gradually increase the output resistance value of the potentiometer I from 0 to R1+R2Step length is 0.1 omega, and refreshing frequency is 10 Hz; meanwhile, the current value of the milliammeter I is synchronously read through an industrial personal computer, and the refreshing frequency is 10 Hz; recording the output value R of the potentiometer I when the value of the milliammeter I is minimumc1f；
4) The reverse operation is performed to make the output resistance of the potentiometer I from R1+R2Continuously decreasing until 0; simultaneously, synchronously reading the current value of the milliammeter I through an industrial personal computer; recording the output value R of the potentiometer I when the value of the milliammeter I is minimumc1b；
5) Calculated as Rx＝(Rc1f+Rc1b)/2；
6) The industrial personal computer sends out a control instruction to gradually increase the output resistance value of the potentiometer II from 0 to R1+R2Step length is 0.1 omega, and refreshing frequency is 10 Hz; meanwhile, the current value of the milliammeter II is synchronously read through an industrial personal computer, and the refreshing frequency is 10 Hz; recording the output value R of the potentiometer II when the value of the milliammeter II is minimumc2f；
7) The reverse operation is performed, so that the output resistance value of the potentiometer II is from R1+R2Continuously decreasing until 0; meanwhile, the current value of the milliammeter II is synchronously read through an industrial personal computer; recording the output value R of the potentiometer II when the value of the milliammeter II is minimumc2b；
8) Calculated as Ry＝(Rc2f+Rc2b)/2；
9) Calculating the distance from the point P to the point A: PA | ═ Rx/(Rx+Ry)×L；
10) Converting P to coordinates:
Figure BDA0002099335030000021
further, the potentiometer I and the potentiometer II are both digital potentiometers; and the milliammeter I and the milliammeter II are both digital milliammeters.
Further, the potentiometer I, the potentiometer II, the milliammeter I and the milliammeter II are provided with RS485 bus interfaces and are respectively connected to an industrial personal computer.
The invention has the beneficial effects that:
the invention has the advantages of reasonable design, simple structure, convenient control, simple realization, high accuracy and no influence of temperature, and can quickly position the coordinates of the fertilizer applicator on the track.
Drawings
FIG. 1 is a schematic diagram of the electrical connection of the present invention.
Wherein: rx-a track resistance I; ry-a track resistance II; r1-a resistance I; r2-a resistance II; rc1-a potentiometer I; rc2-a potentiometer II; mA1-milliammeter I; mA2Milliammeter II.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1.
A single-track type fertilizer applicator system comprises a single straight-line metal track and a fertilizer applicator, wherein the fertilizer applicator is arranged on the track and moves along the track; a metal electrode is led out from the bottom of the fertilizer applicator and is electrically contacted with the track; the fertilizer applicator divides the track into two sections at the position on the track, and a track resistance I and a track resistance II are correspondingly formed; the rail resistor I, the potentiometer I, the resistor I, the milliammeter I and the power supply are connected to form an impedance bridge circuit I; the rail resistor II, the potentiometer II, the resistor II, the milliammeter II and a power supply are connected to form an impedance bridge circuit II. The potentiometer I and the potentiometer II are both digital potentiometers; and the milliammeter I and the milliammeter II are both digital milliammeters. And the potentiometer I, the potentiometer II, the milliammeter I and the milliammeter II are respectively provided with an RS485 bus interface and are respectively connected to an industrial personal computer.
The invention discloses a precise positioning method of a single-track fertilizer applicator, which comprises the following steps:
1) determining the absolute coordinates of the two ends of the rail by means of a measuring tool: head end A (x)1，y1) And tail end B (x)2，y2) And calculating the length L of the track;
2) a fertilizer applicator is arranged on the track, and the position point of the fertilizer applicator on the track is P; installing an impedance bridge circuit I and an impedance bridge circuit II; wherein: track resistance I is RxThe track resistance II is RyThe potentiometer I is Rc1The potentiometer II is Rc2The resistance I is R1The resistance II is R2The power supply is 5V;
3) passing toolThe control machine sends out a control command to gradually increase the output resistance of the potentiometer I from 0 to R1+R2Step length is 0.1 omega, and refreshing frequency is 10 Hz; meanwhile, the current value of the milliammeter I is synchronously read through an industrial personal computer, and the refreshing frequency is 10 Hz; recording the output value R of the potentiometer I when the value of the milliammeter I is minimumc1f；
4) The reverse operation is performed to make the output resistance of the potentiometer I from R1+R2Continuously decreasing until 0; simultaneously, synchronously reading the current value of the milliammeter I through an industrial personal computer; recording the output value R of the potentiometer I when the value of the milliammeter I is minimumc1b；
5) Calculated as Rx＝(Rc1f+Rc1b)/2；
6) The industrial personal computer sends out a control instruction to gradually increase the output resistance value of the potentiometer II from 0 to R1+R2Step length is 0.1 omega, and refreshing frequency is 10 Hz; meanwhile, the current value of the milliammeter II is synchronously read through an industrial personal computer, and the refreshing frequency is 10 Hz; recording the output value R of the potentiometer II when the value of the milliammeter II is minimumc2f；
7) The reverse operation is performed, so that the output resistance value of the potentiometer II is from R1+R2Continuously decreasing until 0; meanwhile, the current value of the milliammeter II is synchronously read through an industrial personal computer; recording the output value R of the potentiometer II when the value of the milliammeter II is minimumc2b；
8) Calculated as Ry＝(Rc2f+Rc2b)/2；
9) Calculating the distance from the point P to the point A: PA | ═ Rx/(Rx+Ry)×L；
10) Converting P to coordinates:
Figure BDA0002099335030000031
specifically, the coordinates of point A, B are: a (x)1＝10.00，y1＝10.00)、B(x2＝96.60，y260.00). The coordinate of the AB point can be acquired by raising the RTK-GPS antenna, and the coordinate does not change after being acquired; the track length L is calculated to be 100.00 m.
Let R1＝R2R is 100 Ωc1f＝25.6Ω，Rc1b24.8 Ω, and further Rx＝(Rc1f+Rc1b)/2＝25.2Ω。
The same can be obtained: rc2f＝45.0Ω，Rc2b45.2 Ω, and further Ry＝(Rc2f+Rc2b)/2＝45.1Ω。
Then there are: PA | ═ Rx/(Rx+Ry)×L＝25.2/(25.2+45.1)×100＝35.85m。
The P point index is solved from the mathematical relationship as:
Figure BDA0002099335030000032
the parts not involved in the present invention are the same as or can be implemented using the prior art.

Claims (3)

1. A precise positioning method of a single-track type fertilizer applicator comprises a single linear metal track and the fertilizer applicator, wherein the fertilizer applicator is arranged on the track and moves along the track; the method is characterized in that: a metal electrode is led out from the bottom of the fertilizer applicator and is electrically contacted with the track; the fertilizer applicator divides the track into two sections at the position on the track, and a track resistance I and a track resistance II are correspondingly formed; the rail resistor I, the potentiometer I, the resistor I, the milliammeter I and the power supply are connected to form an impedance bridge circuit I; the rail resistor II, the potentiometer II, the resistor II, the milliammeter II and a power supply are connected to form an impedance bridge circuit II; the positioning method comprises the following steps:
1) determining the absolute coordinates of the two ends of the rail by means of a measuring tool: head end A (x)1，y1) And tail end B (x)2，y2) And calculating the length L of the track;
2) a fertilizer applicator is arranged on the track, and the position point of the fertilizer applicator on the track is P; installing an impedance bridge circuit I and an impedance bridge circuit II; wherein: track resistance I is RxThe track resistance II is RyThe potentiometer I is Rc1The potentiometer II is Rc2The resistance I is R1The resistance II is R2The power supply is 5V; the R is1＝R2；
3) The industrial personal computer sends out a control instruction to gradually increase the output resistance value of the potentiometer I from 0 to R1+R2Step length is 0.1 omega, and refreshing frequency is 10 Hz; meanwhile, the current value of the milliammeter I is synchronously read through an industrial personal computer, and the refreshing frequency is 10 Hz; recording the output value R of the potentiometer I when the value of the milliammeter I is minimumc1f；
4) The reverse operation is performed to make the output resistance of the potentiometer I from R1+R2Continuously decreasing until 0; simultaneously, synchronously reading the current value of the milliammeter I through an industrial personal computer; recording the output value R of the potentiometer I when the value of the milliammeter I is minimumc1b；
5) Calculated as Rx＝(Rc1f+Rc1b)/2；
6) The industrial personal computer sends out a control instruction to gradually increase the output resistance value of the potentiometer II from 0 to R1+R2Step length is 0.1 omega, and refreshing frequency is 10 Hz; meanwhile, the current value of the milliammeter II is synchronously read through an industrial personal computer, and the refreshing frequency is 10 Hz; recording the output value R of the potentiometer II when the value of the milliammeter II is minimumc2f；
7) The reverse operation is performed, so that the output resistance value of the potentiometer II is from R1+R2Continuously decreasing until 0; meanwhile, the current value of the milliammeter II is synchronously read through an industrial personal computer; recording the output value R of the potentiometer II when the value of the milliammeter II is minimumc2b；
8) Calculated as Ry＝(Rc2f+Rc2b)/2；
9) Calculating the distance from the point P to the point A: PA | ═ Rx/(Rx+Ry)×L；
10) Converting P to coordinates:
Figure FDA0003160486150000011
2. the accurate positioning method of the single-track fertilizer applicator of claim 1, which is characterized in that: the potentiometer I and the potentiometer II are both digital potentiometers; and the milliammeter I and the milliammeter II are both digital milliammeters.
3. The accurate positioning method of the single-track fertilizer applicator of claim 1, which is characterized in that: and the potentiometer I, the potentiometer II, the milliammeter I and the milliammeter II are respectively provided with an RS485 bus interface and are respectively connected to an industrial personal computer.
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EP3387388A1 (en) * 2015-12-11 2018-10-17 Leibniz-Institut für Photonische Technologien e.V. Magnetic revolution counter and method for determining numbers of revolutions that can be determined by means of said revolution counter
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DE3738696A1 (en) * 1987-11-14 1989-05-24 Standard Elektrik Lorenz Ag Method and device for locating a break in a rail
DE10044839B4 (en) * 1999-09-27 2004-04-15 Siemens Ag Inductive position sensor
CN2466602Y (en) * 2001-02-02 2001-12-19 陈明德 Identical substrate two-dimension coordinate detecting device
CN1540280A (en) * 2003-10-31 2004-10-27 哈尔滨工业大学 Method of accurate measurement of coordinates and equipment
KR101432538B1 (en) * 2013-05-15 2014-08-25 국방과학연구소 Discrete potentiometer
EP3387388A1 (en) * 2015-12-11 2018-10-17 Leibniz-Institut für Photonische Technologien e.V. Magnetic revolution counter and method for determining numbers of revolutions that can be determined by means of said revolution counter
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基于三目视觉的自主导航拖拉机行驶轨迹预测方法及试验;田光兆,顾宝兴,Irshad Ali Mari,周俊,王海青;《农业工程学报》;20181001;第34卷(第19期);全文 *

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