CN112913412B - Particle variable rate fertilization system - Google Patents
Particle variable rate fertilization system Download PDFInfo
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- CN112913412B CN112913412B CN202110073233.4A CN202110073233A CN112913412B CN 112913412 B CN112913412 B CN 112913412B CN 202110073233 A CN202110073233 A CN 202110073233A CN 112913412 B CN112913412 B CN 112913412B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
- A01C15/06—Fertiliser distributors with distributing slots, e.g. adjustable openings for dosing
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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
- G05B19/0423—Input/output
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- General Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Fertilizing (AREA)
Abstract
The utility model provides a granule variable rate fertilization system, it sets up on fertilizing machine, specifically includes: big dipper navigation satellite system module, host computer interaction module, next machine control module and mechanism execution module, wherein: the Beidou navigation module carries out positioning calculation processing according to Beidou navigation satellite signals to obtain positioning coordinates and speed of the fertilizing machine, the upper computer interaction module obtains current fertilizing target flow and current fertilizing target opening according to current positioning coordinates and speed of the fertilizing machine by contrasting variable fertilizing electronic prescription diagrams, the lower computer control module generates current push rod target extension length according to current fertilizing target opening, and obtains push rod movement direction instructions and speed instructions according to current push rod actual extension length, the mechanism execution module controls push rod real-time extension length to change according to the movement direction instructions and the speed instructions, and therefore particle variable fertilizing is achieved, namely quality of fertilizer scattered in soil of each square meter is determined according to soil nutrient demand, and different positions are different.
Description
Technical Field
The invention relates to a technology in the field of precise agricultural control, in particular to a granular variable rate fertilization system.
Background
Traditional fertilizer application machinery's fertilization opening degree is by agricultural machinery driver manual regulation at the driving in-process, can not be accurate adjust according to the square diagram, drives in-process distraction, influences driving safety and operation quality.
Disclosure of Invention
The invention provides a particle variable fertilizing system aiming at the problems that single-variable fertilizing operation cannot be completed, variable process is not accurate, and response is slow in the prior art, and the accuracy and the intellectualization of the variable fertilizing operation can be effectively improved.
The invention is realized by the following technical scheme:
the invention relates to a particle variable rate fertilization system, which is arranged on a fertilization machine and specifically comprises: big dipper navigation satellite system module, host computer interaction module, next machine control module and mechanism execution module, wherein: the Beidou navigation module carries out positioning calculation processing according to Beidou navigation satellite signals to obtain positioning coordinates and speed of the fertilizing machine, the upper computer interaction module obtains target flow of current fertilization and target opening of current fertilization according to the current positioning coordinates and speed of the fertilizing machine by contrasting variable fertilization electronic prescription charts, the lower computer control module generates target extension length of a current push rod according to the target opening of the current fertilization, motion direction instructions and speed instructions of the push rod are obtained according to the actual extension length of the current push rod, the mechanism execution module controls the real-time extension length of the push rod to change according to the motion direction instructions and the speed instructions, and therefore particle variable fertilization is achieved, namely quality of fertilizers spread in soil of each square meter is determined according to nutrient demand of the soil, and different positions are different.
The big dipper navigation satellite system module include: three antennas, a primary receiver, and a differential receiver, wherein: the first antenna and the second antenna are connected with a main receiver, electromagnetic signals sent by a received Beidou navigation satellite are transmitted, the third antenna is connected with a differential receiver, the electromagnetic signals sent by the received Beidou navigation satellite are transmitted, the differential receiver is connected with the main receiver through radio, positioning signals of the position where the third antenna is located are transmitted, and the main receiver calculates the position, the posture and the speed of the current fertilizing machine through the three signal sources of the first antenna, the second antenna and the differential receiver.
The upper computer interaction module comprises: touch-sensitive screen, main chip, CAN communication unit and serial communication unit, wherein: the touch screen is connected with the main chip and used for inputting an electronic prescription chart, setting control parameters and starting and stopping variable control processes, the CAN communication unit is connected with the main chip and used for communicating with the lower computer control module, transmitting a target extension length instruction of the electric push rod and transmitting actual extension length information of the current electric push rod, and the serial communication unit is connected with the main chip and used for transmitting geographical position coordinate information and speed information received by the Beidou navigation module.
The lower computer control module comprises: main chip, CAN communication unit, ADC input unit and motor drive unit, wherein: the CAN communication unit is connected with the main chip, transmits a target extension length instruction of the electric push rod and transmits actual extension length information of the current electric push rod, the ADC input unit is connected with the main chip, transmits voltage feedback information of a potentiometer in the push rod, the motor driving unit is connected with the main chip, and transmits start-stop and speed instruction information of the push rod.
The mechanism execution module comprises: electric putter, connecting rod, automobile body and the fertilizer hopper of aperture baffle, built-in potentiometer, wherein: the potentiometer is connected with an ADC of a lower computer control module, a voltage signal of the potentiometer is transmitted, a direct current motor in the electric push rod is connected with a motor driving unit of the lower computer control module, the motor driving unit controls the starting and stopping of the electric push rod and the rotating speed of forward and reverse rotation, one end of the electric push rod is connected with the vehicle body through a hinge, the other end of the electric push rod is connected with one end of a connecting rod through a hinge, one end of the connecting rod is connected with the electric push rod through a hinge, the other end of the connecting rod is connected with an opening baffle through a sliding block guide rail mechanism, the stretching and retracting movement of the push rod is converted into the rotating movement of the opening baffle, and one end of the opening baffle is connected with the connecting rod through a sliding block guide rail mechanism.
Technical effects
The invention integrally solves the defects of inaccurate fertilizer flow regulation and driving safety problem caused by manually adjusting the fertilizer spreading opening degree in the prior art. Compared with the prior art, the invention inputs an electronic prescription chart through the screen, obtains the current position through the Beidou and adjusts the fertilizer flow in a stepless automatic and accurate manner through the electric control push rod.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIGS. 2a and 2b are schematic structural views of the mechanical actuator module at different positions;
in the figure: the device comprises an opening baffle 1, a connecting rod 2, a potentiometer 3, an electric push rod 4, a vehicle body 5 and a fertilizer hopper 6.
Detailed Description
As shown in fig. 1, the present embodiment relates to a granular variable rate fertilization system, including: consecutive big dipper navigation satellite system module, host computer human-computer interaction module, next machine control module and mechanism execution module, wherein: the Beidou navigation module determines the geographic position coordinate and the speed of the fertilizing machine based on an RTK differential positioning technology and outputs the geographic position coordinate and the speed to the upper computer man-machine interaction module, the upper computer man-machine interaction module collects input instructions and outputs the input instructions to the lower computer control module, and the lower computer control module generates PWM control instructions to the mechanism execution module according to the push rod extension length instructions to realize particle variable fertilizing.
The geographical position coordinates of the fertilizing machine are combined with an electronic prescription chart to determine the fertilizing amount required by the soil at the current fertilizing machine position, and the unit is kilogram/mu, namely the control input and the target of variable fertilizing.
The speed of the fertilizing machine is measured in meters per second, and the speed is used for determining the flow of the granular fertilizer in kilograms per second at the current position of the fertilizing machine by combining the fertilizing amount required by the soil at the current position of the fertilizing machine.
The interactive module of host computer, the industrial control computer that has 7 inches touch-sensitive screens during the use, CPU is cortex xA8 chip, disposes CAN and serial ports communication end, wherein: the 7-inch touch screen of the industrial control computer is used for inputting an electronic prescription chart and carrying out control parameter setting and start-stop variable control processes; the CAN communication end is used for communicating with a lower computer, issuing a stretching length instruction of the electric push rod and receiving an actual stretching length instruction of the current electric push rod; the serial port communication end is used for being connected with the Beidou navigation module and receiving geographic position coordinate information and speed information.
The industrial control computer converts the granular fertilizer flow at the current fertilizing machine position into the opening degree of the fertilizer spreading mechanism, converts the opening degree into the extension length of the push rod through the mechanical structure characteristics, sends the extension length instruction to the lower computer control module through the CAN bus, receives the actual extension length uploaded by the lower computer, converts the actual extension length into the current granular fertilizer flow, and displays the current granular fertilizer flow on a 7-inch screen for an operator to check.
The lower computer control module comprises: STM32F103 chip, CAN communication end, ADC unit and L298N motor driver chip as CPU, wherein: the CAN communication end is communicated with the upper computer human-computer interaction module, receives a push rod extension length instruction of the upper computer human-computer interaction module and uploads the current push rod extension length; the ADC unit reads a potentiometer output voltage signal with a potentiometer push rod, and the potentiometer output voltage signal is converted into the current extending length of the push rod through analog-to-digital conversion; the L298N motor drives a 12V direct current brush motor in the point push rod by a chip, the rotating speed of the motor can be adjusted by adjusting the duty ratio of input PWM waves, and the extending speed of the push rod is further changed; and the STM32F103 chip performs subtraction processing according to the push rod extension length instruction and the current push rod extension length, obtains the target rotating speed of the motor and the duty ratio of PWM (pulse-width modulation) waves through a position and speed double-closed-loop PID (proportion integration differentiation) algorithm, and drives the push rod in the chip driving mechanism execution module through the L298N motor.
The mechanism execution module comprises: aperture baffle 1, connecting rod 2, have potentiometre 3 electric putter 4 and fertilizer hopper 6, wherein: one end of an electric push rod 4 is connected with a vehicle body 5 through a hinge, the other end of the electric push rod is connected with a connecting rod 2 through a hinge, the output end of a potentiometer 3 is connected with the input end of an ADC unit of a lower computer control module, one end of the connecting rod 2 is connected with the electric push rod 4, the other end of the connecting rod is connected with an opening baffle 1, and the extending length motion of the electric push rod 4 is converted into the rotating motion of the opening baffle 1; one end of the opening baffle 1 is connected with the connecting rod 2 and is concentric with the opening of the fertilizer hopper 6, and the opening of the opening baffle 1 can be controlled by matching the rotating motion with the opening of the fertilizer hopper 6, so that the falling flow of the fertilizer can be controlled.
One end of the opening baffle 1 is of a sliding block structure so as to convert the linear motion of the push rod into the rotary motion of the opening baffle.
One end of the connecting rod 2 is of a hinge structure to be connected with the push rod, and the other end of the connecting rod is of a guide rail structure to be connected with the opening baffle 1.
The embodiment relates to an intelligent particle variable fertilization application method of the system, a user inputs an electronic prescription map through a 7-inch screen, when a fertilization machine starts to walk, an upper computer is continuously connected to a real-time position sent by a Beidou navigation module main receiver through a serial port, the fertilization amount of the current position is determined through the position and the electronic prescription map, the fertilization amount is converted into the extension length of a push rod, the extension length is sent to a lower computer control module through a CAN communication end, the lower computer control module compares the extension length of the current push rod read by an ADC after receiving a push rod extension length instruction, a difference value is calculated, the push rod is driven to extend or retract through L298N to reach the target required extension length, the push rod pushes a connecting rod, the connecting rod enables an opening baffle to rotate, the purpose of adjusting the opening is achieved, and the falling flow rate of fertilizer is changed.
Through specific practical experiments, under the specific environment setting of a paddy field in 6 months, the device/method is started/operated at the fertilizer spreading flow variation speed not exceeding 2 kilograms/mu/second, and the obtained experimental data are as follows: the fertilizer spreading flow regulating range of the device is 0-6 kg/mu.
Compared with the prior art, the device realizes stepless automatic accurate adjustment of the fertilizer spreading flow of the particles, and the adjustment speed and the adjustment range are obviously improved compared with manual adjustment effect.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (6)
1. The utility model provides a granule variable rate fertilization system which characterized in that sets up on fertilizing machine, specifically includes: big dipper navigation satellite system module, host computer interaction module, next machine control module and mechanism execution module, wherein: the Beidou navigation module carries out positioning calculation processing according to Beidou navigation satellite signals to obtain positioning coordinates and speed of a fertilizing machine, the upper computer interaction module obtains target flow of current fertilization and target opening of current fertilization by contrasting a variable fertilization electronic prescription chart according to the positioning coordinates and the speed of the current fertilizing machine, the lower computer control module generates target extension length of a current push rod according to the target opening of the current fertilization and obtains a motion direction instruction and a speed instruction of the push rod according to the actual extension length of the current push rod, and the mechanism execution module controls the real-time extension length of the push rod to change according to the motion direction instruction and the speed instruction, so that particle variable fertilization is realized, namely the quality of fertilizer spread in each square meter of soil is determined according to the nutrient demand of the soil and different positions are different;
the mechanism execution module comprises: electric putter, connecting rod, automobile body and the fertilizer hopper of aperture baffle, built-in potentiometer, wherein: the potentiometer is connected with an ADC of a lower computer control module, a voltage signal of the potentiometer is transmitted, a direct current motor in the electric push rod is connected with a motor driving unit of the lower computer control module, the motor driving unit controls the starting and stopping of the electric push rod and the rotating speed of forward and reverse rotation, one end of the electric push rod is connected with the vehicle body through a hinge, the other end of the electric push rod is connected with one end of a connecting rod through a hinge, one end of the connecting rod is connected with the electric push rod through a hinge, the other end of the connecting rod is connected with an opening baffle through a sliding block guide rail mechanism, the stretching and retracting movement of the push rod is converted into the rotating movement of the opening baffle, and one end of the opening baffle is connected with the connecting rod through a sliding block guide rail mechanism.
2. The granular variable rate fertilization system of claim 1, wherein the Beidou navigation module comprises: three antennas, a primary receiver, and a differential receiver, wherein: the first antenna and the second antenna are connected with a main receiver, electromagnetic signals sent by a received Beidou navigation satellite are transmitted, the third antenna is connected with a differential receiver, the electromagnetic signals sent by the received Beidou navigation satellite are transmitted, the differential receiver is connected with the main receiver through radio, positioning signals of the position where the third antenna is located are transmitted, and the main receiver calculates the position, the posture and the speed of the current fertilizing machine through the three signal sources of the first antenna, the second antenna and the differential receiver.
3. The granular variable rate fertilizer system of claim 1, wherein said upper computer interactive module comprises: touch-sensitive screen, main chip, CAN communication unit and serial communication unit, wherein: the touch screen is connected with the main chip and used for inputting an electronic prescription chart, setting control parameters and starting and stopping variable control processes, the CAN communication unit is connected with the main chip and used for communicating with the lower computer control module, transmitting a target extension length instruction of the electric push rod and transmitting actual extension length information of the current electric push rod, and the serial communication unit is connected with the main chip and used for transmitting geographical position coordinate information and speed information received by the Beidou navigation module.
4. The granular variable rate fertilizer system of claim 1 wherein said lower computer control module comprises: main chip, CAN communication unit, ADC input unit and motor drive unit, wherein: the CAN communication unit is connected with the main chip, transmits a target extension length instruction of the electric push rod and transmits actual extension length information of the current electric push rod, the ADC input unit is connected with the main chip, transmits voltage feedback information of a potentiometer in the push rod, the motor driving unit is connected with the main chip, and transmits start-stop and speed instruction information of the push rod.
5. The granular variable fertilizer system of claim 1, wherein one end of the aperture plate is of a slider structure to convert linear motion of the push rod into rotational motion of the aperture plate.
6. The granular variable fertilizer system as claimed in claim 1, wherein the connecting rod has a hinge structure at one end for connecting the pushing rod and a guide structure at the other end for connecting the opening plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110073233.4A CN112913412B (en) | 2021-01-20 | 2021-01-20 | Particle variable rate fertilization system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110073233.4A CN112913412B (en) | 2021-01-20 | 2021-01-20 | Particle variable rate fertilization system |
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| CN112913412A CN112913412A (en) | 2021-06-08 |
| CN112913412B true CN112913412B (en) | 2022-01-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117426188A (en) * | 2023-11-17 | 2024-01-23 | 哈尔滨航天恒星数据系统科技有限公司 | Paddy field centrifugal fertilization variable operation system based on prescription diagram and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2724879C3 (en) * | 1977-06-02 | 1980-03-06 | Hermann 8261 Neumarkt- St Veit Weichs | Mineral fertilizer spreader |
| CN101916075B (en) * | 2010-07-20 | 2012-07-18 | 上海交通大学 | Fertilizer distributing amount error compensation control system for aperture rotate speed bivariate seeding fertilizer distributor |
| CN102369804A (en) * | 2010-08-19 | 2012-03-14 | 中国农业机械化科学研究院 | Intelligentized fertilizing apparatus, intelligentized fertilizing method and intelligentized fertilizing machine |
| CN208227693U (en) * | 2018-05-18 | 2018-12-14 | 中国农业科学院农业资源与农业区划研究所 | A kind of Tree Precise Fertilization control system |
| CN212184133U (en) * | 2020-03-24 | 2020-12-22 | 新疆新研牧神科技有限公司 | Fertilizer application adjusting device and fertilizer applicator |
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