CN113671952A - Control system of automatic walking type targeted pesticide spraying intelligent trolley - Google Patents
Control system of automatic walking type targeted pesticide spraying intelligent trolley Download PDFInfo
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- CN113671952A CN113671952A CN202110871987.4A CN202110871987A CN113671952A CN 113671952 A CN113671952 A CN 113671952A CN 202110871987 A CN202110871987 A CN 202110871987A CN 113671952 A CN113671952 A CN 113671952A
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- 239000000575 pesticide Substances 0.000 title claims abstract description 33
- 238000005507 spraying Methods 0.000 title claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 6
- 239000000126 substance Substances 0.000 claims description 5
- 240000007651 Rubus glaucus Species 0.000 claims description 3
- 235000011034 Rubus glaucus Nutrition 0.000 claims description 3
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 230000008685 targeting Effects 0.000 claims description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 abstract description 3
- 229910052744 lithium Inorganic materials 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 239000003814 drug Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 229910000975 Carbon steel Inorganic materials 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000010962 carbon steel Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 206010000383 Accidental poisoning Diseases 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000007405 data analysis Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002283 diesel fuel Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000020477 pH reduction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a control system of an automatic walking type targeted pesticide spraying intelligent trolley, which comprises an upper computer, a double-way servo driver and two servo motors, wherein the upper computer is used for controlling the targeted pesticide spraying intelligent trolley; the upper computer is in communication connection with the two-way servo driver, the two-way servo driver is electrically connected with the two servo motors, and the two-way servo driver simultaneously performs differential control on the two servo motors. Wherein, after the double-circuit servo driver accepts the order that the host computer sent, confirm intelligent vehicle's distance of marcing through the formula, borrow by microcomputer simultaneously, can follow long-range control to the dolly, avoid the user too much to inhale the pesticide, adopt chargeable lithium cell, energy-concerving and environment-protective, the noise is little, is applicable to open-air complicated topographic condition, and application scope is wide.
Description
Technical Field
The invention belongs to the field of crop disease control, relates to an accurate pesticide spraying technology, and particularly relates to a control system of an automatic walking type targeted pesticide spraying intelligent trolley.
Background
Many farm operations (such as pruning, grafting, transplanting, spraying, picking and the like) still need manual operation, and are time-consuming, labor-consuming, low in efficiency and high in cost. There is an increasing awareness of the adverse effects of the use of chemical pesticides in large quantities on personal health and the environment. At present, most of the situations are that workers carry a traditional medicine sprayer to spray medicine, the medicine application under the environment of improper operation or lack of a protection device can cause harm to the body of a medicine sprayer, and thousands of accidental poisoning events occur at present. Moreover, abuse of pesticides can also place great pressure on the environment, leading to soil acidification and water source pollution. Therefore, the research on the intelligent pesticide spraying system based on machine vision is a problem to be solved urgently in agricultural development.
To address these challenges, there is increasing interest in precision agriculture. Precision agriculture is a general term that encompasses all techniques that make agricultural management more precise and controlled. These technologies include Global Positioning System (GPS) navigation of tractors, robotics, remote sensing, data analysis, and unmanned aerial vehicles and land craft. Accurate detection of plant diseases and insect pests is a key support for accurate agriculture.
The existing agricultural pesticide spraying mechanism is low in automation and intelligence degree, a worker is required to drive a pesticide spraying vehicle, but the distance between the pesticide spraying vehicle and a spray head is too short, and mist spray is easily absorbed into the body of the worker, so that adverse effects are caused to the body of the worker.
The agricultural pesticide spraying mechanism is generally driven by a diesel engine, and except for low automation degree, the diesel engine and the oil tank are heavy, so that the whole pesticide spraying mechanism is heavy, and the proportion of a whole chassis load pesticide box is reduced. Meanwhile, the diesel generator burns diesel oil to pollute the environment, and the diesel generator has serious vibration and large noise in the starting process and is not beneficial to the use of an intelligent control module.
Disclosure of Invention
The invention aims to provide a control system of an automatic walking type targeted pesticide spraying intelligent trolley, which is used for solving the problem.
The purpose of the invention can be realized by the following technical scheme:
the control system of the automatic walking type targeted pesticide spraying intelligent trolley comprises an upper computer for controlling the targeted pesticide spraying intelligent trolley, a double-way servo driver and two servo motors, wherein the servo motors are arranged in the trolley and used for providing kinetic energy for the trolley;
the upper computer is in communication connection with the two-way servo driver, the two-way servo driver is electrically connected with the two servo motors, and the two-way servo driver simultaneously performs differential control on the two servo motors;
wherein the content of the first and second substances,
after receiving the command sent by the upper computer, the two-way servo driver passes through a formula
Determining the travel distance of the intelligent trolley by M-P1 (D/E) x (1/R) x L;
in the formula, M is a signal of servo motor advance, P1 is a pulse instruction number, D is a frequency division and multiplication ratio of an internal instruction of the driver, E is an encoder pulse number, R is a reduction ratio, and L is a ball screw pitch.
Further, a signal of the servo motor is generated by an upper computer;
wherein the content of the first and second substances,
the signal form is! M nn mm;
in the formula, nn and mm are sent pulses, when nn and mm are positive numbers, the motor rotates forwards, nn and mm are negative numbers, the motor rotates backwards, and the absolute values of nn and mm represent the number of sent pulses.
Furthermore, the two-way servo driver is connected with the upper computer through an RS232 serial port communication protocol.
Furthermore, the PULSE +, PULSE-, SIGN +, SIGN-of the double-path servo driver is a special PULSE string interface for a long-line driver of the servo driver and adopts a differential mode; u, V and W are connected to the three-phase windings of the motor respectively.
Furthermore, the upper computer adopts an NVIDIA Jetson Xavier NX microcomputer as a main control board and is connected with a double-path servo driver of the intelligent trolley through a general GPIO interface of the raspberry group.
And the control terminal enters the trolley control terminal by using a browser through a hot spot radiated by the intelligent trolley to control the moving direction and speed of the trolley.
Further, still include the camera, the camera setting is in the dead ahead of intelligent dolly, and the camera is connected with host computer electricity.
Compared with the prior art, the invention has the beneficial effects that:
the chassis body of the targeted pesticide spraying trolley adopts a carbon steel structure, has high strength and rigidity, is not easy to wear and deform, is suitable for being used in severe environments such as the land and the like, and simultaneously needs to bear a pesticide box, so that the chassis body also needs to bear heavy weight without deformation; the chassis of the targeting pesticide spraying trolley is powered by a 48V rechargeable lithium battery, a double-path servo driver and two double-path direct current brushless servo motors are adopted, the direction movement and the in-situ turning of the trolley can be realized, the speed, the torque and the like are controlled, the maximum running speed reaches 6km/h, the servo motors are provided with incremental encoders, the full closed-loop control can be realized, and Hall sensors in the motors acquire signals to serve as the feedback of the position of a motor rotor; the trolley is characterized in that an NVIDIA Jetson Xavier NX microcomputer serves as a main control board, the operation capacity of a processor is up to 21 ten thousand times/second, the microcomputer is provided with 40 programmable input and output ports, an RS232 serial port protocol is used, a double-path servo driver is directly controlled, a user can remotely control the trolley, and intellectualization and unmanned control are achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a logical block diagram of a chassis of the present invention;
FIG. 2 is a circuit diagram of the host computer and driver of the present invention;
FIG. 3 is a circuit diagram of a chassis driving portion of the present invention;
FIG. 4 is a circuit diagram of the driver of the present invention;
FIG. 5 is a logic block diagram of the operation of the chassis of the present invention;
FIG. 6 is a control terminal display page of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the detailed description of the embodiments of the present invention provided in the following drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention.
The embodiment of the invention provides a control system of an automatic walking type targeted pesticide spraying intelligent trolley as shown in figures 1-6, which comprises an upper computer, a double-way servo driver and two servo motors, wherein the upper computer is used for controlling the targeted pesticide spraying intelligent trolley;
when the trolley is used, the trolley power supply starting switch is pressed down, the screen is bright, the trolley is powered on, meanwhile, the microcomputer is started, and the server is started.
The intelligent trolley uses carbon structural steel as an integral frame, adopts a crawler-type advancing mode, is matched with a spring for damping, and can easily cross difficult obstacles in the field.
The whole trolley is provided with two servo motors which are driven by two drives, and the turning radius is not needed. The servo motor is provided with the incremental encoder, full closed-loop control can be achieved, and accuracy is high.
FIG. 4 is a servo driver connection diagram, wherein L1 and L2 are main power input, and PULSE +, PULSE-, SIGN +, SIGN-are special burst interfaces for a long-line driver of a servo driver, and the differential mode is adopted, so that the anti-interference capability is strong, the transmission speed is high, and the maximum PULSE frequency of the input is allowed to reach 4M per second. And sending a servo enabling signal to a servo driver to enable the servo motor to be excited, and enabling the motor to be ready to receive the pulse signal and execute a command at any time. The alarm output is an output signal of the servo driver in an alarm state, and the output signal can disconnect a main circuit of the driver. UVW is the three-phase winding of motor, and PE is the ground wire.
And a double-path servo driver is adopted to simultaneously carry out differential control on the two servo motors. The double-circuit servo driver is connected with the upper computer through an RS232 serial port communication protocol, the servo driver receives signals, and the sent signals are in the form shown in formula (1):
！M nn mm (1)
wherein the signal that the motor marchd during M, nn and mm are the pulse of sending, and positive number represents the motor corotation, and the negative number represents the motor reversal, and the size of absolute value represents the quantity of sending the pulse, and the host computer sends the signal to double-circuit servo driver, through changing nn and mm's numerical value, can realize the various movements of dolly.
The driver receives the command sent by the upper computer, and the pulse number and the trolley travel distance are determined by the formula (2)
M＝P1×(D/E)×(1/R)×L (2)
Wherein P1 is the pulse instruction number, D is the driver internal instruction frequency division multiple ratio, E is the encoder pulse number, and the encoder that uses is 10 bits, and E is 1024, and R is the reduction ratio, and R is 1, and L is the ball screw pitch, and the motor L that uses here is 10 mm. According to the above description, the value of D in the driver register is changed so that an absolute pulse corresponds to the movement of the cart by 0.01m, thereby achieving precise control of the cart and facilitating distance calculation.
The upper computer adopts an NVIDIA Jetson Xavier NX microcomputer as a main control board, is connected with a trolley two-way servo driver through a general GPIO interface of a raspberry group, and enters a trolley control terminal through a browser by utilizing a hot spot radiated by the trolley on the basis of a python flash upper computer development server, and a terminal page is developed through Javascript Vue, so that the moving direction and the speed of the trolley can be controlled.
The upper computer develops a corresponding server and a front-end interface according to the design of the driver, a control page of the front end of the mobile phone is shown in figure 6, the developed control mode is simple in use method, firstly, the advancing speed is selected according to different use environments, the camera is arranged right in front of the chassis and can be checked on terminals such as the mobile phone in real time, the environment where an operator is not suitable to enter is facilitated, and the chassis can be moved forward, moved backward, turned left and turned right by pressing buttons around the marks of the trolley.
The method is utilized to develop a set of complete ground control system, thereby greatly facilitating the use environment, and the control can be realized by using terminals which can be networked, such as a mobile phone and the like, without using any large-scale upper computer or remote controller.
After the chassis system is powered on and started up, the NVIDIA Jetson Xavier NX microcomputer radiates a hotspot, and can enter a preset server website after being connected with the hotspot through mobile equipment such as a mobile phone, and the page display is shown in fig. 6. The terminal page can display real-time images captured by the camera, the speed adjusting module can change the speed of the control chassis during traveling, the upper button, the lower button, the left button, the right button, the left button and the right button can control the movement of the chassis in four directions, the motion directions is controlled, the upper button, the left button, the right button, the left button, the right button, the left button, the right button, the left button, the right button, the left button, the right button, the left the right button, the left button, the right button, the left the right button, the left the right button, the left the right button, the left the right, the left the right button, the left the right.
The crawler-type design of chassis itself simultaneously, obstacle-surmounting ability reinforce sends each other and is the pulse instruction of opposite number, can realize the turn in situ, does not need turning radius, and occupation space is little, and the chassis fuselage is whole to be the carbon steel, has fine bearing capacity, provides the possibility of using for multiple complex environment, based on above advantage, the leading camera of cooperation, the chassis can get into the multiple place that is unsuitable for operating personnel to get into and carry out work, for example the disinfection spouts medicine etc. has higher practical value.
In conclusion, the invention has convenient control, can remotely control the trolley by virtue of the microcomputer, avoids the excessive pesticide suction of a user, adopts the rechargeable lithium battery, is energy-saving and environment-friendly, has low noise, is suitable for complicated field topographic conditions, and has wide application range.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The specific meanings of the above terms in the present invention can be understood in specific cases by those skilled in the art; the preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. The control system of the automatic walking type intelligent trolley for targeted pesticide spraying comprises an upper computer for controlling the intelligent trolley for targeted pesticide spraying, and is characterized by further comprising a double-way servo driver and two servo motors, wherein the servo motors are arranged in the trolley and used for providing kinetic energy for the trolley;
the upper computer is in communication connection with the two-way servo driver, the two-way servo driver is electrically connected with the two servo motors, and the two-way servo driver simultaneously performs differential control on the two servo motors;
wherein the content of the first and second substances,
after receiving the command sent by the upper computer, the two-way servo driver passes through a formula
Determining the travel distance of the intelligent trolley by M-P1 (D/E) x (1/R) x L;
in the formula, M is a signal of servo motor advance, P1 is a pulse instruction number, D is a frequency division and multiplication ratio of an internal instruction of the driver, E is an encoder pulse number, R is a reduction ratio, and L is a ball screw pitch.
2. The control system of the intelligent self-walking intelligent targeting pesticide spraying trolley according to claim 1, wherein the signal of the servo motor is generated by an upper computer;
wherein the content of the first and second substances,
the signal form is! M nn mm;
in the formula, nn and mm are sent pulses, when nn and mm are positive numbers, the motor rotates forwards, nn and mm are negative numbers, the motor rotates backwards, and the absolute values of nn and mm represent the number of sent pulses.
3. The control system of the automatic walking type intelligent trolley for targeted pesticide spraying according to claim 2, wherein the two-way servo driver is connected with the upper computer through an RS232 serial port communication protocol.
4. The control system of the intelligent self-propelled intelligent trolley for targeted pesticide spraying according to claim 1, wherein the PULSE +, PULSE-, SIGN +, SIGN-of the two-way servo driver is a PULSE string interface special for a long-line driver of the servo driver, and a differential mode is adopted; u, V and W are connected to the three-phase windings of the motor respectively.
5. The control system of the automatic walking type intelligent trolley for targeted pesticide spraying according to claim 2, wherein the upper computer adopts an NVIDIA Jetson Xavier NX microcomputer as a main control board and is connected with a double-path servo driver of the intelligent trolley through a general GPIO interface for raspberry dispatching.
6. The control system of the automatic walking type intelligent trolley for targeted pesticide spraying according to claim 1, further comprising a control terminal, wherein the control terminal enters the trolley control terminal through a hot spot radiated by the intelligent trolley by using a browser to control the moving direction and speed of the trolley.
7. The control system of the automatic walking type intelligent trolley for targeted pesticide spraying according to claim 1, further comprising a camera, wherein the camera is arranged right in front of the intelligent trolley and is electrically connected with an upper computer.
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| CN202110871987.4A CN113671952A (en) | 2021-07-30 | 2021-07-30 | Control system of automatic walking type targeted pesticide spraying intelligent trolley |
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| CN202110871987.4A CN113671952A (en) | 2021-07-30 | 2021-07-30 | Control system of automatic walking type targeted pesticide spraying intelligent trolley |
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2021
- 2021-07-30 CN CN202110871987.4A patent/CN113671952A/en active Pending
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