CN115777306A - Electric driving planting system and method based on double-motor linkage cooperative control - Google Patents
Electric driving planting system and method based on double-motor linkage cooperative control Download PDFInfo
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Abstract
The invention discloses an electric-driven planting system and method based on double-motor linkage cooperative control, belonging to the technical field of planting control.A seedling conveying driving motor is connected with a seedling conveying mechanism and can drive the seedling conveying mechanism to convey seedlings to a seedling conveying position; the seedling planting driving motor is connected with the seedling planting mechanism and can drive the seedling planting manipulator to move to a seedling taking position; a seedling taking position detection sensor for detecting whether the seedling planting manipulator reaches the seedling taking position; a seedling conveying position detection sensor for detecting whether the seedlings in the seedling conveying mechanism reach the seedling conveying position; and the logic operation control unit is used for controlling the seedling sending driving motor to stop running and controlling the seedling planting driving motor to run after the seedling sending mechanism sends the seedlings to the seedling sending position, so that the seedling planting manipulator runs to the seedling taking position, and seedlings positioned at the seedling sending position on the seedling sending mechanism are taken. The seedling-fetching problem of the seedling-planting manipulator is prevented from being missed, and the success rate of fetching the seedlings by the seedling-planting manipulator is improved.
Description
Technical Field
The invention relates to the technical field of planting control, in particular to an electric-driven planting system and method based on double-motor linkage cooperative control.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The present invention relates to a sweet potato planting device for planting sweet potato seedlings, which is characterized in that a power output device outputs power, then the power is transmitted to a planting mechanism and a seedling conveying mechanism in a transmission mode of a chain, a conveying belt and the like, the seedling conveying mechanism moves, the sweet potato seedlings are conveyed to a seedling conveying position by the seedling conveying mechanism, the planting mechanism moves, a seedling planting manipulator of the planting mechanism moves to a seedling taking position, the sweet potato seedlings reaching the seedling conveying position in the seedling conveying mechanism are taken away by the seedling planting manipulator reaching the seedling taking position, and the seedlings are planted after the seedlings are taken.
Disclosure of Invention
The invention aims to solve the problems and provides an electrically-driven planting system and method based on double-motor linkage cooperative control, wherein a planting mechanism and a seedling conveying mechanism are respectively provided with a power output device, whether a planting manipulator reaches a seedling taking position and whether a seedling in the seedling conveying mechanism reaches a seedling conveying position are detected, when a seedling is detected at the seedling conveying position of the seedling conveying mechanism, the planting manipulator is controlled to move to the seedling taking position to accurately grab the seedling at the seedling conveying position, the seedling is ensured to be on the seedling conveying position when the seedling is picked by the planting manipulator, the success rate of seedling taking by the planting manipulator is further ensured, the problem of seedling missing pickup of the planting manipulator is prevented, meanwhile, the invention can automatically detect whether the seedling is missed to take the seedling in the planting mechanism, when the seedling is found to be missed to take the seedling, measures are timely taken to replenish the seedling, or the system is adjusted, the problem of seedling missing is prevented, and the seedling quality is ensured.
In order to achieve the purpose, the invention adopts the following technical scheme:
first aspect provides an electricity drive system of planting based on bi-motor linkage cooperative control, includes running gear, plants seedling mechanism and send seedling mechanism, still includes: a seedling conveying driving motor, a seedling planting driving motor, a seedling taking position detection sensor, a seedling conveying position detection sensor and a logic operation control unit; the seedling conveying driving motor is connected with the seedling conveying mechanism and can drive the seedling conveying mechanism to convey the seedlings to a seedling conveying position; the seedling planting driving motor is connected with the seedling planting mechanism and can drive the seedling planting manipulator in the seedling planting mechanism to move to a seedling taking position;
a seedling taking position detection sensor for detecting whether the seedling planting manipulator reaches the seedling taking position;
a seedling conveying position detection sensor for detecting whether the seedlings in the seedling conveying mechanism reach the seedling conveying position;
and the logic operation control unit is used for controlling the seedling conveying driving motor to operate, the seedling planting driving motor is in a stop operation state, when the seedling conveying mechanism conveys the seedlings to the seedling conveying position, the seedling conveying driving motor is controlled to stop operating, the seedling planting driving motor is controlled to operate, the seedling planting manipulator is enabled to operate to the seedling taking position, and the seedlings positioned at the seedling conveying position on the seedling conveying mechanism are taken.
Further, the method also comprises the following steps:
a seedling planting completion position detection sensor for detecting whether the seedling planting manipulator reaches a seedling planting completion position;
a seedling planting position detection sensor for detecting whether the seedling planting manipulator reaches the seedling planting position;
and the logic operation control unit is also used for controlling the seedling planting driving motor to stop running and controlling the seedling sending driving motor to run when the seedling planting manipulator runs to the position where seedling planting is completed, controlling the seedling sending driving motor to stop running after the seedling sending mechanism sends the seedling to the position where the seedling is sent, controlling the seedling sending driving motor to stop running and controlling the seedling planting driving motor to run, so that the seedling planting manipulator runs to the position where the seedling is taken, taking the seedling from the position where the seedling is sent on the seedling sending mechanism, and continuing to run to the position where the seedling is planted after the seedling is taken.
Further, the method also comprises the following steps:
the advancing speed acquisition module is used for acquiring the operation advancing speed of the walking device;
and the logic operation control unit is also used for acquiring the rotating speed of the seedling planting driving motor and the rotating speed of the seedling feeding driving motor according to the operation advancing speed and the planting distance of the walking device, controlling the seedling planting driving motor to operate according to the rotating speed of the seedling planting driving motor, and controlling the seedling feeding driving motor to operate according to the rotating speed of the seedling feeding driving motor.
Further, the logical operation control unit obtains the rotating speed of the seedling planting driving motor and the rotating speed of the seedling feeding driving motor according to the operation advancing speed and the planting row spacing of the planting system by the following formula:
wherein ,
the rotating speed of the motor is driven for planting seedlings,
in order to drive the rotating speed of the motor for feeding the seedlings,
the forward speed of the walking device is the forward speed of the operation,
in order to plant the plant spacing,
for the reduction ratio of the seedling planting speed reducer,
the seedling conveying ratio of the seedling conveying plate of the seedling conveying mechanism is 1, and the ratio of the seedling conveying ratio to the number of seedlings conveyed by the chain in the seedling conveying mechanism rotating for one circle.
Furthermore, the electrically-driven planting system operates initially, when the seedling planting manipulator operates to the seedling taking position and a seedling is on the seedling conveying position of the seedling conveying mechanism, the electrically-driven planting system is ready, the logic operation control unit drives the seedling planting driving motor to operate according to the rotating speed of the seedling planting driving motor, and the driving seedling conveying driving motor operates according to the rotating speed of the seedling conveying driving motor.
Further, the method also comprises the following steps:
the first seedling missing detection sensor is used for detecting whether seedlings exist on the seedling feeding mechanism before seedling taking of the seedling planting manipulator;
the second seedling leakage detection sensor is used for detecting whether seedlings are on the seedling conveying mechanism after the seedling planting manipulator takes the seedlings;
the logic operation control unit is also used for judging that the seedling planting manipulator misses taking the seedlings when the first seedling missing detection sensor detects that the seedling conveying mechanism has the seedlings before the seedling planting manipulator takes the seedlings and the second seedling missing detection sensor detects that the seedling conveying mechanism has the seedlings after the seedling planting manipulator takes the seedlings; when the first seedling leakage detection sensor detects that the seedling conveying mechanism has the seedlings before the seedling planting manipulator takes the seedlings, but the second seedling leakage detection sensor detects that the seedling conveying mechanism has no seedlings after the seedling planting manipulator takes the seedlings, the seedling planting manipulator does not have the seedlings in leakage.
Further, the logic operation control unit is further used for adding 1 to the total number of seedlings when the first seedling leakage detection sensor detects that seedlings exist on the seedling conveying mechanism before the seedling planting manipulator takes the seedlings, judging that the seedling conveying mechanism leaks to take the seedlings when the second seedling leakage detection sensor detects that the seedlings exist on the seedling conveying mechanism after the seedling planting manipulator takes the seedlings, adding 1 to the total number of the leaked seedlings, and calculating to obtain the seedling leakage rate through the total number of the leaked seedlings and the total number of the seedlings.
Furthermore, a first seedling leakage detection sensor is arranged at the position before the seedling is taken by the seedling planting manipulator, and a second seedling leakage detection sensor is arranged at the position after the seedling is taken by the seedling planting manipulator.
Furthermore, the logic operation control unit is also connected with the human-computer interaction module.
In a second aspect, a planting method of an electrically driven planting system based on dual-motor linkage cooperative control is provided, and the method is applied to the electrically driven planting system based on the dual-motor linkage cooperative control provided in the first aspect, and comprises the following steps:
judging whether the seedling planting manipulator reaches a seedling taking position or not through a seedling taking position detection sensor;
detecting whether the seedlings in the seedling conveying mechanism reach the seedling conveying position through a seedling conveying position detection sensor;
the logic operation control unit controls the seedling conveying driving motor to operate, the seedling planting driving motor is in a stop operation state, when the seedling conveying mechanism conveys seedlings to the seedling conveying position, the seedling conveying driving motor stops operating, the seedling planting driving motor is controlled to operate, the seedling planting manipulator operates to the seedling taking position, and seedlings positioned at the seedling conveying position on the seedling conveying mechanism are taken.
Compared with the prior art, the invention has the beneficial effects that:
1. the seedling planting mechanism and the seedling conveying mechanism are respectively provided with a power output device, whether the seedling planting manipulator reaches the seedling taking position and whether the seedling in the seedling conveying mechanism reaches the seedling conveying position are detected, when the seedling conveying position of the seedling conveying mechanism is detected to have a seedling, the seedling planting manipulator is controlled to move to the seedling taking position to accurately grab the seedling on the seedling conveying position, the seedling conveying position is ensured to have the seedling when the seedling is taken by the seedling planting manipulator, the seedling taking success rate of the seedling planting manipulator is further ensured, and the problem that the seedling taking manipulator leaks the seedling is prevented.
2. The invention can adjust the rotating speed of the seedling planting driving motor and the rotating speed of the seedling feeding driving motor in real time according to the requirements of plant spacing of different planted plants and by combining the operation advancing speed, thereby ensuring that the requirements of different planted plant spacing are met.
3. In the planting process of sweet potato seedlings, the first seedling missing detection sensor and the second seedling missing detection sensor are used for detecting whether seedlings exist on the seedling sending mechanism before and after seedling taking of the seedling planting manipulator, so that whether seedling missing and taking of the seedling occurs in the seedling planting mechanism is judged, when the seedling missing and taking occur, the operator is reminded to carry out seedling supplementing, and when continuous seedling missing and taking occur, the operator is reminded to check the machine tool to prevent the seedling missing and taking problem from happening again, so that the planting quality of the sweet potatoes is guaranteed, the total number of the seedlings and the total number of the missed seedlings can be calculated and obtained, the seedling missing rate is finally obtained, and later analysis is facilitated.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic diagram showing the construction of a system disclosed in example 1;
FIG. 2 is a side view of the structure of the disclosed system of example 1;
FIG. 3 is a front rear view showing the structure of the system disclosed in embodiment 1;
FIG. 4 is a side view of the driving device of the seedling planting mechanism disclosed in embodiment 1;
fig. 5 is a plan view of the driving device of the seedling planting mechanism disclosed in embodiment 1;
fig. 6 is a left side view of the driving device of the seedling planting mechanism disclosed in embodiment 1;
fig. 7 is a control flow chart of the disclosed system of embodiment 1.
Wherein: 1. send seedling mechanism, 2, plant seedling mechanism, 3, get seedling position detection sensor, 4, first seedling detection sensor that leaks, 5, second seedling detection sensor that leaks, 6, send seedling position detection sensor, 101, pendulum seedling board, 102, seedling clamp, 103, sprocket, 104, send seedling belt pulley, 105, hold-in range, 106, send seedling driving motor, 107, send seedling mechanism frame, 108, pendulum seedling board driving chain, 109, bearing frame, 201, plant seedling manipulator, 202, plant seedling frame, 203, plant seedling driving motor, 204, speed reducer, 205, inertial force buffer, 2011, first claw, 2012, second claw, 2013, cam, 2014, camshaft, 2015, crank rocker, 2016, the seedling transmission shaft that plants.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1
In order to guarantee when sweet potato is planted, seedling planting mechanism can follow and send seedling mechanism to succeed in getting the seedling, prevents that seedling planting mechanism from leaking the emergence of getting the seedling problem, in this embodiment, discloses an electricity drive system of planting based on bi-motor linkage cooperative control, as shown in fig. 1, fig. 2, include running gear, seedling planting mechanism 2 and send seedling mechanism 1, still include: send seedling driving motor 106, plant seedling driving motor 203, get seedling position detection sensor 3, send seedling position detection sensor 6, forward speed acquisition module, first seedling detection sensor 4 that leaks, second seedling detection sensor 5 that leaks, plant seedling position detection sensor, accomplish seedling position detection sensor and logical operation the control unit.
The seedling conveying driving motor 106 is connected with the seedling conveying mechanism and can drive the seedling conveying mechanism to convey sweet potato seedlings to a seedling conveying position; the seedling planting driving motor 203 is connected with the seedling planting mechanism and can drive a seedling planting manipulator in the seedling planting mechanism to move to a seedling taking position, the seedling planting manipulator takes seedlings of sweet potatoes located at the seedling sending position on the seedling sending mechanism at the seedling taking position, the seedling planting manipulator continues to move after taking the seedlings, and when the seedling planting manipulator moves to the seedling planting position, the seedlings are planted.
As shown in fig. 3, the seedling feeding mechanism 1 is a double-chain transmission type, and comprises a chain wheel 103, a seedling placing plate transmission chain 108, a seedling placing plate 101, a seedling feeding mechanism frame 107, a seedling clamp 102 and a power input transmission part, wherein the number of the chain wheels 103 is multiple, the number of the seedling placing plate transmission chains 108 is two, and the two seedling placing plate transmission chains are arranged in parallel, the multiple chain wheels 103 are connected through the seedling placing plate transmission chain 108, the seedling placing plate 101 and the seedling clamp 102 are fixedly installed on the two seedling placing plate transmission chains arranged in parallel according to a specific distance and move clockwise along with the chains, the chain wheel 103 is rotatably connected with a chain wheel shaft, a bearing is arranged between the chain wheel 103 and the chain wheel shaft, the bearing is connected with a bearing seat 109, the bearing seat 109 is fixed on the seedling feeding mechanism frame 107, the power input transmission part comprises a seedling feeding mechanism transmission shaft and a transmission mechanism, the seedling feeding mechanism transmission shaft is connected with an output shaft of the seedling feeding mechanism driving motor 106 and rotates along with the output shaft of the seedling feeding mechanism driving motor 106, the seedling feeding mechanism transmission shaft is connected with the chain through the transmission mechanism, when the seedling feeding mechanism driving motor 106 drives the seedling placing plate transmission shaft to rotate, and the seedling clamp 102 to convey seedlings clockwise, and the seedling to the seedling clamp position, and the seedling clamp 102 is toward the operator.
The transmission mechanism can be in a transmission mode such as chain transmission or belt transmission, when the belt transmission is adopted, the transmission mechanism comprises a seedling conveying belt pulley 104, a small belt pulley and a synchronous belt 105, the seedling conveying belt pulley 104 is connected with a transmission shaft of the seedling conveying mechanism, the small belt pulley is connected with a chain wheel shaft, the seedling conveying belt pulley 104 is connected with the small belt pulley through the synchronous belt 105, the seedling conveying belt pulley 104 is driven to rotate when the transmission shaft of the seedling conveying mechanism rotates, the small belt pulley is driven to rotate through the synchronous belt 105, the small belt pulley drives the chain wheel shaft to rotate, and then the chain wheel 103 is driven to rotate.
The seedling conveying driving motor 106 is fixedly arranged on the seedling conveying mechanism frame 107 through a support, and an output shaft of the seedling conveying driving motor is connected with a transmission shaft of the seedling conveying mechanism through a coupler.
As shown in fig. 4-6, the seedling planting mechanism 2 is composed of a seedling planting manipulator 201, a crank rocker mechanism and an inertia force buffer device 205, the crank rocker mechanism is fixed on the seedling planting frame 202, a crank rocker 2015 of the crank rocker mechanism is connected with a seedling planting transmission shaft 2016, the seedling planting transmission shaft 2016 is connected with an output shaft of the seedling planting driving motor 203 and can rotate along with the output shaft of the seedling planting driving motor 203, the rotation of the seedling planting transmission shaft 2016 drives the crank rocker 2015 to rotate, the crank rocker 2015 rotates to drive the crank rocker mechanism to reciprocate, and further drive the seedling planting manipulator 201 to move integrally, when the seedling planting manipulator 201 moves to a seedling taking position, the seedling on the seedling feeding mechanism is taken by the seedling planting manipulator, and after the seedling taking is completed, the seedling planting driving motor 203 continues to rotate to drive the seedling planting manipulator to move to the seedling planting position, and the seedling planting is performed. Seedling planting manipulator 201 is connected with inertial force buffer 205, through inertial force buffer to plant seedling planting manipulator 201 and brake, guarantee that seedling planting manipulator can accurately stop in getting seedling position department, and then guarantee to be located the success of sending seedling position department seedling and snatch.
In a specific embodiment, the camshaft 2014 is coupled to the crank arm 2015 and is capable of following the crank arm 2015.
The seedling planting manipulator 201 is also connected with an inertia force buffering device, and the opening and closing of the first claw 2011 and the second claw 2012 are braked through the inertia force buffering device.
Inertia force buffering device contains the brake block, brake elasticity adjusting device and cam profile shaft, the side-mounting gyro wheel of cam profile shaft is along with cam profile modeling motion, the opposite side articulates on planting seedling frame 202 with brake elasticity adjusting device, brake elasticity adjusting device still is connected with the brake block, the brake block is pressed close to with the camshaft and is broken away from under brake elasticity device's drive, it is rotatory along with the planting seedling transmission shaft, install the camshaft on the planting seedling transmission shaft and also begin to rotate, the swing of cam shaft rotary drive cam profile shaft, the swing of cam profile shaft drives the swing of brake elasticity adjusting device, make the brake block break away from or the compaction to the camshaft, realize the inertia force buffering and the braking of planting seedling manipulator, realize the unity of an action cycle initial position and the final position of planting seedling manipulator, and then guarantee that planting manipulator can accurately reach and get seedling position department, and then successfully snatch the sweet potato seedling that is located seedling position department.
The seedling planting driving motor 203 is connected with the seedling planting mechanism through a speed reducer 204, specifically, the seedling planting driving motor 203 is connected with the speed reducer, and a first output shaft of the speed reducer is connected with the seedling planting transmission shaft.
The planting system disclosed by the embodiment is in the working process, the seedling taking position of the seedling planting manipulator is fixed relative to the seedling sending position of the seedling sending mechanism, the more accurate the seedling sending position of the seedling sending mechanism is, the higher the seedling taking success rate is, the seedling planting mechanism and the seedling sending mechanism are respectively provided with the power output devices of the seedling planting mechanism and the seedling sending manipulator, whether the seedling planting manipulator reaches the seedling taking position and whether the seedling in the seedling sending mechanism reaches the seedling sending position is detected, only when the seedling is detected on the seedling sending position of the seedling sending mechanism, the seedling planting manipulator is controlled to operate to the seedling taking position, the seedling on the seedling sending position is accurately grabbed, the seedling is sent to the seedling sending position when the seedling taking of the seedling planting manipulator is ensured, the success rate of the seedling taking of the seedling planting manipulator is ensured, and the problem that the seedling taking manipulator leaks is prevented.
And the seedling taking position detection sensor 3 is used for detecting whether the seedling planting manipulator 201 in the seedling planting mechanism 2 reaches a seedling taking position or not, and sending a detection signal to the logic operation control unit when detecting that the seedling planting manipulator reaches the seedling taking position.
In specific implementation, the seedling taking position detection sensor 3 is installed on the seedling planting rack 202.
And the seedling feeding position detection sensor 6 is used for detecting whether the sweet potato seedlings of the seedling feeding mechanism 1 reach the seedling feeding position or not, and sending a detection signal to the logic operation control unit when detecting that the seedlings reach the seedling feeding position.
In specific implementation, the seedling feeding position detection sensor 6 is fixedly installed on the seedling feeding mechanism frame 107.
And the advancing speed acquisition module is used for acquiring the operation advancing speed of the walking device.
In a specific implementation, the forward speed obtaining module may be a speed measuring radar, a GPS, or a land wheel encoder.
The first seedling leakage detection sensor 4 is installed at the position of the seedling planting manipulator 201 before seedling taking and used for detecting whether seedlings exist on the seedling sending mechanism 1 before the seedling planting manipulator takes the seedlings.
And the second seedling leakage detection sensor 5 is arranged at the position of the seedling taking mechanical arm 201 for detecting whether seedlings are on the seedling conveying mechanism 1 after the seedling taking mechanical arm takes the seedlings.
The seedling leakage detection sensor adopts an opposite type photoelectric sensor, the sensor outputs a high level signal when no seedling passes through a detection area of the sensor, the opposite type photoelectric sensor can shield the seedling when the seedling passes through the detection area, the sensor outputs a low level signal, the seedling is judged to be in existence when the logic operation control unit receives the low level signal transmitted by the seedling leakage detection sensor, and the seedling is judged to be in nonexistence when the logic operation control unit receives the high level signal.
A seedling planting position detection sensor for detecting whether the seedling planting manipulator reaches the seedling planting position;
and the seedling planting completion position detection sensor is used for detecting whether the seedling planting manipulator reaches the seedling planting completion position.
And the logic operation control unit is used for controlling the seedling conveying driving motor to operate, at the moment, the seedling planting driving motor is in a stop operation state, when the seedling conveying mechanism conveys the seedlings to the seedling conveying position, the seedling conveying driving motor is controlled to stop operating, the seedling planting driving motor is controlled to operate, the seedling planting manipulator is enabled to operate to the seedling taking position, and the seedlings positioned at the seedling conveying position on the seedling conveying mechanism are taken.
Specifically, the logic operation control unit is used for indicating that the seedling planting manipulator completes one-time seedling planting when the seedling planting manipulator runs to a position where seedling planting is completed, controlling the seedling planting driving motor to stop running, and keeping the position of the seedling planting mechanism to stay; the seedling conveying driving motor is controlled to operate, when the seedling conveying mechanism conveys seedlings to the seedling conveying position, the seedling conveying driving motor is controlled to stop operating, the seedling conveying mechanism waits in situ, the seedling planting driving motor is controlled to operate, the seedling planting manipulator operates to the seedling taking position, seedlings at the seedling conveying position are taken, and after the seedlings are taken, the seedling planting manipulator continues to operate to the seedling planting position to plant the seedlings. And the rest is finished by analogy: seedling delivering, positioning, seedling taking, seedling planting, seedling delivering, positioning, seedling taking and seedling planting.
In order to meet the requirement of the planting row spacing, the rotating speed of the seedling planting driving motor and the rotating speed of the seedling conveying driving motor are adjusted in real time according to the operation advancing speed of the walking device and the required planting row spacing.
Specifically, the method comprises the following steps: and the logic operation control unit is also used for acquiring the rotating speed of a seedling planting driving motor and the rotating speed of a seedling feeding driving motor according to the operation advancing speed and the planting row spacing of the planting system walking device, controlling the seedling planting driving motor to operate according to the rotating speed of the seedling planting driving motor, and controlling the seedling feeding driving motor to operate according to the rotating speed of the seedling feeding driving motor, so that the requirement of the planting row spacing is met.
The logical operation control unit obtains the formula of the rotating speed of the seedling planting driving motor and the rotating speed of the seedling feeding driving motor according to the operation advancing speed and the planting row spacing of the planting system as follows:
wherein ,
the rotating speed (rpm) of a driving motor for planting seedlings,
in order to drive the motor rotation speed (rpm) for seedling feeding,
the operation advancing speed (km/h) of the walking device is obtained in real time through an advancing speed obtaining module,
is obtained by inputting the planting distance (m) through a manual interaction module,
the reduction ratio of the seedling planting speed reducer is reduced,
is the seedling feeding ratio of a seedling feeding plate of the seedling feeding mechanism, wherein the seedling feeding ratio is the ratio of 1 to the number of seedlings fed in each turn of a chain in the seedling feeding mechanism,
、
is a constant.
In order to ensure that the system disclosed by the embodiment can plant seedlings when the walking device starts to walk, namely planting of the first seedlings on the ground is completed, the operation of the electrically-driven planting system is limited to be initial, when the seedling planting manipulator operates to the seedling taking position, and when seedlings exist on the seedling conveying position of the seedling conveying mechanism, the electrically-driven planting system is ready, the walking device starts to walk, the logic operation control unit drives the seedling planting driving motor to operate according to the rotating speed of the seedling planting driving motor, and the driving seedling conveying driving motor operates according to the rotating speed of the seedling conveying driving motor
In the specific process, as shown in fig. 7, after the system is started to operate, the system automatically starts self-checking, the seedling feeding driving motor and the seedling planting driving motor start to operate at low speed, the seedling feeding position detection sensor and the seedling taking position detection sensor are in a trigger state after the system operates, then the system enters a 'ready' state, all motors stop operating, and the motor brake keeps the current position. When an operator clicks a 'ready' button of a manual interaction module, a traveling device starts traveling, a logic operation control unit sends an instruction to a motor driver according to a user set value, each motor starts rotating according to a preset rotating speed to drive a seedling feeding mechanism and a seedling planting mechanism to start operating to take and plant seedlings, the operation advancing speed of the traveling device is obtained in real time in the operation process of a follow-up system, the rotating speed of a seedling planting driving motor and the rotating speed of a seedling feeding driving motor are determined according to the operation advancing speed of the traveling device, the operation state of the seedling planting position detecting sensor and the seedling planting position detecting sensor is monitored in real time according to a seedling taking position detecting sensor and a seedling feeding position detecting sensor, when a seedling planting manipulator operates to a position where seedling planting is completed, the logic operation control system controls the seedling planting driving motor to stop operating, the seedling feeding driving motor to operate according to the rotating speed of the seedling feeding driving motor, when the seedling feeding mechanism feeds the seedlings to the seedling feeding position, the seedling feeding driving motor stops operating, the seedling planting driving motor operates according to the rotating speed of the seedling planting manipulator, the seedling manipulator operates to enable the seedling taking manipulator to continue seedling planting.
The system disclosed by the embodiment also detects whether the seedling taking mechanical arm misses the seedling taking and calculates the seedling missing rate.
The logic operation control unit is also used for judging that the seedling planting manipulator misses taking the seedlings when the first seedling missing detection sensor detects that the seedling conveying mechanism has the seedlings before the seedling planting manipulator takes the seedlings and the second seedling missing detection sensor detects that the seedling conveying mechanism has the seedlings after the seedling planting manipulator takes the seedlings; when the first seedling leakage detection sensor detects that the seedling conveying mechanism has the seedlings before the seedling planting manipulator takes the seedlings, but the second seedling leakage detection sensor detects that the seedling conveying mechanism has no seedlings after the seedling planting manipulator takes the seedlings, the seedling planting manipulator does not have the seedlings in leakage.
And the logic operation control unit is also used for adding 1 to the total number of seedlings when the first seedling leakage detection sensor detects that the seedling sending mechanism has seedlings before the seedling taking manipulator takes the seedlings, judging that the seedling taking manipulator misses the seedlings when the second seedling leakage detection sensor detects that the seedling sending mechanism has seedlings after the seedling taking manipulator takes the seedlings, adding 1 to the total number of the missed seedlings, and calculating to obtain the seedling leakage rate through the total number of the missed seedlings and the total number of the seedlings.
In specific implementation, seedlings are placed in the seedling conveying mechanism and run along with the seedling conveying mechanism, when the seedlings pass through the first seedling leakage detection sensor, the first seedling leakage detection sensor is triggered to send a signal to the logic operation control unit, the total number of the seedlings is +1, the fact that the seedlings exist on the seedling conveying mechanism before seedling taking of the seedling planting manipulator is indicated, the seedling conveying mechanism continues to run, when the seedlings reach the detection area of the second seedling leakage detection sensor, if the signal is triggered, the fact that the seedlings exist on the seedling conveying mechanism after the seedling taking of the seedling planting manipulator is indicated, namely the seedling missing of the seedling planting manipulator is judged, the total number of the missed seedlings is +1, when the seedlings are not detected by the second seedling leakage detection sensor, the fact that the seedling taking of the seedling planting manipulator succeeds is judged, and the number of the missed seedlings is unchanged; if the seedlings pass through the first seedling leakage detection sensor, the sensor is not triggered, the logical operation control unit defaults to have no seedlings, and the total number of the seedlings is not changed. Based on the total number of seedlings and the total number of missed seedlings, the missed seedling rate = (number of missed seedlings/total number of seedlings) × 100% is counted.
When the seedling planting manipulator leaks to get the seedling, remind the staff to mend the seedling, when judging that the seedling planting manipulator leaks in succession and gets the seedling, remind the staff to overhaul the machines of planting, prevent to leak and get emergence once more of seedling problem, guarantee the quality of planting to through obtaining total seedling rate of leaking, can evaluate the quality of planting of totality etc..
In addition, the logic operation control unit is connected with the man-machine interaction module, and a user inputs the required planting row spacing into the logic operation control unit through the man-machine interaction module according to the planting requirement.
The seedling planting mechanism and the seedling conveying mechanism of the embodiment are driven to work by respective driving motors respectively, and the starting and stopping of the seedling planting driving motor and the seedling conveying driving motor can be controlled by the logic operation control unit according to whether the seedling planting manipulator reaches the seedling taking position or not and whether seedlings exist on the seedling conveying position of the seedling conveying mechanism or not, so that the problems that the current power transmission process is complex, the planting distance cannot be ensured, and the seedling planting manipulator is easy to miss the seedling taking are solved; the rotating speeds of the seedling planting driving motor and the seedling feeding driving motor can be determined according to the requirements of the planting row spacing of different planted plants and by combining the operation advancing speed, so that the requirements of different planting row spacing are met, and the adaptability is improved; can also leak the seedling detection sensor through first seedling detection sensor and second, judge that the manipulator of planting leaks and gets the seedling, when appearing leaking and getting the seedling problem, remind personnel to mend the seedling to remind operating personnel to inspect the machines and prevent leaking and get emergence once more of seedling problem when appearing leaking in succession when getting the seedling, thereby guarantee the quality of planting.
Example 2
In this embodiment, a planting method of an electrically driven planting system based on dual-motor linkage cooperative control is disclosed, which is applied to the electrically driven planting system based on dual-motor linkage cooperative control disclosed in embodiment 1, and includes:
judging whether the seedling planting manipulator reaches a seedling taking position or not through a seedling taking position detection sensor;
detecting whether the seedlings in the seedling conveying mechanism reach the seedling conveying position through a seedling conveying position detection sensor;
the logic operation control unit controls the seedling feeding driving motor to operate, the seedling planting driving motor is in a stop operation state, when the seedling feeding mechanism feeds the seedlings to the seedling feeding position, the seedling feeding driving motor stops operating, the seedling planting driving motor is controlled to operate, the seedling planting manipulator operates to the seedling taking position, and the seedlings positioned at the seedling feeding position on the seedling feeding mechanism are taken.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. The utility model provides an electricity drives system of planting based on bi-motor linkage cooperative control, includes running gear, plants seedling mechanism and send seedling mechanism, its characterized in that still includes: a seedling conveying driving motor, a seedling planting driving motor, a seedling taking position detection sensor, a seedling conveying position detection sensor and a logic operation control unit; the seedling conveying driving motor is connected with the seedling conveying mechanism and can drive the seedling conveying mechanism to convey the seedlings to a seedling conveying position; the seedling planting driving motor is connected with the seedling planting mechanism and can drive the seedling planting manipulator in the seedling planting mechanism to move to a seedling taking position;
a seedling taking position detection sensor for detecting whether the seedling planting manipulator reaches the seedling taking position;
a seedling conveying position detection sensor for detecting whether the seedlings in the seedling conveying mechanism reach the seedling conveying position;
and the logic operation control unit is used for controlling the seedling conveying driving motor to operate, the seedling planting driving motor is in a stop operation state, when the seedling conveying mechanism conveys the seedlings to the seedling conveying position, the seedling conveying driving motor is controlled to stop operating, the seedling planting driving motor is controlled to operate, the seedling planting manipulator is enabled to operate to the seedling taking position, and the seedlings positioned at the seedling conveying position on the seedling conveying mechanism are taken.
2. The electric-driven planting system based on double-motor linkage cooperative control as claimed in claim 1, further comprising:
a seedling planting completion position detection sensor for detecting whether the seedling planting manipulator reaches a seedling planting completion position;
a seedling planting position detection sensor for detecting whether the seedling planting manipulator reaches the seedling planting position;
and the logic operation control unit is also used for controlling the seedling planting driving motor to stop running when the seedling planting manipulator runs to the position where seedling planting is completed, controlling the seedling sending driving motor to run, controlling the seedling sending driving motor to stop running after the seedling sending mechanism sends the seedling to the seedling sending position, controlling the seedling planting driving motor to run, enabling the seedling planting manipulator to run to the position where the seedling is taken, taking the seedling from the seedling sending position on the seedling sending mechanism, and continuing running the seedling planting manipulator to the position where the seedling is planted after the seedling is taken.
3. The electric-driven planting system based on double-motor linkage cooperative control as claimed in claim 1, further comprising:
the advancing speed acquisition module is used for acquiring the operation advancing speed of the walking device;
and the logic operation control unit is also used for acquiring the rotating speed of the seedling planting driving motor and the rotating speed of the seedling feeding driving motor according to the operation advancing speed and the planting distance of the walking device, controlling the seedling planting driving motor to operate according to the rotating speed of the seedling planting driving motor, and controlling the seedling feeding driving motor to operate according to the rotating speed of the seedling feeding driving motor.
4. The electric-driven planting system based on the double-motor linkage cooperative control as claimed in claim 3, wherein the logical operation control unit obtains the rotating speed of the seedling planting driving motor and the rotating speed of the seedling feeding driving motor according to the operation advancing speed and the planting row spacing of the planting system by the following formula:
wherein ,
the rotating speed of the motor is driven for planting seedlings,
in order to drive the rotating speed of the motor for feeding the seedlings,
the forward speed of the walking device is the forward speed of the operation,
in order to plant the plant spacing,
the reduction ratio of the seedling planting speed reducer is reduced,
the seedling conveying ratio of the seedling conveying plate of the seedling conveying mechanism is 1 and the ratio of the number of seedlings conveyed by the chain in the seedling conveying mechanism rotating for one circle.
5. The electric-driven planting system based on the double-motor linkage cooperative control as claimed in claim 1, wherein the electric-driven planting system is initially operated, when the seedling planting manipulator is operated to the seedling taking position and a seedling is present in the seedling feeding position of the seedling feeding mechanism, the electric-driven planting system is ready, the logic operation control unit drives the seedling planting driving motor to operate according to the rotating speed of the seedling planting driving motor, and drives the seedling feeding driving motor to operate according to the rotating speed of the seedling feeding driving motor.
6. The electric-driven planting system based on double-motor linkage cooperative control as recited in claim 1, further comprising:
the first seedling missing detection sensor is used for detecting whether seedlings exist on the seedling feeding mechanism before seedling taking of the seedling planting manipulator;
the second seedling missing detection sensor is used for detecting whether seedlings exist on the seedling conveying mechanism after the seedling planting manipulator takes the seedlings;
the logic operation control unit is also used for judging that the seedling planting manipulator misses taking the seedlings when the first seedling missing detection sensor detects that the seedling conveying mechanism has the seedlings before the seedling planting manipulator takes the seedlings and the second seedling missing detection sensor detects that the seedling conveying mechanism has the seedlings after the seedling planting manipulator takes the seedlings; when the first seedling leakage detection sensor detects that the seedling conveying mechanism has the seedlings before the seedling planting manipulator takes the seedlings, but the second seedling leakage detection sensor detects that the seedling conveying mechanism has no seedlings after the seedling planting manipulator takes the seedlings, the seedling planting manipulator does not have the seedlings in leakage.
7. The electric-driven planting system based on the double-motor linkage cooperative control as claimed in claim 6, wherein the logic operation control unit is further configured to add 1 to the total number of seedlings when the first seedling-missing detection sensor detects that there is a seedling on the seedling feeding mechanism before the seedling-planting manipulator takes the seedling, determine that the seedling-planting mechanism has missed seedling taking when the second seedling-missing detection sensor detects that there is a seedling on the seedling feeding mechanism after the seedling-planting manipulator takes the seedling, add 1 to the total number of missed seedlings, and calculate the rate of missed seedlings by the total number of missed seedlings and the total number of seedlings.
8. The electric-driven planting system based on the double-motor linkage cooperative control as claimed in claim 6, wherein a first seedling-missing detection sensor is installed at a position before seedling taking of the seedling planting manipulator, and a second seedling-missing detection sensor is installed at a position after seedling taking of the seedling planting manipulator.
9. The electric-driven planting system based on double-motor linkage cooperative control as claimed in claim 1, wherein the logic operation control unit is further connected with the human-computer interaction module.
10. A planting method of an electric-driven planting system based on double-motor linkage cooperative control is characterized in that the planting method is applied to the electric-driven planting system based on double-motor linkage cooperative control as claimed in any one of claims 1 to 9, and comprises the following steps:
judging whether the seedling planting manipulator reaches a seedling taking position or not through a seedling taking position detection sensor;
detecting whether the seedlings in the seedling conveying mechanism reach the seedling conveying position or not through a seedling conveying position detection sensor;
the logic operation control unit controls the seedling feeding driving motor to operate, the seedling planting driving motor is in a stop operation state, when the seedling feeding mechanism feeds the seedlings to the seedling feeding position, the seedling feeding driving motor stops operating, the seedling planting driving motor is controlled to operate, the seedling planting manipulator operates to the seedling taking position, and the seedlings positioned at the seedling feeding position on the seedling feeding mechanism are taken.
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