CN118044379A - Discharge amount control method and device, electronic equipment and computer readable storage medium - Google Patents
Discharge amount control method and device, electronic equipment and computer readable storage medium Download PDFInfo
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- CN118044379A CN118044379A CN202211437740.2A CN202211437740A CN118044379A CN 118044379 A CN118044379 A CN 118044379A CN 202211437740 A CN202211437740 A CN 202211437740A CN 118044379 A CN118044379 A CN 118044379A
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000003860 storage Methods 0.000 title claims abstract description 15
- 238000007599 discharging Methods 0.000 claims abstract description 152
- 239000000463 material Substances 0.000 claims abstract description 85
- 230000001105 regulatory effect Effects 0.000 claims abstract description 6
- 238000004364 calculation method Methods 0.000 claims description 35
- 238000005303 weighing Methods 0.000 claims description 31
- 238000004590 computer program Methods 0.000 claims description 16
- 230000001276 controlling effect Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 9
- 238000010977 unit operation Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 description 13
- 239000003337 fertilizer Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 238000010899 nucleation Methods 0.000 description 8
- 238000009331 sowing Methods 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000012876 topography Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- -1 seeds Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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Abstract
The embodiment of the invention provides a discharge amount control method, a device, electronic equipment and a computer readable storage medium, which belong to the field of automatic control, and the method applied to operation equipment comprises the following steps: when the operation equipment is started, the rotation of the discharging motor is controlled according to the calculated initial expected rotation speed, at any moment after the operation equipment is started, the rotation speed of the discharging motor at the current moment is regulated according to the difference value between the expected rotation speed and the actual rotation speed of the discharging motor at the current moment, and the expected rotation speed of the discharging motor at the next moment is calculated according to the weight difference value between the actual weight of the material box at the current moment and the actual weight of the material box at the previous moment and the actual rotation speed of the discharging motor at the current moment, so that open-loop control is realized to correct the discharging amount of the operation equipment in real time so as to more accurately control the discharging amount of the operation equipment.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a discharge amount control method, a discharge amount control device, electronic equipment and a computer readable storage medium.
Background
The seeder is a planting machine which is used for discharging crop seeds or fertilizer into a seed conveying pipe according to the required quantity, dropping the crop seeds or fertilizer into a trench formed in a field through a furrow opener, and covering and pressing the seeds by a soil covering and pressing device. In the process of sowing or fertilizing by using the seeder, the sowing amount and the fertilizing amount are important factors for measuring the operation quality of the seeder, the sowing amount or the fertilizing amount is too small, the crop growth can be affected, and the waste can be caused by too much sowing amount or fertilizing amount.
At present, the control modes of the seeding quantity and the fertilizing quantity of the seeder mainly comprise manual calibration and automatic calibration. The manual calibration mode has the advantages of large workload and low accuracy. The existing automatic calibration mode still has poor control accuracy on the seeding quantity and the fertilizing quantity. Therefore, there is a need for a method of controlling the discharge amount of a planter with high control accuracy.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a discharge amount control method, apparatus, electronic device, and computer-readable storage medium, which can more precisely control the discharge amount of a working device such as a seeder.
In order to achieve the above object, the technical scheme adopted by the embodiment of the invention is as follows:
In a first aspect, an embodiment of the present invention provides a discharge amount control method, applied to a controller of an operation device, where the operation device further includes a discharge motor, a bin, and a sheave, the controller is communicatively connected to the discharge motor, the discharge motor is connected to the sheave, the sheave is located at an outlet of the bin, and the sheave is used for receiving, metering, and discharging a material discharged from the bin, and the method includes:
When the operation equipment is started, calculating an initial expected rotating speed of the operation equipment based on preset operation parameters and the operation state of the operation equipment, and controlling the discharging motor to rotate at the initial expected rotating speed;
At any moment after the operation equipment is started, acquiring the actual rotating speed of the discharging motor at the current moment and acquiring the actual weight of the material box at the current moment;
According to the difference value between the expected rotating speed and the actual rotating speed of the discharging motor at the current moment, the rotating speed of the discharging motor at the current moment is regulated;
Obtaining a weight difference value according to the actual weight of the material box at the current moment and the actual weight of the material box at the previous moment, and calculating the expected rotating speed of the material discharging motor at the next moment according to the weight difference value and the actual rotating speed of the material discharging motor at the current moment;
The expected rotating speed of the discharging motor at the next moment is used for adjusting the rotating speed of the discharging motor at the next moment so as to control the discharging amount at the next moment.
Further, a plurality of identical material grooves are formed in the grooved wheels along the circumferential direction;
the step of calculating the expected rotating speed of the discharging motor at the next moment according to the weight difference and the actual rotating speed of the discharging motor at the current moment comprises the following steps:
Calculating the actual filling efficiency of the trough at the current moment based on the weight difference and the actual rotating speed of the discharging motor at the current moment;
and calculating the expected rotating speed of the discharging motor at the next moment based on the actual filling efficiency and the operation parameters.
Further, the operation equipment further comprises a standard component, and a first weighing device and a second weighing device which are in communication connection with the controller, wherein the first weighing device is arranged below the feed box, and the second weighing device is arranged below the standard component;
The step of obtaining the actual weight of the bin at the current moment comprises the following steps:
acquiring the measured weight of the feed box at the current moment through the first weighing device, and acquiring the measured weight of the standard component at the current moment through the second weighing device;
obtaining a weight influence factor of the current moment according to the measured weight and the actual weight of the standard component at the current moment;
And obtaining the actual weight of the material box at the current moment according to the measured weight of the material box at the current moment and the weight influence factor.
Further, the step of calculating the actual filling efficiency of the trough at the current moment based on the weight difference and the actual rotation speed of the discharge motor at the current moment includes:
Combining the weight difference, the actual rotation speed of the discharging motor at the current moment, the volume of the material groove and the material density, and calculating the actual filling efficiency of the material groove at the current moment by using a filling efficiency calculation formula;
the filling efficiency calculation formula comprises:
Wherein, δ act represents the actual filling efficiency of the material tank, t represents the time length at the current moment, Δm represents the weight difference, ρ represents the material density, n act represents the actual rotation speed of the discharging motor, and V represents the volume of the material tank.
Further, the step of calculating the expected rotation speed of the discharging motor at the next moment based on the actual filling efficiency and the operation parameter includes:
Acquiring the actual speed of the operation equipment at the current moment, and acquiring the expected rotation speed of the discharging motor at the next moment by utilizing a rotation speed calculation formula based on the actual speed, the actual filling efficiency and various preset parameters in the operation parameters;
The rotational speed calculation formula includes:
wherein n des represents the expected rotation speed, L represents the operation width of the operation equipment, V represents the initial vehicle speed of the operation equipment, M seed represents the material demand of a unit operation field, delta represents the filling efficiency of the trough, V represents the volume of the trough, and rho represents the material density.
Further, the step of calculating the initial expected rotation speed of the working device based on the preset working parameters and the operation state of the working device includes:
Acquiring the current initial vehicle speed of the operation equipment, and acquiring an initial expected rotating speed by utilizing the rotating speed calculation formula based on the initial vehicle speed and various preset parameters in the operation parameters;
The rotational speed calculation formula includes:
wherein n des represents an initial expected rotation speed, L represents the operation width of the operation equipment, V represents the initial vehicle speed of the operation equipment, M seed represents the material demand of a unit operation field, delta represents the expected filling efficiency of the trough, V represents the volume of the trough, and ρ represents the material density.
Further, the step of obtaining the weight influence factor of the current moment according to the measured weight and the actual weight of the standard component at the current moment includes:
And calculating the ratio of the actual weight of the standard component to the measured weight of the standard component at the current moment, and taking the ratio as a weight influence factor at the current moment.
In a second aspect, an embodiment of the present invention provides a discharge amount control device, which is applied to a controller of an operation device, where the controller is in communication connection with a discharge motor, the discharge motor is connected with a sheave, the sheave is located at an outlet of a bin, and the sheave is used for receiving, metering and discharging a material discharged from the bin, and the discharge amount control device includes a calculation module, a data acquisition module and a feedback adjustment module:
the calculation module is used for calculating an initial expected rotating speed of the operation equipment based on preset operation parameters and the operation state of the operation equipment when the operation equipment is started, and controlling the discharging motor to rotate at the initial expected rotating speed;
the data acquisition module is used for acquiring the actual rotating speed of the discharging motor at the current moment and the actual weight of the material box at the current moment at any moment after the operation equipment is started;
The feedback adjustment module is used for adjusting the rotating speed of the discharging motor at the current moment according to the difference value between the expected rotating speed and the actual rotating speed of the discharging motor at the current moment;
The calculation module is further used for obtaining a weight difference value according to the actual weight of the material box at the current moment and the actual weight of the material box at the previous moment, and calculating the expected rotating speed of the material discharging motor at the next moment according to the weight difference value and the actual rotating speed of the material discharging motor at the current moment;
The expected rotating speed of the discharging motor at the next moment is used for adjusting the rotating speed of the discharging motor at the next moment so as to control the discharging amount at the next moment.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, where the memory stores a computer program executable by the processor, and the processor is capable of executing the computer program to implement the discharge amount control method according to the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the discharge amount control method according to the first aspect.
According to the discharging amount control method, the discharging amount control device, the electronic equipment and the computer readable storage medium, when the operation equipment is started, the rotation of the discharging motor is controlled according to the calculated initial expected rotation speed, at any moment after the operation equipment is started, the rotation speed of the discharging motor is adjusted in a feedback mode according to the difference between the expected rotation speed and the actual rotation speed of the discharging motor at the current moment, meanwhile, the expected rotation speed of the discharging motor at the next moment is calculated according to the weight difference between the actual weight of the material box at the current moment and the actual weight of the material box at the previous moment and the actual rotation speed of the discharging motor at the current moment, and accordingly the rotation speed of the discharging motor at the next moment is adjusted according to the expected rotation speed of the discharging motor at the next moment, the discharging amount of the operation equipment at the next moment is controlled, the discharging amount is corrected in real time, the problem that the seeding amount is uneven due to speed, terrain and the like changes can be greatly improved, and the discharging amount of the operation equipment is controlled more accurately.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a block schematic diagram of some components of a discharge amount control system according to an embodiment of the present invention.
Fig. 2 shows a schematic structural diagram of a part of components of the discharge amount control system according to the embodiment of the present invention.
Fig. 3 shows a flow chart of a discharge amount control method according to an embodiment of the present invention.
Fig. 4 shows a schematic flow chart of a partial sub-step of step S13 in fig. 3.
Fig. 5 shows a schematic flow chart of a partial sub-step of step S17 in fig. 3.
Fig. 6 shows a schematic drawing of a discharge amount control device according to an embodiment of the present invention.
Fig. 7 shows a block schematic diagram of an electronic device according to an embodiment of the present invention.
Reference numerals: 100-a discharge amount control system; 110-a controller; 120-display control end; 130-a discharging motor; 140-a material box; 150-grooved wheels; 151-trough; 160-standard; 170-a first weighing device; 180-a second weighing device; 190-a discharge amount control device; 200-a calculation module; 210-a data acquisition module; 220-a feedback adjustment module; 230-an electronic device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
At present, the control modes of the seeding quantity and the fertilizing quantity of the seeder mainly comprise manual calibration and automatic calibration. The manual calibration mode is adopted, the seeder is in a suspended state, the seed metering shaft or the fertilizer discharging shaft uniformly rotates for a certain number of turns at a certain speed under the condition that the working parts of the seeder do not contact the ground, and the weight of seeds discharged by the seed metering shaft or fertilizer discharged by the fertilizer discharging shaft is weighed, so that the actual seed discharging amount or fertilizer discharging amount per mu of the seeder is calculated. The actual seed-metering amount or fertilizer-metering amount per mu is compared with the target seed-metering amount or fertilizer-metering amount, and the adjustment is carried out according to the comparison condition. The manual calibration mode is complex in work and low in efficiency in the calibration process, and the error is large due to manual adjustment.
The automatic calibration mode can finish calibration in a small amount of time, but the current automatic calibration mode is extremely easy to cause uneven seeding rate due to speed, topography and other changes, and still has the problem of poor accuracy of discharging rate due to closed-loop control.
Based on the above-mentioned considerations, the embodiments of the present invention provide a discharge amount control method capable of more precisely controlling the discharge amount of a working device such as a seeder.
The discharging amount control method provided by the embodiment of the invention can be applied to the discharging amount control system 100 shown in fig. 1 and 2, wherein the discharging amount control system 100 comprises a controller 110, a display control end 120 and a feed box 140 of operation equipment, and a discharging motor 130, a grooved wheel 150, a first weighing device 170, a second weighing device 180 and a standard component 160 of the operation equipment.
The controller 110 is in communication with the display control end 120, the first weighing device 170, the second weighing device 180 and the discharge motor 130 through wired or wireless means.
The bin 140 and the standard 160 are disposed on a support of the working device, the first weighing device 170 is disposed between the support and the bin 140, i.e. the first weighing device 170 is located below the bin 140, and the second weighing device 180 is disposed between the support and the standard 160, i.e. the second weighing device 180 is disposed below the standard 160.
The sheave 150 is rotatably disposed on the support, and the sheave 150 is located at the outlet of the bin 140.
Wherein, the operation equipment can be agricultural machinery such as a seeder, a drill seeder and the like, and the feed box 140 can be filled with materials such as seeds, fertilizers and the like. And, the first weighing device 170 and the second weighing device 180 may each be, but are not limited to: a weighing sensor assembly. The standard 160 may be, but is not limited to: standard sample seed cup, standard sample fertilizer cup or standard mass block. The display control end 120 may be, but is not limited to: a control panel, touch pad, or other control terminal.
And the grooved wheels 150 are used for receiving and metering materials discharged from the side-by-side discharging boxes 140.
The display control end 120 is configured to obtain an operation parameter of the operation device input by a worker, and store the operation parameter, or transmit the operation parameter to the controller 110.
The controller 110 is configured to implement the discharge amount control method provided by the embodiment of the present invention during the operation of the operation device, so as to control the discharge amount of the operation device by controlling the rotation speed of the discharge motor 130.
In one embodiment, the sheaves 150 may be provided with a plurality of identical grooves 151 along the circumferential direction, and the angles between the adjacent grooves 151 are the same. It should be understood that the volume, number, etc. of the channels 151 on different types of sheaves 150 may be different.
The operating parameters include the material demand per unit of operating field, the operating width of the operating equipment, the sheave type, the volume of the trough corresponding to the sheave type, and the desired filling efficiency of the trough at different rotational speeds of the sheave.
Through the above discharging amount control system 100, when the operation device is started, the discharging motor 130 is controlled to rotate according to the calculated initial expected rotation speed, at any time after the operation device is started, the rotation speed of the discharging motor 130 is adjusted in a feedback manner according to the difference between the expected rotation speed and the actual rotation speed of the discharging motor 130 at the current time, meanwhile, according to the weight difference between the actual weight of the feed box 140 at the current time and the actual weight of the feed box 140 at the previous time and the actual rotation speed of the discharging motor 130 at the current time, the expected rotation speed of the discharging motor 130 at the next time is calculated, so that the rotation speed of the discharging motor 130 at the next time is adjusted according to the expected rotation speed of the discharging motor 130 at the next time to control the discharging amount of the operation device at the next time, the problem of uneven seeding amount caused by speed, topography and the like can be avoided greatly, and the discharging amount of the operation device is controlled more accurately.
In the discharge amount control system 100, the discharge principle of the working equipment is as follows: the material (seeds or fertilizer) falls through the outlet of the bin 140 into a trough 151 on a sheave 150, the sheave 150 constantly rotates to carry away the material in the trough 151. Thus, knowing the individual channel volumes of the sheaves 150, the rotational speed of the discharge motor 130, and the filling efficiency of the material in each channel 151, the actual seed amount can be obtained. However, in practical applications, the filling efficiency of the trough 151 will vary with the rotational speed of the sheave 150 (i.e. the rotational speed of the discharge motor 130), and also with the conditions such as the form of the seeds and the particle size. Therefore, during the operation of the operation device, the actual filling efficiency of the trough 151 needs to be continuously calculated according to the type of the material and the rotation speed change of the discharge motor 130, so as to more precisely control the rotation speed of the discharge motor 130.
Based on the principle of the working device, in one embodiment, referring to fig. 3, an embodiment of the present invention provides a discharge amount control method, which may include the following steps. In the present embodiment, the discharge amount control method is applied to the controller 110 in fig. 1 for illustration.
S11, when the working equipment is started, calculating the initial expected rotating speed of the working equipment based on the preset working parameters and the running state of the working equipment, and controlling the discharging motor to rotate at the initial expected rotating speed.
The operation device start in S11 refers to starting the discharging in response to the discharging command.
S13, at any moment after the operation equipment is started, acquiring the actual rotating speed of the discharging motor at the current moment and acquiring the actual weight of the feed box at the current moment.
S15, adjusting the rotating speed of the discharging motor at the current moment according to the difference value between the expected rotating speed and the actual rotating speed of the discharging motor at the current moment.
S17, obtaining a weight difference value according to the actual weight of the feed box at the current moment and the actual weight of the feed box at the previous moment, and calculating the expected rotating speed of the discharge motor at the next moment according to the weight difference value and the actual rotating speed of the discharge motor at the current moment.
The expected rotating speed of the discharging motor at the next moment is used for adjusting the rotating speed of the discharging motor at the next moment so as to control the discharging amount at the next moment. That is, at the next time, steps S13 to S15 are repeated to realize open loop control.
In this embodiment, the time interval between the current time and the next time is a fixed time period.
In one example, after the controller 110 of the working device receives the discharging command (i.e., the working device is started), the controller 110 calculates an initial desired rotational speed according to preset working parameters and the operation state of the working device, and sends the initial desired rotational speed to the discharging motor 130, and the discharging motor 130 rotates with the initial desired rotation and drives the sheave 150 to rotate. Simultaneously, the bin 140 begins to discharge, and the sheaves 150 at the outlet of the bin 140 receive and meter the material discharged from the side-by-side discharge bin 140.
At the start-up of the work equipment, the controller 110 adjusts the rotational speed of the discharge motor 130 once every interval time period t (it should be understood that the time period t may be any duration such as 2 ms). Taking the current time as the time T as an example, at the time T, the controller 110 obtains the actual rotation speed of the discharging motor 130 at the current time, obtains the known difference between the expected rotation speed and the actual rotation speed at the current time, selects the corresponding rotation speed PID control parameter according to the magnitude of the difference, and adjusts the rotation speed of the discharging motor 130 according to the rotation speed PID control parameter.
Meanwhile, at time T, the actual weight of the bin 140 at the current time is obtained by the first weighing device 170, and a weight difference is obtained according to the actual weight of the bin 140 at time T-T (the previous time). And obtaining the expected rotating speed of the discharging motor 130 at the time T+t according to the weight difference and the actual rotating speed of the discharging motor 130 at the current time. It will be appreciated that the desired rotational speed at time T is obtained in the manner described above.
Compared with the mode of automatically calibrating the discharge amount in the prior art, the discharge amount control method provided by the embodiment of the invention predicts the expected rotation speed at the next moment according to the actual discharge amount (weight difference value) at the current moment, so that the rotation speed of the motor is regulated according to the expected rotation speed and the fed-back actual rotation speed, the open-loop control is realized, the discharge amount of the operation equipment is corrected in real time, the problem that the discharge amount (namely the seeding amount or the fertilizer discharging amount) is uneven due to the change of speed, topography and the like can be greatly solved, and the discharge amount of the operation equipment is controlled more accurately.
It should be noted that, in the actual application process, the discharging precision in the discharging process can be adjusted in real time by setting different time periods (i.e. the duration of t and the sensitivity). When the time period is adjusted to be infinite, the rotating speed of the current discharging motor is fixed, and open-loop control is realized.
In one embodiment, the preset operating parameters include the material demand per unit of field, the operating width of the operating equipment, the sheave type, the volume of the trough to which the sheave type corresponds, and the desired filling efficiency of the trough at different rotational speeds of the sheave. Before the operation equipment is started, a worker can select one expected filling efficiency from a plurality of expected filling efficiencies through the display control end. Or when the work equipment is started, the work equipment works with a default expected filling efficiency.
It should be understood that the amount of material required varies with the unit of the field. For example, when the unit of the operation field is acre, the material demand per unit operation field may be the material demand per acre, and when the unit of the operation field is hectare, the material demand per unit operation field may be the material demand per hectare.
In practical use, the accuracy of the discharge amount of the working device may be affected by the vehicle speed, for example, when the vehicle speed is too fast, the sowing amount of the working device per unit of the working field is smaller than the desired sowing amount, and when the vehicle speed is too slow, the sowing amount of the working device per unit of the working field is larger than the desired sowing amount.
In order to reduce the influence of the vehicle speed on the discharge amount to further improve the accuracy of the discharge amount, in one embodiment, the vehicle speed is introduced in the calculation of the desired rotational speed. Specifically, the above step S11 may be further implemented as: the method comprises the steps of obtaining the current initial vehicle speed of the operation equipment, and obtaining an initial expected rotating speed by utilizing a rotating speed calculation formula based on the initial vehicle speed and various preset parameters in operation parameters.
The rotation speed calculation formula includes:
wherein n des represents an initial expected rotation speed, L represents the operation width of the operation equipment, V represents the initial vehicle speed of the operation equipment, M seed represents the material demand of a unit operation field, delta represents the expected filling efficiency of the trough, V represents the volume of the trough, and ρ represents the material density.
In one embodiment, the work equipment may further include a speed sensor communicatively coupled to the controller 110, and the controller 110 may obtain the vehicle speed of the work equipment via the speed sensor.
In practical application, the weighing device generates up-and-down vibration acceleration in the process of the movement of the road and the vehicle due to gravity acceleration, and the influence of composite acceleration such as front-and-back acceleration of the vehicle has certain measurement error. In order to reduce the influence of the compound acceleration, in one embodiment, referring to fig. 4, the step S13 may obtain the actual weight of the bin at the present moment through the following sub-steps.
S131, obtaining the measured weight of the feed box at the current moment through a first weighing device, and obtaining the measured weight of the standard component at the current moment through a second weighing device.
S132, obtaining a weight influence factor of the current moment according to the measured weight and the actual weight of the standard component at the current moment.
S133, obtaining the actual weight of the feed box at the current moment according to the measured weight of the feed box at the current moment and the weight influence factor.
Further, the step S132 may be further implemented as: and calculating the ratio of the actual weight of the standard component to the measured weight of the standard component at the current moment, and taking the ratio as a weight influence factor at the current moment.
Based on the above steps S131-S133, the actual weight M of the bin at the present moment can be expressed as: where M is the actual weight of the standard, M 'is the measured weight of the standard, and M' is the measured weight of the bin. /(I) I.e. the weight influence factor at the current moment.
In the operation process of the operation equipment, the speed of the operation equipment can influence the filling efficiency of the trough on the wheel groove, and further influence the estimation of the expected rotating speed. In order to reduce the influence of the vehicle speed on the discharge quantity, in one embodiment, the actual filling efficiency of the trough is introduced during the acquisition of the desired rotational speed of the discharge motor at the next moment. Referring to fig. 5, the above step S17 may include the following sub-steps.
S171, calculating the actual filling efficiency of the trough at the current moment based on the weight difference and the actual rotating speed of the discharging motor at the current moment.
S172, calculating the expected rotating speed of the discharging motor at the next moment based on the actual filling efficiency and the operation parameters.
The rotating speed of the grooved wheel has an important influence on the filling effect of the trough, namely, the rotating speed of the discharging motor has an important influence on the filling effect of the trough. Further, in order to obtain more accurate actual filling efficiency, the influence of the actual rotation speed of the discharge motor is considered in the calculation process of the actual filling efficiency. Specifically, the above step S171 may be further implemented as: and calculating the actual filling efficiency of the material tank at the current moment by utilizing a filling efficiency calculation formula according to the actual rotating speed of the material discharging motor at the current moment, the volume of the material tank and the material density.
The packing efficiency calculation formula includes:
Wherein, δ act represents the actual filling efficiency of the material tank, t represents the time length at the current moment, Δm represents the weight difference, ρ represents the material density, n act represents the actual rotation speed of the discharging motor, and V represents the volume of the material tank.
After the actual filling efficiency of the trough at the current moment is obtained, in order to obtain the expected rotating speed of the discharging motor at the next moment more accurately, the influence of the vehicle speed is considered in the calculation of the expected rotating speed. Specifically, the step S172 may be further implemented as: acquiring the actual speed of the operation equipment at the current moment, and acquiring the expected rotating speed of the discharging motor at the next moment by utilizing a rotating speed calculation formula based on the actual speed, the actual filling efficiency and various preset parameters in operation parameters;
The rotational speed calculation formula includes:
Wherein n des represents the expected rotation speed, L represents the operation width of the operation equipment, V represents the initial vehicle speed of the operation equipment, M seed represents the material demand of a unit operation field, delta represents the actual filling efficiency of the trough, V represents the volume of the trough, and ρ represents the material density.
Through the steps S11-S17 and the sub-steps thereof, even if the user inputs the wrong trough volume, the controller can correct according to the real-time discharging amount (weight difference between adjacent moments), calculate the actual filling efficiency of the discharging trough, and compensate the trough volume.
According to the discharging amount control method provided by the embodiment of the invention, the second weighing device of the standard component arranged on the same vibration source (bracket) with the material box and the first weighing sensor of the material box are compared and weighed to obtain the real-time actual weight of the material box, so that the influence of composite acceleration on the weight is avoided to a certain extent, and the accuracy of the discharging amount is improved. Meanwhile, the expected rotating speed (expected discharging amount) of the discharging motor at the next moment is estimated in real time, and the difference value between the expected rotating speed and the actual rotating speed (actual discharging amount) is used for carrying out feedback closed-loop control on the rotating speed of the discharging motor, so that real-time accurate control of the discharging amount changing along with the speed of the vehicle is realized.
In addition, in the practical application process, the comprehensive density parameters of the materials are automatically considered through calculation of real-time weight and actual filling efficiency, and parameters such as types, plumpness and humidity of the materials (seeds or fertilizers) are not required to be set. The discharging precision in the discharging process can be adjusted in real time by setting different interval periods (the duration of t). And the discharging precision in the discharging process can be adjusted in real time by setting different time periods (namely the duration of t and the sensitivity).
Based on the concepts of the foregoing discharge control method, in one embodiment, the embodiment of the present invention further provides a discharge control device 190, where the discharge control device 190 may be applied to the controller 110 in fig. 1. Referring to fig. 6, the outfeed control apparatus 190 may include a calculation module 200, a data acquisition module 210, and a feedback adjustment module 220.
The calculating module 200 is configured to calculate an initial expected rotational speed of the working device based on preset working parameters and a running state of the working device when the working device is started, and control the discharge motor to rotate at the initial expected rotational speed.
The data acquisition module 210 is configured to acquire an actual rotation speed of the discharging motor at a current time and an actual weight of the bin at the current time at any time after the operation device is started.
The feedback adjustment module 220 is configured to adjust the rotation speed of the discharge motor at the current time according to the difference between the expected rotation speed and the actual rotation speed of the discharge motor at the current time.
The calculating module 200 is further configured to obtain a weight difference according to the actual weight of the bin at the current time and the actual weight of the bin at the previous time, and calculate the expected rotation speed of the discharge motor at the next time according to the weight difference and the actual rotation speed of the discharge motor at the current time.
The expected rotation speed of the discharging motor at the next moment calculated by the calculation module 200 is used for adjusting the rotation speed of the discharging motor at the next moment so as to control the discharging amount at the next moment.
In the above-mentioned discharging amount control device 190, through the synergistic effect of the calculation module 200, the data acquisition module 210 and the feedback adjustment module 220, the expected rotation speed at the next moment is estimated according to the actual discharging amount (weight difference value) at the current moment, so that the rotation speed of the motor is adjusted according to the expected rotation speed and the actual rotation speed fed back, and open-loop control is implemented, so as to correct the discharging amount of the working equipment in real time, and the problem that the discharging amount (i.e. the seeding amount or the fertilizer discharging amount) is uneven due to the change of speed, topography and the like can be greatly improved, and the discharging amount of the working equipment is controlled more accurately.
For specific limitations of the discharge amount control device 190, reference may be made to the above limitations of the discharge amount control method, and no further description is given here. The various modules in the discharge control device 190 described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or independent of a processor in the electronic device, or may be stored in software in a memory of the electronic device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, an electronic device 230 is provided, and the electronic device 230 may be a terminal, and an internal structure diagram thereof may be as shown in fig. 7. The electronic device 230 includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the electronic device 230 is configured to provide computing and control capabilities. The memory of the electronic device 230 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the electronic device 230 is used for communicating with an external terminal in a wired or wireless manner, where the wireless manner may be implemented through WIFI, an operator network, near Field Communication (NFC), or other technologies. The computer program, when executed by the processor, implements the discharge amount control method provided in the above embodiment.
The structure shown in fig. 7 is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation of the electronic device 230 to which the present invention is applied, and a specific electronic device 230 may include more or less components than those shown in fig. 7, or may combine some components, or have a different arrangement of components.
In one embodiment, the discharge control device 190 provided by the present invention may be implemented in the form of a computer program that is executable on the electronic device 230 as shown in fig. 7. The memory of the electronic device 230 may store various program modules that make up the discharge amount control device 190, such as the calculation module 200, the data acquisition module 210, and the feedback adjustment module 220 shown in fig. 6. The computer program constituted by the respective program modules causes the processor to execute the steps in the discharge amount control method described in the present specification.
For example, the electronic device 230 shown in fig. 7 may perform step S11 through the calculation module 200 in the discharge amount control apparatus 190 shown in fig. 6. The electronic device 230 may perform step S13 through the data acquisition module 210. The electronic device 230 may perform step S15 through the feedback adjustment module 220. The electronic device 230 may perform step S17 through the calculation module 200.
In one embodiment, an electronic device is provided that includes a memory storing a computer program and a processor that when executing the computer program performs the steps of: when the operation equipment is started, calculating an initial expected rotating speed of the operation equipment based on preset operation parameters and the operation state of the operation equipment, and controlling the discharging motor to rotate at the initial expected rotating speed; at any moment after the operation equipment is started, acquiring the actual rotating speed of the discharging motor at the current moment and acquiring the actual weight of the feed box at the current moment; according to the difference value between the initial expected rotating speed and the actual rotating speed, the rotating speed of the discharging motor at the current moment is regulated; according to the actual weight of the feed box at the current moment and the actual weight of the feed box at the previous moment, a weight difference value is obtained, and according to the weight difference value and the actual rotating speed of the discharge motor at the current moment, the expected rotating speed of the discharge motor at the next moment is calculated.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: when the operation equipment is started, calculating an initial expected rotating speed of the operation equipment based on preset operation parameters and the operation state of the operation equipment, and controlling the discharging motor to rotate at the initial expected rotating speed; at any moment after the operation equipment is started, acquiring the actual rotating speed of the discharging motor at the current moment and acquiring the actual weight of the feed box at the current moment; according to the difference value between the initial expected rotating speed and the actual rotating speed, the rotating speed of the discharging motor at the current moment is regulated; according to the actual weight of the feed box at the current moment and the actual weight of the feed box at the previous moment, a weight difference value is obtained, and according to the weight difference value and the actual rotating speed of the discharge motor at the current moment, the expected rotating speed of the discharge motor at the next moment is calculated.
In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present invention may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a discharge control method, characterized by is applied to the controller of operation equipment, operation equipment still includes discharge motor, workbin and sheave, the controller with discharge motor communication connection, discharge motor with the sheave is connected, the sheave is located the exit of workbin, the sheave is used for accepting, measuring and discharging the material of workbin discharge, the method includes:
When the operation equipment is started, calculating an initial expected rotating speed of the operation equipment based on preset operation parameters and the operation state of the operation equipment, and controlling the discharging motor to rotate at the initial expected rotating speed;
At any moment after the operation equipment is started, acquiring the actual rotating speed of the discharging motor at the current moment and acquiring the actual weight of the material box at the current moment;
According to the difference value between the expected rotating speed and the actual rotating speed of the discharging motor at the current moment, the rotating speed of the discharging motor at the current moment is regulated;
Obtaining a weight difference value according to the actual weight of the material box at the current moment and the actual weight of the material box at the previous moment, and calculating the expected rotating speed of the material discharging motor at the next moment according to the weight difference value and the actual rotating speed of the material discharging motor at the current moment;
The expected rotating speed of the discharging motor at the next moment is used for adjusting the rotating speed of the discharging motor at the next moment so as to control the discharging amount at the next moment.
2. The discharge amount control method according to claim 1, wherein a plurality of identical material grooves are formed in the circumferential direction on the sheave;
the step of calculating the expected rotating speed of the discharging motor at the next moment according to the weight difference and the actual rotating speed of the discharging motor at the current moment comprises the following steps:
Calculating the actual filling efficiency of the trough at the current moment based on the weight difference and the actual rotating speed of the discharging motor at the current moment;
and calculating the expected rotating speed of the discharging motor at the next moment based on the actual filling efficiency and the operation parameters.
3. The discharge amount control method according to claim 1 or 2, wherein the working equipment further comprises a standard part, and a first weighing device and a second weighing device which are in communication connection with the controller, wherein the first weighing device is arranged below the feed box, and the second weighing device is arranged below the standard part;
The step of obtaining the actual weight of the bin at the current moment comprises the following steps:
acquiring the measured weight of the feed box at the current moment through the first weighing device, and acquiring the measured weight of the standard component at the current moment through the second weighing device;
obtaining a weight influence factor of the current moment according to the measured weight and the actual weight of the standard component at the current moment;
And obtaining the actual weight of the material box at the current moment according to the measured weight of the material box at the current moment and the weight influence factor.
4. The discharge amount control method according to claim 2, wherein the step of calculating the actual filling efficiency of the trough at the present time based on the weight difference and the actual rotational speed of the discharge motor at the present time includes:
Combining the weight difference, the actual rotation speed of the discharging motor at the current moment, the volume of the material groove and the material density, and calculating the actual filling efficiency of the material groove at the current moment by using a filling efficiency calculation formula;
the filling efficiency calculation formula comprises:
Wherein, δ act represents the actual filling efficiency of the material tank, t represents the time length at the current moment, Δm represents the weight difference, ρ represents the material density, n act represents the actual rotation speed of the discharging motor, and V represents the volume of the material tank.
5. The discharge amount control method according to claim 2, characterized in that the step of calculating the desired rotation speed of the discharge motor at the next time based on the actual filling efficiency and the operation parameter includes:
Acquiring the actual speed of the operation equipment at the current moment, and acquiring the expected rotation speed of the discharging motor at the next moment by utilizing a rotation speed calculation formula based on the actual speed, the actual filling efficiency and various preset parameters in the operation parameters;
The rotational speed calculation formula includes:
Wherein n des represents the expected rotation speed, L represents the operation width of the operation equipment, V represents the initial vehicle speed of the operation equipment, M seed represents the material demand of a unit operation field, delta represents the actual filling efficiency of the trough, V represents the volume of the trough, and ρ represents the material density.
6. The discharge amount control method according to claim 3, wherein the step of calculating the initial desired rotational speed of the working device based on the preset working parameter and the operation state of the working device includes:
Acquiring the current initial vehicle speed of the operation equipment, and acquiring an initial expected rotating speed by utilizing a rotating speed calculation formula based on the initial vehicle speed and various preset parameters in the operation parameters;
The rotational speed calculation formula includes:
wherein n des represents an initial expected rotation speed, L represents the operation width of the operation equipment, V represents the initial vehicle speed of the operation equipment, M seed represents the material demand of a unit operation field, delta represents the expected filling efficiency of the trough, V represents the volume of the trough, and ρ represents the material density.
7. The discharge amount control method according to claim 3, wherein the step of obtaining the weight influence factor at the present moment from the measured weight and the actual weight of the standard member at the present moment includes:
And calculating the ratio of the actual weight of the standard component to the measured weight of the standard component at the current moment, and taking the ratio as a weight influence factor at the current moment.
8. The utility model provides a discharge control device, its characterized in that is applied to the controller of operation equipment, operation equipment still includes discharge motor, workbin and sheave, the controller with discharge motor communication connection, discharge motor with the sheave is connected, the sheave is located the exit of workbin, the sheave is used for accepting, measuring and discharging the material of workbin discharge, discharge control device includes calculation module, data acquisition module and feedback adjustment module:
the calculation module is used for calculating an initial expected rotating speed of the operation equipment based on preset operation parameters and the operation state of the operation equipment when the operation equipment is started, and controlling the discharging motor to rotate at the initial expected rotating speed;
the data acquisition module is used for acquiring the actual rotating speed of the discharging motor at the current moment and the actual weight of the material box at the current moment at any moment after the operation equipment is started;
The feedback adjustment module is used for adjusting the rotating speed of the discharging motor at the current moment according to the difference value between the expected rotating speed and the actual rotating speed of the discharging motor at the current moment;
The calculation module is further used for obtaining a weight difference value according to the actual weight of the material box at the current moment and the actual weight of the material box at the previous moment, and calculating the expected rotating speed of the material discharging motor at the next moment according to the weight difference value and the actual rotating speed of the material discharging motor at the current moment;
The expected rotating speed of the discharging motor at the next moment is used for adjusting the rotating speed of the discharging motor at the next moment so as to control the discharging amount at the next moment.
9. An electronic device comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being executable by the computer program to implement the discharge amount control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the discharge amount control method according to any one of claims 1 to 7.
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| CN202211437740.2A CN118044379A (en) | 2022-11-17 | 2022-11-17 | Discharge amount control method and device, electronic equipment and computer readable storage medium |
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| CN202211437740.2A CN118044379A (en) | 2022-11-17 | 2022-11-17 | Discharge amount control method and device, electronic equipment and computer readable storage medium |
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