CN203289871U - Variable seeding control system based on pressure sensor - Google Patents
Variable seeding control system based on pressure sensor Download PDFInfo
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- CN203289871U CN203289871U CN2013203220381U CN201320322038U CN203289871U CN 203289871 U CN203289871 U CN 203289871U CN 2013203220381 U CN2013203220381 U CN 2013203220381U CN 201320322038 U CN201320322038 U CN 201320322038U CN 203289871 U CN203289871 U CN 203289871U
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Abstract
本实用新型公开了一种基于压力传感器的变量排种控制系统，在排种箱上安装加速度传感器，在排种箱下端口安装压力传感器，通过传感器之间的数据融合检测排种箱的重量变化来计算实际排种量，将实际排种量与所需排种量进行对比后，当出现差值时，自动调节排种器驱动电机转速使实际排种与所需排种量的误差值在一个较小的范围并满足排种的均匀度避免了因排种器排种方式和种子下落过程而导致的检测精度下降；通过采用模糊调节单元对电机进行电机模糊调节，避免了因使用播量与转速的经验公式计算调节转速的大小而导致的误差累积；该系统结构简单，能很好在振动环境下检测排种量，同时成本低廉，有很好的推广前景。
The utility model discloses a variable seeding control system based on a pressure sensor. An acceleration sensor is installed on the seeding box, a pressure sensor is installed on the lower port of the seeding box, and the weight change of the seeding box is detected through data fusion between the sensors. To calculate the actual seeding amount, compare the actual seeding amount with the required seeding amount, when there is a difference, automatically adjust the speed of the drive motor of the seed metering device so that the error value between the actual seeding amount and the required seeding amount is within A small range meets the uniformity of seeding, avoiding the detection accuracy drop caused by the seeding method of the seed meter and the seed falling process; by using the fuzzy adjustment unit to perform fuzzy adjustment of the motor, it avoids the use of seeding rate The empirical formula with the rotational speed calculates the error accumulation caused by the adjustment of the rotational speed; the system has a simple structure, can detect the amount of seeds in a vibration environment, and is low in cost, and has a good promotion prospect.
Description
Technical field
The utility model relates to a kind of seeding of variable based on pressure sensor control system.
Background technology
Precision agriculture is the hot fields of research of agricultural science in the world in recent years.Sowing seeds technology is the important component part of precision agriculture technology, is the important means that significantly improves crop yield and utilize to greatest extent agricultural resources.Quantity-variation type seeding is the important component part of precisely sowing, and it is a kind of automatic control system according to the different amounts of broadcasting that automatically adjust of different plot sowing quantity.On the one hand due to the diversity of cultivating crop, different crop varieties, diverse geographic location and different required seeding quantity sowing season are just different, while therefore crop being sowed, the operator just need to regulate seeding quantity according to different sowing situations,, by inputting needed seeding quantity, implement automatic sowing by control system according to the seeding quantity of input and control.On the other hand because the needed sowing quantity of different soil fertility is different, at first pass through the Map of nutrient distribution of the mensuration formation of sowing plot soil nutrient content with the field coordinate, calculate the seeding quantity decision-making GIS electronic chart of field diverse location, during the seeding machinery operation, according to the GPS receiver that assembles on seeding machinery determine sower in field residing position, the sowing decision-making GIS electronic chart that corresponding calculator provides, control system is according to the control decision information of electronic chart output seeding quantity, and control executing agency completes the enforcement of quantity-variation type seeding.
The quality of precision sower performance is crucial at metering system, traditional metering system mainly comprises seeding unit and seeding unit motor, the a certain rotating speed of seeding unit motor given according to the relation of seeding unit rotating speed and amount of seed metering reaches needed amount of seed metering, but owing to often there being larger error between the factors such as seeding unit processing, assembling, the operating environment actual amount of seed metering of impact and required amount of seed metering.In order to reduce error, the improvement sowing characteristic between actual sowing rate and required seeding quantity, need a kind of detection system of research to detect the actual amount of seed metering of seeding unit, regulate and control by the discharge capacity of detection data to seeding unit.
The detection method of seeding unit discharge capacity mainly contains photoelectric method, High Speed Photography and piezo-electric effect method both at home and abroad.Thereby photoelectric method is to utilize seed to shelter from the number that light source obtains the projection number of seed or shelter from light source on light sensitive component time calculates whereabouts seed in the seeding process in dropping process to reach the purpose that detects actual amount of seed metering.Thereby while due to seed, from seeding unit, discharging, its dropping process often occurs that overlapping phenomenon reduces accuracy of detection; High Speed Photography is to take the real-time photo of seeding at the sowing port place by industrial camera, calculate actual amount of seed metering by the mode that image is processed, the method has very high accuracy of detection and stronger anti-interference, but expensive industrial camera and image pick-up card make this technology be difficult to promote.The piezo-electric effect method is that the impulsive force of utilizing pressure sensor to detect sowing port place seeds fall is calculated actual amount of seed metering, when discharge capacity is less and pressure sensor while being subject to affecting of certain mechanical oscillation, sensor can't obtain amount of seed metering signal accurately, thereby cause detecting inaccurate, cause that displacement control is inaccurate.
The utility model content
The utility model provides a kind of seeding of variable based on pressure sensor control system, acceleration transducer is installed at seeding box frame place, at seeding box lower port setting pressure sensor, processor unit receives the signal of pressure sensor and acceleration transducer collection, obtain actual amount of seed metering accurately through calculation process, after actual amount of seed metering and required amount of seed metering are compared, when difference occurring, automatically regulate error amount that seeding unit drive motors rotating speed makes actual seeding and required amount of seed metering a less scope and meet the uniformity of seeding; Overcome in prior art due to the low inaccurate problem of displacement control that causes of discharge capacity accuracy of detection.
A kind of seeding of variable based on pressure sensor control system, this system comprises pressure sensor 2, acceleration transducer 12, processor unit 11, D/A conversion unit 10, voltage amplifier 9, motor 5, motor driver 6 and man-machine interaction unit 7;
Wherein, described pressure sensor is arranged at the seeding box 1 lower port place of seeding unit, acceleration transducer 12 is arranged on seeding box, motor 5 is connected with seeding unit 4, pressure sensor, acceleration transducer, voltage amplifier, D/A conversion unit, processor unit, electric-motor drive unit and motor are connected successively, and described man-machine interaction unit is connected with processor unit.
Also comprise filter unit, the input of filter unit is connected with the output of voltage amplifier, and the output of filter unit is connected with the input of D/A conversion unit.
Described man-machine interaction unit comprises input block and display unit.
Also comprise respectively the fuzzy regulon that is connected with the input of the output of processor unit and electric-motor drive unit, according to the difference of actual amount of seed metering and theoretical amount of seed metering, carry out fuzzy adjusting, conditioning signal input electric-motor drive unit is regulated motor speed.
Described seeding unit is eccentric wheel type cellular type seeding unit.
Beneficial effect
the utility model discloses a kind of seeding of variable based on pressure sensor control system, acceleration transducer is installed at seeding box frame place, at seeding box lower port setting pressure sensor, at seeding box lower port setting pressure sensor, processor unit receives the signal of pressure sensor and acceleration transducer collection, obtain actual amount of seed metering accurately through calculation process, after actual amount of seed metering and required amount of seed metering are compared, when difference occurring, automatically regulate error amount that seeding unit drive motors rotating speed makes actual seeding and required amount of seed metering a less scope and meet the uniformity of seeding, detect the impulsive force that causes due to mechanical oscillation and set up acceleration and the mathematical model of time compensates the weight detecting error that causes because of vibration with acceleration transducer, the changes in weight of working pressure sensor direct-detection seeding box can be suitable for the amount of seed metering of different crops kind and detect, avoided the accuracy of detection that causes because of seeding unit seeding mode and seeds fall process to descend, , by adopting fuzzy regulon to carry out the fuzzy adjusting of motor to motor, avoided calculating because of the empirical equation of the use amount of broadcasting and rotating speed the error accumulation that the size of adjusting rotary speed causes, this system architecture is simple, can finely detect amount of seed metering under vibration environment, and is simultaneously with low cost, and good promotion prospect is arranged.
Description of drawings
Fig. 1 is structured flowchart of the present utility model;
Fig. 2 is seeding box model of vibration schematic diagram;
Fig. 3 is seeding box acceleration and time chart in motion process.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further details.
This example adopts eccentric wheel type cellular type seeding unit.
As shown in Figure 1, structured flowchart for a kind of seeding of variable based on pressure sensor of the utility model control system, comprise pressure sensor 2, acceleration transducer 12, processor unit 11, D/A conversion unit 10, voltage amplifier 9, motor 5, motor driver 6 and man-machine interaction unit 7;
Wherein, described pressure sensor is arranged at the seeding box 1 lower port place of seeding unit, acceleration transducer 12 is arranged at the frame place, motor 5 is connected with seeding unit 4, pressure sensor, voltage amplifier, D/A conversion unit, processor unit, electric-motor drive unit and motor are connected successively, and described man-machine interaction unit is connected with processor unit.
Also comprise filter unit, the input of filter unit is connected with the output of voltage amplifier, and the output of filter unit is connected with the input of D/A conversion unit.
Described man-machine interaction unit comprises input block and display unit.
Also comprise respectively the fuzzy regulon that is connected with the input of the output of processor unit and electric-motor drive unit, according to the difference of actual amount of seed metering and theoretical amount of seed metering, carry out fuzzy adjusting, conditioning signal input electric-motor drive unit is regulated motor speed.
The course of work of the present utility model is as follows:
The pressure sensor variation that it is stressed is converted to voltage change, this voltage signal is transferred to processor unit through voltage amplifier and D/A conversion unit, meanwhile use acceleration transducer that the acceleration change of seeding box is converted to change in electrical charge, this charge signal is passed through charge amplifier and voltage amplifier and D/A conversion unit be transferred to processing unit, processor unit draws current actual amount of seed metering after merging pressure sensor signal and acceleration transducer signals; Draw the seeding margin of error after actual amount of seed metering and required re-scheduling amount are compared, by the adjusting to the seeding unit rotating speed, this margin of error is controlled at a less interval.
by man-machine interaction unit 7 input needed amount of seed meterings (g/min), processor unit 11 calculates theoretical rotational speed (r/min) and sends pwm signal to motor driver 6 according to the relation of seeding unit rotating speed and amount of seed metering, motor driver 6 drives seeding unit motor 5 and is operated under theoretical rotational speed, seeding unit 4 starts seeding under the drive of seeding motor 5, seed under the effect of gravity in seeding box 1 is entered the seed of supplying discharge in seeding unit 4 by grain tube 3, the seed weight that is considered as discharging seeding unit 4 equals the changes in weight of seeding box 1, pressure sensor 2 variation that it is stressed is converted to voltage change, by the voltage after voltage amplifier 9 amplification conversions, voltage after D/A conversion unit 10 will amplify carry out digital-to-analogue conversion by 16 Parallel Interface Communications the digital data transmission of 16 to processor unit 11, meanwhile acceleration transducer 12 is converted to change in electrical charge with the acceleration change of seeding box, process laggard line number mould conversion by charge amplifier and voltage amplifier 9, this D/A conversion unit is integrated in processor, processor unit gathers a large amount of seeding box acceleration signals and by discrete point, the integration of time is drawn real-time speed and the displacement of seeding box in a setting-up time interval, receive the force signal that is subjected to of pressure sensor at setting-up time interlude end processor unit 11, by seeding box weight and the stressed size of pressure sensor and seeding box acceleration, the relation of speed and displacement calculates the changes in weight of seeding box in the setting-up time interval and draws actual amount of seed metering, actual amount of seed metering and the contrast of required amount of seed metering are drawn difference, use FUZZY ALGORITHMS FOR CONTROL to calculate the adjustment amount of seeding unit motor 5 rotating speeds according to this difference, processor unit 11 sends to motor driver 6 with the pattern of pwm signal with the adjustment amount of rotating speed, motor driver 6 changes the rotating speed of seeding unit 4 by the voltage that changes the seeding unit motor, to change to some extent than first unit interval second unit interval amount of seed metering, when finishing, repeat second unit interval above-mentioned sampling, the analysis and adjustment process, by such circulation, the difference of actual amount of seed metering and required amount of seed metering is controlled in a very little interval.
Described under vibration environment the weight detecting process to seeding box as follows:
Sower can produce vibration when operation, this vibration can cause weight signal and seeding box actual weight that pressure sensor collects to have larger error to a great extent.As shown in Figure 2, therefore wherein pressure sensor is owing to adopting the resistance-strain type structure to can be considered spring, seeding box is weight to the model of vibration of seeding box, and frame is focus, and its mathematical model as shown in Equation 1.
F(t)=m×a(t)+c×∫a(t)+k×∫∫a(t) (1)
Wherein: F (t) is big or small time dependent function for pressure sensor is stressed, and a (t) is the acceleration function of seeding box, and m is seeding box weight, and c is damped coefficient, and k is pressure sensor rigidity.
F in formula 1 (t) and a (t) draw t pressure and acceleration information constantly by pressure sensor and acceleration transducer direct-detection respectively, while due to tractor, in field, working, the vibration of its generation is random, the function expression of f (t) can't direct representation, so can't obtain speed and displacement by the functional integration to accelerating.The acceleration sample frequency is f in time t as shown in Figure 3, by the analysis to constantly interior all sampled points of t, estimates t+1/f speed and displacement constantly.
When f is enough large T=t+1/f constantly speed and displacement approximate equal T=t speed and displacement constantly, v (t) be that computing formula is as follows in the speed of t seeding box during the moment:
T constantly intrinsic displacement equal speed to the integration of time, speed equals again the integration of acceleration to the time.Because the function expression of acceleration and speed all can't direct representation, thus to obtain t displacement constantly just must t constantly in the more speed point of acquisition.Be that the assurance system can record actual amount of seed metering at predetermined distance time Δ t when the acceleration sample frequency is f, calculate a speed point with 100 acceleration points and can obtain comparatively accurately the displacement size in Δ t, namely get N=100.Its formula is as follows:
Wherein: f is the acceleration sample frequency, gets 1KHz,
It is the seeding box accekeration of the j time sampling; V (t) is the speed at t seeding box during the moment, and s (t) is the displacement at t seeding box during the moment; While obtaining seeding box displacement s (t) when acceleration is carried out dual-integration, setting outermost integration interval chronomere is Nf, and i integration interval time when i represents acceleration is carried out dual-integration, at i integration interval time, N=0.1f.
Pressure sensor rigidity and damped coefficient obtain by searching related data, k=3924N/m wherein, and c=0.008Kg/mm simultaneous formula (1), (2) and (3) draw the weight m of seeding box constantly at t
1With t-Δ t moment seeding box weight m
2Subtract each other and obtain actual amount of seed metering.
Described blur unit is as follows to the fuzzy adjusting detailed process of motor:
Eccentric wheel type cellular type seeding unit rotating speed and amount of seed metering have:
q=0.2283×n+0.6683， (4)
Wherein: the single sowing port discharge capacity of q-seeding unit (g/min), n-feed shaft rotating speed (r/min).
Calculate the theoretical rotational speed of seeding unit feed shaft according to formula 4, when having certain difference between actual amount of seed metering (detected value) and theoretical amount of seed metering (input value), calculate feed shaft rotating speed difference by formula 4 and adjust very difficult this discharge capacity difference of eliminating, this due to seeding unit in the course of the work many disturbing factors cause, by fuzzy regulon, the seeding unit motor is adjusted, the adjustment of rotational speed formula is as follows for this reason:
In formula: the current rotating speed of V-motor; v
1-motor initial speed; X-amount of seed metering AD difference fuzzy quantity; Y-amount of seed metering AD difference rate of change fuzzy quantity; k
1, k
2And k
3For modifying factor, k
1=4, k
2=6, k
3=8.
Amount of seed metering difference variable quantity Y draws by formula 6.
Y=(X
t+1-X
t)÷Δt (6)
In formula: the AD difference of X-actual amount of seed metering and required amount of seed metering; Δ t gets 10s.The difference of actual amount of seed metering and theoretical amount of seed metering reaches maximum at ± 15 o'clock motor adjustment amounts, can obtain thus discharge capacity difference fuzzy quantity x question blank 1 and displacement variation rate fuzzy quantity y question blank 2.
Table 1 fuzzy quantity x question blank
Table 2 fuzzy quantity y question blank
Input required amount of seed metering G (g/min) when actual motion, by relational expression (1), calculate seeding unit theoretical rotational speed n
1(r/min) and unit interval amount of seed metering Δ G (g/10s).Processor unit ATmega16 detects and draws actual amount of seed metering Δ g to seeding box every 10s, Δ G and Δ g contrast is drawn difference, and the value that question blank 1 and table 2 draw x and y is brought formula 5 into and calculated motor speed.Detection and adjustment so repeatedly makes difference vibration in a very little interval of actual displacement and required discharge capacity.
Due to the best seeding rotating speed of eccentric wheel type cellular type seeding unit at 30r/min between 70r/min, utilize formula 4 to draw to start to turn corresponding discharge capacity every ten from 30r/min to be respectively 22.5g/min, 29.5g/min, 36g/min, 43g/min, 50g/min.At first do not open variable control system, seeding unit is operated under 5 different rotating speeds, each rotating speed seeding 5 minutes, repeat 3 times, collects a seed of discharging with inoculation cup and use a MP200B scales/electronic balance weighing to calculate actual average seeding quantity Q going out kind of mouth place
1(g/min).Then open variable control system and draw according to the method described above actual average amount of seed metering Q
2(g/min).Its test data is as shown in table 3.
Table 3 amount of seed metering detects the test data analyzer table
Give 5 different required amount of seed meterings of fixed system: 22.5g/min, 29.5g/min, 36g/min, 43g/min, 50g/min.System seeding 2 minutes under each required amount of seed metering, go out that kind of mouth place collected the seed of discharging every 20 seconds with the inoculation cup and with these 6 inoculation cups by inoculation time order label, record unit time amount of seed metering q
1, q
2Q
6(g/20s).The uniformity of seeding represents that with the coefficient of variation its formula is:
Wherein,
In formula:
The average seed grain number of-every segmentation; The seed grain number of z-each segmentation; s
0-standard deviation; n
0Its value of total number of-segmentation is 6; v
0-Seeding Uniformity the coefficient of variation.Utilize the uniformity coefficient of variation of the data obtained calculating under the required discharge capacity of difference, result of the test is as shown in table 4.
Table 4 uniformity testing data analysis table
Can find out from table 3 and table 4, the rotating speed that this system of the control system that the utility model provides can fine elimination causes due to the otherness of seeding unit determines the error of the amount of broadcasting, can guarantee the discharge capacity error below 3.5%, the uniformity coefficient of variation is higher than 7%, greatly improved the seed-metering performance of seeding unit.Large sensor detects and the accuracy of detection of peripheral hardware hardware can further reduce amount of seed metering error amount and the uniformity coefficient of variation by adding.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103270837A (en) * | 2013-06-05 | 2013-09-04 | 湖南农业大学 | Variable seeding control system and method based on pressure sensor |
| CN105230195A (en) * | 2015-10-20 | 2016-01-13 | 王杨 | Precision seeder |
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2013
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103270837A (en) * | 2013-06-05 | 2013-09-04 | 湖南农业大学 | Variable seeding control system and method based on pressure sensor |
| CN103270837B (en) * | 2013-06-05 | 2015-07-15 | 湖南农业大学 | Variable seeding control system and method based on pressure sensor |
| CN105230195A (en) * | 2015-10-20 | 2016-01-13 | 王杨 | Precision seeder |
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Granted publication date: 20131120 Termination date: 20160605 |