CN203732943U - Universal variable operation controller - Google Patents
Universal variable operation controller Download PDFInfo
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- CN203732943U CN203732943U CN201320784228.5U CN201320784228U CN203732943U CN 203732943 U CN203732943 U CN 203732943U CN 201320784228 U CN201320784228 U CN 201320784228U CN 203732943 U CN203732943 U CN 203732943U
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Abstract
The utility model discloses a universal variable operation controller for variable operations such as farmland sowing, fertilization, spray and the like. The universal variable operation controller is matched with corresponding sensors and execution mechanisms, can be used for variable operation control of air suction type sowing, outer sheave type fertilization and spray rod type spray, meanwhile, controls the running speed of a wheeled agricultural machine, and provides a stable running speed for the variable operations. The variable controller consists of an ARM9 core unit, a power module, a push rod driving module, an electromagnetic valve control module, a motor control module, a voltage output module, a pulse signal conditioning module, a current measuring module and a voltage measuring module. The universal variable operation controller can realize variable operation control, and meanwhile, the agricultural machine is controlled through an accelerator pedal to run at a stable set speed, so that the precision of the variable operations is improved.
Description
Technical field
The utility model relates to agricultural machinery robotization and intelligent field, is specifically related to a kind of common variable job controller for variable operations such as farmland sowing, fertilising, spray medicines.
Background technology
Field variable operation technology is the field implementation method of precision agriculture, is also the committed step that embodies precision agriculture thought and effect.Field variable operation technology is according to the otherness of inside, farmland regional crop growth environment, scientific management, suit measures to local conditions, variable drops into as required, has changed the field management method of traditional average input, reduce the field input amount of fertilizer, agricultural chemicals etc., save resource, brought into play to greatest extent the utilization factor of soil, agricultural chemicals and fertilizer, improved quality and the security of agricultural product, increase peasant's income, realized the sustainable development of agricultural production.Through development for many years, developed country has formed the technical systems such as accurate sowing, fertilising, dispenser, irrigation, results, and auxiliary products are also in succession developed, sell and applied.The domestic research and practice for variable operation technology, mainly to introduce, to digest and assimilate foreign technology as main, and research major part is confined to single variable operation field, do not form complete variable operation system, have that function singleness, versatility are strong, poor expandability and a shortcoming such as communication interface is lack of standardization.
Utility model content
In order to solve, function singleness, the versatility of land for growing field crops task variable operation-control system is strong, poor expandability and the shortcoming such as communication interface is lack of standardization, the utility model, for conventional agricultural machinery and implement type in China's field crop management, has designed a kind of controller and control method thereof that accurately realizes wheeled agricultural machinery travel speed, aspirated-air type quantity-variation type seeding, outer groove wheel variable fertilization, spray rod type variable spray medicine according to the position in the travel speed of operation prescription map, agricultural machinery and field thereof.
The technical scheme that the utility model adopted is for achieving the above object: a kind of common variable job controller, comprising:
Signal gathering unit, output terminal connects core cell, for gathering the job status information of variable operation process;
Core cell, input end connects signal gathering unit, and output terminal connects Execution driven unit, for
Execution driven unit, input end connects core cell, for realizing the driving of the topworks that various variable operation systems are different;
CAN communication unit, connects core cell, for other variable operation system communication.
Described signal gathering unit comprises:
Pulse signal conditioning module, measures for the input port of catching of pulse signal timer conter of described core cell after light-coupled isolation and voltage adjustment of the different amplitudes in Jiang Si road;
Current measurement module, comprises ten thousand/precision resistance and operational amplifier; By ten thousand/precision resistance, current signal is converted to voltage signal, through operational amplifier, voltage is adjusted to the measurement range of described core cell, measured by the analog to digital converter of described core cell;
Voltage measurement module, is integrated transporting discharging, by voltage amplification or narrow down in the voltage range that described core cell measures, is measured by the analog to digital converter of described core cell inside.
Described core cell forms ARM9 minimum system by ARM9 core cell and power module;
Described ARM9 core cell, comprises processor, memory expansion based on 32 ARM9 kernels, for obtain corresponding control signal according to job status information;
Described power module, is the asynchronous DC-DC buck regulator of pwm pattern, for ARM9 core cell and peripheral control circuit provide required 5V, 3.3V, 12V supply voltage.
Described Execution driven unit comprises push rod driver module, solenoid control module, motor control module, Voltage-output module;
Described push rod driver module, comprises motor-drive circuit, signal conditioning circuit, potentiometer and electric pushrod; Processor is by the size and Orientation of the bridge motor special driving chip output current of enjoying a double blessing in the I/O mouth control motor-drive circuit of ARM core cell, and motor-drive circuit output is connected to electric pushrod, controls the pushing direction of electric pushrod; The position feed back signal of electric pushrod is connected in signal conditioning circuit, and after signal condition, feedback signal inputs on the analog to digital conversion input pin of ARM core cell, is carried out the measurement of push rod position by arm processor;
Described solenoid control module, comprises buffer circuit, analog switching circuit, solid-state relay and solenoid valve; The pwm signal of ARM core cell output, be connected to analog switching circuit through buffer circuit, analog switching circuit is by the control end of the pwm signal input solid-state relay strengthening through driving force, the output terminal of solid-state relay is connected with solenoid valve, by controlling adhesive and the open circuit of solid-state relay, thereby realize opening greatly and closing of solenoid valve;
Described motor control module, the pulse signal that has adopted external Timing/counting Chip to produce adjustable four tunnels of frequency carrys out control step motor speed, simultaneously by I/O mouth control direction of motor rotation, for the speed regulating control of variable fertilization seeding system direct current generator or stepper motor;
Described Voltage-output module, comprises digital regulation resistance and voltage follower, and digital regulation resistance and ARM core cell pass through I
2c interface is connected, by ARM core cell control figure potentiometer output 0-5V continuous variable voltage, and output after voltage follower drives enhancing.
Described pwm signal circuit for generating has adopted external Timing/counting Chip to produce frequency and the adjustable pwm pulse signal of dutycycle.
Described signal conditioning circuit has adopted has the break-make that ternary output Ba road buffer circuits 1 road signal is divided into 6 tunnels, the each road of analog switching circuit control pwm signal, and darlington transistor array increases the switch that driving force drives solid-state relay and then controls solenoid valve.
Described CAN communication unit is made up of the CAN controller extending out and CAN transceiver, communicates by letter with other variable operation system equipment with self-defining data layout.
The utlity model has following advantage and beneficial effect:
1. this common variable job controller matches with corresponding sensor and topworks, can be used for the variable operation control of aspiration type seeding, outer groove wheel fertilising, spray rod type spray medicine by CAN bus configuration, control wheeled agricultural machinery travel speed, for variable operation provides stable travel speed simultaneously; Realize the control to multiple field machinery, realize the variable operation controls such as sowing, fertilising, spray medicine, change the shortcoming that original controller function is single, can control the wheeled agricultural machinery of pulling agricultural machinery and implement simultaneously and travel at stable setting speed, the precision of raising variable operation.
2. common variable job controller of the present utility model adopts CAN communication module to make communication interface specification, can coordinate with other precision agriculture product.
3. common variable working software of the present utility model designs based on embedded OS, adopts the programming thought of multitask, Event triggered, and program real-time is good, and extendability is strong.
Brief description of the drawings
Fig. 1 is common variable job controller one-piece construction schematic diagram;
Fig. 2 is common variable job controller signal gathering unit schematic diagram;
Fig. 3 is common variable job controller Execution driven cell schematics;
Fig. 4 is the each function typical case of common variable job controller variable operation application block diagram;
Fig. 5 is common variable job control method process flow diagram;
Fig. 6 is performance variable job task process flow diagram;
Fig. 7 is execution speed control task process flow diagram.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, common variable job controller of the present utility model is design based on ARM9 kernel, be divided into core cell, signal gathering unit, Execution driven unit, CAN communication unit four parts according to its function, can realize the variable operation control of aspiration type seeding, outer groove wheel fertilising, spray rod type spray medicine, realize the control of wheeled agricultural machinery travel speed, for variable operation provides stable travel speed simultaneously.
Core cell comprises ARM9 core cell and power module, ARM core cell is based on 32 LPC3250 flush bonding processors, this controller is with an ARM926EJ-S kernel, and there is a vector floating-point coprocessor, there is powerful mathematical operation function, and with a series of standard peripherals, support to comprise UART, I
2c is at interior multiple serial line interface, has A/D converter, timer with capturing function, the functions such as PWM output simultaneously.Meanwhile, this module has expanded 32M NAND FLASH, 2M NORFLASH storage unit, with the required virtual memory function of the operating system that provides support.
Power module has adopted SP7656 direct-current switch power supply chip to provide 5V, 3.3V, 12V supply voltage for controller.This chip is the asynchronous DC-DC buck regulator of pwm pattern, support the wide Voltage-output of 4.5V-29V, the output of 3A electric current, output voltage precision, in 1%, will adopt magnetic bead to isolate to reduce noise between the two simultaneously between analog power and digital power.
CAN communication unit, is made up of the CAN controller extending out and CAN transceiver, can realize and communicating by letter with other variable operation control system equipment with self-defining data layout, as shown in Figure 1.CAN controller is SJA1000T, and this chip is a independently CAN controller, has PeliCAN mode of operation, can support to have the CAN2.0B agreement of a lot of new features; CAN transceiver is CTM8251T, and this chip is the general CAN transponder chip of a band isolation, can connect any a CAN protocol controller, realizes transmitting-receiving and the isolation features of CAN node.
Signal gathering unit comprises pulse signal conditioning module, current measurement module and voltage measurement module, as shown in Figure 1.
As shown in Figure 2, pulse signal conditioning module is caught input (CAP) port by photoelectrical coupler TLP521 by what deliver to LPC3250 timer conter after the pulse signal isolation of the different voltage magnitudes from each sensor and voltage adjustment, the value of the change in voltage moment timer conter of capturing input signal also produces the measurement of interrupting realizing pulse signal cycle, can measure four road pulse signals simultaneously.
Current measurement module has adopted ten thousand/precision resistance that the current signal of 4-20mA is converted to voltage signal, through the rail-to-rail input and output operational amplifier A of single power supply D8565, voltage is adjusted to the voltage measurement scope of LPC3250, measured by the analog to digital converters of 10 (ADC), as shown in Figure 2.
Voltage measurement module equally by operational amplifier A D8565 by voltage amplification or narrow down in suitable voltage range, measured by the ADC of LPC3250 inside, as shown in Figure 2.
Execution driven unit comprises push rod driver module, solenoid control module, motor control module, Voltage-output module, for the driving of various variable operation topworks, as shown in Figure 1.
Push rod driver module comprises push rod extension and contraction control circuit and push rod position measurement circuit, as shown in Figure 3, push rod extension and contraction control circuit adopts the bridge motor special driving chip L298N that enjoys a double blessing to control push-rod electric machine rotating, L298N is a kind of high voltage, large-current electric machine drives chip, this chip adopts maximum operating voltage can reach 46V, continuous firing electric current is 2A, include the high-voltage large current full-bridge type driver of two H bridges, can be used for driving the inductive loads such as direct current motor, adopt the control of standard logic level signal, therefore, the rotation direction of push-rod electric machine is controlled by the universal input output (I/O) of LPC3250, the collapsing length of push rod is by controlling the working time of motor, push-rod electric machine is connected with potentiometer, electric machine rotation drives potentiometer resistance to change, push rod position measurement changes its resistance variations into change in voltage, and the voltage-regulating circuit forming through operational amplifier A D8565, signal is adjusted in suitable voltage range, ADC by LPC3250 inside measures.
Solenoid control module is adjusted the switching time of 12 way solenoid valves by PWM mode, the 2 simple pulse width modulators in tunnel (SPWM) that pwm signal is carried by LPC3250 produce, two PWM all comprise a programmable dutycycle, stride is 255, signal conditioning circuit has adopted to be had buffer circuits Jiang Mei road, ternary output Ba road pwm signal and is divided into 6 tunnels, Jiang Ge road pwm signal is controlled respectively the break-make of each way solenoid valve by analog switch chip MAX4515 simultaneously, and adopt darlington transistor array ULN2003A to increase pwm signal driving force, solid-state relay (SSR) is realized the break-make of removing to control large electric current inductive load solenoid valve with little electric current, as shown in Figure 3.
Motor control module has adopted 2 external 4 adjustable road pulse signals of programmable interval Timing/counting Chip 82C54 generation frequency to carry out control step motor speed, pulse signal increases driving force through darlington transistor array ULN2003A and carrys out Driving Stepping Motor, and stepper motor rotation direction can be passed through the universaling I/O port control of LPC3250 simultaneously.
Voltage-output module has adopted 256 bit digital potentiometer AD5259 to realize and has exported 0-5V continuous variable voltage, and output voltage is realized the effect of buffering, isolation, raising load capacity through the voltage follower circuit being made up of AD8565, as shown in Figure 3.This digital regulation resistance can be realized the electronics identical with mechanical pot or variable resistor and adjust function, and has resolution and the solid state reliability of enhancing, can be by the I of LPC3250
2c interface control, the contents such as register setting value of simultaneously reading back.
Fig. 4 is that common variable job controller is being realized each function typical case application block diagram.Variable fertilization unit carrys out the size of regulated fertilization amount by step motor control fertilizer mechanism roller rotating speed, measure fertilization axle rotating speed simultaneously, and tries to achieve actual rate of fertilizer application for controlling according to the relation between fertilization axle rotating speed and rate of fertilizer application.The rotating speed that passes through step motor control feed mechanism feed shaft of quantity-variation type seeding system, thereby ensure spacing in the rows and the application rate of sowing, utilize the situation that drops of photoelectric sensor detection sowing port seed, to broadcast leakage simultaneously, replay, the information such as seeder obstruction record warning.Variable spray prescription unit changes the pressure in pipeline and then changes spray value by adjusting liquid back pipe motorized valve aperture, also can regulate shower nozzle electromagnetic valve switch Time And Frequency to change spray value by PWM mode simultaneously.Speed control system is according to the real-time agricultural machinery travel speed of ground velocity sensor measurement, adjusted gas pedal and regulated the travel speed of agricultural machinery by electric pushrod.
The typical job step of common variable job controller variable operation is:
S1, the initialization of plate level are also set up CAN and are resolved task, speed control task (SpeedTask), variable fertilization task (FertilizerTask), quantity-variation type seeding task (SeederTask), variable spray medicine task (SprayerTask), main task; Performance variable operation main task, operation CAN resolves task, hangs up other task;
S2, CAN resolve task and receive and preserve the variable operation relevant informations such as operation agricultural machinery and implement type, facility parameter, prescription map from CAN bus;
S3, open variable operation order when CAN parsing task receives, discharge respective signal amount, main task is obtaining after start signal amount, the Variable Control task corresponding according to the type recovery of work tool, and initialization relevant parameter, and hang up other task;
The position at the agricultural machinery and implement place that S4, Variable Control task receive according to CAN parsing task, inquiry prescription map obtains the prescription information of Gai position, farmland, and obtains the controlled quentity controlled variable of variable operation according to the travel speed of agricultural machinery, realizes variable operation control; Do not receive and stop, before variable operation order, repeating this step in the CAN task of resolving;
S4.1, speed control task, compare the travel speed value of the agricultural machinery travel speed value recording in real time and prescription map setting, and the travel speed of controlling agricultural machinery is stabilized in setting value.
S4.2, variable fertilization task, measure fertilization axle rotating speed, controls fertilising motor speed and then control rate of fertilizer application to reach desired value.
S4.3, quantity-variation type seeding task, measure sowing shaft rotating speed and the seed signal that drops, and controls sowing motor speed, realizes spacing in the rows and application rate control.
S4.4, variable spray medicine task, according to pipeline pressure and flow information, regulates proportion magnetic valve aperture controlled pressure, and modulating solenoid valve is controlled flow switching time.
S5, stop after variable operation order when CAN parsing task receives, discharge and stop variable operation semaphore, hang up the variable operation task of carrying out, preserve the corresponding parameter of controlling, variable operation finishes.
As shown in Figure 5, after the initialization of plate level and each variable operation control task have been set up, system executive director's business and CAN resolve task.Variable operation main task flow process is as follows: the first initialization to each control module, and wait for that user arranges work tool parameter and downloads prescription map, when user sets up after parameters by CAN bus, master routine is waited for commencing signal amount.When receiving, opens after variable operation task order variable controller, judge whether user needs speed controlling function, if needed, resume speed control task, otherwise, follow the corresponding variable operation task of type recovery according to work tool, c master routine starts to wait for end signal amount.When receiving, finishes after variable operation order variable controller, the information such as position, facility state when record variable operation stops, and the program of getting back to waits for that next variable operation starts at first.
Common variable job controller of the present utility model can be realized spray medicine, fertilising, the control of sowing variable operation, three's variable operation flow of task substantially similar, as shown in Figure 6.When variable operation controller starts after variable operation task, wait for the renewal of variable facility GPS position, when CAN parsing task receives after GPS positional information, after inquiry prescription map, obtain the variable operation amount of this position, and calculate the target job amount of this position according to the travel speed of agricultural machinery and implement, through variable operation control algolithm, controlled amount, drive topworks's action, receiving before the order of end variable operation, repeat this process.
Fig. 7 is common variable job controller speed control task process flow diagram, whether this task first detection speed measurement data is upgraded, if upgrade, carry out this task, otherwise wait for, acquisition speed more after new data, is measured the voltage signal of the potentiometer feedback of electric pushrod, and then obtain the position of gas pedal, then move travel speed control algolithm, obtain electric pushrod working time, the travel speed that changes the extension elongation of electric pushrod and then control agricultural machinery is stabilized in setting value.
Claims (7)
1. a common variable job controller, is characterized in that, comprising:
Signal gathering unit, output terminal connects core cell, for gathering the job status information of variable operation process;
Core cell, input end connects signal gathering unit, and output terminal connects Execution driven unit, for
Execution driven unit, input end connects core cell, for realizing the driving of the topworks that various variable operation systems are different;
CAN communication unit, connects core cell, for other variable operation system communication.
2. common variable job controller according to claim 1, is characterized in that, described signal gathering unit comprises:
Pulse signal conditioning module, measures for the input port of catching of pulse signal timer conter of described core cell after light-coupled isolation and voltage adjustment of the different amplitudes in Jiang Si road;
Current measurement module, comprises ten thousand/precision resistance and operational amplifier; By ten thousand/precision resistance, current signal is converted to voltage signal, through operational amplifier, voltage is adjusted to the measurement range of described core cell, measured by the analog to digital converter of described core cell;
Voltage measurement module, is integrated transporting discharging, by voltage amplification or narrow down in the voltage range that described core cell measures, is measured by the analog to digital converter of described core cell inside.
3. common variable job controller according to claim 1, is characterized in that, described core cell forms ARM9 minimum system by ARM9 core cell and power module;
Described ARM9 core cell, comprises processor, memory expansion based on 32 ARM9 kernels, for obtain corresponding control signal according to job status information;
Described power module, is the asynchronous DC-DC buck regulator of pwm pattern, for ARM9 core cell and peripheral control circuit provide required 5V, 3.3V, 12V supply voltage.
4. common variable job controller according to claim 1, is characterized in that, described Execution driven unit comprises push rod driver module, solenoid control module, motor control module, Voltage-output module;
Described push rod driver module, comprises motor-drive circuit, signal conditioning circuit, potentiometer and electric pushrod; Processor is by the size and Orientation of the bridge motor special driving chip output current of enjoying a double blessing in the I/O mouth control motor-drive circuit of ARM core cell, and motor-drive circuit output is connected to electric pushrod, controls the pushing direction of electric pushrod; The position feed back signal of electric pushrod is connected in signal conditioning circuit, and after signal condition, feedback signal inputs on the analog to digital conversion input pin of ARM core cell, is carried out the measurement of push rod position by arm processor;
Described solenoid control module, comprises buffer circuit, analog switching circuit, solid-state relay and solenoid valve; The pwm signal of ARM core cell output, be connected to analog switching circuit through buffer circuit, analog switching circuit is by the control end of the pwm signal input solid-state relay strengthening through driving force, the output terminal of solid-state relay is connected with solenoid valve, by controlling adhesive and the open circuit of solid-state relay, thereby realize the opening and closing of solenoid valve;
Described motor control module, the pulse signal that has adopted external Timing/counting Chip to produce adjustable four tunnels of frequency carrys out control step motor speed, simultaneously by I/O mouth control direction of motor rotation, for the speed regulating control of variable fertilization seeding system direct current generator or stepper motor;
Described Voltage-output module, comprises digital regulation resistance and voltage follower, and digital regulation resistance and ARM core cell pass through I
2c interface is connected, by ARM core cell control figure potentiometer output 0-5V continuous variable voltage, and output after voltage follower drives enhancing.
5. common variable job controller according to claim 4, is characterized in that, described pwm signal circuit for generating has adopted external Timing/counting Chip to produce frequency and the adjustable pwm pulse signal of dutycycle.
6. common variable job controller according to claim 4, it is characterized in that, described signal conditioning circuit has adopted has the break-make that ternary output Ba road buffer circuits 1 road signal is divided into 6 tunnels, the each road of analog switching circuit control pwm signal, and darlington transistor array increases the switch that driving force drives solid-state relay and then controls solenoid valve.
7. common variable job controller according to claim 1, is characterized in that, described CAN communication unit is made up of the CAN controller extending out and CAN transceiver, communicates by letter with other variable operation system equipment with self-defining data layout.
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| CN201320784228.5U CN203732943U (en) | 2013-11-30 | 2013-11-30 | Universal variable operation controller |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104678928A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Universal variable operation controller and control method thereof |
| CN108536076A (en) * | 2018-06-19 | 2018-09-14 | 华南理工大学 | A kind of general automobile power assembly controller |
| CN111838108A (en) * | 2019-04-25 | 2020-10-30 | 中国科学院沈阳自动化研究所 | Injection type online real-time medicine mixing control device and control method |
-
2013
- 2013-11-30 CN CN201320784228.5U patent/CN203732943U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104678928A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Universal variable operation controller and control method thereof |
| CN108536076A (en) * | 2018-06-19 | 2018-09-14 | 华南理工大学 | A kind of general automobile power assembly controller |
| CN111838108A (en) * | 2019-04-25 | 2020-10-30 | 中国科学院沈阳自动化研究所 | Injection type online real-time medicine mixing control device and control method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140723 Termination date: 20171130 |
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| CF01 | Termination of patent right due to non-payment of annual fee |