CN208819092U - The movement of electric endless track type pesticide spray truck and operation-control system - Google Patents
The movement of electric endless track type pesticide spray truck and operation-control system Download PDFInfo
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- CN208819092U CN208819092U CN201821475931.7U CN201821475931U CN208819092U CN 208819092 U CN208819092 U CN 208819092U CN 201821475931 U CN201821475931 U CN 201821475931U CN 208819092 U CN208819092 U CN 208819092U
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- 230000033001 locomotion Effects 0.000 title claims abstract description 63
- 239000000575 pesticide Substances 0.000 title claims abstract description 21
- 239000007921 spray Substances 0.000 title claims abstract 7
- 238000004891 communication Methods 0.000 claims abstract description 29
- 230000003750 conditioning effect Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000009471 action Effects 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 14
- 238000005507 spraying Methods 0.000 claims description 30
- 239000003814 drug Substances 0.000 claims description 22
- 239000007788 liquid Substances 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 239000012530 fluid Substances 0.000 abstract 1
- 239000002420 orchard Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
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Abstract
The movement of the utility model electric endless track type pesticide spray truck and operation-control system, suitable for unpiloted electric endless track type pesticide spray truck, it can be realized wireless transmission/reception instruction mode, on the basis of flexibly control electric endless track type pesticide spray truck motion profile, while having the function of spray start and stop and the detection of medical fluid surplus, alarm etc..It include management and action control unit, left/right caterpillar drive control unit.Management has central processing unit, and the spray solenoid valve driving module connecting with central processing unit, serial communication modular, third CAN bus module and third signal conditioning circuit with action control unit；The left caterpillar drive control unit has the first CAN bus module connecting with third CAN bus module communication, the first movement processor；First movement processor controls the first signal conditioning circuit of connection, the first inverter module and the first current detection module respectively；Right-hand track chiain motion control unit is identical as left caterpillar drive control unit structure.
Description
Technical Field
The utility model relates to a motion and operation control system suitable for unmanned electronic crawler-type spouts medicine car belongs to agricultural intelligence and equips the field.
Background
Orchard plant protection operation is the important component in agricultural plant protection field, and because orchard road conditions have characteristics such as comparatively complicated, row spacing is little, orchard plant protection operation mainly uses hand-held type plant protection equipment and crawler-type medicine spraying vehicle as the main.
The handheld plant protection equipment can not avoid the contact of plant protection personnel and pesticides, and the operating efficiency is lower. The crawler-type pesticide spraying vehicle has high operation efficiency and is widely applied to orchard plant protection operation, but due to the limitation of operation space, the crawler-type pesticide spraying vehicle has small volume, can not effectively increase the protection measures of a driver, and is still difficult to avoid the damage of pesticide diffusion to the body of the driver in the plant protection operation process.
Therefore, the development and the use of the corresponding unmanned plant protection machine to promote the plant protection machine driver to be far away from pesticide invasion and realize self-protection function are one of the main trends of the technical development in the field of plant protection at present.
This patent application is made in view of this.
SUMMERY OF THE UTILITY MODEL
Electronic crawler-type spouts medicine car motion and operation control system, its design aim at solve the problem that above-mentioned prior art exists and provide the electronic crawler-type spouts medicine car that is applicable to unmanned driving, through motion and operation control system's improvement in order to realize wireless transmission/receiving instruction mode, on nimble control electronic crawler-type spouts medicine car movement track's basis, have simultaneously to spout the medicine and open and stop and liquid medicine surplus detects, functions such as warning.
In order to achieve the design purpose, the electric crawler-type pesticide spraying vehicle motion and operation control system comprises a management and action control unit, a left crawler motion control unit and a right crawler motion control unit. In particular, the amount of the solvent to be used,
the management and action control unit is provided with a central processing unit, a pesticide spraying electromagnetic valve driving module, a serial port communication module, a third CAN bus module and a third signal conditioning circuit, wherein the pesticide spraying electromagnetic valve driving module, the serial port communication module, the third CAN bus module and the third signal conditioning circuit are connected with the central processing unit;
the left crawler motion control unit is provided with a first CAN bus module and a first motion processor, wherein the first CAN bus module is in communication connection with the third CAN bus module; the first motion processor is respectively connected with the first signal conditioning circuit, the first inversion module and the first current detection module in a control mode;
the right crawler motion control unit is provided with a second CAN bus module in communication connection with a third CAN bus module and a second motion processor; the second motion processor is respectively connected with the second signal conditioning circuit, the second inversion module and the second current detection module in a control mode.
According to the basic technical scheme, the crawler-type orchard spraying vehicle taking the three-phase brushless direct-current motor as power is assisted by the motion and operation control system to finish unmanned driving. The control instruction of the external equipment is received in a wired (or wireless) mode so as to complete the motion control and the medicine spraying start-stop control of the electric crawler-type sprayer and transmit the quality information of the residual liquid medicine of the medicine chest to the external equipment.
Further preferably, the management and action control unit comprises a 4G communication module connected with the serial communication module, so as to wirelessly receive an external control instruction and transmit the quality information of the residual liquid to an external device in a wireless data mode.
The third signal conditioning circuit receives and processes the signal output by the resistance type liquid level sensor. The circuit comprises a resistance-voltage conversion circuit, a low-pass filter circuit and an inverse proportion amplifying circuit which are connected in series. What is output by the resistive level sensor is a signal,
the first inversion module and the second inversion module are respectively provided with a three-phase bridge type inversion circuit formed by IR2131 chips.
The first current detection module and the second current detection module are both direct current transformers and are respectively installed on the bus sides of the left and right crawler belt brushless direct current motors.
To sum up, the advantage that this application electronic crawler-type pesticide spraying vehicle motion and operation control system have has:
1. the crawler-type orchard pesticide spraying machine with the brushless direct-current motor as the power is taken as an applicable object, and compared with an oil power device, the unmanned autonomous driving straight-line control degree is higher, and the controllability is stronger;
2. the external communication interface is reserved for 232 communication and 4G communication, so that the external equipment can be conveniently controlled by a vehicle-mounted wired mode and a remote control mode or a cloud control mode, and the use is more flexible;
3. based on the detection of the quality of the residual liquid medicine, the control of starting and stopping the medicine spraying is realized. Residual medicine amount information is transmitted in real time, so that medicine application management is facilitated;
4. based on the three-core CPU mode, the motion control of the left and right tracks is realized, the modularization realization is facilitated, the industrialization promotion is facilitated, and meanwhile, sufficient room is reserved for the subsequent expansion of the system.
Drawings
FIG. 1 is a schematic diagram of a motion and task control system according to the present application;
FIG. 2 is a circuit diagram of the third signal processor;
FIG. 3 is a flow chart of the program execution of the CPU;
fig. 4 is a circuit diagram of the first inverter module;
fig. 5 is a schematic diagram of a dual closed-loop speed control algorithm of the left track brushless dc motor according to the present application.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
Embodiment 1, as shown in fig. 1, the motion and work control system of the electric crawler-type pesticide spraying vehicle comprises a management and action control unit, a left crawler motion control unit and a right crawler motion control unit. Wherein,
and the management and action control unit completes information interaction with external equipment and the left and right crawler movement control units, detection of residual medicine amount of the medicine box and control of spraying start and stop of the spraying machine. The system comprises a central processing unit, a pesticide spraying electromagnetic valve driving module, a serial port communication module, a third CAN bus module and a third signal conditioning circuit, wherein the pesticide spraying electromagnetic valve driving module, the serial port communication module, the third CAN bus module and the third signal conditioning circuit are connected with the central processing unit; and the 4G communication module is connected with the serial port communication module.
The left crawler motion control unit is provided with a first CAN bus module and a first motion processor, wherein the first CAN bus module is in communication connection with the third CAN bus module; the first motion processor is respectively connected with the first signal conditioning circuit, the first inversion module and the first current detection module in a control mode;
the right crawler motion control unit is provided with a second CAN bus module in communication connection with a third CAN bus module and a second motion processor; the second motion processor is respectively connected with the second signal conditioning circuit, the second inversion module and the second current detection module in a control mode.
The first current detection module and the second current detection module are both direct current transformers and are respectively installed on the bus sides of the left and right crawler belt brushless direct current motors.
As shown in fig. 2, the third signal conditioning circuit includes a resistor-voltage conversion circuit, a low-pass filter circuit, and an inverting proportional amplifier circuit connected in series.
The third signal processor converts the resistance signal output by the sensor into a voltage signal through voltage following; the sensor signal noise is filtered by a second-order low-pass filter circuit, and the principle of the filter circuit is actually the combined utilization of basic characteristics of L, c elements. Because the capacitance reactance xc of the capacitor is 2nfc and 1 is reduced along with the increase of the signal frequency, and the inductance reactance xl of the inductor is 2f is increased along with the increase of the signal frequency, if the capacitance and the inductance are applied in series, parallel or series-parallel connection, the combined impedance of the capacitance and the inductance also changes greatly along with the difference of the signal frequency, which indicates that different filter circuits present small or large reactance to a certain frequency signal, so that the frequency signal can pass through or be blocked from passing through, thereby playing the roles of selecting a certain frequency signal and filtering a certain frequency signal; the signal is conditioned to an appropriate AD conversion input range by an inverting proportional amplifying circuit, and the inverting amplifier circuit has a function of amplifying the input signal and inverting the output. "inverted" means that the sign is reversed. This amplifier applies a negative feedback technique. Negative feedback is a method of connecting (returning) the output Vout to the inverting input (-) via R2 in a circuit by returning a part of the output signal to the input, and is negative feedback in which when the input voltage at the inverting input (-) rises, the output is inverted and amplified greatly in the negative direction; in the embodiment of the invention, the voltage following is realized by adopting a chip OPA4350, and the filtering and amplifying circuit is realized by adopting an operational amplifier AD 712;
as shown in fig. 4, the first inverter module and the second inverter module both have a three-phase bridge inverter circuit formed by IR2131 chips, the driving voltage is 48V, and the driving power is 1500W;
as shown in fig. 5, the left track motion control unit and the right track motion control unit have the same circuit and program, and perform closed-loop control of the speed of the left track brushless dc motor and the speed of the right track brushless dc motor, respectively.
Preferably, the central processing unit is a 32-bit ARM microprocessor STM32F103RCT6 manufactured by Italian Semiconductor (ST);
the spraying electromagnetic valve driving module is a Darlington transistor array circuit formed by ULN 2003; the medicine spraying electromagnetic valve driving module receives a 3.3V switch control instruction output by an I/O port of the central processing unit, outputs a 12V electromagnetic valve switch control signal, controls the switch of the medicine spraying electromagnetic valve, the central processing unit CPU controls the electromagnetic valve driving switch through high and low levels, when the electromagnetic valve driving switch opening instruction is given, the electromagnetic valve drives the electromagnetic valve signal, the electromagnetic valve is opened, and then medicine spraying is started. And vice versa.
The serial port communication module is a 232 communication module, and external equipment can perform data transmission with the central processing unit through the serial port communication module;
the 4G communication module is a selective installation module, and when the wireless mode is required to communicate with external equipment, the 4G communication module receives data output by the 232 serial port and transmits the data to the external equipment by a 4G communication protocol;
the first motion processor and the second motion processor are both DSP processing chips TMS320F 28335;
the first signal conditioning circuit and the second signal conditioning circuit condition the current transformer signals output by the first current detection module and the second current detection module respectively, and the conditioning process comprises filtering and amplifying.
As shown in fig. 3, the central processing unit is the core of the management and action control unit, and the specific flow is as follows:
s1: receive left and right track controller information that left and right track motion controller sent, include: the maximum rotating speed and the maximum power are used for judging whether a control instruction sent by external equipment can be realized or not;
s2: sending the residual medicine amount information to external equipment;
s3, judging whether command information of the external equipment is received, if yes, entering S4, otherwise entering S2;
s4, judging whether the command information sent by the external equipment is valid, if so, entering S5, otherwise, entering S6; the received external equipment command signal comprises left crawler speed information, right crawler speed information, a full speed value represented by a full duty ratio and a spraying action instruction; the speed information is expressed in the form of duty ratio, 50% represents that the speed is 0, 100% represents full-speed forward, and 0% represents full-speed backward; the judgment basis is not limited to the format of the command, and also comprises whether the given left and right crawler belt rotating speed information is in a proper range;
s5: controlling the action of a pesticide spraying electromagnetic valve according to the received external equipment instruction information, calculating left and right crawler speed values, and sending the left and right crawler speed values to a left and right crawler motion controller; assuming that the full duty ratio rotating speed is vm and the set duty ratio is a, the calculation method of the left and right track speed value v is as follows:
v ═ vm (a-50%) (formula 1)
S6: the transferring of the information to the external device includes: the current remaining amount of medicine and the command format error message proceed to S2.
As shown in fig. 5, the left track motion control unit receives the left track speed information sent by the management and action control unit through the first CAN bus module, and completes the speed closed-loop control of the left track brushless dc motor; the first motion processor is the core of the left crawler motion control unit, receives the left crawler brushless direct current motor rotating speed information output by the left crawler speed measuring code disc, and the left crawler brushless direct current motor bus current information output by the first signal conditioning circuit, and completes a speed closed-loop control algorithm. The first motion processor 1 is a DSP chip TMS320F 28335.
As shown in fig. 4, the first inverter module receives the PWM information outputted from the first motion processor, and the output terminal of the first inverter module is connected to the three-phase outgoing line of the left track brushless dc motor, so as to control the rotation of the left track brushless dc motor; the first current detection module is a direct current transformer and is used for detecting the bus current of the left crawler brushless direct current motor.
In the figure, PWM1-6 is a TMS320F28335 pin; u, V, W are left track brushless DC motor three-phase lead-out wires. In the embodiment, the MOSFET driving chip is IR2131, the MOSFET model is IRFR3910, and the supporting driving power is 1500W;
the speed control algorithm realized by the first motion processor is a double closed-loop control algorithm, namely, the inner loop is a current closed loop, the outer loop is a speed closed loop, namely, two controllers are adopted to work in series, the output of the outer loop controller is used as a set value of the inner loop controller, and the output of the inner loop controller is used for operating the control valve, so that the control effect on the controlled quantity of the outer loop is better. Such a control system is called a cascade system. The PID cascade control is that two controllers in the cascade control are PID controllers, and the anti-interference performance (namely the stability) of the system is enhanced. The double closed loops can reduce the overshoot and the supersaturation of the current, and a better control effect is obtained.
v is the left track speed information received by the left track motion control unit; in this embodiment, the current loop controller and the speed loop controller are both PID controllers.
The movement and operation control system based on the embodiment can be suitable for an orchard crawler-type sprayer taking a brushless direct current motor as power, adopts double-closed-loop speed control, is high in control precision, receives a control instruction of external equipment in a wired or wireless mode, completes spraying control and movement control of the sprayer, transmits residual liquid level information to the external equipment, is convenient and flexible, and is an indispensable necessary actuator for autonomous driving of the orchard crawler-type sprayer.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the scope of the invention as defined by the following claims.
Claims (5)
1. The utility model provides an electronic crawler-type liquid medicine spraying vehicle motion and operation control system which characterized in that: comprises a management and action control unit, a left crawler motion control unit and a right crawler motion control unit;
the management and action control unit is provided with a central processing unit, a pesticide spraying electromagnetic valve driving module, a serial port communication module, a third CAN bus module and a third signal conditioning circuit, wherein the pesticide spraying electromagnetic valve driving module, the serial port communication module, the third CAN bus module and the third signal conditioning circuit are connected with the central processing unit;
the left crawler motion control unit is provided with a first CAN bus module and a first motion processor, wherein the first CAN bus module is in communication connection with the third CAN bus module; the first motion processor is respectively connected with the first signal conditioning circuit, the first inversion module and the first current detection module in a control mode;
the right crawler motion control unit is provided with a second CAN bus module in communication connection with a third CAN bus module and a second motion processor; the second motion processor is respectively connected with the second signal conditioning circuit, the second inversion module and the second current detection module in a control mode.
2. The electric crawler-type spraying vehicle motion and operation control system as claimed in claim 1, wherein: the management and action control unit comprises a 4G communication module connected with the serial port communication module.
3. The electric crawler-type spraying vehicle motion and work control system according to claim 1 or 2, characterized in that: the third signal conditioning circuit comprises a resistance-voltage conversion circuit, a low-pass filter circuit and an inverse proportion amplifying circuit which are connected in series.
4. The electric crawler-type spraying vehicle motion and operation control system of claim 3, wherein: the first inversion module and the second inversion module are respectively provided with a three-phase bridge type inversion circuit formed by IR2131 chips.
5. The electric tracked spray vehicle motion and operation control system of claim 4, wherein: the first current detection module and the second current detection module are both direct current transformers and are respectively installed on the bus sides of the left and right crawler belt brushless direct current motors.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821475931.7U CN208819092U (en) | 2018-09-10 | 2018-09-10 | The movement of electric endless track type pesticide spray truck and operation-control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821475931.7U CN208819092U (en) | 2018-09-10 | 2018-09-10 | The movement of electric endless track type pesticide spray truck and operation-control system |
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| CN208819092U true CN208819092U (en) | 2019-05-03 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111569132A (en) * | 2020-06-11 | 2020-08-25 | 台州市欧求环境设备厂 | Computer board of automatic high-pressure spraying machine |
| CN111708275A (en) * | 2020-06-24 | 2020-09-25 | 中国人民解放军63653部队 | Method and device for improving control precision of operation depth system |
-
2018
- 2018-09-10 CN CN201821475931.7U patent/CN208819092U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111569132A (en) * | 2020-06-11 | 2020-08-25 | 台州市欧求环境设备厂 | Computer board of automatic high-pressure spraying machine |
| CN111708275A (en) * | 2020-06-24 | 2020-09-25 | 中国人民解放军63653部队 | Method and device for improving control precision of operation depth system |
| CN111708275B (en) * | 2020-06-24 | 2023-05-23 | 中国人民解放军63653部队 | Method and device for improving control precision of operation depth system |
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Granted publication date: 20190503 Termination date: 20190910 |