WO2016050089A1 - Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method - Google Patents

Real-time adjusting and controlling system for castration operation response parameters of corn castration machine and control method Download PDF

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WO2016050089A1
WO2016050089A1 PCT/CN2015/079851 CN2015079851W WO2016050089A1 WO 2016050089 A1 WO2016050089 A1 WO 2016050089A1 CN 2015079851 W CN2015079851 W CN 2015079851W WO 2016050089 A1 WO2016050089 A1 WO 2016050089A1
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corn
emasculation
height
control unit
time
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PCT/CN2015/079851
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French (fr)
Chinese (zh)
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贾生活
毛恩荣
贾峻
薛涛
谢斌
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酒泉奥凯种子机械股份有限公司
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Priority to AU2015301386A priority Critical patent/AU2015301386B2/en
Publication of WO2016050089A1 publication Critical patent/WO2016050089A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428—Safety, monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2609—Process control

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  • the invention relates to the field of emasculation operation control, in particular to a real-time adjustment control system and a control method for response parameters of a corn emasculation machine.
  • the high-gap self-propelled corn de-roxing machine has high efficiency, low cost and improved working conditions, which is the best choice for the future operation of corn in China.
  • the speed of the de-sporting machine is different during the operation.
  • the existing emasculation operation control system can not perform real-time response parameter adjustment in the face of different work speeds; and the work speed is the main factor determining the response parameters of the emasculation operation control system, which directly affects whether the emasculation mechanism can Accurately act according to the height of the corn.
  • the object of the present invention is to provide a real-time adjustment control system for the response parameter of the emasculation operation of the corn emasculation machine.
  • Another object of the present invention is to provide a real-time adjustment control method for the response parameter of the emasculation operation of the corn emasculation machine, so as to solve the problem that the different vehicle speed response parameters cannot be adjusted in real time during the emasculation operation in the prior art.
  • the utility model relates to a real-time adjustment control system for response parameters of a corn emasculation machine, the control system comprising a control unit, a corn height sensor, a vehicle speed sensor and an emasculation mechanism, wherein the input end of the control unit is connected with the corn height sensor and the vehicle speed sensor The output end of the control unit is connected to the emasculation mechanism; when the emasculation mechanism reaches the corn position where the altitude signal is collected, the control unit collects the real-time vehicle speed signal according to the corn height signal collected by the corn height sensor and the vehicle speed sensor. The corresponding execution signal is output to control the de-roxing mechanism drive.
  • control unit uses an 8-bit ATMEL microcontroller.
  • the corn height sensor is a photoelectric sensor.
  • the corn height sensor is mounted in front of the emasculation mechanism.
  • a method for real-time adjustment and control of response parameters of a corn emasculation machine comprising the following steps:
  • Step A storing the pre-set accurate position between the corn height sensor and the emasculation mechanism into the control unit;
  • Step B When the corn height sensor collects the corn height signal, the vehicle speed sensor sends the real-time working vehicle speed signal collected at this time to the control unit through the vehicle speed sensor;
  • Step C The control unit calculates the time taken to walk the distance between the corn height sensor and the emasculation mechanism according to the real-time work vehicle speed in step B, and subtracts the length of execution of the height adjustment execution signal of the emasculation mechanism to obtain the emasculation.
  • the height of the mechanism adjusts the time at which the execution signal begins to be output;
  • Step D When the emasculation mechanism reaches the corn position where the height signal is collected, the control unit instantaneously starts outputting the height adjustment execution signal of the emasculation mechanism described in step C, so that the emasculation mechanism accurately picks up the corn stamen.
  • the invention has the beneficial effects that the control system improves the precision of the emasculation operation, the corn height position is collected by the corn height sensor, and the control unit adjusts the speed according to different real-time operation speeds.
  • the height adjustment of the de-male mechanism starts to output the time, which satisfies the real-time response parameter adjustment when facing different working speeds and different corn production conditions, and improves the situation that cannot be achieved due to the influence of the speed of the vehicle. .
  • Figure 1 is a block diagram of the system of the present invention.
  • a corn emasculation operation response parameter real-time adjustment control system includes a control unit 1, a corn height sensor 2, a vehicle speed sensor 3, an emasculation mechanism 4, and an input of the control unit 1.
  • the end is connected to the corn height sensor 2, the vehicle speed sensor 3, the output end of the control unit 1 is connected to the emasculation mechanism 4; when the emasculation mechanism 4 reaches the corn position where the height signal is collected, the control unit 1 collects the corn according to the corn height sensor 2.
  • the height signal and the real-time vehicle speed signal collected by the vehicle speed sensor 3 output corresponding execution signals control the de-roxing mechanism 4; the control unit 1 adopts an 8-bit ATMEL single-chip microcomputer, and the corn height sensor 2 is a photoelectric sensor.
  • the response parameter of the emasculation control system refers to the time when the corn height signal is output to the height adjustment execution signal of the tassel mechanism 4, and since the corn height sensor 2 is installed at a certain distance from the emasculation mechanism 4, the emasculation machine reads The corn height information while the emasculation mechanism 4 is actually still corn behind the corn height sensor 2, at this time, if the execution signal is output according to the height information read by the corn height sensor 2, the emasculation mechanism 4 cannot be made according to the actual corresponding corn height. The adjustment error is made, so the execution signal cannot be output immediately after obtaining the height information of the corn.
  • the real-time adjustment control method for the response parameter of the corn to the male machine is included in the following steps:
  • Step A storing the pre-set accurate position between the corn height sensor and the emasculation mechanism into the control unit;
  • Step B When the corn height sensor collects the corn height signal, the vehicle speed sensor sends the real-time working vehicle speed signal collected at this time to the control unit through the vehicle speed sensor;
  • Step C The control unit calculates the time taken to walk the distance between the corn height sensor and the emasculation mechanism according to the real-time work vehicle speed in step B, and subtracts the length of execution of the height adjustment execution signal of the emasculation mechanism to obtain the emasculation.
  • the height of the mechanism adjusts the time at which the execution signal begins to be output;
  • Step D When the emasculation mechanism reaches the corn position where the height signal is collected, the control unit instantaneously starts outputting the height adjustment execution signal of the emasculation mechanism described in step C, so that the emasculation mechanism accurately picks up the corn stamen.
  • the corn emasculation machine responsive operation parameter real-time adjustment control system firstly stores the distance s between the corn height sensor 2 and the emasculation mechanism 4 and the corn plant spacing s 1 into the control unit 3, and the control unit 3 according to the height The distance between the sensor and the emasculation mechanism and the plant spacing calculated the number of corn plants n between the height sensor and the emasculation mechanism.
  • the corn height sensor 2 When the emasculation mechanism reaches a corn, the corn height sensor 2 is reading the height of the nth corn in front, and at a certain time, the corn height sensor 2 reads the height information of a corn a at a certain time. At the same time, the vehicle speed sensor 1 stores the work vehicle speed at this time as the nth group data by the vehicle speed sensor reading into the control unit 3 in which the n-1 group corn height information and the vehicle speed information data have been stored, and the control unit 3 calculates the nth group according to the nth group.
  • the control unit 3 starts to output a corresponding execution signal according to the corn height information in the data of the first group, and pushes the emasculation mechanism 4 to operate, the execution signal output time is t 1 , and the control unit 3 is executed after the execution signal output is stopped.
  • the stored first group of data is deleted, and the remaining storage data storage positions are moved forward in turn, and the nth group of data is vacated after the advancement is completed.
  • the corn height sensor 2 and the vehicle speed transmission are transmitted.
  • the sensor 1 further reads the corn height information and the work speed in this time into the control unit 3 and stores it as the nth group of data, and takes the vehicle speed in the nth group data and the corn height signal in the first group of data again.
  • Execution time t 2 and so on, get t n-1 , t n , so that after the execution time of t n-1 is completed, the emasculation mechanism 4 also reaches the corn place at a, at which time the control unit 3 stores according to this time.
  • the height signal in the first set of data that is, the corn height signal at a starts to output an execution signal, pushes the emasculation mechanism 4 to operate, and the execution signal output time is t n .

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Feedback Control In General (AREA)
  • Guiding Agricultural Machines (AREA)
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Abstract

A real-time adjusting and controlling system for castration operation response parameters of a corn castration machine and a control method. The adjusting and controlling system comprises a control unit (1), a corn height sensor (2), a vehicle speed sensor (3) and a castration mechanism (4), wherein the input end of the control unit (1) is connected with the corn height sensor (2) and the vehicle speed sensor (3), and the output end of the control unit (1) is connected with the castration mechanism (4). When the castration mechanism (4) reaches the position of corn of which height signals are collected, the control unit (1) outputs corresponding execution signals to drive the castration mechanism (4) according to the corn height signals collected by the corn height sensor (2) and real-time vehicle speed signals collected by the vehicle speed sensor (3). The controlling system improves the accuracy of the castration operation, and meets the requirement for adjusting the response parameters in real time under the conditions of different vehicle speeds and different corn production status.

Description

玉米去雄机去雄作业响应参数实时调节控制系统及控制方法Real-time adjustment control system and control method for corn response operation parameters 技术领域Technical field
本发明涉及去雄作业控制领域，具体涉及一种玉米去雄机去雄作业响应参数实时调节控制系统及控制方法。The invention relates to the field of emasculation operation control, in particular to a real-time adjustment control system and a control method for response parameters of a corn emasculation machine.
背景技术Background technique
高地隙自走式玉米去雄机去雄效率高、成本低且改善了作业条件，是未来我国玉米抽雄作业的最佳选择。但是由于受驾驶员的驾驶、地形条件、土壤类型、土壤湿润度等因素影响，致使去雄机在作业过程中作业车速不同。现有的去雄作业控制系统，面对不同的作业车速时还不能进行实时的响应参数调节；而作业车速是决定去雄作业控制系统的响应参数的主要因素，直接影响着去雄机构能否精确地的按照玉米的高度做出动作。The high-gap self-propelled corn de-roxing machine has high efficiency, low cost and improved working conditions, which is the best choice for the future operation of corn in China. However, due to the driver's driving, terrain conditions, soil type, soil moisture and other factors, the speed of the de-sporting machine is different during the operation. The existing emasculation operation control system can not perform real-time response parameter adjustment in the face of different work speeds; and the work speed is the main factor determining the response parameters of the emasculation operation control system, which directly affects whether the emasculation mechanism can Accurately act according to the height of the corn.
发明内容Summary of the invention
本发明的目的是提供一种玉米去雄机去雄作业响应参数实时调节控制系统。The object of the present invention is to provide a real-time adjustment control system for the response parameter of the emasculation operation of the corn emasculation machine.
本发明的另一目的是提供一种玉米去雄机去雄作业响应参数实时调节控制方法，以解决现有技术中去雄作业时面对不同的作业车速响应参数不能进行实时调节的问题。 Another object of the present invention is to provide a real-time adjustment control method for the response parameter of the emasculation operation of the corn emasculation machine, so as to solve the problem that the different vehicle speed response parameters cannot be adjusted in real time during the emasculation operation in the prior art.
一种玉米去雄机去雄作业响应参数实时调节控制系统，该调节控制系统包括控制单元、玉米高度传感器、车速传感器、去雄机构，所述控制单元的输入端与玉米高度传感器、车速传感器连接，所述控制单元的输出端连接去雄机构；当所述去雄机构到达被采集高度信号的玉米位置时，所述控制单元根据玉米高度传感器采集的玉米高度信号和车速传感器采集的实时车速信号输出相应的执行信号控制去雄机构驱动。The utility model relates to a real-time adjustment control system for response parameters of a corn emasculation machine, the control system comprising a control unit, a corn height sensor, a vehicle speed sensor and an emasculation mechanism, wherein the input end of the control unit is connected with the corn height sensor and the vehicle speed sensor The output end of the control unit is connected to the emasculation mechanism; when the emasculation mechanism reaches the corn position where the altitude signal is collected, the control unit collects the real-time vehicle speed signal according to the corn height signal collected by the corn height sensor and the vehicle speed sensor. The corresponding execution signal is output to control the de-roxing mechanism drive.
进一步地，所述控制单元采用8位ATMEL单片机。Further, the control unit uses an 8-bit ATMEL microcontroller.
进一步地，所述玉米高度传感器为光电传感器。Further, the corn height sensor is a photoelectric sensor.
进一步地，所述玉米高度传感器安装在去雄机构的前方。Further, the corn height sensor is mounted in front of the emasculation mechanism.
一种玉米去雄机去雄作业响应参数实时调节控制方法，包括如下步骤：A method for real-time adjustment and control of response parameters of a corn emasculation machine, comprising the following steps:
步骤A：将玉米高度传感器与去雄机构之间预先设置好的准确位置存入控制单元中；Step A: storing the pre-set accurate position between the corn height sensor and the emasculation mechanism into the control unit;
步骤B：当玉米高度传感器采集到玉米高度信号的同时车速传感器将此时采集的实时作业车速信号通过车速传感器送入控制单元；Step B: When the corn height sensor collects the corn height signal, the vehicle speed sensor sends the real-time working vehicle speed signal collected at this time to the control unit through the vehicle speed sensor;
步骤C：控制单元计算出根据步骤B中的实时作业车速走过玉米高度传感器与去雄机构之间的距离所用的时间，再减去去雄机构的高度调节执行信号执行的时长，得出去雄机构的高度调节执行信号开始输出的时间；Step C: The control unit calculates the time taken to walk the distance between the corn height sensor and the emasculation mechanism according to the real-time work vehicle speed in step B, and subtracts the length of execution of the height adjustment execution signal of the emasculation mechanism to obtain the emasculation. The height of the mechanism adjusts the time at which the execution signal begins to be output;
步骤D：当去雄机构到达被采集高度信号的玉米位置时，控制单元瞬间开始输出步骤C中所述的去雄机构的高度调节执行信号，使去雄机构准确摘取玉米雄蕊。Step D: When the emasculation mechanism reaches the corn position where the height signal is collected, the control unit instantaneously starts outputting the height adjustment execution signal of the emasculation mechanism described in step C, so that the emasculation mechanism accurately picks up the corn stamen.
本发明的有益效果是：该控制系统提高了去雄作业的精度，由玉米高度传感器采集到玉米高度位置，控制单元根据不同的实时作业车速控制调 节去雄机构的高度调节执行信号开始输出的时间，满足了面对不同的作业车速和不同玉米生产状况时能够进行实时的响应参数调节，将因车速影响的抽雄不能实现的情况改善为精确实现。The invention has the beneficial effects that the control system improves the precision of the emasculation operation, the corn height position is collected by the corn height sensor, and the control unit adjusts the speed according to different real-time operation speeds. The height adjustment of the de-male mechanism starts to output the time, which satisfies the real-time response parameter adjustment when facing different working speeds and different corn production conditions, and improves the situation that cannot be achieved due to the influence of the speed of the vehicle. .
附图说明DRAWINGS
图1是本发明的系统框图。Figure 1 is a block diagram of the system of the present invention.
具体实施方式detailed description
下面结合附图对本发明做进一步详细说明。The invention will be further described in detail below with reference to the accompanying drawings.
如图1所示，一种玉米去雄机去雄作业响应参数实时调节控制系统，该调节控制系统包括控制单元1、玉米高度传感器2、车速传感器3、去雄机构4，控制单元1的输入端与玉米高度传感器2、车速传感器3连接，控制单元1的输出端连接去雄机构4；当去雄机构4到达被采集高度信号的玉米位置时，控制单元1根据玉米高度传感器2采集的玉米高度信号和车速传感器3采集的实时车速信号输出相应的执行信号控制去雄机构4驱动；控制单元1采用8位ATMEL单片机，玉米高度传感器2为光电传感器。As shown in FIG. 1 , a corn emasculation operation response parameter real-time adjustment control system includes a control unit 1, a corn height sensor 2, a vehicle speed sensor 3, an emasculation mechanism 4, and an input of the control unit 1. The end is connected to the corn height sensor 2, the vehicle speed sensor 3, the output end of the control unit 1 is connected to the emasculation mechanism 4; when the emasculation mechanism 4 reaches the corn position where the height signal is collected, the control unit 1 collects the corn according to the corn height sensor 2. The height signal and the real-time vehicle speed signal collected by the vehicle speed sensor 3 output corresponding execution signals control the de-roxing mechanism 4; the control unit 1 adopts an 8-bit ATMEL single-chip microcomputer, and the corn height sensor 2 is a photoelectric sensor.
去雄作业控制系统的响应参数指得到玉米高度信号到抽雄机构4的高度调节执行信号开始输出时的时间，由于玉米高度传感器2的安装前于去雄机构4一定距离，所以去雄机读取玉米高度信息的同时去雄机构4实际上还在玉米高度传感器2后方的玉米，此时如果按照玉米高度传感器2读取的高度信息输出执行信号就会造成去雄机构4不能按照实际对应玉米高度进行调节的误差，所以执行信号在得到玉米的高度信息后不能立刻输出， The response parameter of the emasculation control system refers to the time when the corn height signal is output to the height adjustment execution signal of the tassel mechanism 4, and since the corn height sensor 2 is installed at a certain distance from the emasculation mechanism 4, the emasculation machine reads The corn height information while the emasculation mechanism 4 is actually still corn behind the corn height sensor 2, at this time, if the execution signal is output according to the height information read by the corn height sensor 2, the emasculation mechanism 4 cannot be made according to the actual corresponding corn height. The adjustment error is made, so the execution signal cannot be output immediately after obtaining the height information of the corn.
只能待去雄机构4到达被采集信号玉米的位置才适时开始输出相应的高度调节执行信号。It is only necessary to wait until the male mechanism 4 reaches the position of the acquired signal corn to start outputting the corresponding height adjustment execution signal.
玉米去雄机去雄作业响应参数实时调节控制方法，包括如下步骤：The real-time adjustment control method for the response parameter of the corn to the male machine is included in the following steps:
步骤A：将玉米高度传感器与去雄机构之间预先设置好的准确位置存入控制单元中；Step A: storing the pre-set accurate position between the corn height sensor and the emasculation mechanism into the control unit;
步骤B：当玉米高度传感器采集到玉米高度信号的同时车速传感器将此时采集的实时作业车速信号通过车速传感器送入控制单元；Step B: When the corn height sensor collects the corn height signal, the vehicle speed sensor sends the real-time working vehicle speed signal collected at this time to the control unit through the vehicle speed sensor;
步骤C：控制单元计算出根据步骤B中的实时作业车速走过玉米高度传感器与去雄机构之间的距离所用的时间，再减去去雄机构的高度调节执行信号执行的时长，得出去雄机构的高度调节执行信号开始输出的时间；Step C: The control unit calculates the time taken to walk the distance between the corn height sensor and the emasculation mechanism according to the real-time work vehicle speed in step B, and subtracts the length of execution of the height adjustment execution signal of the emasculation mechanism to obtain the emasculation. The height of the mechanism adjusts the time at which the execution signal begins to be output;
步骤D：当去雄机构到达被采集高度信号的玉米位置时，控制单元瞬间开始输出步骤C中所述的去雄机构的高度调节执行信号，使去雄机构准确摘取玉米雄蕊。Step D: When the emasculation mechanism reaches the corn position where the height signal is collected, the control unit instantaneously starts outputting the height adjustment execution signal of the emasculation mechanism described in step C, so that the emasculation mechanism accurately picks up the corn stamen.
具体过程为：玉米去雄机去雄作业响应参数实时调节控制系统首先将玉米高度传感器2与去雄机构4之间的距离s和玉米株距s1存入控制单元3中，控制单元3根据高度传感器与去雄机构之间的距离与株距计算出在高度传感器与去雄机构之间的玉米株数n。The specific process is: the corn emasculation machine responsive operation parameter real-time adjustment control system firstly stores the distance s between the corn height sensor 2 and the emasculation mechanism 4 and the corn plant spacing s 1 into the control unit 3, and the control unit 3 according to the height The distance between the sensor and the emasculation mechanism and the plant spacing calculated the number of corn plants n between the height sensor and the emasculation mechanism.
在去雄机构在到达一株玉米时，玉米高度传感器2正在读取前方第n株玉米的高度，去雄作业工作时，在某个时刻玉米高度传感器2读取一处玉米a的高度信息的同时车速传感器1将此时的作业车速通过车速传感器读入已存储有n-1组玉米高度信息和车速信息数据的控制单元3中存储为第n组数据，控制单元3计算出按照第n组数据中的速度走过玉米高度传感器 2与去雄机构4之间的距离需要的时间t，将时间t除以n作为按照第一组数据中的玉米高度信息进行去雄机构调整的执行信号执行时间t1，此时控制单元3开始按照第一组的数据中的玉米高度信息输出相应的执行信号，推动去雄机构4动作，执行信号输出时间为t1，执行信号输出停止后控制单元3将存储的第一组数据删除，其余存储数据存储位置依次前移，前移完成后空出第n组数据，此时玉米高度传感器2和车速传感器1又将此时的玉米高度信息和作业车速读入控制单元3中存储为第n组数据，再次取此时的第n组数据中的车速和第一组数据中的玉米高度信号得出执行时间t2，以此类推得到tn-1、tn，这样tn-1执行时间完成后，去雄机构4也到达了a处玉米处，此时控制单元3就按照此时存储的第一组数据中的高度信号也就是a处玉米高度信号开始输出执行信号，推动去雄机构4动作，执行信号输出时间为tn。 When the emasculation mechanism reaches a corn, the corn height sensor 2 is reading the height of the nth corn in front, and at a certain time, the corn height sensor 2 reads the height information of a corn a at a certain time. At the same time, the vehicle speed sensor 1 stores the work vehicle speed at this time as the nth group data by the vehicle speed sensor reading into the control unit 3 in which the n-1 group corn height information and the vehicle speed information data have been stored, and the control unit 3 calculates the nth group according to the nth group. The time t required for the speed in the data to pass the distance between the corn height sensor 2 and the emasculation mechanism 4, and the time t is divided by n as an execution signal for performing the emasculation mechanism adjustment according to the corn height information in the first set of data. At time t 1 , the control unit 3 starts to output a corresponding execution signal according to the corn height information in the data of the first group, and pushes the emasculation mechanism 4 to operate, the execution signal output time is t 1 , and the control unit 3 is executed after the execution signal output is stopped. The stored first group of data is deleted, and the remaining storage data storage positions are moved forward in turn, and the nth group of data is vacated after the advancement is completed. At this time, the corn height sensor 2 and the vehicle speed transmission are transmitted. The sensor 1 further reads the corn height information and the work speed in this time into the control unit 3 and stores it as the nth group of data, and takes the vehicle speed in the nth group data and the corn height signal in the first group of data again. Execution time t 2 , and so on, get t n-1 , t n , so that after the execution time of t n-1 is completed, the emasculation mechanism 4 also reaches the corn place at a, at which time the control unit 3 stores according to this time. The height signal in the first set of data, that is, the corn height signal at a starts to output an execution signal, pushes the emasculation mechanism 4 to operate, and the execution signal output time is t n .

Claims (5)

  1. 一种玉米去雄机去雄作业响应参数实时调节控制系统，其特征在于：该调节控制系统包括控制单元(1)、玉米高度传感器(2)、车速传感器(3)、去雄机构(4)，所述控制单元(1)的输入端与所述玉米高度传感器(2)、所述车速传感器(3)连接，所述控制单元(1)的输出端连接所述去雄机构(4)；The invention relates to a real-time adjustment control system for response parameters of a corn emasculation machine, which is characterized in that: the adjustment control system comprises a control unit (1), a corn height sensor (2), a vehicle speed sensor (3), and a emasculation mechanism (4) The input end of the control unit (1) is connected to the corn height sensor (2), the vehicle speed sensor (3), and the output end of the control unit (1) is connected to the emasculation mechanism (4);
    当所述去雄机构(4)到达被采集高度信号的玉米位置时，所述控制单元(1)根据所述玉米高度传感器(2)采集的玉米高度信号和所述车速传感器(3)采集的实时车速信号输出相应的执行信号控制所述去雄机构(4)驱动。When the emasculation mechanism (4) reaches the corn position where the height signal is collected, the control unit (1) collects the corn height signal collected by the corn height sensor (2) and the vehicle speed sensor (3). The real-time vehicle speed signal output corresponding execution signal controls the emasculation mechanism (4) to drive.
  2. 根据权利要求1所述的玉米去雄机去雄作业响应参数实时调节控制系统，其特征在于：所述控制单元(1)采用8位ATMEL单片机。The tasselling operation response parameter real-time adjustment control system according to claim 1, wherein the control unit (1) adopts an 8-bit ATMEL single chip microcomputer.
  3. 根据权利要求1所述的玉米去雄机去雄作业响应参数实时调节控制系统，其特征在于：所述玉米高度传感器(2)为光电传感器。The corn emasculation operation response parameter real-time adjustment control system according to claim 1, wherein the corn height sensor (2) is a photoelectric sensor.
  4. 根据权利要求1所述的玉米去雄机去雄作业响应参数实时调节控制系统，其特征在于：所述玉米高度传感器(2)安装在所述去雄机构(4)的前方。The corn emasculation operation response parameter real-time adjustment control system according to claim 1, characterized in that the corn height sensor (2) is installed in front of the emasculation mechanism (4).
  5. 一种玉米去雄机去雄作业响应参数实时调节控制方法，其特征在于，包括如下步骤：The invention relates to a real-time adjustment control method for response parameters of a corn emasculation machine, which comprises the following steps:
    步骤A：将玉米高度传感器与去雄机构之间预先设置好的准确位置存入控制单元中； Step A: storing the pre-set accurate position between the corn height sensor and the emasculation mechanism into the control unit;
    步骤B：当所述玉米高度传感器采集到玉米高度信号的同时车速传感器将此时采集的实时作业车速信号通过车速传感器送入所述控制单元；Step B: When the corn height sensor collects the corn height signal, the vehicle speed sensor sends the real-time working vehicle speed signal collected at this time to the control unit through the vehicle speed sensor;
    步骤C：所述控制单元计算出根据步骤B中的实时作业车速走过所述玉米高度传感器与所述去雄机构之间的距离所用的时间，再减去所述去雄机构的高度调节执行信号执行的时长，得出所述去雄机构的高度调节执行信号开始输出的时间；Step C: The control unit calculates a time taken to travel the distance between the corn height sensor and the emasculation mechanism according to the real-time work vehicle speed in step B, and then subtracts the height adjustment execution of the emasculation mechanism. The duration of the signal execution, and the time at which the height adjustment execution signal of the emasculation mechanism starts to be output is obtained;
    步骤D：当所述去雄机构到达被采集高度信号的玉米位置时，所述控制单元瞬间开始输出步骤C中所述去雄机构的高度调节执行信号，使所述去雄机构准确摘取玉米雄蕊。 Step D: When the emasculation mechanism reaches the corn position where the height signal is collected, the control unit instantaneously starts outputting the height adjustment execution signal of the emasculation mechanism in step C, so that the emasculation mechanism accurately picks up the corn. Stamens.
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