CN105302029A - Intelligent mobile operation control system and method for mini-tiller - Google Patents
Intelligent mobile operation control system and method for mini-tiller Download PDFInfo
- Publication number
- CN105302029A CN105302029A CN201510815122.0A CN201510815122A CN105302029A CN 105302029 A CN105302029 A CN 105302029A CN 201510815122 A CN201510815122 A CN 201510815122A CN 105302029 A CN105302029 A CN 105302029A
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- Prior art keywords
- control unit
- tiller
- speed
- intelligent mobile
- mobile operation
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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
- G05B19/0423—Input/output
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25142—Lan between host and main controller, other network between main and sub controllers
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Agricultural Machines (AREA)
Abstract
The invention discloses an intelligent mobile operation control system and method for a mini-tiller. The system comprises a master control unit and three function control units. Each function control unit comprises a turning control unit, a speed change control unit and a tillage tool lift control unit, and each of the turning control unit, the speed change control unit and the tillage tool lift control unit is formed by a microcontroller MCU, a transceiver MCP2515 and a voltage converting circuit. The turning and speed of a mini-tiller and the lifting and descending of a hanging tool are realized by the system. Through a control decision and a path plan, the system can automatically finish set operations, and provides an idea for intelligent operations of a mini-tiller in a facility agriculture environment.
Description
Technical field
The invention belongs to agricultural machinery technological field, specifically, relate to a kind of tiller intelligent mobile operation control system and method.
Background technology
Tiller with small diesel engine or gasoline engine for power, the features such as have lightweight, volume is little, and structure is simple.Tiller is widely used in the nonirrigated farmland, paddy field, orchard etc. on Plain, mountain area, hills.Mix corresponding facility can carry out drawing water, generate electricity, spray the operation such as medicine, spray, also can draw towed vehicle and carry out short-distance transport, tiller freely can be exercised in field, user-friendly and deposit, eliminating the worry that large-scale farm machinery cannot enter mountain area field, is that vast farmers consumer substitutes the cultivated optimal selection of ox.
It is low to there is operating efficiency in tiller of the prior art, the defect of low precision.
Summary of the invention
In order to overcome the defect existed in prior art, the invention provides a kind of tiller intelligent mobile operation control system and method, completing the descending operation to the turning to of tiller, speed and mounting facility.By control decision and path planning, this system can independently complete set work, and the intellectuality doing industry for tiller under industrialized agriculture environment provides a kind of thinking.
Its technical scheme is as follows:
A kind of tiller intelligent mobile operation control system, comprises 1 main control unit and 3 function control unit, wherein,
Electronic compass and gps receiver are tiller position transducer modules, are responsible for the Position And Velocity information sending tiller in real time;
Main control unit is the core cell of whole system, is responsible for the corner according to gps data information, electronic compass data and current tiller wheel, speed and supporting operation implement lift information and makes control decision;
Function control unit selects single-chip microcomputer as master controller, realizes the collection of each function control unit sensor information and accepts the command driven direct current generator of master controller node, realizes course changing control, speed Control and implement lift respectively and controls;
Whole control communications carrier is CAN, follows CAN data communication protocol.
Preferably, the controller of described CAN and transceiver adopt MCP2515 and MCP2551 respectively.
Preferably, described master controller design of node adopts ARM1176ZJF-S kernel 32 bit processor, S3C6410 chip.
Preferably, described electronic compass and gps receiver hardware adopt HMR3000 and Trimble5700 respectively.
Preferably, described function control unit comprises turning control cell, speed Control unit and tillage implement elevating control unit 3 parts, form by microcontroller, transceiver MCP2515 and voltage conversion circuit, described voltage conversion circuit is powered to function Controlling vertex, driving device for step-by-step is used for driving the motor of topworks that tiller is completed and turns to, the lifting of speed change, mounting facility, and the signal that high-speed photoelectric coupler is mainly used to isolation controller and CAN transceiver prevents level from disturbing; MCU selects P87C591; MCP2515 is as a kind of high-speed CAN transceiver of standard, it is the interface between CAN protocol controller and physical bus, for bus provides differential sending performance, for controller provides differential receptivity, realized the electrical isolation of each node in bus by 6N137 high-speed photoelectric coupler between microcontroller and transceiver MCP2515, the two ends of bus connect the build-out resistor of 1 120 Ω respectively, are the anti-interferences for effectively improving data communication.
A kind of tiller intelligent mobile operation control method, comprises the following steps:
(1) first main control unit gathers GPS, electronic compass and angle sensor data;
(2) according to the path of current tracking, calculate the controlled quentity controlled variable of the turning to of tiller, speed and implement lift, information is sent to processor and carries out data processing and control decision;
(3) main control unit and function control unit are passed through CAN real-time reception data and send instruction;
(4) function control unit Real-time Collection site environment data send to main control unit and prepare at any time to receive steering order;
(5) topworks completes corresponding action according to Decision Control.
Beneficial effect of the present invention:
The present invention completes the descending operation to the turning to of tiller, speed and mounting facility.By control decision and path planning, this system can independently complete set work, and the intellectuality doing industry for tiller under industrialized agriculture environment provides a kind of thinking.
Accompanying drawing explanation
Fig. 1 is the structural representation of tiller intelligent mobile operation control system of the present invention;
Fig. 2 is function control unit structural representation;
Fig. 3 is tiller intelligent mobile operation control method process flow diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in more detail.
With reference to Fig. 1, a kind of tiller intelligent mobile operation control system, comprises 1 main control unit and 3 function control unit, wherein,
Electronic compass and gps receiver are tiller position transducer modules, are responsible for the Position And Velocity information sending tiller in real time;
Main control unit is the core cell of whole system, is responsible for the corner according to gps data information, electronic compass data and current tiller wheel, speed and supporting operation implement lift information and makes control decision;
Function control unit selects single-chip microcomputer as master controller, realizes the collection of each function control unit sensor information and accepts the command driven direct current generator of master controller node, realizes course changing control, speed Control and implement lift respectively and controls;
Whole control communications carrier is CAN, follows CAN data communication protocol.
Controller and the transceiver of described CAN adopt MCP2515 and MCP2551 respectively.
Described master controller design of node adopts ARM1176ZJF-S kernel 32 bit processor, S3C6410 chip.
Described electronic compass and gps receiver hardware adopt HMR3000 and Trimble5700 respectively.
As shown in Figure 2, described function control unit comprises turning control cell, speed Control unit and tillage implement elevating control unit 3 parts, form by microcontroller, transceiver MCP2515 and voltage conversion circuit, described voltage conversion circuit is powered to function Controlling vertex, driving device for step-by-step is used for driving the motor of topworks that tiller is completed and turns to, the lifting of speed change, mounting facility, and the signal that high-speed photoelectric coupler is mainly used to isolation controller and CAN transceiver prevents level from disturbing; MCU selects P87C591; MCP2515 is as a kind of high-speed CAN transceiver of standard, it is the interface between CAN protocol controller and physical bus, for bus provides differential sending performance, for controller provides differential receptivity, realized the electrical isolation of each node in bus by 6N137 high-speed photoelectric coupler between microcontroller and transceiver MCP2515, the two ends of bus connect the build-out resistor of 1 120 Ω respectively, are the anti-interferences for effectively improving data communication.
As shown in Figure 3, a kind of tiller intelligent mobile operation control method, comprises the following steps:
(1) first main control unit gathers GPS, electronic compass and angle sensor data;
(2) according to the path of current tracking, calculate the controlled quentity controlled variable of the turning to of tiller, speed and implement lift, information is sent to processor and carries out data processing and control decision;
(3) main control unit and function control unit are passed through CAN real-time reception data and send instruction;
(4) function control unit Real-time Collection site environment data send to main control unit and prepare at any time to receive steering order;
(5) topworks completes corresponding action according to Decision Control.
The intervention of this intelligent mobile control system, tiller can complete AUTONOMOUS TASK according to path planning.
The above; be only the present invention's preferably embodiment; protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses, the simple change of the technical scheme that can obtain apparently or equivalence are replaced and are all fallen within the scope of protection of the present invention.
Claims (6)
1. a tiller intelligent mobile operation control system, is characterized in that: comprise 1 main control unit and 3 function control unit, wherein,
Electronic compass and gps receiver are tiller position transducer modules, are responsible for the Position And Velocity information sending tiller in real time;
Main control unit is the core cell of whole system, is responsible for the corner according to gps data information, electronic compass data and current tiller wheel, speed and supporting operation implement lift information and makes control decision;
Function control unit selects single-chip microcomputer as master controller, realizes the collection of each function control unit sensor information and accepts the command driven direct current generator of master controller node, realizes course changing control, speed Control and implement lift respectively and controls;
Whole control communications carrier is CAN, follows CAN data communication protocol.
2. tiller intelligent mobile operation control system according to claim 1, is characterized in that: controller and the transceiver of described CAN adopt MCP2515 and MCP2551 respectively.
3. tiller intelligent mobile operation control system according to claim 1, is characterized in that: described master controller design of node adopts ARM1176ZJF-S kernel 32 bit processor, S3C6410 chip.
4. tiller intelligent mobile operation control system according to claim 1, is characterized in that: described electronic compass and gps receiver hardware adopt HMR3000 and Trimble5700 respectively.
5. tiller intelligent mobile operation control system according to claim 1, it is characterized in that: described function control unit comprises turning control cell, speed Control unit and tillage implement elevating control unit 3 parts, by microcontroller, transceiver MCP2515 and voltage conversion circuit composition, described voltage conversion circuit is powered to function Controlling vertex, driving device for step-by-step is used for driving the motor of topworks that tiller is completed and turns to, speed change, the lifting of mounting facility, the signal that high-speed photoelectric coupler is mainly used to isolation controller and CAN transceiver prevents level from disturbing, MCU selects P87C591, MCP2515 is as a kind of high-speed CAN transceiver of standard, it is the interface between CAN protocol controller and physical bus, for bus provides differential sending performance, for controller provides differential receptivity, realized the electrical isolation of each node in bus between microcontroller and transceiver MCP2515 by 6N137 high-speed photoelectric coupler, the two ends of bus connect the build-out resistor of 1 120 Ω respectively.
6. a tiller intelligent mobile operation control method, is characterized in that: comprise the following steps:
(1) first main control unit gathers GPS, electronic compass and angle sensor data;
(2) according to the path of current tracking, calculate the controlled quentity controlled variable of the turning to of tiller, speed and implement lift, information is sent to processor and carries out data processing and control decision;
(3) main control unit and function control unit are passed through CAN real-time reception data and send instruction;
(4) function control unit Real-time Collection site environment data send to main control unit and prepare at any time to receive steering order;
(5) topworks completes corresponding action according to Decision Control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510815122.0A CN105302029A (en) | 2015-11-18 | 2015-11-18 | Intelligent mobile operation control system and method for mini-tiller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510815122.0A CN105302029A (en) | 2015-11-18 | 2015-11-18 | Intelligent mobile operation control system and method for mini-tiller |
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| CN105302029A true CN105302029A (en) | 2016-02-03 |
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Citations (4)
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|---|---|---|---|---|
| CN102436225A (en) * | 2011-09-15 | 2012-05-02 | 西北农林科技大学 | Orchard machine navigation system |
| CN102880127A (en) * | 2012-09-10 | 2013-01-16 | 北京理工大学 | Bottom layer control system for unmanned ground mobile platform |
| CN103453933A (en) * | 2013-08-18 | 2013-12-18 | 吉林大学 | Agricultural machine working parameter integrated monitoring platform and using method thereof |
| CN104699089A (en) * | 2013-12-09 | 2015-06-10 | 刘晶 | Transplanting machine automatic control system based on CAN bus |
-
2015
- 2015-11-18 CN CN201510815122.0A patent/CN105302029A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436225A (en) * | 2011-09-15 | 2012-05-02 | 西北农林科技大学 | Orchard machine navigation system |
| CN102880127A (en) * | 2012-09-10 | 2013-01-16 | 北京理工大学 | Bottom layer control system for unmanned ground mobile platform |
| CN103453933A (en) * | 2013-08-18 | 2013-12-18 | 吉林大学 | Agricultural machine working parameter integrated monitoring platform and using method thereof |
| CN104699089A (en) * | 2013-12-09 | 2015-06-10 | 刘晶 | Transplanting machine automatic control system based on CAN bus |
Non-Patent Citations (1)
| Title |
|---|
| 陶建平 等: "基于CAN总线的温室大棚微耕机导航分布式控制***节点设计", 《江苏农业科学》 * |
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Application publication date: 20160203 |