Plug conveying positioning control system and method of automatic transplanting machine

Abstract

The invention provides a plug conveying positioning control system and method of an automatic transplanting machine, and relates to the field of agricultural machine automation. A plug position arriving sensor, a starting button, a stopping button, a micro increase button, a micro decrease button, a plug switching button, a manual button and an automatic button are used as input variables; a programmable controller is used as a control core, pulse frequency and a pulse number emitted by a control stepping motor driver of the programmable controller are used as output variables, a control stepping motor drives a chain drive mechanism, and therefore plug longitudinal feeding is realized, wherein the pulse frequency determines the rotating speed of the stepping motor, and the pulse number determines the rotating angle of the stepping motor; by using the algebraic sum of frequencies of pressing the micro increase button and the micro decrease button as a compensation quantity and through the algebraic sum of a theoretical pulse number and the compensation quantity, the precision is controlled when plugs arrive target seedling taking positions, plug positioning errors are eliminated, damage of inaccurate positioning to plug seedling bowl bodies is reduced, the transplanting efficiency of plug seedlings is improved, and the success rate of the plug seedlings is increased.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery automation, and in particular relates to a control system and method for tray conveying and positioning control of an automatic transplanting machine. Background technique [0002] Transplanting can shorten the growth process of crops, improve the disaster and drought resistance of crops, reduce the need for secondary replanting, increase the growth cycle of crops, and improve crop yield and quality. my country's transplanting machines have broad market prospects. The officially announced "2012-2014 Catalog of Agricultural Machinery Products Supported and Promoted by the State" shows that there are 27 varieties of transplanting machines and 12 companies included in the catalogue. Semi-automatic transplanting machines are the main ones, with low transplanting efficiency and heavy manual workload, so time-saving and labor-saving fully automatic transplanting is the main direction for t...

AI Technical Summary

Problems solved by technology

A conveying and positioning device and method for an automatic pot seedling transplanting machine, the conveying platform is fixedly installed on the conveying platform, the conveying platform is equipped with a seedling tray conveying guide device, and the seedling tray is placed on the conveying platform between the conveying guide rails In between, horizontal conveying chain devices are installed on both sides of the conveying platform. Several tray push plates are installed on the horizontal conveying chain, and a transmission chain device is installed on the outside of the conveying platform. When the servo motor drives the transmission chain to rotate for a circle, the horizontal conveying chain The tray push plate on the top moves a certain distance accordingly, so as to realize the positioning and transportation of the supply and seedling trays. It mainly relies on the servo motor to drive the tray to move a fixed distance. Overshoot and out-of-step may occur during long-distance transportation, resulting in inaccurate positioning.

An automatic transplanting machine fetching and feeding control system and its control method, the positioning of the tray depends on a pair of through-beam photoelectric sensors, and the position of the tray is determined by detecting the shell of the tray hole. Due to the complicated field environment, this non-contact The detection is easily affected by dust and light, resulting in unstable operation

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