Rice transplanter steering automatic lifting control system and control method based on geomagnetic principle

Abstract

The invention relates to a rice transplanter steering automatic lifting control system based on a geomagnetic principle, and the system comprises a geomagnetic sensor which is disposed on a frame of a rice transplanter, is used for detecting the steering angle of a vehicle body, and is connected with a transplanting part lifting controller through a CAN bus; the sensitivity adjusting knob is electrically connected with the transplanting part lifting controller and is used for setting a steering action triggering angle; the lifting motor is connected with the transplanting part lifting controller through a full-bridge circuit; the planting part lifting controller is used for receiving a steering angle signal of the geomagnetic sensor and controlling the positive and negative rotation of the lifting motor according to a trigger angle set by the sensitivity adjusting knob; and the intelligent instrument is communicated with the transplanting part lifting controller through a CAN (Controller Area Network) bus and displays the working state of the system in real time. The system is simple, easy to install, low in cost, wide in application scene and good in compatibility, is not only suitable for rice transplanters, but also can be popularized to other agricultural machines, realizes related automatic actions during steering, and has a good application effect and a good market prospect.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic control of rice transplanter, and particularly relates to a rice transplanter steering automatic lifting control system and method based on geomagnetic principle. BACKGROUND

[0002] In the process of agricultural mechanization operation, as a key equipment for rice planting, the operation efficiency and operation convenience of the rice transplanter are concerned. In the operation process of the rice transplanter, the rice seedlings need to be stopped to avoid damage during steering operation. The traditional rice transplanter relies on manual intervention to stop the rice seedlings and lift the planting part during the steering stage. This operation mode not only increases the burden of the operator, but also seriously restricts the continuity and efficiency of the rice seedling operation.

[0003] With the acceleration of global agricultural mechanization towards intelligentization and automation, the automatic lifting technology of the rice transplanter steering planting part has become the core technology for improving the operation efficiency and reducing the labor intensity. The technology has entered a mature development stage, and will continue to evolve towards lower cost, higher reliability and more intelligent decision-making in the future.

[0004] However, there are some problems in the automatic lifting system of the rice transplanter planting part in the current market. Most systems use a combination of front wheel steering angle sensors and rear wheel speed sensors to determine the body angle. This scheme has many drawbacks. On the one hand, the installation of the rear wheel speed sensor requires modification of the rear wheel transmission shaft, which cannot be installed directly, increasing the installation difficulty and cost. On the other hand, the working environment of the rice transplanter is harsh, and the wheel speed sensor is easily disturbed by metal elements in the mud, resulting in inaccurate measurement data. In addition, the software algorithm of the whole system is complex, and two sensors need to work together, which has large error accumulation, affecting the accuracy and stability of the system. At the same time, due to the involvement of various electrical components, the system cost is high, which is difficult to meet the market demand for low-cost solutions.

[0005] In view of the above problems, it is particularly necessary to develop a rice transplanter steering automatic lifting control system based on geomagnetic principle. SUMMARY

[0006] In view of the problems in the prior art, the application provides a rice transplanter steering automatic lifting control system and method based on geomagnetic principle. The structure is simplified, and the wheel speed sensor and the structure do not need to be installed, which has strong anti-interference ability and is not disturbed by external factors such as mud, reduces electrical components and reduces cost, and has advantages in other aspects.

[0007] The application is implemented as follows,

[0008] The application discloses a rice transplanter turning automatic lifting control system based on geomagnetic principle, which is characterized by comprising a geomagnetic sensor, which is installed at the middle axis position below the seat of the transplanter frame and used for detecting the turning angle of the vehicle body and connected with a transplanting part lifting controller through a CAN bus; a sensitivity adjusting knob, which is electrically connected with the transplanting part lifting controller and installed on the operation panel below the steering wheel and used for setting the turning action triggering angle; a lifting motor, which is installed beside the hydraulic lifting valve group and connected with the transplanting part lifting controller through a full-bridge circuit; and a transplanting part lifting controller, which is installed below the seat, used for receiving the turning angle signal of the geomagnetic sensor and controlling the forward and reverse rotation of the lifting motor according to the triggering angle set by the sensitivity adjusting knob; and an intelligent instrument, which is installed on the operation panel below the steering wheel, communicates with the transplanting part lifting controller through the CAN bus and displays the working state of the system in real time.

[0009] Further preferably, the geomagnetic sensor is composed of an LSM303AGRTR or LTM60 chip as a core and is configured with a three-dimensional magnetometer module, can detect the azimuth angle of the earth magnetic field relative to the geographic N pole in real time, and sends the angle change data at a frequency of 10-50 times per second through a CAN bus interface.

[0010] Further preferably, the sensitivity adjusting knob is of RK0971110D88 type.

[0011] Further preferably, the transplanting part lifting controller is of JCMC-38A-N type.

[0012] Further preferably, the intelligent instrument is of JCP700-070N type.

[0013] The application also provides a rice transplanter turning automatic lifting control method based on the geomagnetic principle.

[0014] System initialization: starting the rice transplanter turning automatic lifting control system, initializing the hardware devices, including the geomagnetic sensor, the sensitivity adjusting knob, the transplanting part lifting controller, the lifting motor and the intelligent instrument;

[0015] Sensitivity setting: setting the turning action triggering angle through the sensitivity adjusting knob, the setting range is 5-15°, and the knob adjusting step amount can be set to two modes of 0.5° or 1°;

[0016] Angle detection: the geomagnetic sensor installed on the frame of the rice transplanter is used for detecting the turning angle of the vehicle body in real time, the geomagnetic sensor adopts an LSM303AGRTR or LTM60 chip as a core and is configured with a three-dimensional magnetometer module, can detect the azimuth angle of the earth magnetic field relative to the geographic N pole, and sends the angle change data to the transplanting part lifting controller at a frequency of 10-50 times per second through a CAN bus;

[0017] Angle judgment and control execution:

[0018] The insertion part lifting controller compares the received real-time steering angle with the trigger angle set by the sensitivity adjustment knob:

[0019] When the real-time steering angle is greater than the set trigger angle, the insertion part lifting controller controls the lifting motor to reverse through the full-bridge circuit, driving the insertion part to rise;

[0020] When the real-time steering angle is not greater than the set trigger angle, the insertion part lifting controller controls the lifting motor to rotate forward through the full-bridge circuit, driving the insertion part to descend;

[0021] State display: the intelligent instrument receives the insertion part working state information sent by the insertion part lifting controller through the CAN bus, and displays the system working state in real time, including the current steering angle, the lifting motor working state and the insertion part height information;

[0022] Cyclic control: repeat steps 3 to 5 to realize real-time monitoring of the steering angle of the rice transplanter and automatic adjustment of the insertion part height.

[0023] Further preferably, in the angle judgment and control execution step, the built-in PID control algorithm module of the insertion part lifting controller dynamically adjusts the parameters according to the angle deviation value: when the angle deviation is greater than or equal to 3°, the proportional coefficient Kp increases by 20%-50%, and the integral time Ti is shortened to 0.5 times the reference value.

[0024] Further preferably, the built-in motor speed regulation module of the insertion part lifting controller outputs a PWM signal through a full-bridge drive circuit to control the speed of the lifting motor, and the speed is linearly and positively related to the angle deviation value, with an adjustment range of 5-100 rpm.

[0025] Further preferably, the built-in overload protection circuit of the insertion part lifting controller monitors the motor current in real time, and when the current continuously exceeds the rated value by 150% for 0.5 seconds, a hardware circuit protection is triggered and a fault code is generated and transmitted to the intelligent instrument.

[0026] Further preferably, in the state display step, the display interface of the intelligent instrument is dynamically associated with the real-time data of the insertion part lifting controller, including the set angle value, the real-time angle value, the motor working state indicator light and the fault code display area; the intelligent instrument visualizes the deviation between the body steering angle and the set angle through the liquid crystal screen, and prompts the system fault through the alarm indicator light.

[0027] The application has the advantages and technical effects that the rice transplanter steering automatic lifting control system based on the geomagnetic principle has the following significant technical effects:

[0028] Cost advantage: only use geomagnetic sensor, abandon the traditional two wheel speed sensor and front wheel angle sensor, greatly reduce the number of sensors, effectively reduce the system cost.

[0029] Convenient installation: the geomagnetic sensor can be directly installed on the vehicle body, without the need to modify the rear wheel transmission structure, simplify the installation process, and improve the installation efficiency.

[0030] High protection performance: the geomagnetic sensor is sealed with potting glue inside, and the shell is made of metal material, which has high protection level, impact resistance and vibration resistance characteristics, and is equipped with magnetic field interference calibration method, to ensure stable and reliable operation in the harsh environment of rice transplanter vibration, rain and mud splashing.

[0031] Software simplification and real-time improvement: the geomagnetic sensor directly feedbacks angle information, without the need of multi-sensor combination algorithm, simplifies software design, accelerates data processing and response speed, and improves system real-time performance.

[0032] In summary, the system of the present application is simple, easy to install, low cost, widely applicable and good compatibility, not only suitable for rice transplanter, but also can be popularized to other agricultural machinery, realizing related automatic action during steering, with good application effect and market prospect. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is the system block diagram of the present application;

[0034] Figure 2 is the control logic diagram of the present application;

[0035] Figure 3 is the installation position schematic diagram of the present application;

[0036] Figure 4 is the insertion and planting part lifting controller logic block diagram of the present application;

[0037] Figure 5 is the intelligent instrument control logic block diagram of the present application.

[0038] In the figure, 1 is a geomagnetic sensor; 2 is a sensitivity adjusting knob; 3 is an insertion and planting part lifting controller; 4 is an intelligent instrument; 5 is a lifting motor. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the present application will be further described in detail below combined with examples. It should be understood that the specific examples described here are only used to explain the present application, and are not used to limit the present application.

[0040] Please refer to Figures 1 to 3The application discloses a rice transplanter steering automatic lifting control system based on a geomagnetic principle, and relates to the technical field of rice transplanter control systems.

[0041] A sensitivity adjusting knob 2 is arranged on an operation panel below the steering wheel and is electrically connected with the transplanting part lifting controller and is used for setting a steering action triggering angle; the sensitivity adjusting knob adopts an RK0971110D88 which is provided with a middle adjustable potentiometer; the adjusting angle setting range is 5-15 degrees, and the knob adjusting step amount can be set in two modes of 0.5 degrees or 1 degree. The multi-gear design allows a user to flexibly adjust the triggering threshold according to different field conditions (such as mud foot depth and turning radius), the 0.5-degree or 1-degree step amount can realize fine adjustment, and the digital encoder anti-wear characteristics prolong the service life of the knob and reduce the parameter drift risk in long-term use;

[0042] A lifting motor 5 is arranged on a hydraulic lifting valve and is connected with the transplanting part lifting controller through a full-bridge circuit; the full-bridge circuit is compact in structure and high in efficiency, the soft start function can reduce the motor starting current peak value, and the service life of the motor and the controller is prolonged. The reverse electromotive force absorption circuit effectively inhibits voltage spikes, avoids power tube breakdown, and improves the reliability of the system under frequent start-stop working conditions;

[0043] The transplanting part lifting controller 3 is arranged below the seat and is used for receiving the steering angle signal of the geomagnetic sensor and controlling the forward and reverse rotation of the lifting motor according to the triggering angle set by the sensitivity adjusting knob; the model of the transplanting part lifting controller is JCMC-38A-N or other controllers with equivalent functions; the built-in microprocessor takes a CortexM4 core as the core, collects the geomagnetic sensor signal and the sensitivity adjusting knob signal, controls the motor rotation through an H-bridge driving circuit, and communicates with the intelligent instrument through a CAN bus, and the specific controller block diagram is shown in Figure 4The special controller integrated design reduces the complexity of external circuit, the controller can dynamically adjust the control parameters to adapt to different load conditions, and ensures that the transplanting part is lifted smoothly.

[0044] The intelligent instrument 4 is installed on the operation panel below the steering wheel, communicates with the transplanting part lifting controller through the CAN bus, and displays the system working state in real time. The model of the intelligent instrument is JCP700-070N or other intelligent instruments with the same function, the microprocessor takes Cortex A7 core as the core, collects switch quantity, analog quantity and frequency quantity, communicates with the lifting controller through the CAN bus, displays the real-time data and fault information of the lifting controller on the liquid crystal screen, and sets parameters through the function button switching display interface, and the specific see the controller block diagram, please refer to Figure 5 ; The liquid crystal screen displays the system state, including the steering angle, the motor working state, the transplanting part height and the fault code. It receives the controller data through the CAN bus and has an alarm indicator light prompting function. The visual interface of the liquid crystal screen enables the operator to intuitively monitor the system running state, and the fault code display function shortens the fault troubleshooting time. The alarm indicator light timely reminds when the system is abnormal, avoids the interruption of work caused by equipment failure, and improves the overall work efficiency.

[0045] The application also provides a rice transplanter steering automatic lifting control method based on the geomagnetic principle, which is characterized by comprising the following steps:

[0046] System initialization: starting the rice transplanter steering automatic lifting control system, initializing the hardware devices including the geomagnetic sensor, the sensitivity adjusting knob, the transplanting part lifting controller, the lifting motor and the intelligent instrument; the system initialization process ensures that each hardware module is in a normal working state, avoids control errors caused by hardware failure; the zero position calibration function eliminates the installation deviation of the sensor, improves the reference accuracy of angle detection, and provides a reliable data basis for subsequent control;

[0047] Sensitivity setting: the steering action trigger angle is set through the sensitivity adjusting knob, the setting range is 5°-15°, and the knob adjusting step size can be set to two modes of 0.5° or 1°; the user sets the trigger angle by rotating the sensitivity knob, and the controller converts the analog signal into a digital signal and stores it in the built-in non-volatile memory; the set value can be retained after power failure, avoiding the need to reconfigure each time the system is started. The non-volatile memory design simplifies the user operation process and improves the use convenience.

[0048] Angle detection: Real-time detection of the turning angle of the vehicle body by a geomagnetic sensor installed on the rice transplanter frame. The sensor uses LSM303AGRTR or LTM60 chip as the core, with a three-dimensional magnetometer module, capable of detecting the azimuth angle of the earth's magnetic field relative to the geographic N pole, and sending angle change data to the transplanting section lifting controller at a frequency of 10-50 times per second through CAN bus.

[0049] Angle judgment and control execution:

[0050] The transplanting section lifting controller compares the received real-time turning angle with the trigger angle set by the sensitivity adjustment knob:

[0051] When the real-time turning angle is greater than the set trigger angle, the transplanting section lifting controller controls the lifting motor to reverse through the full-bridge circuit, driving the transplanting section to rise;

[0052] When the real-time turning angle is not greater than the set trigger angle, the transplanting section lifting controller controls the lifting motor to rotate forward through the full-bridge circuit, driving the transplanting section to descend; The PID algorithm module built-in in the transplanting section lifting controller dynamically adjusts the proportional coefficient Kp and the integral time Ti according to the angle deviation; The dynamic parameter adjustment of the PID algorithm enables the system to respond quickly in different deviation ranges, avoiding the overshoot or oscillation problem under traditional fixed parameter control; The motor forward and reverse control logic meets the actual needs of the rice transplanter turning, ensuring the synchronization of the transplanting section height and the turning action.

[0053] State display: The intelligent instrument receives the working state information of the transplanting section sent by the transplanting section lifting controller through CAN bus, and displays the system working state in real time, including the current turning angle, lifting motor working state and transplanting section height information; The visual interface and alarm function enable the operator to master the system running state in real time and handle abnormal situations in time. The angle deviation display function assists users in adjusting the sensitivity setting, optimizing the system control effect and improving the operation quality;

[0054] Cyclic control: Repeat steps 3 to 5 to realize real-time monitoring of the turning angle of the rice transplanter and automatic adjustment of the height of the transplanting section; The closed-loop control structure ensures the continuous tracking and response of the system to the turning action, avoiding the cumulative error problem under open-loop control. The automatic adjustment function reduces manual intervention, improving the automation and efficiency of the rice transplanting operation.

[0055] Further preferably, in the angle judgment and control execution step, the PID control algorithm module built-in in the transplanting section lifting controller dynamically adjusts the parameters according to the angle deviation value: a) The PID control algorithm module, the proportional coefficient Kp and the integral time Ti are dynamically adjusted according to the absolute value of the angle deviation value, when the angle deviation is ≥3°, Kp increases by 20%-50%, Ti is shortened to 0.5 times the reference value.

[0056] Further preferably, the built-in motor speed regulation module of the transplanting part lifting controller outputs a PWM signal through a full-bridge driving circuit to control the lifting motor speed, the speed is linearly and positively correlated with the angle deviation value, and the adjustment range is 5-100 rpm.

[0057] Further preferably, the built-in overload protection circuit of the transplanting part lifting controller monitors the motor current in real time, and when the current continuously exceeds 150% of the rated value for 0.5 seconds, triggers the hardware circuit protection and generates a fault code to be transmitted to the intelligent instrument.

[0058] Further preferably, in the state display step, the display interface of the intelligent instrument is dynamically associated with the real-time data of the transplanting part lifting controller, including the set angle value, the real-time angle value, the motor working state indicator light, and the fault code display area; the intelligent instrument visualizes the deviation of the vehicle body turning angle and the set angle through the liquid crystal screen, and prompts the system failure through the alarm indicator light.

[0059] The working principle of the present application is as follows: the present application detects the vehicle body turning angle based on the geomagnetic sensor, and realizes the automatic adjustment of the transplanting part height through the transplanting part lifting controller. The geomagnetic sensor utilizes the earth magnetic field azimuth detection technology to provide high-precision turning angle data, avoiding the wear and error problems of traditional mechanical sensors. The combination of the sensitivity adjustment knob and the PID control algorithm enables the system to adapt to the control requirements under different operating conditions, ensuring the stability and timeliness of the lifting action. The full-bridge circuit and the motor speed regulation module realize the efficient driving and speed regulation of the motor, and the overload protection circuit improves the system safety. The visual display and alarm function of the intelligent instrument simplify the operation process and reduce the difficulty of fault handling. Overall, the present application realizes the precise automatic adjustment of the transplanting part height during the turning of the rice transplanter through the integration of geomagnetic detection, closed-loop control and intelligent display technology, improves the operating efficiency and quality, reduces the labor intensity, and has significant economic and social benefits.

[0060] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic lifting and steering control system for a rice transplanter based on the principle of geomagnetism, characterized in that, include: A geomagnetic sensor (1) is installed on the center axis below the seat of the rice transplanter frame to detect the vehicle's steering angle and is connected to the planting section lifting controller (3) via a CAN bus. A sensitivity adjustment knob (2) is electrically connected to the planting section lifting controller (3) and is installed on the operation panel below the steering wheel to set the steering action trigger angle. A lifting motor (5) is installed next to the hydraulic lifting valve assembly and is connected to the planting section lifting controller (3) via a full-bridge circuit. The planting section lifting controller (3) is installed below the seat and is used to receive the steering angle signal from the geomagnetic sensor (1) and control the forward and reverse rotation of the lifting motor (5) according to the trigger angle set by the sensitivity adjustment knob (2). The intelligent instrument (4) is installed on the operation panel below the steering wheel and communicates with the insertion unit lifting controller (3) via CAN bus to display the system working status in real time.

2. The automatic lifting and steering control system for a rice transplanter based on the principle of geomagnetism according to claim 1, characterized in that, The geomagnetic sensor (1) is based on an LSM303AGRTR or LTM60 chip and is equipped with a three-dimensional magnetometer module. It can detect the azimuth angle of the Earth's magnetic field relative to the geographic N pole in real time and send angle change data at a frequency of 10-50 times per second through the CAN bus interface.

3. The automatic lifting and steering control system for a rice transplanter based on the principle of geomagnetism according to claim 1, characterized in that, The sensitivity adjustment knob (2) is model RK0971110D88.

4. The automatic lifting and steering control system for a rice transplanter based on the principle of geomagnetism according to claim 1, characterized in that, The model of the lifting controller (3) for the insertion part is JCMC-38A-N.

5. The automatic lifting and steering control system for a rice transplanter based on the principle of geomagnetism according to claim 1, characterized in that, The model number of the intelligent instrument (4) is JCP700-070N.

6. A control method for an automatic lifting and steering control system for a rice transplanter based on the geomagnetic principle, as described in any one of claims 1 to 5, characterized in that, Includes the following steps: System initialization: Start the automatic lifting control system of the rice transplanter and initialize the hardware, including the geomagnetic sensor, sensitivity adjustment knob, planting section lifting controller, lifting motor and intelligent instrument; Sensitivity setting: The steering action trigger angle can be set by adjusting the sensitivity knob. The setting range is 5°-15°. The knob adjustment step can be set to 0.5° or 1°. Angle detection: The geomagnetic sensor installed on the frame of the rice transplanter is used to detect the turning angle of the vehicle body in real time. The geomagnetic sensor uses the LSM303AGRTR or LTM60 chip as the core and is equipped with a three-dimensional magnetometer module. It can detect the azimuth angle of the Earth's magnetic field relative to the geographic N pole and send the angle change data to the transplanting unit lifting controller at a frequency of 10-50 times per second via the CAN bus. Angle judgment and control execution: The insertion unit lifting controller compares the received real-time steering angle with the trigger angle set by the sensitivity adjustment knob: When the real-time steering angle is greater than the set trigger angle, the insertion unit lifting controller controls the lifting motor to reverse through the full-bridge circuit, driving the insertion unit to rise. When the real-time steering angle is not greater than the set trigger angle, the insertion unit lifting controller controls the lifting motor to rotate forward through the full-bridge circuit, driving the insertion unit to descend. Status display: The intelligent instrument receives the working status information of the insertion unit sent by the lifting controller of the insertion unit through the CAN bus, and displays the system working status in real time, including the current steering angle, the working status of the lifting motor and the height information of the insertion unit. Cyclic control: Repeat steps 3 to 5 to achieve real-time monitoring of the rice transplanter's steering angle and automatic adjustment of the planting height.

7. The automatic lifting and steering control method for a rice transplanter based on the principle of geomagnetism according to claim 6, characterized in that, In the angle judgment and control execution steps, the built-in PID control algorithm module of the insertion part lifting controller dynamically adjusts the parameters according to the angle deviation value: when the angle deviation is ≥3°, the proportional coefficient Kp increases by 20%-50%, and the integral time Ti is shortened to 0.5 times the reference value.

8. The automatic lifting and steering control method for a rice transplanter based on the principle of geomagnetism according to claim 6, characterized in that, The built-in motor speed control module of the insertion section lifting controller controls the speed of the lifting motor by outputting a PWM signal through the full-bridge drive circuit. The speed is linearly positively correlated with the angle deviation value, and the adjustment range is 5-100 rpm.

9. The automatic lifting and steering control method for a rice transplanter based on the principle of geomagnetism according to claim 6, characterized in that, The built-in overload protection circuit of the insertion unit lifting controller monitors the motor current in real time. When the current exceeds 150% of the rated value for 0.5 seconds, it triggers hardware circuit breaker protection and generates a fault code that is transmitted to the smart instrument.

10. The automatic lifting and steering control method for a rice transplanter based on the principle of geomagnetism according to claim 6, characterized in that, In the status display step, the display interface of the intelligent instrument dynamically associates with the real-time data of the insertion unit lifting controller, including the set angle value, real-time angle value, motor working status indicator, and fault code display area; the intelligent instrument visualizes the deviation between the vehicle body steering angle and the set angle through the LCD screen, and prompts system faults through the alarm indicator.

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