Fertilizer applicator servo control system based on CAN bus control

Abstract

The invention discloses a fertilizer applicator servo control system based on CAN bus control, and relates to the technical field of fertilizer applications.The fertilizer applicator servo control system comprises a control center, the control center is in communication connection with a sensor module, a CAN communication module, an analysis module, a motor control module, an anti-interference and protection module and a mechanical execution module, and all the modules are in electric signal connection. The sensor module is used for collecting environment data and operation data of the fertilizer applicator and transmitting the data to the control center through a CAN bus. Environmental data such as soil fertility, humidity and temperature are collected in real time, the fertilizer application amount is dynamically adjusted in combination with the operation state of the fertilizer applicator, the target fertilizer application amount of each area is calculated through the analysis module, the motor control module adjusts the rotating speed of the motor and the opening degree of the outer grooved wheel according to the data, and the accuracy of the fertilizer application amount is ensured; the precise fertilization mode not only improves the utilization rate of the fertilizer, reduces the waste of the chemical fertilizer, but also reduces the pollution to the environment.

Description

Technical Field

[0001] The invention relates to the technical field of fertilizer spreaders, and in particular to a fertilizer spreader servo control system based on CAN bus control. Background Art

[0002] With the advancement of science and technology and the promotion of agricultural modernization, modern agriculture is developing in the direction of precision agriculture and smart agriculture. Precision agriculture emphasizes accurate farming operations and management based on the actual conditions of the farmland, such as soil nutrients, crop growth conditions, etc. This requires agricultural machinery to have a high level of informatization and intelligence, and modern agricultural machinery is developing in the direction of intelligence and integration. The application of CAN bus technology in agricultural machinery can realize communication and collaborative work among multiple devices. The fertilizer spreader integrated through the CAN bus can be seamlessly connected with the tractor's automatic driving system, soil sensors and other equipment to realize automated operations.

[0003] In a complex agricultural environment, sensors are affected by factors such as temperature, humidity, and soil pH, which leads to decreased sensor accuracy and measurement data deviation, thus affecting the precise calculation of the amount of fertilizer applied. When the fertilizer spreader is operating in complex terrain or severe weather conditions, the CAN bus will be affected by electromagnetic interference, space interference, or power supply fluctuations, causing interference or attenuation of the CAN bus signal, which will not only cause errors or losses during signal transmission, but also cause data packet damage and retransmission, thereby affecting the accuracy and stability of the system. Therefore, how to reduce interference to the CAN bus and improve the accuracy and stability of the system is the problem we need to solve now. Summary of the invention

[0004] The object of the present invention is to provide a servo control system for a fertilizer spreader based on CAN bus control to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A fertilizer spreader servo control system based on CAN bus control includes a control center, wherein the control center is communicatively connected with a sensor module, a CAN communication module, an analysis module, a motor control module, an anti-interference and protection module, and a mechanical execution module, wherein electrical signals are connected between the modules; The sensor module is used to collect environmental data and operating data of the fertilizer spreader, and transmit the data to the control center through the CAN bus; the operating status information includes motor speed, fertilizer shaft position, etc., and the environmental data includes soil moisture, pH, temperature, and crop growth status, etc.; The CAN communication module is used to convert the digital signal output by the control center into a differential signal transmitted on the CAN bus, and at the same time convert the differential signal on the CAN bus into a digital signal for reception by the control center, as well as data communication between modules, including the issuance of control instructions and the upload of status information; The analysis module is used to pre-process and analyze the collected operation data and environmental data, and extract interference features, which are operation status interference features and environmental information interference features, analyze the operation data of the fertilizer spreader and the causes of abnormal conditions, including the amount of fertilizer, the time of fertilizer application, and the speed of fertilizer application, and generate corresponding control instructions; The anti-interference and protection module is used to monitor the communication status of the CAN communication module and the abnormal conditions of the sensor module, and take corresponding protection measures in combination with the control instructions of the analysis module to reduce the impact of electromagnetic interference on the CAN bus and sensor signals; The motor control module is used to receive control instructions from the analysis module and adjust the fertilizer discharge amount of the fertilizer spreader, including the start, stop, speed adjustment, and steering control of the motor to achieve variable fertilization. It adopts a closed-loop control method to monitor the motor's speed, position and other parameters in real time, compare them with the preset target values, and adjust the motor's input voltage or current according to the comparison result to achieve precise speed and position control; The mechanical execution module is used to receive instructions from the motor control module to enable the mechanical device to perform corresponding actions, such as rotation of the fertilizer discharge shaft, to achieve specific execution of the fertilization operation.

[0006] A further improvement of the technical solution of the present invention is that in the sensor module, the process of acquiring environmental data and fertilizer application machine operation data is as follows: According to the application scenario of the fertilizer spreader, select the corresponding sensor and deploy the sensor on the fertilizer spreader and in the working environment, including real-time collection of environmental data and operation data of the fertilizer spreader, where environmental data includes soil data and meteorological data, and operation data of the fertilizer spreader includes fertilizer movement status data and fertilizer status data; for example, use soil parameter sensors to detect soil nutrient content, humidity, temperature, pH and other parameters to provide basic data for determining the reasonable amount and type of fertilizer; use level meter sensors to monitor the height of fertilizer in the fertilizer box in real time and feedback fertilizer remaining information; use speed sensors to measure the travel speed of the fertilizer spreader to provide key data for calculating the amount of fertilizer per unit area; The collected environmental data and fertilizer application machine status information are encapsulated into data frames and transmitted to the control center via the CAN bus, and a database is established for storage; Classify the stored environmental information and fertilizer spreader operation data, obtain the feature sequence list, and establish a data backup mechanism.

[0007] A further improvement of the technical solution of the present invention is that in the CAN communication module, the process of signal conversion is: Receive the digital signal output by the control center, and use the differential signal converter to convert the received digital signal into a differential signal. The differential signal is represented by the voltage difference between CAN_H and CAN_L, and has a high anti-interference ability. The converted differential signal is output to the CAN bus; The differential signal on the CAN bus is captured and converted into a digital signal using a digital signal converter. The conversion process involves decoding and reconstructing the differential signal to restore the original digital signal. The converted digital signal is output to the control center, which receives and processes the digital signal to perform corresponding control operations and data processing tasks.

[0008] A further improvement of the technical solution of the present invention is that in the analysis module, the process of extracting interference features is as follows: Perform data cleaning and data standardization on the collected environmental data and fertilizer application machine operation data to remove noise, outliers and redundant information; Based on the pre-processed operation data, feature analysis and extraction are performed for the fertilizer amount, fertilizer time and fertilizer speed, and the interference characteristics of the operation status are obtained. The movement status of the fertilizer spreader, such as acceleration and vibration, is analyzed to determine whether there are abnormalities and identify abnormal conditions of the fertilizer spreader, such as the fertilizer spreader not discharging fertilizer, uneven fertilizer discharge, inconsistent fertilizer depth, etc. Based on the pre-processed environmental data, feature analysis and extraction are performed on soil data and meteorological data to obtain environmental information interference features, analyze the relationship between environmental information and the operating status of the fertilizer spreader, and the degree of interference of environmental information interference features on the operating status of the fertilizer spreader, such as extreme weather, changes in soil conditions, etc. Based on soil data and crop growth stage, and combined with the fertilization speed and time of the fertilizer spreader, corresponding control instructions are generated to dynamically adjust the amount of fertilizer applied.

[0009] A further improvement of the technical solution of the present invention is that the process of dynamically adjusting the amount of fertilizer applied is: Based on the pre-processed operating data and environmental data, determine the soil nutrient requirement table of crops at each growth stage and calculate the amount of fertilizer to be applied in each area; According to the movement status of the fertilizer spreader and combined with environmental data and operation data, a fertilizer application prediction model is established to calculate the required fertilizer application amount under the current operating conditions; Compare the current fertilizer application amount of the fertilizer applicator with the calculated required fertilizer application amount, and calculate the difference between the two. If the actual fertilizer application amount is less than the required fertilizer application amount, the fertilizer application amount needs to be increased; otherwise, the fertilizer application amount needs to be reduced; According to the difference in fertilizer application amount, corresponding control instructions are generated to dynamically adjust the fertilizer application amount.

[0010] A further improvement of the technical solution of the present invention is that in the anti-interference and protection module, the process of taking corresponding protection measures is: Real-time monitoring of the communication status of the CAN bus, including communication rate, communication quality, and number of error frames, analysis of the integrity and timing characteristics of the communication status, and identification of abnormal conditions in CAN communication; Receive data from the sensor module, identify the operation data of the fertilizer spreader and the abnormal situation, and obtain the environmental information analysis index and the motion state analysis index by combining the extracted operation state interference characteristics and environmental information interference characteristics; Based on the acquired environmental information analysis index and motion status analysis index, combined with the CAN communication status, the system faults and interferences are judged, and the judgment results are output to automatically identify and classify abnormal situations; Based on the judgment results, corresponding control instructions are generated and corresponding protection measures are taken, including power protection, signal protection, communication recovery and sensor isolation.

[0011] A further improvement of the technical solution of the present invention is that the calculation formula of the environmental information analysis index is: ; Among them, EI is the environmental information analysis index, is the actual ambient temperature, is the standard value of ambient temperature, is the actual soil moisture, is the standard value of soil moisture, is the actual soil moisture content, is the standard value of soil moisture content, is the extreme weather index, is the extreme weather impact function; The calculation formula of the motion state analysis index is: ; Among them, MAI is the motion analysis index, is the actual acceleration, is the standard value of acceleration, is the actual vibration speed, is the standard value of vibration velocity, is the actual pressure change, is the standard value of pressure change, is the motion trajectory deviation, is the motion trajectory deviation influence function.

[0012] A further improvement of the technical solution of the present invention is that the process of automatically identifying and classifying abnormal situations is as follows: Based on the preprocessed environmental data and operating data and combined with the extracted operating state interference features and environmental information interference features, the environmental information analysis index and the motion state analysis index are calculated respectively; Based on the acquired environmental information analysis index and motion state analysis index, analyzing the correlation degree between the abnormal situation and the environmental information analysis index and the motion state analysis index; Different weights are assigned to the environmental information analysis index and the motion state analysis index, and the two indexes are weightedly calculated to obtain the abnormal state analysis coefficient; According to the communication status of the CAN bus, analyze whether the communication quality is good and whether the number of error frames is within the normal range, combine the abnormal state analysis coefficient with the CAN communication status for comprehensive judgment, and output the judgment result; According to the judgment results, abnormal situations are automatically identified and classified; The calculation formula of the abnormal state analysis coefficient is: ; Among them, ASC is the abnormal state analysis coefficient, is the weight of the environmental information analysis index, is the weight of the motion state analysis index, EAI is the environmental information analysis index, is the benchmark value of the environmental information analysis index, MAI is the motion state analysis index, It is the baseline value of the sports status analysis index.

[0013] A further improvement of the technical solution of the present invention is that: in the motor control module, the process of implementing variable fertilization is: Receive the control instructions from the analysis module and parse them to extract the control parameters of the motor, including starting and stopping the motor and adjusting the motor power supply frequency; Based on the pre-processed operation data and environmental information analysis index, determine the amount of fertilizer to be applied in each area, adjust the speed and direction of the motor, and control the fertilizer shaft of the fertilizer spreader and the speed and working length of the fertilizer spreader to change the amount of fertilizer applied; Monitor the travel speed of the fertilizer spreader in real time, and adjust the motor speed in real time based on the movement status analysis index of the fertilizer spreader.

[0014] A further improvement of the technical solution of the present invention is that: in the mechanical execution module, the process of executing the corresponding action is: Establish communication connection with the motor control module through CAN bus and receive command data frames sent by the motor control module in real time; Parse the command data frame to obtain the command information and perform motion planning, including determining the motion trajectory, velocity curve, acceleration curve, and assigning the motion planning to the corresponding actuators, such as motors, hydraulic cylinders, etc. The assignment process includes determining the type, quantity, motion direction, motion speed, etc. of the actuators; During the actuator operation, the sensor module monitors the movement status of the fertilizer spreader in real time, and cooperates with the control center to make real-time adjustments and optimizations to ensure that the mechanical device can move accurately according to the planned motion trajectory.

[0015] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art: The present invention provides a servo control system for a fertilizer spreader based on CAN bus control. By real-time collection of environmental data such as soil fertility, humidity, temperature, etc., combined with the operating status of the fertilizer spreader, the amount of fertilizer applied is dynamically adjusted. The system uses a sensor module to obtain accurate soil nutrient requirements, and calculates the target amount of fertilizer applied in each area through an analysis module. The motor control module adjusts the motor speed and the outer groove wheel opening according to these data to ensure the accuracy of the amount of fertilizer applied. This precise fertilization method not only improves the utilization rate of fertilizers, reduces fertilizer waste, but also reduces pollution to the environment.

[0016] The present invention provides a fertilizer spreader servo control system based on CAN bus control, which adopts CAN bus communication technology to effectively deal with electromagnetic interference, signal attenuation and other problems in complex agricultural environments. The anti-interference and protection module monitors the CAN communication status and abnormal conditions of the sensor module in real time, and adopts power protection, signal protection, communication recovery and sensor isolation measures in combination with the control instructions of the analysis module, thereby ensuring the stable operation of the system, reducing the downtime caused by faults, and improving the continuity and reliability of fertilization operations.

[0017] The present invention provides a servo control system for a fertilizer spreader based on CAN bus control. Through data collection, preprocessing and analysis, a complete fertilization data chain is established. The calculation of the environmental information analysis index and the motion state analysis index, combined with the dynamic adjustment of the abnormal state analysis coefficient, provides data support for the intelligent management of the fertilizer spreader. The system can dynamically adjust the fertilization strategy according to the crop growth stage, soil conditions and real-time environmental data, which not only improves the accuracy of fertilization, but also provides strong support for the refined management of agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a module diagram of the present invention; Figure 2 is a flow chart of the interference feature extraction process of the present invention; Figure 3 A flow chart of dynamically adjusting the amount of fertilizer applied according to the present invention; Figure 4 Flow chart of taking corresponding protection measures for the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Embodiment 1, as Figures 1 to 4 As shown, the present invention provides a fertilizer spreader servo control system based on CAN bus control, including a control center, the control center is communicatively connected with a sensor module, a CAN communication module, an analysis module, a motor control module, an anti-interference and protection module and a mechanical execution module, wherein the modules are connected by electrical signals; The sensor module is used to collect environmental data and operating data of the fertilizer spreader, and transmit the data to the control center through the CAN bus. The operating status information includes motor speed, fertilizer discharge shaft position, etc., and the environmental data includes soil moisture, pH, temperature, and crop growth status. The acquisition process of environmental data and fertilizer spreader operating data is as follows: according to the application scenario of the fertilizer spreader, the corresponding sensor is selected, and the sensor is deployed on the fertilizer spreader and in the working environment, including real-time collection of environmental data and operating data of the fertilizer spreader, wherein the environmental data includes soil data and meteorological data, and the operating data of the fertilizer spreader includes fertilizer motion status data and fertilizer status data. ; For example, soil parameter sensors are used to detect soil nutrient content, humidity, temperature, pH and other parameters to provide basic data for determining the appropriate amount and type of fertilizer to be applied; level meter sensors are used to monitor the height of fertilizer in the fertilizer box in real time and provide feedback on the remaining fertilizer amount; speed sensors are used to measure the speed of the fertilizer spreader to provide key data for calculating the amount of fertilizer applied per unit area; the collected environmental data and fertilizer spreader status information are encapsulated into data frames and transmitted to the control center via the CAN bus; a database is established for storage, the stored environmental information and fertilizer spreader operation data are classified, a feature sequence table is obtained, and a data backup mechanism is established; CAN communication module, used to convert the digital signal output by the control center into a differential signal transmitted on the CAN bus, and at the same time convert the differential signal on the CAN bus into a digital signal for reception by the control center, as well as data communication between modules, including the issuance of control instructions and the upload of status information; the signal conversion process is: receiving the digital signal output by the control center, using a differential signal converter to convert the received digital signal into a differential signal, the differential signal is represented by the voltage difference between CAN_H and CAN_L, and has a high anti-interference ability, the converted differential signal is output to the CAN bus, the differential signal on the CAN bus is captured, and the received differential signal is converted into a digital signal using a digital signal converter, the conversion process involves decoding and reconstruction of the differential signal to restore the original digital signal, the converted digital signal is output to the control center, the control center receives and processes the digital signal to perform corresponding control operations and data processing tasks; The analysis module is used to preprocess and analyze the collected operation data and environmental data, and extract interference features, which are operation status interference features and environmental information interference features, analyze the operation data of the fertilizer spreader and the causes of abnormal conditions, including fertilizer amount, fertilizer time, and fertilizer speed, and generate corresponding control instructions; the interference feature extraction process is: data cleaning and data standardization of the collected environmental data and the operation data of the fertilizer spreader to remove noise, abnormal values ​​and redundant information, based on the preprocessed operation data, feature analysis and extraction are performed on the fertilizer amount, fertilizer time and fertilizer speed, respectively, to obtain the operation status interference features, analyze the movement state of the fertilizer spreader, such as acceleration, vibration, etc., to determine whether there are abnormalities, and identify abnormal conditions of the fertilizer spreader, such as the fertilizer spreader not discharging fertilizer, uneven fertilizer discharge, inconsistent fertilizer depth, etc. Based on the preprocessed environmental data, feature analysis and extraction are performed on the soil data and meteorological data, respectively, to obtain the environmental information interference features, analyze the relationship between the environmental information and the operation state of the fertilizer spreader and the degree of interference of the environmental information interference features on the operation state of the fertilizer spreader. , such as extreme weather, changes in soil conditions, etc., according to soil data and crop growth stage, combined with the fertilization speed and fertilization time of the fertilizer spreader, generate corresponding control instructions, dynamically adjust the amount of fertilizer, such as adjusting the amount of fertilizer, changing the fertilization speed, adjusting the movement trajectory of the fertilizer spreader, etc., to correct abnormal conditions. According to soil data and meteorological data, the analysis module can further optimize the fertilization strategy, such as adjusting the fertilization time, choosing a more appropriate fertilization method, etc., to improve the fertilization effect and crop yield; The process of dynamically adjusting the amount of fertilizer is: based on the preprocessed operation data and Environmental data, determine the soil nutrient requirement table of crops at various growth stages, calculate the amount of fertilizer to be applied in each area, establish a fertilizer amount prediction model based on the movement state of the fertilizer spreader and combined with environmental data and operation data, calculate the required amount of fertilizer under the current operating conditions, compare the current amount of fertilizer applied by the fertilizer spreader with the calculated required amount of fertilizer, and calculate the difference between the two. If the actual amount of fertilizer applied is less than the required amount of fertilizer applied, the amount of fertilizer applied needs to be increased; otherwise, the amount of fertilizer applied needs to be reduced. Based on the difference in the amount of fertilizer applied, the corresponding control instructions are generated to dynamically adjust the amount of fertilizer applied; The anti-interference and protection module is used to monitor the communication status of the CAN communication module and the abnormal conditions of the sensor module, and take corresponding protection measures in combination with the control instructions of the analysis module to reduce the impact of electromagnetic interference on the CAN bus and sensor signals; the process of taking corresponding protection measures is: real-time monitoring of the communication status of the CAN bus, including communication rate, communication quality, and number of error frames, analyzing the integrity and timing characteristics of the communication status, judging the abnormal conditions in the CAN communication, receiving data from the sensor module, identifying the operation data of the fertilizer spreader and the abnormal conditions, and combining the extracted operation status interference characteristics and environmental information interference characteristics to obtain the environmental information analysis index and the motion state analysis index, based on the obtained environmental information analysis index and the motion state analysis index, combined with the CAN communication status, judging the faults and interferences in the system, and outputting the judgment results, automatically identifying and classifying the abnormal conditions, generating corresponding control instructions according to the judgment results, and taking corresponding protection measures, including power protection, signal protection, communication recovery, and sensor isolation; The motor control module is used to receive control instructions from the analysis module and adjust the fertilizer discharge amount of the fertilizer spreader, including the start, stop, speed adjustment, and steering control of the motor to achieve variable fertilization. It adopts a closed-loop control method, monitors the speed, position and other parameters of the motor in real time, compares them with the preset target values, and adjusts the input voltage or current of the motor according to the comparison results to achieve precise speed and position control; the process of achieving variable fertilization is: receiving the control instructions of the analysis module and parsing them, extracting the control parameters of the motor, including the start and stop of the motor and adjusting the power supply frequency of the motor, determining the fertilizer discharge amount of each area based on the pre-processed operation data and environmental information analysis index, adjusting the speed and steering of the motor, controlling the fertilizer discharge shaft of the fertilizer spreader and the speed and working length of the fertilizer spreader to change the fertilizer discharge amount, monitoring the travel speed of the fertilizer spreader in real time, and adjusting the motor speed in real time in combination with the motion state analysis index of the fertilizer spreader; The mechanical execution module is used to receive the instructions of the motor control module and make the mechanical device perform corresponding actions, such as the rotation of the fertilizer discharge shaft, so as to realize the specific execution of the fertilization operation. The process of executing the corresponding action is: establishing a communication connection with the motor control module through the CAN bus, receiving the instruction data frame sent by the motor control module in real time, parsing the instruction data frame to obtain the instruction information, such as the motor speed, direction, start and stop signals, and control parameters related to the fertilizer discharge shaft and fertilizer dispenser of the fertilizer spreader, such as fertilizer discharge amount, fertilizer discharge time, etc., and performing motion planning, including determining the motion trajectory, speed curve, acceleration curve, and at the same time allocating the motion planning to the corresponding actuator, such as a motor, a hydraulic cylinder, etc. The allocation process includes determining the type, quantity, motion direction, motion speed, etc. of the actuator. During the actuator action process, the sensor module monitors the motion state of the fertilizer spreader in real time, and cooperates with the control center to make real-time adjustments and optimizations to ensure that the mechanical device can accurately move according to the planned motion trajectory.

[0022] Embodiment 2, as Figures 1 to 4 As shown, based on Example 1, the present invention provides a technical solution: Preferably, the calculation formula of the environmental information analysis index is: ; Among them, EI is the environmental information analysis index, is the actual ambient temperature, is the standard value of ambient temperature, is the actual soil moisture, is the standard value of soil moisture, is the actual soil moisture content, is the standard value of soil moisture content, is the extreme weather index, is the extreme weather impact function; The calculation formula of the sports state analysis index is: ; Among them, MAI is the motion analysis index, is the actual acceleration, is the standard value of acceleration, is the actual vibration speed, is the standard value of vibration velocity, is the actual pressure change, is the standard value of pressure change, is the motion trajectory deviation, is the motion trajectory deviation influence function; The process of automatically identifying and classifying abnormal situations is as follows: based on the preprocessed environmental data and operating data and in combination with the extracted operating state interference features and environmental information interference features, the environmental information analysis index and the motion state analysis index are calculated respectively; based on the acquired environmental information analysis index and the motion state analysis index, the correlation between the abnormal situation and the environmental information analysis index and the motion state analysis index is analyzed; different weights are assigned to the environmental information analysis index and the motion state analysis index; the two indexes are weightedly calculated to obtain the abnormal state analysis coefficient; according to the communication status of the CAN bus, the good state of the communication quality and whether the number of error frames is within the normal range are analyzed; the abnormal state analysis coefficient is compared with the CAN communication The system combines the CAN communication status with the CAN communication status for comprehensive judgment and outputs the judgment result; the judgment result shall include information such as the type of fault or interference, possible causes, and scope of influence. If the environmental information analysis index shows an abnormality, and at the same time the CAN communication status becomes unstable or the number of error frames increases, it may be judged as communication interference or fault caused by environmental factors. If the motion status analysis index shows an abnormality, and at the same time the CAN communication status is interrupted or data is lost, it may be judged as a communication fault caused by mechanical fault or damage to moving parts. According to the judgment result, the abnormal situation is automatically identified and classified, such as communication fault, sensor fault, mechanical fault, etc., for subsequent protection measures and troubleshooting. The calculation formula of abnormal state analysis coefficient is: ; Among them, ASC is the abnormal state analysis coefficient, is the weight of the environmental information analysis index, is the weight of the motion state analysis index, EAI is the environmental information analysis index, is the benchmark value of the environmental information analysis index, MAI is the motion state analysis index, It is the baseline value of the sports status analysis index.

[0023] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A servo control system for a fertilizer spreader based on CAN bus control, comprising a control center, characterized in that: The control center is communicatively connected with a sensor module, a CAN communication module, an analysis module, a motor control module, an anti-interference and protection module, and a mechanical execution module, wherein electrical signals are connected between the modules; The sensor module is used to collect environmental data and operation data of the fertilizer spreader, and transmit the data to the control center via the CAN bus; The CAN communication module is used to convert the digital signal output by the control center into a differential signal transmitted on the CAN bus, and at the same time convert the differential signal on the CAN bus into a digital signal for reception by the control center, as well as data communication between modules, including the issuance of control instructions and the upload of status information; The analysis module is used to pre-process and analyze the collected operation data and environmental data, and extract interference features, which are operation status interference features and environmental information interference features, analyze the operation data of the fertilizer spreader and the causes of abnormal conditions, including the amount of fertilizer, the time of fertilizer application, and the speed of fertilizer application, and generate corresponding control instructions; The anti-interference and protection module is used to monitor the communication status of the CAN communication module and the abnormal situation of the sensor module, and take corresponding protection measures in combination with the control instructions of the analysis module; The motor control module is used to receive control instructions from the analysis module and adjust the fertilizer discharge amount of the fertilizer spreader, including starting, stopping, speed adjustment, and steering control of the motor to achieve variable fertilization; The mechanical execution module is used to receive instructions from the motor control module to enable the mechanical device to execute corresponding actions.

2. A fertilizer spreader servo control system based on CAN bus control according to claim 1, characterized in that: In the sensor module, the process of acquiring environmental data and fertilizer application machine operation data is as follows: According to the application scenario of the fertilizer spreader, select the corresponding sensor and deploy the sensor on the fertilizer spreader and in the working environment, including real-time collection of environmental data and operation data of the fertilizer spreader, where the environmental data includes soil data and meteorological data, and the operation data of the fertilizer spreader includes fertilizer movement status data and fertilizer status data; The collected environmental data and fertilizer application machine status information are encapsulated into data frames and transmitted to the control center via the CAN bus, and a database is established for storage; The stored environmental information and the operating data of the fertilizer spreader are classified, a feature sequence list is obtained, and a data backup mechanism is established.

3. A fertilizer spreader servo control system based on CAN bus control according to claim 2, characterized in that: In the CAN communication module, the signal conversion process is as follows: Receive the digital signal output by the control center, convert the received digital signal into a differential signal using a differential signal converter, and output the converted differential signal to the CAN bus; The differential signal on the CAN bus is captured and converted into a digital signal using a digital signal converter. The converted digital signal is output to the control center, which receives and processes the digital signal to perform corresponding control operations and data processing tasks.

4. A fertilizer spreader servo control system based on CAN bus control according to claim 3, characterized in that: In the analysis module, the process of extracting interference features is as follows: Perform data cleaning and data standardization on the collected environmental data and fertilizer application machine operation data to remove noise, outliers and redundant information; Based on the pre-processed operation data, feature analysis and extraction are performed on the fertilizer application amount, fertilizer application time and fertilizer application speed to obtain the interference features of the operation status and analyze the movement status of the fertilizer spreader; Based on the pre-processed environmental data, feature analysis and extraction are performed on soil data and meteorological data respectively to obtain the interference features of environmental information, analyze the relationship between environmental information and the operating status of the fertilizer spreader, and the degree of interference of environmental information interference features on the operating status of the fertilizer spreader; Based on soil data and crop growth stage, and combined with the fertilization speed and time of the fertilizer spreader, corresponding control instructions are generated to dynamically adjust the amount of fertilizer applied.

5. A fertilizer spreader servo control system based on CAN bus control according to claim 4, characterized in that: The process of dynamically adjusting the amount of fertilizer applied is as follows: Based on the pre-processed operating data and environmental data, determine the soil nutrient requirement table of crops at each growth stage and calculate the amount of fertilizer to be applied in each area; According to the movement status of the fertilizer spreader and combined with environmental data and operation data, a fertilizer application prediction model is established to calculate the required fertilizer application amount under the current operating conditions; Compare the current fertilizer application amount of the fertilizer applicator with the calculated required fertilizer application amount, and calculate the difference between the two; According to the difference in fertilizer application amount, corresponding control instructions are generated to dynamically adjust the fertilizer application amount.

6. A fertilizer spreader servo control system based on CAN bus control according to claim 5, characterized in that: In the anti-interference and protection module, the process of taking corresponding protection measures is as follows: Real-time monitoring of the communication status of the CAN bus, including communication rate, communication quality, and number of error frames, analysis of the integrity and timing characteristics of the communication status, and identification of abnormal conditions in CAN communication; Receive data from the sensor module, identify the operation data of the fertilizer spreader and the abnormal situation, and obtain the environmental information analysis index and the motion state analysis index by combining the extracted operation state interference characteristics and environmental information interference characteristics; Based on the acquired environmental information analysis index and motion status analysis index, combined with the CAN communication status, the system faults and interferences are judged, and the judgment results are output to automatically identify and classify abnormal situations; Based on the judgment results, corresponding control instructions are generated and corresponding protection measures are taken, including power protection, signal protection, communication recovery and sensor isolation.

7. A fertilizer spreader servo control system based on CAN bus control according to claim 6, characterized in that: The calculation formula of the environmental information analysis index is: ； Among them, EI is the environmental information analysis index, is the actual ambient temperature, is the standard value of ambient temperature, is the actual soil moisture, is the standard value of soil moisture, is the actual soil moisture content, is the standard value of soil moisture content, is the extreme weather index, is the extreme weather impact function; The calculation formula of the motion state analysis index is: ； Among them, MAI is the motion analysis index, is the actual acceleration, is the standard value of acceleration, is the actual vibration speed, is the standard value of vibration velocity, is the actual pressure change, is the standard value of pressure change, is the motion trajectory deviation, is the motion trajectory deviation influence function.

8. The servo control system for fertilizer spreader based on CAN bus control according to claim 7, characterized in that: The process of automatically identifying and classifying abnormal situations is as follows: Based on the preprocessed environmental data and operating data and combined with the extracted operating state interference features and environmental information interference features, the environmental information analysis index and the motion state analysis index are calculated respectively; Based on the acquired environmental information analysis index and motion state analysis index, analyzing the correlation degree between the abnormal situation and the environmental information analysis index and the motion state analysis index; Different weights are assigned to the environmental information analysis index and the motion state analysis index, and the two indexes are weightedly calculated to obtain the abnormal state analysis coefficient; According to the communication status of the CAN bus, analyze whether the communication quality is good and whether the number of error frames is within the normal range, combine the abnormal state analysis coefficient with the CAN communication status for comprehensive judgment, and output the judgment result; According to the judgment results, abnormal situations are automatically identified and classified; The calculation formula of the abnormal state analysis coefficient is: ； Among them, ASC is the abnormal state analysis coefficient, is the weight of the environmental information analysis index, is the weight of the motion state analysis index, EAI is the environmental information analysis index, is the benchmark value of the environmental information analysis index, MAI is the motion state analysis index, It is the baseline value of the sports status analysis index.

9. A fertilizer spreader servo control system based on CAN bus control according to claim 8, characterized in that: In the motor control module, the process of implementing variable fertilization is as follows: Receive the control instructions from the analysis module and parse them to extract the control parameters of the motor, including starting and stopping the motor and adjusting the motor power supply frequency; Based on the pre-processed operation data and environmental information analysis index, determine the amount of fertilizer to be applied in each area, adjust the speed and direction of the motor, and control the fertilizer shaft of the fertilizer spreader and the speed and working length of the fertilizer spreader to change the amount of fertilizer applied; Monitor the travel speed of the fertilizer spreader in real time, and adjust the motor speed in real time based on the movement status analysis index of the fertilizer spreader.

10. A servo control system for a fertilizer spreader based on CAN bus control according to claim 9, characterized in that: In the mechanical execution module, the process of executing the corresponding action is: Establish communication connection with the motor control module through CAN bus and receive command data frames sent by the motor control module in real time; Parse the command data frame to obtain the command information and perform motion planning, including determining the motion trajectory, velocity curve, acceleration curve, and assigning the motion planning to the corresponding actuator; During the actuator operation, the sensor module monitors the movement status of the fertilizer spreader in real time, and cooperates with the control center to make real-time adjustments and optimizations.

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