Crawler-type ridger electric-drive fertilization control system and method

Abstract

The invention provides a crawler-type ridger electric drive fertilization control system and method, and relates to the technical field of agricultural machine.The system comprises a crawler-type ridger chassis, a bilateral speed detection device, a fertilization controller and a fertilization device.The bilateral speed detection device and the fertilization device are arranged on the crawler-type ridger chassis; the bilateral speed detection device is connected with the fertilization controller, and the fertilization controller is connected with the fertilization device. The walking speed of the crawler-type ridger is monitored in real time through the double-side speed detection device; the fertilization controller calculates the target working state of the fertilization device according to the target fertilization amount and the walking speed of the crawler-type ridger, and generates and sends out a fertilization motor rotating speed control signal; and the fertilizing device executes fertilizing operation according to the rotating speed control signal of the fertilizing motor so as to meet the requirement of precise fertilizing.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to a caterpillar ridger electric drive fertilization control system and method. BACKGROUND

[0002] At present, mechanical fertilization system is commonly used in field operation of caterpillar ridger, which mainly controls the amount of fertilizer by adjusting the baffle. This kind of traditional fertilization method has obvious technical defects: first, the mechanical structure adjustment precision is limited, and it is difficult to realize the precise control of fertilization amount; second, the adjustment of fertilization amount depends on manual experience, which is easy to cause over-fertilization or insufficient fertilization due to improper operation. These problems not only affect the uniformity of crop growth, but also may cause waste of fertilizer and environmental pollution. With the development of precision agriculture, the demand for intelligent and automatic fertilization equipment in agricultural production is increasingly urgent, and it is urgent to develop an electric drive fertilization control system which can automatically adjust according to the speed and has high precision control ability. SUMMARY

[0003] In order to overcome the defects of the prior art, the purpose of the present application is to provide a caterpillar ridger electric drive fertilization control system and method.

[0004] In order to achieve the above purpose, the present application provides the following scheme:

[0005] The present application provides a caterpillar ridger electric drive fertilization control system, comprising: a caterpillar ridger chassis, a double-side speed detection device, a fertilization controller and a fertilization device, the double-side speed detection device and the fertilization device are arranged on the caterpillar ridger chassis, the double-side speed detection device is connected with the fertilization controller, and the fertilization controller is connected with the fertilization device.

[0006] The double-side speed detection device is used for real-time detection of the walking speed of the caterpillar ridger.

[0007] The fertilization controller is used for generating a control signal according to the walking speed of the caterpillar ridger.

[0008] The fertilization device is used for performing precision fertilization operation according to the control signal.

[0009] Preferably, the double-side speed detection device comprises a left toothed disc, a left proximity Hall sensor, a left rigid support, a right toothed disc, a right proximity Hall sensor and a right rigid support, the left and right driving wheels of the crawler ridger chassis are coaxially connected with the left and right toothed discs respectively, and the left and right toothed discs rotate synchronously with the left and right driving wheels, the left and right rigid supports are arranged on the left and right sides of the crawler ridger chassis respectively, the left and right proximity Hall sensors are arranged on the left and right rigid supports respectively, and the left and right proximity Hall sensors are connected with the fertilizer controller;

[0010] The left proximity Hall sensor is used to detect the rotation of the left driving wheel and generate a periodic pulse signal;

[0011] The right proximity Hall sensor is used to detect the rotation of the right driving wheel and generate a periodic pulse signal.

[0012] Preferably, the fertilizer controller comprises a fertilizer amount adjusting knob, a speed detection ECU, a motor driver, a serial port screen and a fertilizer control ECU, the left and right proximity Hall sensors are connected with the speed detection ECU, the speed detection ECU, the fertilizer amount adjusting knob and the serial port screen are connected with the fertilizer control ECU, and the fertilizer control ECU is connected with the serial port screen and the motor driver;

[0013] The fertilizer amount adjusting knob is used to send the target fertilizer amount and switch the manual and automatic modes of the electrically-driven fertilizer control system:

[0014] The speed detection ECU is used to collect the periodic pulse signals sent by the double-side speed detection device and convert them into the walking speed of the crawler ridger through accurate calculation;

[0015] The fertilizer control ECU is used to calculate the current target rotating speed of the fertilizer motor according to the target fertilizer amount and the walking speed of the crawler ridger and generate a PWM control signal;

[0016] The motor driver is used to receive the PWM control signal and send a control signal to the fertilizer motor to accurately control the current target rotating speed output by the fertilizer motor;

[0017] The serial port screen is used to dynamically display key operation parameters including the walking speed of the crawler ridger and the fertilizer amount, and input the target rotating speed of the fertilizer motor.

[0018] Preferably, the fertilizing device comprises a fertilizing motor, a first fertilizer discharging mechanism, a transmission shaft, a rigid connecting support, a connecting piece a, a connecting piece b, a connecting piece c, a second fertilizer discharging mechanism and a third fertilizer discharging mechanism, the rigid connecting support is arranged on the track-type ridger chassis through the connecting piece c, the first fertilizer discharging mechanism is arranged on the rigid connecting support through the connecting piece b, the fertilizing motor is connected with the first fertilizer discharging mechanism through the connecting piece a, the second fertilizer discharging mechanism and the third fertilizer discharging mechanism are connected with the rigid connecting support in a detachable manner, and the fertilizing motor is connected with the first fertilizer discharging mechanism, the second fertilizer discharging mechanism and the third fertilizer discharging mechanism through the transmission shaft, the fertilizer box is arranged on the upper part of the rigid connecting support, and the fertilizer box is connected with the first fertilizer discharging mechanism, the second fertilizer discharging mechanism and the third fertilizer discharging mechanism, and the fertilizer guide pipe is arranged on the lower side of the track-type ridger chassis and is connected with the first fertilizer discharging mechanism, the second fertilizer discharging mechanism and the third fertilizer discharging mechanism;

[0019] The fertilizing motor is used for providing the rotation driving force of the fertilizer discharging mechanism groove wheel.

[0020] The first fertilizer discharging mechanism, the second fertilizer discharging mechanism and the third fertilizer discharging mechanism are used for performing the fertilizer discharging operation.

[0021] The rigid connecting support is used for arranging the first fertilizer discharging mechanism, the second fertilizer discharging mechanism and the third fertilizer discharging mechanism.

[0022] The transmission shaft is used for ensuring the coordination of the fertilizer discharging actions of the multiple fertilizer discharging mechanisms.

[0023] The application further provides a track-type ridger electric drive fertilizing control method applied to the track-type ridger electric drive fertilizing control system.

[0024] Step 1: according to the periodic pulse signals emitted by the left proximity Hall sensor and the right proximity Hall sensor, the bilateral signals are fused to calculate the walking speed of the track-type ridger.

[0025] Step 2: according to the walking speed of the track-type ridger and the target fertilizing amount, the current target rotating speed of the fertilizing motor is calculated, and a PWM control signal is generated, and the motor driver controls the fertilizing motor to output the corresponding rotating speed according to the PWM control signal.

[0026] Preferably, in step 1, according to the periodic pulse signals emitted by the left proximity Hall sensor and the right proximity Hall sensor, the bilateral signals are fused to calculate the walking speed of the track-type ridger, and specifically:

[0027]

[0028] In the formula, f l is the pulse signal frequency of the left proximity Hall sensor, and f ris the pulse signal frequency of the right proximity Hall sensor, d is the radius of the left driving wheel, N is the number of teeth of the left toothed disc, and v is the forward speed of the crawler ridger.

[0029] Preferably, in step 2, the current target speed of the fertilizer motor is calculated according to the walking speed of the crawler ridger and the target fertilizer amount, and a PWM control signal is generated, and the motor driver controls the fertilizer motor to output the corresponding speed according to the PWM control signal, specifically:

[0030] When the analog voltage signal output by the fertilizer amount adjusting knob is 0 < U i < 2V, the system enters the manual mode, the target speed of the fertilizer motor is calculated according to the signal of the fertilizer amount adjusting knob, and a fixed PWM control signal is output;

[0031] When 2V≤U i < 3V, the system stops working;

[0032] When 3V < U i < 5V, the system enters the automatic mode, the target speed of the fertilizer motor is calculated according to the walking speed of the crawler ridger, and the PWM control signal is dynamically adjusted;

[0033] The calculation method of the target fertilizer amount is as follows:

[0034]

[0035] Wherein, n d is the target speed of the fertilizer motor, W d is the target fertilizer amount per unit area, D is the working width of the crawler ridger, v is the forward speed of the crawler ridger, k is the fertilizer amount calibration coefficient, and a is the number of fertilizer discharge mechanisms.

[0036] According to the specific embodiments provided by the present application, the following technical effects are disclosed:

[0037] The present application provides a crawler ridger electric drive fertilizer control system and method, which comprises a crawler ridger chassis, a double-side speed detection device, a fertilizer controller and a fertilizer device, the double-side speed detection device and the fertilizer device are arranged on the crawler ridger chassis, the double-side speed detection device is connected to the fertilizer controller, and the fertilizer controller is connected to the fertilizer device. The method comprises calculating the walking speed of the crawler ridger according to the periodic pulse signals emitted by the left proximity Hall sensor and the right proximity Hall sensor, fusing the double-side signals, calculating the current target speed of the fertilizer motor according to the walking speed of the crawler ridger and the target fertilizer amount, and generating a PWM control signal, and the motor driver controls the fertilizer motor to output the corresponding speed according to the PWM control signal. The present application has the following beneficial effects:

[0038] 1、Precise fertilization control, real-time monitoring of the walking speed of the crawler ridger through a double-sided speed detection device, dynamic adjustment of the PWM control signal by the intelligent algorithm of the fertilization controller, precise matching of the fertilization amount and the vehicle speed, significantly improving the uniformity of field fertilization, and avoiding the hysteresis and error problems existing in traditional mechanical regulation.

[0039] 2、Intelligent and automatic, the system supports flexible switching between manual and automatic modes, which can meet the personalized needs of operators and realize full-automatic regulation and control relying on the collaborative calculation of the vehicle speed detection ECU and the fertilization control ECU, greatly reducing the dependence on manual experience and improving the operation efficiency and precision.

[0040] 3、Modular and expandable design, the fertilization device adopts a parallel connection structure, and the quick combination of multiple rows of fertilization mechanisms is realized through a rigid connection frame and a transmission shaft, which has strong expandability and can greatly improve the fertilization capacity and is suitable for various operation scenarios.

[0041] 4、Dynamic display and real-time monitoring, the serial display screen displays the vehicle speed and the fertilization amount in real time, which is convenient for operators to intuitively monitor the operation state and timely adjust the target fertilization amount or switch modes, enhancing the interactivity and controllability of the system. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0043] Figure 1 A structure diagram of a crawler ridger electric drive fertilization control system is provided for the embodiments of the present application.

[0044] Figure 2 An electrical schematic diagram of a fertilization controller is provided for the embodiments of the present application.

[0045] Figure 3 A structure diagram of a fertilization device is provided for the embodiments of the present application.

[0046] Figure 4 A double-sided speed detection device installation schematic diagram is provided for the embodiments of the present application.

[0047] Mark No. : 1, track ridger chassis; 2, double-side speed detection device; 3, fertilizer control; 4, fertilizer device; 5, left driving wheel; 6, right driving wheel; 7, left toothed disc; 8, right toothed disc; 9, left proximity Hall sensor; 10, right proximity Hall sensor; 11, speed detection ECU; 12, fertilizer control ECU; 13, motor driver; 14, fertilizer amount adjusting knob; 15, serial port screen; 16, fertilizer motor; 17, fertilizer discharging mechanism; 18, voltage conversion module; 19, pull-up resistor a; 20, pull-up resistor b; 21, terminal resistor; 22, switch; 23, fuse a; 24, fuse b; 25, transmission shaft; 26, rigid connection support; 27, connecting piece a; 28, connecting piece b; 29, connecting piece c; 30, left rigid support; 31, right rigid support; 32, fertilizer guide pipe; 33, fertilizer tank; 34, second fertilizer discharging mechanism; 35, third fertilizer discharging mechanism. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0049] The purpose of the present application is to provide a track ridger electric drive fertilizer control system and method, which realizes real-time monitoring of the walking speed of the track ridger through a double-side speed detection device; the fertilizer control calculates the target working state of the fertilizer device according to the target fertilizer amount and the walking speed of the track ridger, generates and sends a fertilizer motor speed control signal; and the fertilizer device executes the fertilizer discharging operation according to the fertilizer motor speed control signal, so as to realize the requirement of precision fertilization.

[0050] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0051] As shown in Figure 1 The present application provides a track ridger electric drive fertilizer control system, which comprises a track ridger chassis 1, a double-side speed detection device 2, a fertilizer control 3 and a fertilizer device 4, the double-side speed detection device 2 and the fertilizer control 3 are arranged on the track ridger chassis 1, the double-side speed detection device 2 is connected to the fertilizer control 3, and the fertilizer control 3 is connected to the fertilizer device 4.

[0052] The double-side speed detection device 2 is used for detecting the walking speed of the track ridger in real time, generating a periodic pulse signal, and sending the periodic pulse signal to the fertilizer control 3.

[0053] The fertilizer controller 3 is used to calculate the target operating speed of the fertilizer device 4 based on the target fertilizer application amount and the walking speed of the tracked ridging machine, and to generate and send a fertilizer motor speed control signal.

[0054] The fertilization device 4 is used to perform precision fertilization operations according to the control signal;

[0055] like Figure 4 As shown, the bilateral speed detection device 2 includes a left gear disk 7, a left proximity Hall sensor 9, a left rigid bracket 30, a right gear disk 8, a right proximity Hall sensor 10, and a right rigid bracket 31. The left drive wheel 5 and the right drive wheel 6 of the tracked ridging machine chassis 1 are coaxially connected to the left gear disk 7 and the right gear disk 8, respectively, and the left gear disk 7 and the right gear disk 8 rotate synchronously with the left drive wheel 5 and the right drive wheel 6. The left rigid bracket 30 and the right rigid bracket 31 are respectively arranged on the left and right sides of the tracked ridging machine chassis 1. The left proximity Hall sensor 9 and the right proximity Hall sensor 10 are respectively arranged on the left rigid bracket 30 and the right rigid bracket 31. The left proximity Hall sensor 9 and the right proximity Hall sensor 10 are connected to the fertilizer controller 3.

[0056] The left proximity Hall sensor 9 is used to detect the rotation of the left drive wheel 5 and generate a periodic pulse signal;

[0057] The right proximity Hall sensor 10 is used to detect the rotation of the right drive wheel 6 and generate a periodic pulse signal;

[0058] The left gear 7 is used to rotate synchronously with the left drive wheel 5; the left gear 7 is an involute gear with a module of 2.5, 50 teeth, a pressure angle of 20°, a tooth addendum coefficient of 1.0, and a tooth dedendum coefficient of 0.25.

[0059] The left proximity Hall sensor 9 is used to detect the rotation of the left gear disk 7 and generate periodic pulse signals; the left proximity Hall sensor 9 is a PNP type with a rated voltage of 12V.

[0060] The left toothed disc 7, the left proximity Hall sensor 9, and the left rigid bracket 30, as well as the right toothed disc 8, the right proximity Hall sensor 10, and the right rigid bracket 31, are all installed in a mirror-symmetrical manner on the left and right sides of the tracked ridging machine, and each has the same characteristics.

[0061] like Figure 2As shown, the fertilizer controller comprises a speed detection ECU 11, a fertilizer control ECU 12, a motor driver 13, a fertilizer amount adjusting knob 14, a serial screen 15, a voltage conversion module 18, an upper pull resistor a 19, an upper pull resistor b 20, a terminal resistor 21, a switch 22, an insurance a 23 and an insurance b 24; the speed detection ECU 11, the fertilizer control ECU 12 and the serial screen 15 are connected through a CAN bus, the fertilizer amount adjusting knob 14 is connected with the fertilizer control ECU 12, and the motor driver 13 is connected with the fertilizer control ECU 12; the voltage conversion module 18 is connected with the speed detection ECU 11, the fertilizer control ECU 12, the fertilizer amount adjusting knob 14 and the serial screen 15 respectively, the upper pull resistor a 19 is connected with the speed detection ECU 11, the upper pull resistor b 20 is connected with the speed detection ECU 11, the terminal resistor 21 is connected with the CAN bus, the switch 22 is connected with the voltage conversion module 18, the insurance a 23 is connected with the voltage conversion module 18, and the insurance b 24 is connected with the motor driver 13;

[0062] The speed detection ECU 11 receives the periodic pulse signals emitted by the left proximity Hall sensor 9 and the right proximity Hall sensor 10, fuses the bilateral signals to calculate the advancing speed of the crawler ridger, and uploads the advancing speed of the crawler ridger to the CAN bus; the fertilizer control ECU 12 judges the automatic / manual working state according to the analog voltage signal emitted by the fertilizer amount adjusting knob 14 and calculates the target fertilizer amount, and then calculates the target rotating speed of the fertilizer motor 16 according to the target fertilizer amount and the advancing speed of the crawler ridger on the CAN bus, and generates a PWM signal; the motor driver 13 controls the rotating speed of the fertilizer motor 16 according to the PWM signal emitted by the fertilizer control ECU 12, thereby realizing precision fertilization; the serial screen 15 is connected to the CAN bus, and is used to display the advancing speed of the crawler ridger and the target fertilizer amount, and input the target rotating speed of the fertilizer motor 16 during the calibration of the fertilizer amount;

[0063] The B0 port and the B1 port of the speed detection ECU 11 are respectively connected with the OUT port of the left proximity Hall sensor 9 and the right proximity Hall sensor 10, and receive the periodic pulse signals emitted by the left proximity Hall sensor 9 and the right proximity Hall sensor 10; the A0 pin of the fertilizer control ECU 12 is connected with the OUT port of the fertilizer amount adjusting knob, and is used to receive the target fertilizer amount; the SV port of the motor driver 13 is connected with the pin of the C2 fertilizer control ECU 12, and is used to control the rotating speed of the fertilizer motor 16 according to the duty cycle of the PWM signal generated thereby;

[0064] The fertilizer controller 3 is provided with 10 ports, S1 is connected with the positive pole of 12V power supply, S2 is connected with the negative pole of 12V power supply, S3 is connected with the negative pole of the fertilizer motor 16, S4 is connected with the positive pole of the fertilizer motor 16, S5 is connected with the VCC port of the left proximity Hall sensor 9, S6 is connected with the GND port of the left proximity Hall sensor 9, S7 is connected with the OUT port of the left proximity Hall sensor 9, S8 is connected with the VCC port of the right proximity Hall sensor 10, S9 is connected with the GND port of the right proximity Hall sensor 10, and S10 is connected with the OUT port of the right proximity Hall sensor 10;

[0065] The fertilizer amount adjusting knob 14 is used for issuing a target fertilizer amount and switching the manual and automatic modes of the electric drive fertilizer control system, and from the circuit diagram, it is used for issuing an analog voltage signal; the analog voltage signal ranges from 0 to 5V:

[0066] The speed detection ECU 11 is used for collecting the periodic pulse signals issued by the double-side speed detection device and converting them into the walking speed of the crawler ridger through accurate calculation;

[0067] The fertilizer control ECU 12 is used for calculating the current target rotating speed of the fertilizer motor according to the target fertilizer amount and the walking speed of the crawler ridger and generating a PWM control signal;

[0068] The motor driver 13 is used for receiving the PWM control signal and issuing a control signal to the fertilizer motor 16 to accurately control the current target rotating speed output by the fertilizer motor 16;

[0069] The serial port screen 15 is used for dynamically displaying key operation parameters including the walking speed of the crawler ridger and the fertilizer amount and inputting the target rotating speed of the fertilizer motor;

[0070] The voltage conversion module 18 is used for reducing the 12V voltage to a stable 5V DC; the input voltage ranges from 8 to 40V, and the output voltage is 5V;

[0071] The pull-up resistor a 19 is connected with the B0 port of the speed detection ECU 11 and is used for pulling the pulse signal to a high level; the resistance value is 1kΩ;

[0072] The pull-up resistor b 20 is connected with the B1 port of the speed detection ECU 11 and is used for pulling the pulse signal to a high level; the resistance value is 1kΩ;

[0073] The terminal resistor 21 is connected with the CAN_H and CAN_L of the CAN bus respectively and is used for stabilizing the signal; the resistance value is 120Ω;

[0074] The fuse b 24 is connected with the OUT1 port of the motor driver 13 and is used for avoiding the damage of the fertilizer motor 16 caused by overloading; the fusing current is 20A;

[0075] Switch 22, connection 12V power supply negative, used for controlling the opening / closing state of the electric drive fertilization control system of the crawler ridger.

[0076] As Figure 3 shown, the fertilization device includes a fertilization motor 16, a first fertilizer discharge mechanism 17, a transmission shaft 25, a rigid connection bracket 26, a connecting piece a 27, a connecting piece b 28, a connecting piece c 29, a second fertilizer discharge mechanism 34, and a third fertilizer discharge mechanism 35. The rigid connection bracket 26 is arranged on the crawler ridger chassis 1 through the connecting piece c 29. The rigid connection bracket 26 is arranged with the first fertilizer discharge mechanism 17 through the connecting piece b 28. The fertilization motor 16 is connected with the first fertilizer discharge mechanism 17 through the connecting piece a 27. The second fertilizer discharge mechanism 34 and the third fertilizer discharge mechanism 35 are connected with the rigid connection bracket 26 in a detachable manner. The fertilization motor 16 is connected with the first fertilizer discharge mechanism 17, the second fertilizer discharge mechanism 34, and the third fertilizer discharge mechanism 35 through the transmission shaft 25. The transmission shaft 25 is connected with the grooved wheels of the fertilizer discharge mechanisms 17, 34, and 35 to realize parallel and synchronous operation of multiple fertilizer discharge mechanisms. Meanwhile, the transmission shaft 25 and the rigid connection bracket 26 can continue to expand the fertilizer discharge mechanism. The upper part of the rigid connection bracket 26 is provided with the fertilizer box 33, which is connected with the first fertilizer discharge mechanism 17, the second fertilizer discharge mechanism 34, and the third fertilizer discharge mechanism 35. The lower side of the crawler ridger chassis 1 is provided with a fertilizer guide pipe 32, which is connected with the first fertilizer discharge mechanism 17, the second fertilizer discharge mechanism 34, and the third fertilizer discharge mechanism 35.

[0077] The fertilization motor 16 is used to provide the rotation driving force of the fertilizer discharge mechanism grooved wheels, output the rotation torque, drive the grooved wheels of the fertilizer discharge mechanisms 17, 34, and 35 to rotate through the transmission shaft 25, and then spread the fertilizer in the fertilizer box 33 to the target area through the fertilizer guide pipe 32. The fertilization motor 16 is composed of a 12V, 300W DC brush motor 12 and a reducer with a reduction ratio of 40. The rated output torque and rotation speed are 28N·m and 100r·min -1 , respectively.

[0078] The first fertilizer discharge mechanism 17, the second fertilizer discharge mechanism 34, and the third fertilizer discharge mechanism 35 are used to perform the fertilizer discharge operation.

[0079] The rigid connection bracket 26 is used to arrange the first fertilizer discharge mechanism 17, the second fertilizer discharge mechanism 34, and the third fertilizer discharge mechanism 35.

[0080] The transmission shaft 25 is used to ensure the coordination of the fertilizer discharge actions of multiple fertilizer discharge mechanisms.

[0081] The specific working process of the electric drive fertilization control system of the crawler ridger is as follows:

[0082] The manual control fertilization amount adjusting knob 14 sends out an analog signal; the speed detection ECU 11 receives the periodic pulse signals sent out by the left proximity Hall sensor 9 and the right proximity Hall sensor 10, calculates the advancing speed of the crawler ridger according to the fusion of the bilateral signals, and uploads the advancing speed of the crawler ridger to the CAN bus; the fertilization control ECU 12 judges the automatic / manual working state according to the analog voltage signal sent out by the fertilization amount adjusting knob 14 and calculates the target fertilization amount, then calculates the target speed of the fertilization motor 16 according to the target fertilization amount and the advancing speed of the crawler ridger on the CAN bus, and generates a PWM signal; the motor driver 13 controls the rotating speed of the fertilization motor 16 according to the PWM signal sent out by the fertilization control ECU 12; the fertilization motor 16 drives the trough wheel of the fertilizer discharging mechanism 17 to rotate, and then discharges the fertilizer, so as to realize precision fertilization. In addition, the serial port screen 15 is connected to the CAN bus, which is used to display the advancing speed of the crawler ridger chassis 1 and the target fertilization amount, and the target rotating speed of the fertilization motor 16 during the calibration of the fertilization amount is set.

[0083] The application further provides a crawler ridger electric drive fertilization control method applied to the crawler ridger electric drive fertilization control system.

[0084] Step 1: calculating the walking speed of the crawler ridger according to the periodic pulse signals sent out by the left proximity Hall sensor and the right proximity Hall sensor and fusing bilateral signals;

[0085] Step 2: calculating the current target rotating speed of the fertilization motor according to the walking speed of the crawler ridger and the target fertilization amount, generating a PWM control signal, and controlling the fertilization motor to output corresponding rotating speed according to the PWM control signal.

[0086] In step 1, the walking speed of the crawler ridger is calculated according to the periodic pulse signals sent out by the left proximity Hall sensor and the right proximity Hall sensor and fusing bilateral signals, and specifically:

[0087]

[0088] In the formula, f l is the pulse signal frequency of the left proximity Hall sensor, f r is the pulse signal frequency of the right proximity Hall sensor, d is the radius of the left driving wheel, N is the number of teeth of the left toothed disc, and v is the advancing speed of the crawler ridger.

[0089] In step 2, the current target rotating speed of the fertilization motor is calculated according to the walking speed of the crawler ridger and the target fertilization amount, a PWM control signal is generated, and the fertilization motor is controlled to output corresponding rotating speed according to the PWM control signal, and specifically:

[0090] When the analog voltage signal output by the fertilizer amount adjusting knob is 0 i <2V, the system enters the manual mode, the fertilizer control ECU calculates the target rotating speed of the fertilizer motor according to the fertilizer amount adjusting knob signal, and outputs the fixed PWM control signal;

[0091] When 2V≤U i ≤3V, the system stops working;

[0092] When 3V<U i <5V, the system enters the automatic mode, the fertilizer control ECU calculates the target rotating speed of the fertilizer motor according to the walking speed of the crawler ridger, and dynamically adjusts the PWM control signal;

[0093] The calculation method of the target fertilizer amount is as follows:

[0094]

[0095] Wherein, n d is the target rotating speed of the fertilizer motor, W d is the target fertilizer amount per unit area, D is the working width of the crawler ridger, v is the advancing speed of the crawler ridger, k is the fertilizer amount calibration coefficient, and a is the number of the fertilizer discharge mechanism.

[0096] An embodiment of the present application is provided, and the control method is introduced in detail in combination with the embodiment. First, the fertilizer amount calibration method is introduced. The target rotating speed of the fertilizer motor 16 is manually input by using the serial screen 15, the target rotating speed control signal of the fertilizer motor 16 is output by the steering controller 3, the weight of the fertilizer discharged by the fertilizer device 4 is recorded every 1 min according to the output rotating speed of the fertilizer motor 16, and the fertilizer amount per unit time of the fertilizer device 4 is obtained. The rotating speed range of the fertilizer motor is 0-100r·min -1 , the fertilizer amount per unit time of the fertilizer device 4 is measured when the rotating speed of the fertilizer motor is 10r·min -1 , 20r·min -1 , 30r·min -1 , 40r·min -1 , 50r·min -1 , 60r·min -1 , 70r·min -1 , 80r·min -1 , 90r·min -1 , and 100r·min -1 , and the relationship coefficient k between the fertilizer amount per unit time of the fertilizer device 4 and the output rotating speed of the fertilizer motor 16 is obtained by linear fitting.

[0097] Q=k·a·n (3)

[0098] Where Q represents the fertilizer application rate per unit time of the fertilization device 4, that is, the weight of fertilizer discharged by the fertilization device 4 in 1 minute, expressed in kg·min. -1 n is the output speed of the fertilizer applicator motor 16, in r·min -1 , where a is the number of fertilizer discharge facilities, k is kg·r -1 ;

[0099] By combining the periodic pulse signals emitted by the left proximity Hall sensor 9 and the right proximity Hall sensor 10, the forward speed of the tracked ridging machine chassis 1 is calculated as follows:

[0100]

[0101] Among them, f l The pulse signal frequency of the left proximity Hall sensor 9 is given in Hz and f. r d is the pulse signal frequency of the right proximity Hall sensor 10, in Hz; d is the radius of the left drive wheel 5, in m; N is the number of teeth on the left toothed disc 7; and v is the forward speed of the tracked ridging machine, in m / s.

[0102] The manual / automatic working status of the electric drive fertilization control system of the tracked ridging machine is determined by the analog voltage signal emitted by the fertilizer application adjustment knob 14.

[0103] The analog voltage signal U emitted by the fertilizer application rate adjustment knob 14 i The range is 0-5V, when 0 < U i When the voltage is <2V, the electric drive fertilization control system of the tracked ridging machine is in manual mode. At this time, the fertilization control ECU12 in the electric drive fertilization control system of the tracked ridging machine is in manual mode according to the analog voltage signal U sent by the fertilization amount adjustment knob 14. i The value is used to calculate the target speed of the fertilizer motor 16, and the corresponding PWM signal is fixedly output. The fertilizer motor 16, controlled by the motor driver 13, is fixed at the corresponding speed to stabilize the fertilizer application rate per unit time of the fertilizer application device 4; when 2V≤U i When the voltage is ≤3V, the electric drive fertilization control system of the tracked ridging machine stops working; when 3V < U i When the voltage is <5V, the electric drive fertilization control system of the tracked ridging machine is in automatic mode. At this time, the fertilization control ECU12 of the electric drive fertilization control system reads the forward speed of the tracked ridging machine on the CAN bus and adjusts the voltage according to the analog voltage signal U emitted by the fertilizer application adjustment knob 14. i The value is used to calculate the target speed of the fertilizer motor 16 and output the corresponding PWM signal. The fertilizer motor 16 controlled by the motor driver 13 outputs the corresponding speed. The output speed of the fertilizer motor 16 changes with the forward speed of the tracked ridging machine to stabilize the fertilizer application rate per unit area of ​​the tracked ridging machine.

[0104] The target fertilization amount of the crawler ridger fertilization control system is used to calculate the target rotating speed of the fertilization motor 16, and the corresponding PWM signal is output by the fertilization control ECU 12 to control the target rotating speed of the fertilization motor 16 to control the target fertilization amount of the fertilization device 4 to realize precision fertilization.

[0105] In the manual state, the target fertilization amount is the target unit time fertilization amount of the fertilization device 4, Q min To set the minimum unit time fertilization amount of the fertilization device 4, Q max To set the maximum unit time fertilization amount of the fertilization device 4, the analog voltage signal 0-2V output by the fertilization amount adjusting knob 14 corresponds to the unit time fertilization amount Q min Q max Q min Q max Both Q

[0106]

[0107]

[0108] Q d is the target unit time fertilization amount of the fertilization device 4, kg·min -1 ;

[0109] In the automatic state, the target fertilization amount is the target unit area fertilization amount of the crawler ridger. W min To set the minimum unit area fertilization amount of the crawler ridger, W max To set the maximum unit area fertilization amount of the crawler ridger. The analog voltage signal 3-5V output by the fertilization amount adjusting knob 14 corresponds to the unit area fertilization amount W min W max W min W max Both W

[0110]

[0111] W d is the target unit area fertilization amount of the crawler ridger, kg / acre, and D is the working width of the crawler ridger, m.

[0112] In the description of each embodiment, the embodiments are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to.

[0113] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present specification should not be understood as the limitation of the present application.

Claims

1. A tracked ridging machine electric drive fertilization control system, characterized in that, include: The tracked ridging machine chassis, the double-sided speed detection device, the fertilizer controller, and the fertilizer application device are provided on the tracked ridging machine chassis. The double-sided speed detection device is connected to the fertilizer controller, and the fertilizer controller is connected to the fertilizer application device. The bilateral speed detection device is used to detect the walking speed of the tracked ridging machine in real time. The fertilizer controller is used to generate control signals based on the walking speed of the tracked ridging machine; The fertilization device is used to perform precision fertilization operations according to the control signal.

2. The tracked ridging machine electric drive fertilization control system according to claim 1, characterized in that, The bilateral speed detection device includes a left gear disc, a left proximity Hall sensor, a left rigid bracket, a right gear disc, a right proximity Hall sensor, and a right rigid bracket. The left and right drive wheels of the tracked ridging machine chassis are coaxially connected to the left and right gear discs, respectively, and the left and right gear discs rotate synchronously with the left and right drive wheels. The left and right rigid brackets are respectively installed on the left and right sides of the tracked ridging machine chassis. The left and right proximity Hall sensors are respectively installed on the left and right rigid brackets, and the left and right proximity Hall sensors are connected to the fertilizer controller. The left proximity Hall sensor is used to detect the rotation of the left drive wheel and generate a periodic pulse signal; The right proximity Hall sensor is used to detect the rotation of the right drive wheel and generate periodic pulse signals.

3. The tracked ridging machine electric drive fertilization control system according to claim 2, characterized in that, The fertilizer controller includes a fertilizer application rate adjustment knob, a speed detection ECU, a motor driver, a serial port screen, and a fertilizer control ECU. The left proximity Hall sensor and the right proximity Hall sensor are connected to the speed detection ECU. The speed detection ECU, the fertilizer application rate adjustment knob, and the serial port screen are connected to the fertilizer control ECU. The fertilizer control ECU is connected to the serial port screen and the motor driver. The fertilizer application rate adjustment knob is used to specify the target fertilizer application rate and to switch between manual and automatic modes of the electric fertilization control system. The speed detection ECU is used to collect periodic pulse signals emitted by the bilateral speed detection device and convert them into the walking speed of the tracked ridging machine through precise calculation. The fertilizer control ECU is used to calculate the current target speed of the fertilizer motor based on the target fertilizer application amount and the walking speed of the tracked ridging machine, and generate a PWM control signal. The motor driver is used to receive PWM control signals and send control signals to the fertilizer motor to precisely control the fertilizer motor to output the current target speed; The serial port screen is used to dynamically display key operating parameters, including the walking speed and fertilizer application rate of the tracked ridging machine, as well as the target rotation speed of the fertilizer motor.

4. The tracked ridging machine electric drive fertilization control system according to claim 3, characterized in that, The fertilization device includes a fertilization motor, a first fertilizer discharge mechanism, a drive shaft, a rigid connecting bracket, connector a, connector b, connector c, a second fertilizer discharge mechanism, and a third fertilizer discharge mechanism. The rigid connecting bracket is mounted on the chassis of the tracked ridging machine via connector c. The first fertilizer discharge mechanism is mounted on the rigid connecting bracket via connector b. The fertilization motor is connected to the first fertilizer discharge mechanism via connector a. The second and third fertilizer discharge mechanisms are detachably connected to the rigid connecting bracket in sequence. The fertilization motor is connected to the first, second, and third fertilizer discharge mechanisms via the drive shaft. The fertilizer box is mounted on the upper part of the rigid connecting bracket and is connected to the first, second, and third fertilizer discharge mechanisms. A fertilizer guide pipe is mounted on the lower side of the chassis of the tracked ridging machine and is connected to the first, second, and third fertilizer discharge mechanisms. The fertilizer motor is used to provide the rotational driving force for the groove wheel of the fertilizer dispensing mechanism; The first, second, and third fertilizer discharge mechanisms are used to perform fertilizer discharge operations. The rigid connecting bracket is used to install the first fertilizer discharge mechanism, the second fertilizer discharge mechanism and the third fertilizer discharge mechanism; The drive shaft is used to ensure that the fertilizer discharge actions of multiple fertilizer discharge mechanisms are coordinated.

5. A method for controlling the electric-driven fertilization of a tracked ridging machine, characterized in that, The electric-driven fertilization control system for the tracked ridging machine according to any one of claims 1-4 includes: Step 1: Calculate the traveling speed of the tracked ridging machine by fusing the periodic pulse signals emitted by the left and right proximity Hall sensors. Step 2: Based on the walking speed of the tracked ridging machine and the target fertilizer application rate, calculate the current target speed of the fertilizer motor and generate a PWM control signal. The motor driver controls the fertilizer motor to output the corresponding speed according to the PWM control signal.

6. The control method according to claim 5, characterized in that, In step 1, the traveling speed of the tracked ridging machine is calculated by fusing the periodic pulse signals emitted by the left and right proximity Hall sensors and integrating the bilateral signals. Specifically: In the formula, f l f is the pulse signal frequency of the left proximity Hall sensor. r d is the pulse signal frequency of the right proximity Hall sensor, d is the radius of the left drive wheel, N is the number of teeth on the left toothed disc, and v is the forward speed of the tracked ridging machine.

7. The control method according to claim 6, characterized in that, In step 2, based on the walking speed of the tracked ridging machine and the target fertilizer application rate, the current target rotational speed of the fertilizer application motor is calculated, and a PWM control signal is generated. The motor driver controls the fertilizer application motor to output the corresponding rotational speed according to the PWM control signal, specifically as follows: When the analog voltage signal output by the fertilizer application adjustment knob is 0 < U i When the voltage is less than 2V, the system enters manual mode. The fertilizer control ECU calculates the target speed of the fertilizer motor based on the fertilizer amount adjustment knob signal and outputs a fixed PWM control signal. When 2V≤U i The system stops working when the voltage is ≤3V; When 3V < U i When the voltage is <5V, the system enters automatic mode. The fertilizer control ECU calculates the target speed of the fertilizer motor based on the walking speed of the tracked ridging machine and dynamically adjusts the PWM control signal. The calculation method for the target fertilization amount is as follows: Where, n d For the target speed of the fertilizer applicator motor, W d denoted as , where D is the working width of the tracked ridging machine, v is the forward speed of the tracked ridging machine, k is the fertilizer application rate calibration coefficient, and a is the number of fertilizer discharge mechanisms.

Images