Rice transplanter steering automatic lifting control system based on geomagnetic principle

Abstract

The utility model relates to a rice transplanter steering automatic lifting control system based on geomagnetic principle, include: geomagnetic sensor, install in the rice transplanter frame, be used for detecting the vehicle body steering angle, through CAN bus and insert the department lifting controller connection, sensitivity adjustment knob, with insert the department lifting controller electricity is connected for setting steering action trigger angle, lifting motor passes through full bridge circuit and inserts the department lifting controller connection, insert the department lifting controller is used for receiving the steering angle signal of geomagnetic sensor, and according to sensitivity adjustment knob set -up trigger angle control lifting motor's positive and negative rotation, intelligent instrument passes through CAN bus and insert the department lifting controller communication, real -time display system working condition. The invention system is simple, easy to install, low in cost, and has good compatibility, is not only applicable to the rice transplanter, but also can be popularized to other agricultural machinery, realizes relevant automatic action when steering, has good application effect and market prospect.

Description

Technical Field

[0001] This utility model belongs to the field of automatic control technology for rice transplanters, and in particular relates to an automatic lifting and steering control system for rice transplanters based on the principle of geomagnetism. Background Technology

[0002] In the process of agricultural mechanization, rice transplanters, as key equipment for rice cultivation, have attracted much attention for their operational efficiency and ease of use. During rice transplanter operation, turning requires stopping the transplanting process to avoid damaging the seedlings. Traditional rice transplanters rely on manual intervention to stop transplanting and raise the planting unit during the turning phase. This operating mode not only increases the burden on operators but also severely restricts the continuity and efficiency of rice transplanting operations.

[0003] As global agricultural mechanization accelerates towards intelligence and automation, the automatic lifting technology of the transplanting head of rice transplanters has become a core technology for improving operational efficiency and reducing labor intensity. This technology has now entered a mature development stage and will continue to evolve towards lower costs, higher reliability, and more intelligent decision-making in the future.

[0004] However, current automatic lifting systems for the planting section of rice transplanters on the market generally suffer from several problems that urgently need to be addressed. Most systems use a combination of front wheel angle sensors and rear wheel speed sensors to determine the vehicle's angle, a solution with numerous drawbacks. Firstly, installing the rear wheel speed sensor requires modification of the rear wheel drive shaft, making direct installation impossible and increasing installation difficulty and cost. Secondly, the harsh operating environment of rice transplanters makes the wheel speed sensors susceptible to interference from metal elements in mud and water, leading to inaccurate measurement data. Furthermore, the complex software algorithms of the entire system, requiring the coordinated operation of both sensors, result in significant accumulated errors, affecting the system's accuracy and stability. Simultaneously, the involvement of multiple electrical components keeps the system cost high, failing to meet the market's demand for low-cost solutions.

[0005] To address the aforementioned issues, it is particularly necessary to develop an automatic lifting and steering control system for rice transplanters based on the principle of geomagnetism. Utility Model Content

[0006] To address the problems existing in the prior art, this utility model provides an automatic lifting and steering control system for rice transplanters based on the principle of geomagnetism. It boasts advantages in simplifying the structure, eliminating the need for wheel speed sensors and structural modifications, exhibiting strong anti-interference capabilities unaffected by external factors such as mud and water, and reducing electrical components and costs.

[0007] This utility model is implemented as follows: an automatic lifting and steering control system for a rice transplanter based on the principle of geomagnetism, characterized by comprising: a geomagnetic sensor installed on the central axis below the seat of the rice transplanter frame, used to detect the vehicle's steering angle, and connected to the planting section lifting controller via a CAN bus; a sensitivity adjustment knob electrically connected to the planting section lifting controller, installed on the operation panel below the steering wheel, used to set the steering action trigger angle; a lifting motor installed next to the hydraulic lifting valve assembly; connected to the planting section lifting controller via a full-bridge circuit; the planting section lifting controller installed below the seat; used to receive the steering angle signal from the geomagnetic sensor and control the forward and reverse rotation of the lifting motor according to the trigger angle set by the sensitivity adjustment knob; and an intelligent instrument installed on the operation panel below the steering wheel, communicating with the planting section lifting controller via a CAN bus to display the system's operating status in real time.

[0008] More preferably, the geomagnetic sensor is based on an LSM303AGRTR or LTM60 chip and is equipped with a three-dimensional magnetometer module, which can detect the azimuth angle of the Earth's magnetic field relative to the geographic N pole in real time and send angle change data at a frequency of 10-50 times per second through the CAN bus interface.

[0009] More preferably, the sensitivity adjustment knob is model RK0971110D88, the adjustment angle setting range is 5°-15°, and the knob adjustment step can be set to two modes: 0.5° or 1°.

[0010] More preferably, the model of the implantation unit lifting controller is JCMC-38A-N.

[0011] More preferably, the model of the smart instrument is JCP700-070N.

[0012] The advantages and technical effects of this utility model are as follows: The automatic lifting and steering control system for rice transplanters based on the principle of geomagnetism of this utility model has significant technical effects:

[0013] Cost advantage: It only uses geomagnetic sensors, eliminating the need for the two wheel speed sensors and front wheel steering angle sensor required by traditional methods, which greatly reduces the number of sensors and effectively reduces system costs.

[0014] Easy installation: The geomagnetic sensor can be directly installed on the vehicle body without modifying the rear wheel drive structure, simplifying the installation process and improving installation efficiency.

[0015] High protection performance: The geomagnetic sensor is sealed with potting compound and the outer shell is made of metal, which has a high protection level, impact resistance and vibration resistance. It is also equipped with a magnetic field interference calibration method to ensure stable and reliable operation in harsh environments such as rice transplanter vibration, rain and mud splash.

[0016] Software simplification and real-time performance improvement: The geomagnetic sensor directly feeds back angle information, eliminating the need for multi-sensor algorithms, simplifying software design, accelerating data processing and response speed, and improving system real-time performance.

[0017] In summary, this utility model system is simple, easy to install, low in cost, widely applicable, and highly compatible. It is not only suitable for rice transplanters but can also be extended to other agricultural machinery, enabling related automatic actions during turning. It has good application effects and market prospects. Attached Figure Description

[0018] Figure 1 This is a system block diagram of this utility model;

[0019] Figure 2 This is the control logic diagram of this utility model;

[0020] Figure 3 This is a schematic diagram of the installation position of this utility model;

[0021] Figure 4 This is a logic block diagram of the insertion section lifting controller of this utility model;

[0022] Figure 5 This is a block diagram of the control logic of the intelligent instrument of this utility model.

[0023] In the diagram: 1. Geomagnetic sensor; 2. Sensitivity adjustment knob; 3. Planting unit lifting controller; 4. Intelligent instrument; 5. Lifting motor. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this utility model.

[0025] Please see Figures 1 to 3An automatic lifting and steering control system for a rice transplanter based on the principle of geomagnetism is disclosed. The system comprises: a geomagnetic sensor 1, installed on the central axis below the seat of the rice transplanter frame, used to detect the vehicle's steering angle, and connected to the planting unit lifting controller via a CAN bus; more preferably, the geomagnetic sensor uses an LSM303AGRTR or LTM60 chip as its core, and is equipped with a three-dimensional magnetometer module, capable of real-time detection of the azimuth angle of the Earth's magnetic field relative to the geographic N pole, and transmitting angle change data at a frequency of 10-50 times per second via the CAN bus interface. The three-dimensional magnetometer module eliminates the measurement error caused by vehicle tilt in traditional single-axis sensors, improving angle detection accuracy to within ±0.5°; the high-frequency data transmission capability enables the system to respond quickly to steering actions, avoiding lag in planting unit lifting and lowering due to delays, making it particularly suitable for high-speed rice transplanting operations.

[0026] Sensitivity adjustment knob 2, mounted on the control panel below the steering wheel, is electrically connected to the planting unit lifting controller and is used to set the steering action trigger angle. The sensitivity adjustment knob is an RK0971110D88 model with a center-position adjustable potentiometer. The adjustment angle setting range is 5°-15°, and the knob adjustment step can be set to 0.5° or 1°. This multi-position design allows users to flexibly adjust the trigger threshold according to different field conditions (such as mud depth and turning radius). Fine-tuning can be achieved in 0.5° or 1° steps, ensuring the system adapts to diverse operational needs. The wear-resistant characteristics of the digital encoder extend the knob's service life and reduce the risk of parameter drift during long-term use.

[0027] The lifting motor 5 is installed on the hydraulic lifting valve and connected to the insertion section lifting controller via a full-bridge circuit. The full-bridge circuit is compact and highly efficient, and its soft-start function reduces the peak starting current of the motor, extending the lifespan of the motor and controller. The reverse electromotive force absorption circuit effectively suppresses voltage spikes, prevents power transistor breakdown, and improves the system's reliability under frequent start-stop conditions.

[0028] The implantation unit lifting controller 3, installed under the seat, receives the rotation angle signal from the geomagnetic sensor and controls the forward and reverse rotation of the lifting motor according to the trigger angle set by the sensitivity adjustment knob. The implantation unit lifting controller is model JCMC-38A-N or other equivalent controller. Its built-in microprocessor uses a Cortex M4 core, collects geomagnetic sensor signals and adjustment knob signals, controls motor rotation through an H-bridge drive circuit, and communicates with the smart instrument via a CAN bus. See the controller block diagram for details. Figure 4The integrated design of the dedicated controller reduces the complexity of external circuitry. This type of controller can dynamically adjust control parameters to adapt to different load conditions, ensuring smooth lifting and lowering of the insertion unit. An overload protection circuit monitors the motor current in real time to prevent component damage due to mechanical jamming, thus improving system safety.

[0029] Intelligent Instrument 4, installed on the control panel below the steering wheel, communicates with the lifting controller of the insertion unit via a CAN bus, displaying the system's operating status in real time. The intelligent instrument is model JCP700-070N or other equivalent intelligent instrument. Its microprocessor uses a Cortex A7 core as its core, collecting switch signals, analog signals, and frequency signals. It communicates with the lifting controller via the CAN bus, and the LCD screen displays the lifting controller's real-time data and fault information. Function keys allow users to switch display interfaces and set parameters. See the controller block diagram for details. Figure 5 The system uses an LCD screen to display its status, including steering angle, motor operating status, insertion point height, and fault codes. It receives controller data via a CAN bus and features alarm indicator lights. The LCD screen's visual interface allows operators to intuitively monitor the system's operating status, and the fault code display function shortens troubleshooting time. Alarm indicator lights promptly alert operators to system malfunctions, preventing work interruptions due to equipment failure and improving overall operational efficiency.

[0030] This utility model also provides an automatic lifting and steering control method for a rice transplanter based on the principle of geomagnetism, characterized by the following steps:

[0031] System initialization: Start the automatic lifting control system of the rice transplanter to initialize the hardware, including the geomagnetic sensor, sensitivity adjustment knob, planting section lifting controller, lifting motor and intelligent instrument; the system initialization process ensures that each hardware module is in normal working condition and avoids control errors caused by hardware failure; the zero-position calibration function eliminates sensor installation deviations, improves the reference accuracy of angle detection, and provides a reliable data basis for subsequent control;

[0032] Sensitivity Setting: The steering trigger angle is set via the sensitivity adjustment knob, with a setting range of 5°-15°. The knob adjustment step can be set to either 0.5° or 1°. The user sets the trigger angle by rotating the sensitivity knob, and the controller converts the analog signal into a digital signal and stores it in the built-in non-volatile memory. The settings are retained even after system power failure, avoiding the need for reconfiguration upon each startup. The non-volatile memory design simplifies the user operation process and improves ease of use.

[0033] Angle detection: The geomagnetic sensor installed on the frame of the rice transplanter is used to detect the turning angle of the vehicle body in real time. The geomagnetic sensor uses the LSM303AGRTR or LTM60 chip as the core and is equipped with a three-dimensional magnetometer module. It can detect the azimuth angle of the Earth's magnetic field relative to the geographic N pole and send the angle change data to the transplanting unit lifting controller at a frequency of 10-50 times per second via the CAN bus.

[0034] Angle judgment and control execution:

[0035] The insertion unit lifting controller compares the received real-time steering angle with the trigger angle set by the sensitivity adjustment knob:

[0036] When the real-time steering angle is greater than the set trigger angle, the insertion unit lifting controller controls the lifting motor to reverse through the full-bridge circuit, driving the insertion unit to rise.

[0037] When the real-time steering angle is not greater than the set trigger angle, the planting section lifting controller controls the lifting motor to rotate forward through the full-bridge circuit, driving the planting section to descend. The PID algorithm module built into the planting section lifting controller dynamically adjusts the proportional coefficient Kp and integral time Ti according to the angle deviation. The dynamic parameter adjustment of the PID algorithm enables the system to respond quickly within different deviation ranges, avoiding overshoot or oscillation problems under traditional fixed parameter control. The forward and reverse rotation control logic of the motor meets the actual needs of the rice transplanter when turning, ensuring the synchronization of the planting section height and the steering action.

[0038] Status Display: The intelligent instrument receives the insertion unit's operating status information from the lifting controller via the CAN bus and displays the system's operating status in real time, including the current steering angle, lifting motor status, and insertion unit height information. The visual interface and alarm function allow operators to monitor the system's operating status in real time and handle abnormal situations promptly. The angle deviation display function assists users in adjusting sensitivity settings, optimizing system control and improving work quality.

[0039] Cyclic control: Steps 3 to 5 are repeated to achieve real-time monitoring of the rice transplanter's steering angle and automatic adjustment of the planting height. The closed-loop control structure ensures continuous tracking and response to steering actions, avoiding the cumulative error problem under open-loop control. The automatic adjustment function reduces manual intervention and improves the automation and efficiency of rice transplanting operations.

[0040] More preferably, in the angle judgment and control execution step, the built-in PID control algorithm module of the insertion part lifting controller dynamically adjusts the parameters according to the angle deviation value: a) The PID control algorithm module, its proportional coefficient Kp and integral time Ti are dynamically adjusted according to the absolute value of the angle deviation value. When the angle deviation is ≥3°, Kp increases by 20%-50% and Ti is shortened to 0.5 times the reference value.

[0041] More preferably, the built-in motor speed control module of the insertion section lifting controller controls the speed of the lifting motor by outputting a PWM signal through a full-bridge drive circuit. The speed is linearly positively correlated with the angle deviation value, and the adjustment range is 5-100 rpm.

[0042] More preferably, the built-in overload protection circuit of the insertion unit lifting controller monitors the motor current in real time. When the current continuously exceeds 150% of the rated value for 0.5 seconds, it triggers hardware circuit breaker protection and generates a fault code that is transmitted to the smart instrument.

[0043] More preferably, in the status display step, the display interface of the intelligent instrument dynamically associates with the real-time data of the insertion unit lifting controller, including the set angle value, real-time angle value, motor working status indicator, and fault code display area; the intelligent instrument visualizes the deviation between the vehicle body steering angle and the set angle through the LCD screen, and prompts system faults through the alarm indicator.

[0044] The working principle of this utility model is as follows: This utility model uses a geomagnetic sensor to detect the vehicle's steering angle and automatically adjusts the height of the planting section through a lifting controller. The geomagnetic sensor utilizes Earth's magnetic field azimuth detection technology to provide high-precision steering angle data, avoiding the wear and error problems of traditional mechanical sensors. The combination of a sensitivity adjustment knob and a PID control algorithm allows the system to adapt to control requirements under different operating conditions, ensuring the smoothness and timeliness of the lifting action. The full-bridge circuit and motor speed control module achieve efficient motor drive and speed regulation, while the overload protection circuit enhances system safety. The intelligent instrument's visual display and alarm functions simplify the operation process and reduce the difficulty of troubleshooting. Overall, this utility model, through the integration of geomagnetic detection, closed-loop control, and intelligent display technology, achieves precise automatic adjustment of the planting section height when the rice transplanter turns, improving work efficiency and quality, reducing manual labor intensity, and demonstrating significant economic and social benefits.

[0045] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

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

2. The automatic lifting and steering control system for a rice transplanter based on the principle of geomagnetism according to claim 1, characterized in that, The geomagnetic sensor (1) is based on an LSM303AGRTR or LTM60 chip.

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

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

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

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