Authors

Abstract

Facilities greenhouses are relatively narrow and airtight, and the machine operation turns frequently. The existing vegetable seeders is supported by manual hand, and the straightness of operation is poor, Turning around is time-consuming and laborious. This paper designs a remote control system of small vegetable seeder based on Arduino microcontroller, the Arduino single-chip microcomputer remote control technology, multi-motor synchronous drive technology, differential-electric push rod combined with lifting and steering control and other methods are adopted, Through remote control, the forward, speed regulation, lifting of the whole machine and field line change and steering of the seeder during vegetable sowing are realized. The differential steering model and brushless motor speed control model are established, and the android human-computer interaction APP is designed to realize the remote precise control of vegetable seeder. The performance test of the accuracy of the control system was carried out with the accuracy and steering accuracy of the seeder. The results showed that : under the condition of medium speed and medium and low speed operation, the seeding level of vegetable seeder is the most stable and reliable, the speed deviation rate of the seeder is 1.59 %, after starting the drive motor for 2s, the actual speed is close to the target speed, differential steering is relatively accurate, the qualified rate of steering is more than 89.8 %, the synchronous speed error of the lifting mechanism tends to be stable.This study can provide reference for the development of intelligent equipment for facility agriculture.

Abstract in Chinese

设施大棚空间相对狭小、密闭，机器作业掉头转弯频繁，现有的蔬菜播种机多由人工手扶，作业直线性差，掉头费时费力，本文基于Arduino单片机微控制器设计了小型蔬菜播种机远程控制系统，采用了Arduino单片机远程控制技术、多电机同步驱动技术、差速-电动推杆结合的升降转向控制等方法，通过远程遥控的方式来实现蔬菜播种时播种机前进、调速、整机升降和田间换行转向等作业。建立了差速转向模型与无刷电机调速模型，设计了android端人机交互APP，实现对蔬菜播种机的远程精确控制。以播种机的作业行走准确度和转向准确度为指标进行对控制系统运行的准确性的性能测试，结果表明：在中速及低速运行状态下，蔬菜播种机的播种水平最为稳定可靠，播种机行驶速度偏差率为1.59%，启动驱动电机2s后实际转速接近目标转速，差速转向相对准确，转向合格率大于89.8%，升降机构同步速度误差变化趋于稳定。本研究可为设施农业智能装备的发展提供参考。