Study On The Control System Of Seedling Picking And Feeding Device In The Automatic Transplanter

At present,the main research direction of transplanter concentrates on the automatic transplanting of dryland,with the increase of human cost and the problem of low quality and poor efficiency of manual transplanting,there is an urgent need of highly automatic transplanter to complete the seedling-picking and planting operation.The control system of the fully automatic transplanter feeding-seedling device is aimed at improving the working precision in the process of feeding-seedling and picking-seedling,the control system can improve the success rate of transplanting operation of automatic transplanter.There is great significance for the development of automatic transplanter.The main research contents of this paper are as follows:(1)According to the mechanical structure and working principle of the automatic transplanting machine for seedling-feeding and seeding-picking,the control demand of seedling-feeding and seedling-picking device is analyzed.This paper presents a control method which is replacing the original feeding-seeding device with mechanical transmission structure to two step motors;for the problems in practical application of seedling-picking device,this paper presents a new control method of control picking frequency by detecting the walking distance of transplanter.An analysis is made of the possible coordination problems in the actual work of the seedling feeding device and the seedling picking device.(2)designing the hardware system of seeding-feeding and seeding-picking device of automatic transplanter,according to the control requirements of the control system,the selection of components and the drawing of the schematic diagram of the control system are completed,It can meet the requirements of the reliability and stability of the hardware of the control circuit when the transplanter works.(3)According to the mechanical structure parameters of the seeding-feeding and seedling-picking device,the control parameters of the control system of seeding-feeding and seedling-picking device were calculated,the number and frequency of the control pulse for every vertical and horizon movement of the feeding device are obtained by the calculation of the optimum pulse fine fraction which is obtained by test.(4)According to the software design of the control system for the seeding-feeding and seedling-picking device of the automatic transplanter,drawing main program and subroutine flow chart with modular thought combining with the Arduino IDE and the flow chart of each part Compiling the code for each part of the seeding-feeding and seedling-picking device.The test shows the control program can meet the performance requirements of the device.(5)Set up a test platform for control system of seedling collection and seedling equipment,test on the accuracy of horizon and vertical movement and the success rate of seeding-picking process,the test data shows that the maximum error of horizon and vertical movement was 2mm,the success rate of seedling-feeding and seeding-picking process reached more than 98%.The pick-up device control system can reduce the error of transplanting distance in the process of transplanting,but there is a certain error compared with the theoretical value.