基于步进电机驱动的精量蔬菜播种机研制

Development of Precision Vegetable Planter Driven by Stepping Motor

针对传统蔬菜播种机下种量不可控、易漏播、少播且作业直线度难保证等诸多问题,设计出一种基于步进电机驱动的精量蔬菜播种机。播种机采用履带式行走机构,由直流电机驱动底盘运动,通过霍尔传感器测量车体速度,采用MPU6050惯性单元测量车体姿态,结合精量播种控制算法、直线度控制算法,利用单片机对播种机车体姿态、行进速度、排种速度进行实时调整,保证播种过程中作物行直线度及株距要求。试验结果表明:车体速度在2.5km/h以内、土壤含水量86%时,辣椒种子破损率2.1%,漏播率3.2%,重播率3.9%,空穴率2.8%,株距合格率91%,变异系数6.6%,各项指标满足精量蔬菜播种的农艺要求。

Aiming at many problems such as uncontrollable seed quantity,easy to miss seeding,less seeding and difficulty in guaranteeing the straightness of the operation of traditional vegetable planters,a precision vegetable planter based on stepper motor drive was designed.The planter adopts a crawler walking mechanism,drives the chassis movement by a DC motor,measures the vehicle body speed through hall sensors,uses MPU6050 inertial unit to measure vehicle body posture,combines precision seeding control algorithm,straightness control algorithm,and uses single-chip microcomputer to control the planter Car body posture,travel speed,and seeding speed are adjusted in real time to ensure the straightness of the crop and the plant spacing requirements during the seeding process.The test results show that under the condition of vehicle body speed within 2.0km/h and soil moisture content of 86%,pepper seed damage rate is 2.1%,missed seeding rate is 3.2%,reseeding rate is 3.9%,cavitation rate is 2.8%,and plant spacing qualified rate is 91%,the coefficient of variation is 6.6%,all indicators meet the agronomic requirements for precise vegetable sowing.Among them,the straightness of crop rows has an error of 13cm per 100 meters,which needs to be further improved.