农机化研究2025，Vol.47Issue(12)：61-69,9.DOI:10.13427/j.issn.1003-188X.2025.12.008
基于CAN总线的苗间除草机除草控制系统研究
Research on Control System of Interseedling Weeder Based on CAN Bus
摘要
Abstract
In order to meet the requirements of mechanical weeding control of the intelligent weeding machine between seedlings of equidistant hole planting vegetables on ridge,a set of mechanical weeding control system based on CAN bus was designed to solve the problems of poor practicability and expansibility of the weeding control system of existing intelli-gent weeding machine between seedlings.A set of mechanical weeding control system between seedlings based on CAN bus communication was designed,with the Raspberry Pi as the core hardware and CAN bus communication expansion board to realize real-time CAN bus communication among image recognition system,Raspberry Pi and weeding motor.The weeding motor was controlled by receiving,sending and analyzing the CAN bus message,so as to control the rotation of crescent blade and realize the seedling avoidance and weeding operation.The Simulation model of weeding motor was es-tablished to adjust the speed loop parameters of weeding motor.In the case of a seedling spacing of 45-55 cm and the weeding speed of 2-4 km/h,the angle difference between the stop position of the weeding motor and the origin of the sys-tem after the weeding operation of a single plant was compared under two modes of speed mode and position mode,and the response of the weeding control system was tested at the same time.The test results showed that the average angle difference of the weeding motor running in speed mode was 24.2°,which was much larger than the angle difference of the motor running in position mode.The maximum response time of the system was 0.22 s,and the maximum overshoot was 1%,the weeding motor could meet the requirements of the weeding control system of the intelligent weeding machine in the position mode.The research could provide theoretical support and technical reference for development of intelligent weeding machine between vegetable seedlings.关键词
苗间除草/控制系统/CAN总线通讯/Raspberry Pi/Simulink仿真Key words
weeding between seedlings/control system/CAN bus communication/Raspberry Pi/Simulink simulation分类
农业科技引用本文复制引用
赵世帝,庄卫东..基于CAN总线的苗间除草机除草控制系统研究[J].农机化研究,2025,47(12):61-69,9.基金项目
黑龙江省"揭榜挂帅"科技攻关项目(2023ZXJ07B02) （2023ZXJ07B02）
