莴笋播种机的智能化控制系统设计与试验

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Design and experiment of intelligent control system for lettuce seeder

Abstract： 【Objective】 To address the problems of low eficiency and poor precision in traditional manual letuce seeding， as well as uneven furrowing depth and inconsistent seeding spacing caused by the small seed size， this paper designs an intelligent control system for letuce seeding based on multi-sensor fusion and multimotor coordinated control. The system aims to fill the research gap in special precision seeding control systems for small-sized vegetable seeds represented by lettuce，and to improve the automation and precision of lettuce seeding operations. 【Method】 Adopting a modular design concept， an embedded hardware architecture with the STM32 microcontroller as the core was constructed， and the software and hardware development of the control system was completed. Environmental perception information fusion processing was realized by integrating multi-modal sensing units. A multi-motor coordinated control and encoder signal acquisition channel dynamic switching mechanism based on the PCA9685 driver chip and CD4052 analog multiplexer was designed. A single-stage-cascade PID composite control algorithm fused with attitude feedback was proposed to ensure the operation stability of the system under complex terrain conditions. An OLED display module and an android bluetooth low energy （BLE） interactive terminal were equipped to realize convenient human-computer interaction. 【Result】The results of field tests showed that the furrow depth qualification rate of lettuce seeder was 77.3% ， the missing seeding rate was 5.9% ， theemergence rate reached 49.1% ，total time for a single operation was 57 seconds，the operation eficiency was about 3 times that of traditional manual seeding，and the overall operation cost was significantly lower than that of the traditional manual seeding method. 【Conclusion】 The performance of the designed control system meet the requirements for prototype development and can provide a theoretical basis and technical support for the intelligent upgrading of precision seeding equipment for small-sized vegetable seeds.

Keywords： Intellgence; Letuce; Seeding machine; Smal-sized seed; Control system; Design and experiment

莴笋LactucasativaL.营养价值高，一年四季均可栽培1，为四川省主要蔬菜作物，全省栽培面积达8.8万 hm2[2] ，然而，目前其播种作业仍依赖人工，效率低下。（剩余12758字）