CN101869014B - Laser land leveling control device and method - Google Patents
Laser land leveling control device and method Download PDFInfo
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- CN101869014B CN101869014B CN201010206489XA CN201010206489A CN101869014B CN 101869014 B CN101869014 B CN 101869014B CN 201010206489X A CN201010206489X A CN 201010206489XA CN 201010206489 A CN201010206489 A CN 201010206489A CN 101869014 B CN101869014 B CN 101869014B
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Abstract
The invention discloses a laser land leveling control device and method. The device comprises a traction unit (20), a supporting wheel (4), a land leveling blade (16), a laser emitter (1), a laser receiver (5), a laser receiver lifting unit (6) and a controller (15), wherein the laser receiver lifting unit (6) is used for bearing the laser receiver (5) and the controller (15) is used for controlling lifting and falling of the laser receiver (5) and the land leveling blade (16). The invention overcomes the defect that the leveling operation efficiency is low because the vehicle is repeatedly stopped to adjust the height of the receiver, solves the problem that the tractor engine or the land leveling blade is damaged because of excessive load, avoids land heaving caused by slow response of a land leveling system after the supporting wheel of the land leveling blade is raised too high from reducing the land leveling operation quality, and realizes efficient and accurate land leveling operation.
Description
Technical field
The present invention relates to the land readjustment technical field, particularly relate to a kind of laser land leveling control device and method.
Background technology
The ground flood irrigation is the main method of China's agricultural irrigation, improves the farmland flat condition, can effectively improve the field irrigation water use efficiency.Research shows, land readjustment increases income etc. for farmland water-saving, weeds control, crop all has obvious effects.The land readjustment method comprises conventional level land method and laser controlled leveling method.Conventional mechanical planarization method receives facility self-defect and the flat limited restriction of precision of artificial behaviour, and the land readjustment precision can't continue to improve after acquiring a certain degree, and can't reach the requirement of meticulous irrigation.Laser measurement control level land technology is to utilize the laser measurement plane and with the control device of electronic control system as non-vision; Utilize control system control hydraulic pressure mediation system to realize the automatic lifting of level land shovel; Avoid manual operation and range estimation to judge the error that is caused, reached the meticulous smooth purpose in farmland.Laser leveling system can increase substantially the land readjustment precision; Hands-operation personnel's pacifically accurate 10～50 times of hand-hydraulic regulating system is judged in the sensitivity of its laser receiver system at least than the artificial vision, have the incomparable superiority of conventional levelling method.
In the existing laser land leveling control system, the range of receiving of laser pickoff is generally less.Receive this laser pickoff limit of range, laser land leveling equipment is applicable to the consolidation that the discrepancy in elevation is little.In the discrepancy in elevation when piece uses significantly, need change that constantly adjusting the laser pickoff height by manual work adapts to discrepancy in elevation plot greatly according to the operation process mesorelief.The adjustment receiver height that stops repeatedly causes the land readjustment inefficiency, and operation consumes to be increased.Simultaneously, when the smooth discrepancy in elevation changed plot greatly, the level land shovel was eaten the soil amount too much in the operation process, and long-pending easily soil causes the dynamical system tractive load excessive in the forklift, damages dynamical system or level land shovel easily.In addition, existing laser land leveling system liquid cylinder pressure non-displacement sensor exists support wheel to lift too high back and to cause that flat ground system respond slow, causes the big lumpy problem of smooth back plot generation.
Summary of the invention
The technical problem that (one) will solve
The technical problem that the present invention will solve is that height how in the process of land readjustment, to adjust laser pickoff easily makes the bigger plot of its adaptation discrepancy in elevation smooth.
Another technical problem that the present invention will solve be when level land shovel inner product soil too much or tractive load promote the level land shovel when excessive and unload soil, solve the problem of crossing macrolesion tractor engine or damage level land shovel because of load.
The another technical problem that the present invention will solve is how to solve support wheel to lift that too high to cause that flat ground system responded slow, thereby causes plot, smooth back to produce big lumpy problem.
(2) technical scheme
For solving the problems of the technologies described above, a kind of laser land leveling control device is provided, comprise traction unit, support wheel, and the level land that is connected with said support wheel shovel also comprise:
Generating laser is used to rotate the formation of emission laser beam and puts down the work standard plane of face as said control device;
Laser pickoff is used to receive said laser beam and said laser pickoff is sent to controller with respect to the said discrepancy in elevation of putting down face;
The laser pickoff lifting unit is used to carry said laser pickoff, and under the driving of hydraulic pressure unit, raises or reduction;
Controller is used for the up-down of shoveling pacifically according to the signal controlling laser pickoff that receives;
Hydraulic pressure unit is used for the up-down according to the control signal control laser pickoff lifting unit that comes from controller.
Said hydraulic pressure unit comprises hydraulic cylinder, and it is provided with displacement transducer, be used to gather support wheel lift displacement and with its with lift displacement threshold value and compare, and comparative result is transferred to said controller;
Said traction unit is provided with pulling force sensor, be used to gather the pulling force value and with its with unload the load that native value of thrust compares to judge said level land shovel and whether surpass load threshold, and judged result is transferred to said controller.
Preferably, said hydraulic pressure unit comprises hydraulic motor, is connected with said controller through first electro-hydraulic reversing valve, is used under the control of controller, rotating to drive the up-down of said laser pickoff.
Preferably, said hydraulic pressure unit also comprises hydraulic cylinder, is connected with said controller through second electro-hydraulic reversing valve, is used under the control of controller, stretching out or regaining the up-down with control level land shovel.
The present invention also provides a kind of laser land leveling control method, and it comprises step:
S1, generating laser rotation emission laser beam forms puts down the work standard plane of face as laser land leveling control device;
S2 confirms the height of laser pickoff and the discrepancy in elevation that generating laser is put down face, and with it as controlled quentity controlled variable;
S3, controller sends to the level land shovel through electro-hydraulic reversing valve with said controlled quentity controlled variable and makes it to reach the location absolute altitude with the height of controlling said level land shovel;
S4, if the said discrepancy in elevation surpasses the range of receiving of laser pickoff, then controller transmits control signal and rotates to drive laser pickoff lifting unit and laser pickoff to go up and down simultaneously through the hydraulic motor in the electro-hydraulic reversing valve control hydraulic pressure unit;
S5, whether the value of judging pulling force sensor greater than unloading native value of thrust, if then controller sends control signal and stretches out with rising level land shovel for hydraulic cylinder in the hydraulic pressure unit to unload soil;
S6, whether the value of judging displacement transducer greater than lifting threshold value, if then controller sends control signal and gives the hydraulic pressure unit to stop to raise support wheel.
(3) beneficial effect
The automatically controlled adjusting laser pickoff of general laser pickoff lifting unit of the present invention height; The hydraulic system of control level land device and level land shovel; Overcome the adjustment receiver height that stops repeatedly and caused the low shortcoming of smooth operating efficiency, realized efficiently grading operation accurately.The present invention is through setting up pulling force sensor, make when level land shovel inner product soil too much or tractive load promote the level land shovel when excessive and unload soil, solve because of load and cross the problem that macrolesion tractor engine or level land are shoveled.The present invention has prevented that through setting up displacement transducer level land shovel support wheel lifts the too high leveling effect that influences in the grading operation process.
Description of drawings
Fig. 1 is the structural representation according to the laser land leveling control device of the embodiment of the invention;
Fig. 2 is the structural representation according to the hydraulic pressure unit of the laser land leveling control device of the embodiment of the invention;
Fig. 3 is the principle schematic according to the laser land leveling control method of the embodiment of the invention;
Fig. 4 is the workflow sketch map according to the controller of the embodiment of the invention;
Fig. 5 is the automatic mode control flow sketch map according to the embodiment of the invention.
Wherein, 1: generating laser; 2: hydraulic cylinder; 3: displacement transducer; 4: support wheel; 5: laser pickoff; 6: the laser pickoff lifting unit; 7: the first electro-hydraulic reversing valves; 8: the valve piece; 9: adjustable individual event choke valve; 10: hydraulic lock; 11: the second electro-hydraulic reversing valves; 12: fuel tank; 13: pulling force sensor; 14: hydraulic pump; 15: controller; 16: the level land shovel; 17: hydraulic motor; 18: overflow valve; 19: the oil filter; 20: traction unit.
Embodiment
Below in conjunction with accompanying drawing and embodiment, specific embodiments of the invention describes in further detail.Following examples are used to explain the present invention, but are not used for limiting scope of the present invention.
Be illustrated in figure 1 as structural representation according to the laser land leveling control device of the embodiment of the invention.Laser land leveling control device comprises generating laser 1, laser pickoff 5, controller 15, first electro-hydraulic reversing valve 7, second electro-hydraulic reversing valve 11, hydraulic cylinder 2 and displacement transducer 3, hydraulic motor 17, pulling force sensor 13, laser pickoff lifting unit 6, level land shovel 16, traction unit 20, support wheel 4 etc.Wherein, said support wheel 4 is connected with level land shovel 16; Generating laser 1 is used to rotate the formation of emission laser beam and puts down the work standard plane of face as said control device; Laser pickoff 5 is used to receive said laser beam and the height of said laser pickoff 5 is sent to controller 15 with respect to the said discrepancy in elevation of putting down face; Laser pickoff lifting unit 6 is used for carrying said laser pickoff 5 above that, and under the driving of hydraulic pressure unit, raises or reduction; Controller 15 is used for according to the signal that receives, and control laser pickoff 5 shovels 16 up-down pacifically; Hydraulic pressure unit is used for according to the up-down that comes from the control signal driving laser receiver lifting unit 6 of controller 15.Said hydraulic pressure unit comprises hydraulic motor 17, is connected with said controller 15 through first electro-hydraulic reversing valve 7, is used under the control of controller 15, rotating to drive the up-down of said laser pickoff 5.Said hydraulic pressure unit also comprises hydraulic cylinder 2, is connected with said controller 15 through second electro-hydraulic reversing valve 11, is used under the control of controller 15, stretching out or regaining the up-down with control level land shovel 16.Said traction unit 20 is provided with pulling force sensor 13, be used to gather the pulling force value and with its with unload the load that native value of thrust compares to judge said level land shovel 16 and whether surpass load threshold, and said judged result is transferred to said controller 15.Said hydraulic cylinder 2 is provided with displacement transducer 3, be used to gather support wheel 4 lift displacement and with its with lift displacement threshold value and compare, and said comparative result is transferred to said controller 15.
Be illustrated in figure 2 as the structural representation of the hydraulic pressure unit of the laser land leveling control device of accordinging to the embodiment of the invention.Said hydraulic pressure unit comprises first electro-hydraulic reversing valve 7, hydraulic motor 17, second electro-hydraulic reversing valve 11, hydraulic cylinder 2, displacement transducer 3, adjustable individual event choke valve 9, hydraulic lock 10, pumping source 14, overflow valve 18, oil filter 19 etc., is connected through valve piece or fluid pressure line between said each Hydraulic Elements.Specific embodiments is following: power was exported after pumping source 18 power were taken from tractor.First electro-hydraulic reversing valve 7 powers up, and control hydraulic motor 17 is just changeing, reverses, stopping; Adjust the aperture of adjustable individual event choke valve 9, the rising or falling speed of adjustment laser pickoff 5.Hydraulic motor 17 rotates and drives laser pickoff 5 rise and fall.Second electro-hydraulic reversing valve 11 adds electric control hydraulic cylinder 2 and stretches out withdrawal, and control level land shovel 16 goes up and down.
Fig. 3 is the principle schematic according to the laser land leveling control method of the embodiment of the invention.Generating laser rotation emission laser beam forms puts down the work standard plane of face as said control device; Confirm the height of laser pickoff and the discrepancy in elevation that generating laser is put down face, and with it as controlled quentity controlled variable; Controller sends to the level land shovel through electro-hydraulic reversing valve with said controlled quentity controlled variable and makes it to reach the location absolute altitude with the height of controlling said level land shovel; If the said discrepancy in elevation surpasses the range of receiving of laser pickoff, controller inductive operation personnel button sends corresponding control signal and rotates to go up and down simultaneously with driving laser receiver lifting unit and laser pickoff through the hydraulic motor in the electro-hydraulic reversing valve control hydraulic pressure unit.Whether the value of judging pulling force sensor greater than unloading native value of thrust, if then controller sends control signal and stretches out with rising level land shovel for hydraulic cylinder in the hydraulic pressure unit to unload soil.Whether the value of judging displacement transducer greater than lifting threshold value, if then controller sends stop signal and gives second electro-hydraulic reversing valve to stop to raise support wheel.
Fig. 4 is the workflow sketch map according to the controller of the embodiment of the invention.The practical implementation process of controller is following:
1 controller initialization comprises the zero clearing of automatic mode flag, the set of manual mode flag; The manual mode lamp is bright, and the automatic mode lamp goes out.
Whether 2 detections have button to press:
2.1 have button to press, judge whether that the automatic mode button presses:
2.1.1 automatic button is pressed, system carries out the automatic mode action.
2.1.2 non-automatic button is pressed, the zero clearing of automatic mode flag, and the set of manual mode flag, the manual mode lamp is bright, and the automatic mode lamp goes out.The action of system responses corresponding button:
2.1.2.1 laser pickoff rising button is pressed, laser pickoff rises, and laser pickoff rising lamp is bright.
2.1.2.2 laser pickoff decline button is pressed, laser pickoff descends, and laser pickoff decline lamp is bright.
2.1.2.3 the manual mode button is pressed, and does not have the action of execution.
2.1.2.4 level land shovel rising button is pressed, the level land shovel rises, and level land shovel rising lamp is bright.
2.1.2.5 level land shovel decline button is pressed, the level land shovel descends, and level land shovel decline lamp is bright.
2.2, judge whether the work at present pattern is automatic mode if button-free is pressed:
2.2.1 the work at present pattern is an automatic mode, system gets into automatic mode.
2.2.2 the work at present pattern is a manual mode, the level land shovel stops action, and level land shovel rising lamp goes out, and level land shovel decline lamp goes out.
3 control cycles are finished, and continue execution in step 2.
Wherein, the automatic mode detailed process is following, and is as shown in Figure 5:
The automatic mode lamp is bright, and the manual mode lamp goes out.
Read the value of pulling force sensor, whether the value of judging pulling force sensor is greater than unloading native value of thrust:
The value of 1 pulling force sensor is greater than unloading native value of thrust, and the level land shovel rises, and level land shovel rising lamp is bright
The value of 2 pulling force sensors is not more than unloads native value of thrust, and level land shovel rising lamp goes out, and reads the laser pickoff signal.Judge whether the laser pickoff signal is effective:
2.1 laser pickoff invalidating signal:
2.1.1 with useful signal comparison last time, decision signal is lost classification and is reported to the police.
2.1.2 output a control signal to second electro-hydraulic reversing valve
2.2 the laser pickoff signal is effective:
2.2.1 write down this signal condition, and convert signal to the indicator lamp signal.
2.2.2 get into level land shovel up-down PID control, calculate the output control signal.
2.2.3 the value of read bit displacement sensor.
2.2.4 judge that support wheel lifts too high and control signal is a dropping signal:
2.2.4.1 support wheel lifts too high and control signal is a dropping signal, the control signal zero clearing.
2.2.4.2 support wheel lifts not too high, does not have operation.
2.2.5 output a control signal to second electro-hydraulic reversing valve.
3 control cycles are finished.
Can find out that by above embodiment the embodiment of the invention is considered the level land device, a kind of bigger laser land leveling device and method of the local discrepancy in elevation that can be used for satisfying is provided as a complete system.Utilize the laser pickoff elevator to regulate the laser pickoff height, the hydraulic pressure unit of control level land device and level land shovel have overcome the adjustment receiver height that stops repeatedly and have caused the low shortcoming of smooth operating efficiency, realize efficiently grading operation accurately.Through setting up pulling force sensor, make when level land shovel inner product soil too much or tractive load promote the level land shovel when excessive and unload soil, solve because of load and cross the problem that macrolesion tractor engine or damage level land are shoveled.Through setting up displacement transducer, prevented that level land shovel support wheel lifts the too high leveling effect that influences in the grading operation process.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from know-why of the present invention; Can also make some improvement and modification, these improve and modification also should be regarded as protection scope of the present invention.
Claims (4)
1. a laser land leveling control device comprises traction unit (20), and support wheel (4), and the level land that is connected with said support wheel (4) shovel (16) is characterized in that laser land leveling control device also comprises:
Generating laser (1) is used to rotate the formation of emission laser beam and puts down the work standard plane of face as said control device;
Laser pickoff (5) is used to receive said laser beam and said laser pickoff (5) is sent to controller (15) with respect to the said discrepancy in elevation of putting down face;
Laser pickoff lifting unit (6) is used for carrying said laser pickoff (5) above that, and under the driving of hydraulic pressure unit, raises or reduction;
Controller (15) is used for according to the signal that receives the up-down that control laser pickoff (5) shovels (16) pacifically;
Hydraulic pressure unit is used for according to the up-down that comes the control signal driving laser receiver lifting unit (6) of self-controller (15);
Said hydraulic pressure unit comprises hydraulic cylinder (2), and it is provided with displacement transducer (3), be used to gather support wheel (4) lift displacement and with its with lift displacement threshold value and compare, and comparative result is transferred to said controller (15);
Said traction unit (20) is provided with pulling force sensor (13); Be used to gather the pulling force value and with its with unload the load that native value of thrust compares to judge said level land shovel (16) and whether surpass load threshold, and judged result is transferred to said controller (15).
2. laser land leveling control device as claimed in claim 1; It is characterized in that; Said hydraulic pressure unit comprises hydraulic motor (17), is connected with said controller (15) through first electro-hydraulic reversing valve (7), is used under the control of controller (15), rotating to drive the up-down of said laser pickoff (5).
3. laser land leveling control device as claimed in claim 2; It is characterized in that; Said hydraulic cylinder (2) is connected with said controller (15) through second electro-hydraulic reversing valve (11), is used under the control of controller (15), stretching out or regaining the up-down with driving level land shovel (16).
4. a laser land leveling control method is characterized in that, comprises step:
S1, generating laser (1) rotation emission laser beam forms puts down the work standard plane of face as laser land leveling control device;
S2 confirms the height of laser pickoff (5) and the discrepancy in elevation that generating laser (1) is put down face, and with it as controlled quentity controlled variable;
S3, controller (15) sends to level land shovel (16) through second electro-hydraulic reversing valve (11) with said controlled quentity controlled variable and makes it to reach the location absolute altitude with the height of controlling said level land shovel (16);
S4; If the said discrepancy in elevation surpasses the range of receiving of laser pickoff (5), then controller transmits control signal and rotates to drive laser pickoff lifting unit (6) and laser pickoff (5) to go up and down simultaneously through the hydraulic motor (17) in first electro-hydraulic reversing valve (7) the control hydraulic pressure unit;
S5, whether the value of judging pulling force sensor (13) greater than unloading native value of thrust, if then controller (15) sends control signal and stretches out with rising level land shovel (16) for hydraulic cylinder (2) in the hydraulic pressure unit to unload soil;
S6, whether the value of judging displacement transducer (3) greater than lifting threshold value, if then controller (15) sends control signal and gives the hydraulic pressure unit to stop to raise support wheel (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010206489XA CN101869014B (en) | 2010-06-12 | 2010-06-12 | Laser land leveling control device and method |
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| CN201010206489XA CN101869014B (en) | 2010-06-12 | 2010-06-12 | Laser land leveling control device and method |
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| CN101869014A CN101869014A (en) | 2010-10-27 |
| CN101869014B true CN101869014B (en) | 2012-07-04 |
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| CN102726135B (en) * | 2012-03-31 | 2015-02-18 | 北京农业智能装备技术研究中心 | Laser blade grader with adjustable posture and control method thereof |
| CN102742386B (en) * | 2012-08-06 | 2015-05-06 | 宁夏智源农业装备有限公司 | Laser land leveler where hydraulic lifting signal rod |
| CN103171556B (en) * | 2013-03-19 | 2019-02-22 | 北京农业智能装备技术研究中心 | Automatic straight walking control system suitable for ditching operation tractor |
| CN103168521B (en) * | 2013-03-29 | 2015-06-24 | 中国农业大学 | Device and method of transversely horizontal adjusting of agricultural implement |
| CN103293974B (en) * | 2013-05-20 | 2016-01-20 | 北京农业信息技术研究中心 | Based on the control method of the land level scraper intelligent control system of GNSS |
| CN104770089A (en) * | 2015-04-24 | 2015-07-15 | 高台县嘉宝机械制造销售有限公司 | Adjustable laser land leveller |
| CN106500603A (en) * | 2016-10-27 | 2017-03-15 | 中国冶集团有限公司 | A kind of slidingtype infrared ray absolute altitude control and measure device and measuring method |
| CN106856679B (en) * | 2017-03-08 | 2019-08-06 | 徐州迪惠尔工程机械有限公司 | A kind of hand-held laser flatting machine |
| CN107989086A (en) * | 2017-11-24 | 2018-05-04 | 民勤县成达顺圆农机具制造有限公司 | A kind of laser flatting machine |
| CN107873149A (en) * | 2017-12-15 | 2018-04-06 | 酒泉市林德机械制造有限责任公司 | A kind of satellite land leveller |
| CN111395120A (en) * | 2020-04-27 | 2020-07-10 | 宁夏大学 | Coal gangue laying equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0928106A (en) * | 1995-07-26 | 1997-02-04 | Mitsubishi Agricult Mach Co Ltd | Traveling vehicle for working |
| JPH09313012A (en) * | 1996-05-28 | 1997-12-09 | Kubota Corp | Control device for tilling height |
| CN2531606Y (en) * | 2002-03-20 | 2003-01-22 | 中国水利水电科学研究院水利研究所 | Drawing type laser grond-levelling shovel |
| CN101223841B (en) * | 2008-01-31 | 2012-05-30 | 华南农业大学 | Paddy field laser flatting machine |
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