CN103019123B - Intelligent control system for cotton picker - Google Patents
Intelligent control system for cotton picker Download PDFInfo
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- CN103019123B CN103019123B CN201210570723.6A CN201210570723A CN103019123B CN 103019123 B CN103019123 B CN 103019123B CN 201210570723 A CN201210570723 A CN 201210570723A CN 103019123 B CN103019123 B CN 103019123B
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Abstract
The invention discloses an intelligent control system for a cotton picker. The system uses a microcomputer controller PC104 and an image-text display for monitoring and controlling the cotton picker. The human-computer interaction interface of the system is complied with LabView. The system comprises the microcomputer controller PC104 (1), an automatic row aligning subsystem (2) of the cotton picker, an online cotton yield predicting subsystem (3), an automatic control subsystem (4) for controlling travelling speed of the cotton picker, a parameter detecting and state monitoring subsystem (5) of the cotton picker, the image-text display (6) and a CAN (controller area network) bus (7). The controller (1) receives data transmitted by the automatic row aligning subsystem (2), the online cotton yield predicting subsystem (3), the automatic control subsystem (4), the parameter detecting and state monitoring subsystem (5) and the like through the CAN bus (7), and control of the cotton picker is achieved through data processing or boundary condition comparison. By the system, intelligence of the cotton picker is improved, especially control of state parameter monitoring, automatic row aligning, online yield predicting, travelling speed of the cotton picker is improved, and accordingly optimal control of the cotton picker is achieved.
Description
Technical field
The invention belongs to the control system of Intelligent agricultural machinery cotton picker, particularly a kind of intelligent control system for cotton picker.This system is the apparatus and method adopting the PC104 microcomputer controller based on CAN and the cotton picker based on the image-text display of LabView coder machine interactive interface to travel control, state parameter monitoring, fault alarm, chinese disply.
Background technology
The cotton picker that the Deere & Co. of the Jin You U.S. used in China at present produces with Kase Corp. and the mechanical Ltd of Chinese par.
Existing cotton picker by nearside divider as guide, by it cotton plant propped up and import and pluck room, cotton plant width is extruded into 60 centimetres, within cotton picking refers to, the ingot of plucking rotated meets with the cotton boll ftractureed, and vertically inserts the cotton plant be extruded, at this moment plucks ingot ditch tooth and tangle unginned cotton, cotton for blow-of-cottons lobe is pulled out from the cotton boll of cracking, and with it being wrapped in.The de-cotton dish of High Rotation Speed, plucking ingot with cotton picking be that contrary direction operate, when running into the unginned cotton of plucking on ingot, the rotation of unginned cotton opposite direction is taken off.The unginned cotton taken off, by the great power of the wind flow of wind-force cotton transport system, unginned cotton is blowed from cotton collecting chamber and enters air duct, blow at a high speed again and enter in dress hopper, then cotton plant exits through screen and plucks room, plucks ingot and rotates to pouring damping again, after the drip washing of hydraulic pressure system water spray, reach the effect of cooling and cleaning, pluck ingot cotton picking again again.At present, cotton picker has one to be use horizontal spindle formula cotton picker, and its harvesting rate is higher, but complex structure, manufacturing accuracy require and cost is high; Another kind uses the vertical cotton picker of the spindle type, and its structure is comparatively simple, cost is lower, but harvesting rate is lower, the cotton that lands is more, damage larger to cotton plant.The percentage of impurity that unginned cotton adopted by machine is high, and quality grade comparatively hand is plucked unginned cotton and significantly reduced.
Also have a kind of cotton picker, this machine adopts intelligent control system, can realize the monitoring to cotton picker state parameter by this system, realizes on-line yield monitoring, the automatic Inspect and control to a series of robotizations such as row, the speed of travel regulate automatically.But this cotton picker control system automaticity is low, adopt LED and the state parameter of instrument and meter to cotton picker to show, secondary development is poor, and systems bulky is complicated, and reliability is low.And this system is made up of numerous sensor and topworks, information communication between master controller and each parts is very complicated, adopt the communication modes of traditional data acquisition board to add a large amount of pin and wire to system, reduce further the reliability that information is transmitted.
The shortcoming of tradition intelligent control system for cotton picker is that automaticity is low, and adopt LED and instrument and meter to show cotton picker state parameter, communication is complicated, transmission of information is unreliable, human-computer interaction interface is not fine, and monitoring function is few, and on-line yield monitoring error rate is high.
Summary of the invention
The object of the invention is to provide a kind of intelligent control system for cotton picker, and this system can improve the intellectuality of cotton picker, information-based performance, and monitoring and the cotton picker that especially can improve cotton picker state parameter control row, on-line yield monitoring, the speed of travel automatically.Adopt human-computer interaction interface, realize cotton picker optimized control.
The object of the present invention is achieved like this.
A kind of intelligent control system for cotton picker, it is characterized in that, controller adopts the PC104 microcomputer controller based on CAN, image-text display is adopted cotton picker to be carried out to the system of monitoring and controlling, its human-computer interaction interface adopts LabView to write, this system comprises: PC104 microcomputer controller (1), cotton picker is automatically to row subsystem (2), cotton on-line yield monitoring subsystem (3), cotton picker speed of travel autonomous control subsystem (4), cotton picker parameter detecting and status monitoring subsystem (5), image-text display (6), CAN (7), wherein: PC104 microcomputer controller (1), this controller (1) is received from automatically row subsystem (2) by CAN (7), cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4), parameter detecting and status monitoring subsystem (5), the data message that image-text display (6) sends, through the comparison of data processing or boundary condition, realize the control of cotton picker, cotton picker automatically to row subsystem (2), for realizing cotton picker automatically to row, cotton on-line yield monitoring subsystem (3) is for monitoring output of cotton data, cotton flow sensor is adopted to measure cotton flow, and send digital signal, be sent to PC104 microcomputer controller (1) by CAN and carry out output of cotton calculating, and show output of cotton on image-text display (6), cotton picker speed of travel autonomous control subsystem (4) is for automatically adjusting and showing the cotton picker speed of travel, parameter detecting and status monitoring subsystem (5) are for carrying out detection judge cotton picker parameter, state, if cotton picker parameter is greater than or less than setup parameter, system is then reported to the police, image-text display (6) is for showing the cotton picker operational factor of monitoring in real time, CAN (7) is for PC104 microcomputer controller (1) and the sensor of subsystems, the information transmission of topworks, the data of collection are sent in PC104 microcomputer controller (1) and process, after process, send to image-text display to show.
The main control flow process of intelligent control system for cotton picker of the present invention is as follows:
The first step: after intelligent control system for cotton picker energising, initialization is carried out to the input of PC104 microcomputer controller, output port and CAN;
Second step: initialization is carried out to the cotton flow sensor in cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4);
3rd step: PC104 microcomputer controller (1) is received and automatically transmitted the data of coming up by CAN (7) to row subsystem (2), cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4), parameter detecting and status monitoring subsystem (5), and by detected state that the LabView program display of writing is correlated with;
4th step: parameters button, relevant parameter is arranged, respectively to a kilogram coefficient A for weight display is converted to cotton flow, impurity B, moisture C, unit cotton field cotton minimum output D, unit cotton field cotton production peak E, angle parameter F, time parameter G, angular velocity parameter H, speed of travel parameter I, water route pressure parameter J, drum rotation speed parameter K, rotation speed of fan parameter L arrange;
5th step: the digital signal of cotton flow sensor collection is multiplied by coefficient A and deducts impurity B and deduct the cotton flow that moisture C obtains on-line yield monitoring again, using the cotton flow of this on-line yield monitoring as the real-time output of cotton; Real-time for cotton output is compared with unit cotton field cotton minimum output D, unit cotton field cotton production peak E respectively simultaneously, comparative result is sent signal by PC104 microcomputer controller (1) to hydraulic variable displacement pump, and then realization is to the acceleration of cotton picker and control of slowing down; Angle parameter F, time parameter G, angular velocity parameter H are used for cotton picker automatically to row; Speed of travel parameter I, water route pressure parameter J, drum rotation speed parameter K, rotation speed of fan parameter L are respectively used to measure the cotton picker speed of travel, water route pressure, drum rotation speed, rotation speed of fan;
6th step: judge whether to run by parameters, runs if not pressing parameters, then returns the 4th step Reparametrization, run, then go to step the 7th step if press parameters;
7th step: automatically row, the speed of travel are controlled automatically and the manual switching to row, speed of travel Non-follow control, be switched to manually row, speed of travel Non-follow control, the advance of cotton picker is controlled by bearing circle, be switched to and automatically row, the speed of travel controlled automatically, by the angle of control step electric machine rotation and the angular velocity of rotation, thus control the adjustment that all-hydraulic steering gear completes direction, control the fuel delivery of walking hydraulic variable displacement pump simultaneously, realize the automatic control of the speed of travel;
8th step: the controling parameters set that subsystems is sent by CAN (7) reception image-text display (6), the Monitoring Data of subsystems transmission simultaneously shows in real time to image-text display (6) and monitors;
The walking hydraulic variable displacement pump that system adopts electromagnetic servo valve to control; Adopt wheel steering and automatically switching two kinds of steering modes turned to row; Monitoring, the sound and light alarm of employing instrumentation column integrated engine tachometer gage, oil manometer, water-thermometer, diesel oil scale, voltage table and intelligent control system for cotton picker combine.
Intelligent control system for cotton picker of the present invention control and flow for displaying as follows:
The first step: after controller energising, system initialization and CAN carry out initialization;
Second step: the data being received controller by CAN;
3rd step: the data received are processed;
4th step: the state parameter that display microcomputer controller detects, parameters: press parameters button on the control panel, converts the coefficient A of kilogram weight display to cotton flow respectively, impurity B, moisture C, unit cotton field cotton minimum output D, unit cotton field cotton production peak E, angle parameter F, time parameter G, angular velocity parameter H, speed of travel parameter I, water route pressure parameter J, drum rotation speed parameter K, rotation speed of fan parameter L arranges;
5th step: judged whether warning, if any then reporting to the police, mainly comprises: suck door blocking, wrong operation of motor, fan speed is too low, fan trouble, unloads cotton fault, and oil pressure, hydraulic pressure, water temperature are abnormal, air filter fault.
Superiority of the present invention and technique effect:
1, cotton on-line yield monitoring subsystem, achieves the on-line yield monitoring of cotton.
2, the cotton flow recorded online is adopted, carry load gradient with cotton, block boundary condition and compare, instruction is sent to electromagnetic servo valve, control the fuel delivery of walking hydraulic variable displacement pump, realize the robotization of the speed of travel, optimized control, avoid cotton plugging fault, improve operating efficiency.Meanwhile, the switching that hand control and automation controls the cotton picker speed of travel can be realized.
3, cotton picker is automatically to row subsystem, can realize automatically row, walking.
4, the parameter detecting of CAN and the human-computer interaction interface of status monitoring is realized.
5, adopt bearing circle to control cotton picker advance and automatically control cotton picker to row and to advance two kinds of progression
Accompanying drawing explanation
Fig. 1 intelligent control system for cotton picker block diagram;
Fig. 2 main control process flow diagram;
Fig. 3 display control flow chart.
specific implementation method
Systemic-function realizes
The invention provides a set of cotton picker adopts the PC104 microcomputer controller based on CAN and the cotton picker based on the image-text display of LabView coder machine interactive interface to travel the apparatus and method of control, state parameter monitoring, on-line yield monitoring, fault alarm, chinese disply.
As shown in Figure 1, intelligent control system for cotton picker of the present invention comprises:
PC104 microcomputer controller (1), cotton picker automatically to row subsystem (2), cotton on-line yield monitoring subsystem (3), cotton picker speed of travel autonomous control subsystem (4), cotton picker parameter detecting and status monitoring subsystem (5), image-text display (6) CAN (7), wherein:
PC104 microcomputer controller (1), this controller (1) receives the data from automatically sending row subsystem (2), cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4), parameter detecting and status monitoring subsystem (5), image-text display (6) by CAN (7), through the comparison of data processing or boundary condition, realize the control of cotton picker;
Cotton picker automatically to row subsystem (2) for realizing cotton picker automatically to row, this subsystem comprises touch type sensor, automatically to row control module, stepper motor, all-hydraulic steering gear, steering cylinder, realize cotton picker automatically to row, first sane walking regulates model analysis to calculate, export rotational angle signal to stepper motor, then driving stepper motor steering gear;
Cotton on-line yield monitoring subsystem (3) is for monitoring output of cotton data, cotton flow sensor is adopted to measure cotton flow, and send digital signal, be sent to PC104 microcomputer controller (1) by CAN and carry out output of cotton calculating, and show output of cotton on image-text display (6);
Cotton picker speed of travel autonomous control subsystem (4) is for automatically adjusting and showing the cotton picker speed of travel, adopt cotton flow sensor, electromagnetic servo valve, walking hydraulic variable displacement pump, the cotton flow signal that cotton flow sensor is measured by this subsystem sends to PC104 microcomputer controller to carry out the comparison of cotton conveying load gradient, blocking boundary condition by CAN (7), instruction is sent to electromagnetic servo valve, control the fuel delivery of walking hydraulic variable displacement pump, realize the automatic control of the speed of travel, thus change cotton picker operating speed;
Cotton picker parameter detecting and status monitoring subsystem (5) are for carrying out detection judge cotton picker parameter, state, if cotton picker parameter is greater than or less than setup parameter, system is then reported to the police, this subsystem adopts cotton picker walking parameter detection module (2-1) and cotton picker state monitoring module (2-2), and it is specially:
Cotton picking walking parameter detection module (2-1) comprises speed of travel sensor, rotation speed of fan sensor, drum rotation speed sensor, hydraulic pressure sensor, the speed of travel of acquisition, rotation speed of fan, drum rotation speed, hydraulic parameters information, for gathering above-mentioned each sensor parameters information, are sent to PC104 microcomputer controller by this module;
Cotton picker state monitoring module (2-2) comprises suction gate signal sensor, clutch engagement signal sensor, unload cotton signal transducer, air filter signal transducer, median signal sensor, neutral gear signal transducer, parking signal sensor, level comparison circuit, when this module is used for cotton picker operation, by suction gate signal sensor, clutch engagement signal sensor, unload cotton signal transducer, air filter signal transducer, median signal sensor, neutral gear signal transducer, parking signal Sensor monitoring cotton picker running status, level comparison circuit LM339 is utilized to realize signals collecting,
Image-text display (6) is for showing the cotton picker operational factor of monitoring in real time;
CAN (7) is for PC104 microcomputer controller (1) and the sensor of subsystems, the information transmission of topworks, the data of collection are sent in PC104 microcomputer controller (1) and process, after process, send to image-text display to show.Image-text display is connected by VGA and PC104 microcomputer controller (1), for the monitoring interface of display of visually, monitoring interface completes and automatically automatically controls row, the speed of travel or the manual switching controlled row, the speed of travel.
Intelligent control system for cotton picker ultimate principle is as follows:
The intelligent automatic control core of native system is a PC104 microcomputer controller (1), cotton picker is automatically to row subsystem (2), cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4), parameter detecting and status monitoring subsystem (5), the switching value data of image-text display (6) and various monitoring, feedback data inputs data as microcomputer controller, these input data are transmitted by CAN (7), these data are by the identification of PC104 microcomputer controller software, judge, process, display, determine the running status of cotton picker, operational factor and output of cotton, simultaneously, according to the running status of cotton picker, operational factor and output of cotton judge automatically to row or manually to row, the speed of travel controls or the switching of speed of travel Non-follow control automatically, if be switched to manually row, speed of travel Non-follow control, the advance of cotton picker is controlled by bearing circle, automatically row, the speed of travel are controlled automatically if be switched to, by the angle of control step electric machine rotation and the angular velocity of rotation, thus control the adjustment that all-hydraulic steering gear completes direction, control the fuel delivery of walking hydraulic variable displacement pump simultaneously, realize the automatic control of the speed of travel.
At cotton picker working condition, first on the control panel of cotton picker, parameters button is pressed, respectively to a kilogram coefficient A for weight display is converted to cotton flow, impurity B, moisture C, unit cotton field cotton minimum output D, unit cotton field cotton production peak E, angle parameter F, time parameter G, angular velocity parameter H, speed of travel parameter I, water route pressure parameter J, drum rotation speed parameter K, rotation speed of fan parameter L is arranged, simultaneously, cotton picker will according to automatic to row or manually to row, the speed of travel controls or the walking of speed of travel Non-follow control automatically, and, according to various Monitoring Data, PC104 microcomputer controller (1) real-time operation obtains cotton picker running status, operational factor, output of cotton data, the warning of monitoring cotton picker, and be delivered to image-text display by VGA and show in real time, operating personnel are made to grasp the running status of cotton picker at any time, make various operation decision-making in time.
For the ease of using, the I/O that subsystems has also reserved some expands mouth, adopts CAN technology, can increase the application device, micro computer etc. based on CAN technology at any time, for the expansion upgrading of native system is laid a good foundation.
As shown in Figure 2, intelligent control system for cotton picker main control flow process of the present invention is as follows:
The first step: after intelligent control system for cotton picker energising, initialization is carried out to the input of PC104 microcomputer controller, output port and CAN;
Second step: initialization is carried out to the cotton flow sensor in cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4);
3rd step: PC104 microcomputer controller (1) is received and automatically transmitted the data of coming up by CAN (7) to row subsystem (2), cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4), parameter detecting and status monitoring subsystem (5), and by detected state that the LabView program display of writing is correlated with;
4th step: parameters button, relevant parameter is arranged, respectively to a kilogram coefficient A for weight display is converted to cotton flow, impurity B, moisture C, unit cotton field cotton minimum output D, unit cotton field cotton production peak E, angle parameter F, time parameter G, angular velocity parameter H, speed of travel parameter I, water route pressure parameter J, drum rotation speed parameter K, rotation speed of fan parameter L arrange;
5th step: the digital signal of cotton flow sensor collection is multiplied by coefficient A and deducts impurity B and deduct the cotton flow that moisture C obtains on-line yield monitoring again, using the cotton flow of this on-line yield monitoring as the real-time output of cotton; Real-time for cotton output is compared with unit cotton field cotton minimum output D, unit cotton field cotton production peak E respectively simultaneously, comparative result is sent signal by PC104 microcomputer controller (1) to hydraulic variable displacement pump, and then realization is to the acceleration of cotton picker and control of slowing down; Angle parameter F, time parameter G, angular velocity parameter H are used for cotton picker automatically to row; Speed of travel parameter I, water route pressure parameter J, drum rotation speed parameter K, rotation speed of fan parameter L are respectively used to measure the cotton picker speed of travel, water route pressure, drum rotation speed, rotation speed of fan.
6th step: judge whether to run by parameters, running if not pressing parameters, so returning the 4th step and resetting button parameters, run, then go to step the 7th step if press parameters;
7th step: automatically row, the speed of travel are controlled automatically and the manual switching to row, speed of travel Non-follow control, be switched to manually row, speed of travel Non-follow control, the advance of cotton picker is controlled by bearing circle, be switched to and automatically row, the speed of travel controlled automatically, by the angle of the rotation of control step motor and the angular velocity of rotation, thus control the adjustment that all-hydraulic steering gear completes direction, control the fuel delivery of walking hydraulic variable displacement pump simultaneously, realize the automatic control of the speed of travel;
8th step: the controling parameters set that subsystems is sent by CAN (7) reception image-text display (6), the Monitoring Data of subsystems transmission simultaneously shows in real time to image-text display (6) and monitors;
9th step: program will return and circulate;
The walking hydraulic variable displacement pump that system adopts electromagnetic servo valve to control; Adopt wheel steering and automatically switching two kinds of steering modes turned to row; Monitoring, the sound and light alarm of employing instrumentation column integrated engine tachometer gage, oil manometer, water-thermometer, diesel oil scale, voltage table and intelligent control system for cotton picker combine.
As shown in Figure 3, intelligent control system for cotton picker of the present invention control and flow for displaying as follows
:
The first step: after controller energising, system initialization and CAN carry out initialization;
Second step: the data being received controller by CAN;
3rd step: the data received are processed;
4th step: the state parameter that display microcomputer controller detects, parameters: press parameters button on the control panel, converts the coefficient A of kilogram weight display to cotton flow, impurity B, moisture C, unit cotton field cotton minimum output D, unit cotton field cotton production peak E, angle parameter F, time parameter G, angular velocity parameter H, speed of travel parameter I, water route pressure parameter J, drum rotation speed parameter K, rotation speed of fan parameter L arranges;
5th step: judged whether warning, if any then reporting to the police, mainly comprises: suck door blocking, wrong operation of motor, fan speed is too low, fan trouble, unloads cotton fault, and oil pressure, hydraulic pressure, water temperature are abnormal, air filter fault.
Claims (1)
1. an intelligent control system for cotton picker, controller adopts the PC104 microcomputer controller based on CAN, image-text display is adopted cotton picker to be carried out to the system of monitoring and controlling, its human-computer interaction interface adopts LabView to write, this system comprises: PC104 microcomputer controller (1), cotton picker is automatically to row subsystem (2), cotton on-line yield monitoring subsystem (3), cotton picker speed of travel autonomous control subsystem (4), cotton picker parameter detecting and status monitoring subsystem (5), image-text display (6), CAN (7), wherein: PC104 microcomputer controller (1), this controller (1) is received from automatically row subsystem (2) by CAN (7), cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4), parameter detecting and status monitoring subsystem (5), the data message that image-text display (6) sends, through the comparison of data processing or boundary condition, realize the control of cotton picker, cotton picker automatically to row subsystem (2), for realizing cotton picker automatically to row, cotton on-line yield monitoring subsystem (3) is for monitoring output of cotton data, cotton flow sensor is adopted to measure cotton flow, and send digital signal, be sent to PC104 microcomputer controller (1) by CAN and carry out output of cotton calculating, and show output of cotton on image-text display (6), cotton picker speed of travel autonomous control subsystem (4) is for automatically adjusting and showing the cotton picker speed of travel, parameter detecting and status monitoring subsystem (5) are for carrying out detection judge cotton picker parameter, state, if cotton picker parameter is greater than or less than setup parameter, system is then reported to the police, image-text display (6) is for showing the cotton picker operational factor of monitoring in real time, CAN (7) is for PC104 microcomputer controller (1) and the sensor of subsystems, the information transmission of topworks, the data of collection are sent in PC104 microcomputer controller (1) and process, after process, send to image-text display to show, it is characterized in that, the main control flow process of described control system is as follows:
The first step: after intelligent control system for cotton picker energising, initialization is carried out to the input of PC104 microcomputer controller, output port and CAN;
Second step: initialization is carried out to the cotton flow sensor in cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4);
3rd step: PC104 microcomputer controller (1) is received and automatically transmitted the data of coming up by CAN (7) to row subsystem (2), cotton on-line yield monitoring subsystem (3), speed of travel autonomous control subsystem (4), parameter detecting and status monitoring subsystem (5), and by detected state that the LabView program display of writing is correlated with;
4th step: parameters button, relevant parameter is arranged, respectively to a kilogram coefficient A for weight display is converted to cotton flow, impurity B, moisture C, unit cotton field cotton minimum output D, unit cotton field cotton production peak E, angle parameter F, time parameter G, angular velocity parameter H, speed of travel parameter I, water route pressure parameter J, drum rotation speed parameter K, rotation speed of fan parameter L arrange;
5th step: the digital signal of cotton flow sensor collection is multiplied by coefficient A and deducts impurity B and deduct the cotton flow that moisture C obtains on-line yield monitoring again, using the cotton flow of this on-line yield monitoring as the real-time output of cotton; Real-time for cotton output is compared with unit cotton field cotton minimum output D, unit cotton field cotton production peak E respectively simultaneously, comparative result is sent signal by PC104 microcomputer controller (1) to hydraulic variable displacement pump, and then realization is to the acceleration of cotton picker and control of slowing down; Angle parameter F, time parameter G, angular velocity parameter H are used for cotton picker automatically to row; Speed of travel parameter I, water route pressure parameter J, drum rotation speed parameter K, rotation speed of fan parameter L are respectively used to measure the cotton picker speed of travel, water route pressure, drum rotation speed, rotation speed of fan;
6th step: judge whether to run by parameters, running if not pressing parameters, so returning the 4th step Reparametrization, run, then go to step the 7th step if press parameters;
7th step: automatically row, the speed of travel are controlled automatically and the manual switching to row, speed of travel Non-follow control, be switched to manually row, speed of travel Non-follow control, the advance of cotton picker is controlled by bearing circle, be switched to and automatically row, the speed of travel controlled automatically, by the angle of control step electric machine rotation and the angular velocity of rotation, thus control the adjustment that all-hydraulic steering gear completes direction, control the fuel delivery of walking hydraulic variable displacement pump simultaneously, realize the automatic control of the speed of travel;
8th step: the controling parameters set that subsystems is sent by CAN (7) reception image-text display (6), the Monitoring Data of subsystems transmission simultaneously shows in real time to image-text display (6) and monitors.
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| CN201210570723.6A CN103019123B (en) | 2012-12-26 | 2012-12-26 | Intelligent control system for cotton picker |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103676783A (en) * | 2013-12-19 | 2014-03-26 | 常州市胜比特机械配件厂 | Monitoring system for cotton picker |
| CN104360649B (en) * | 2014-10-10 | 2017-05-10 | 上海大学 | Automatic cotton-picking machine packaging control system |
| US9706709B2 (en) * | 2015-09-10 | 2017-07-18 | Deere & Company | Harvester fan speed control based on yield |
| CN105259832A (en) * | 2015-10-26 | 2016-01-20 | 重庆大学 | Intelligent cotton picker control system based on multi-view stereo vision |
| CN105652750A (en) * | 2016-03-12 | 2016-06-08 | 上海大学 | Cotton picking cluster remote condition monitoring system based on GSM/GPRS/GPS network |
| CN105843127B (en) * | 2016-05-12 | 2018-06-12 | 核工业理化工程研究院 | The control system of stepper motor regulating valve |
| CN108255148A (en) * | 2017-12-05 | 2018-07-06 | 上海大学 | A kind of cotton picker intelligent monitor system based on touch display |
| CN107942890A (en) * | 2017-12-28 | 2018-04-20 | 上海大学 | A kind of cotton picker intelligent monitor system based on Android |
| CN111316812B (en) * | 2018-12-13 | 2022-02-11 | 中国科学院沈阳自动化研究所 | Automatic line aligning method of corn combine harvester |
| CN109526381B (en) * | 2019-01-07 | 2020-05-01 | 中国农业大学 | Low-loss threshing control system and method for corn harvester |
| CN112379632A (en) * | 2020-10-29 | 2021-02-19 | 石河子大学 | Monitoring system for cotton picker |
| CN112977614B (en) * | 2021-04-02 | 2022-10-11 | 中国铁建重工集团股份有限公司 | Automatic line alignment method, device, medium and system |
| CN113057020B (en) * | 2021-04-02 | 2022-09-06 | 中国铁建重工集团股份有限公司 | Method, system, device and medium for controlling rotation speed of collecting head |
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| US6070538A (en) * | 1996-11-22 | 2000-06-06 | Case Corporation | Modular agricultural implement control system |
| CN102090205A (en) * | 2010-12-07 | 2011-06-15 | 中国农业大学 | Multi-parameter control system for threshing performance of combined harvester |
| CN102354195A (en) * | 2011-09-15 | 2012-02-15 | 贵阳鑫博士科技有限公司 | Automatic control system for large-sized cotton picking machine |
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