CN103430696B - Intelligence cane harvesting machine and autocontrol method - Google Patents
Intelligence cane harvesting machine and autocontrol method Download PDFInfo
- Publication number
- CN103430696B CN103430696B CN201310306318.8A CN201310306318A CN103430696B CN 103430696 B CN103430696 B CN 103430696B CN 201310306318 A CN201310306318 A CN 201310306318A CN 103430696 B CN103430696 B CN 103430696B
- Authority
- CN
- China
- Prior art keywords
- hydraulic motor
- sugarcane
- motor
- hydraulic
- leaf
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Fluid-Pressure Circuits (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a kind of intelligent cane harvesting machine, its hydraulic pressure delivery side of pump to be connected after one group of electrohydraulic proportional control valve more respectively with hydraulic motor travel motor with shell that leaf hydraulic motor is corresponding to be connected respectively, its hydraulic pressure delivery side of pump to connect respectively after one group of electrically-controlled valve more respectively with back-end crop hydraulic motor, back-end crop oil cylinder, hold up sugarcane hydraulic motor, hold up sugarcane oil cylinder, cut sugarcane hydraulic motor, feed hydraulic motor and delivery hydraulic pressure motor is corresponding connects, the control input end of electrohydraulic proportional control valve and the control input end of electrically-controlled valve are corresponding with the control output end of controller to be respectively connected.The invention also discloses a kind of autocontrol method of intelligent cane harvesting machine, according to the rotating speed of the stripping leaf hydraulic motor that sugarcane kind controls, control the rotating speed of hydraulic motor travel motor according to sugarcane line-spacing, sugarcane height, stripping leaf linear velocity and stripping leaf transfer ratio.The present invention can realize the automatic control to whole cane harvesting machine, reduces operation easier and intensity, improves efficiency of crop, realizes energy-saving and emission-reduction.
Description
Technical field
The present invention relates to a kind of cane harvesting machine, particularly relate to a kind of intelligent cane harvesting machine and the autocontrol method that can realize Automatic Control.
Background technology
Cane harvesting machine (also claiming cane harvester) is the machinery for gathering in the crops sugarcane, its harvesting apparatus mainly comprises back-end crop device, holds up sugarcane device, sugarcane cutter and leaf stripping device, these devices obtain the finished product sugarcane that can sell after being processed by the sugarcane in ground, greatly reduce labour intensity.
Conventional sugarcane reaping machine mainly adopts machine driving or adopts Normal hydraulic drive technology, there is no automatic controller, hand control valve is adopted to control each device, automatic control cannot be realized, also not based on cane planting kind and other parameter identification and judge system, the automatic adjustment of gathering in parameter can not be carried out according to sugarcane kind, plantation technique, so need that driving technology is consummate, veteran human users, but still can often because judge inaccurately to occur channel blockage, the problem that sugarcane is impaired, efficiency of crop is low.
In addition, conventional sugarcane reaping machine also cannot carry out self position judgement, velocity estimated, be unfavorable for cane harvesting machine rationally effectively distribution results region and path of forming a team, be unfavorable for looking for and identifying of reaping machine, more cannot realize unmanned and Long-distance Control, be difficult to meet the supermatic demand of modern society.
Summary of the invention
Object of the present invention is just to provide a kind of intelligent cane harvesting machine and the autocontrol method that can realize Automatic Control to solve the problem.
In order to achieve the above object, present invention employs following technical scheme:
Intelligent cane harvesting machine of the present invention comprises frame, driver's cabin, engine, hydraulic pump, back-end crop device, hold up sugarcane device, sugarcane cutter, leaf stripping device and running gear, described back-end crop device comprises back-end crop hydraulic motor and back-end crop oil cylinder, described in hold up sugarcane device to comprise to hold up sugarcane hydraulic motor and hold up sugarcane oil cylinder, described sugarcane cutter comprises cuts sugarcane hydraulic motor, and described leaf stripping device comprises feeding hydraulic motor, stripping leaf hydraulic motor, delivery hydraulic pressure motor, described running gear comprises hydraulic motor travel motor, it is characterized in that: described intelligent cane harvesting machine also comprises controller and control valve group, described control valve group comprises electrohydraulic proportional control valve and electrically-controlled valve, described hydraulic pressure delivery side of pump to be connected after electrohydraulic proportional control valve described in a group more respectively with described hydraulic motor travel motor with described stripping leaf hydraulic motor is corresponding connects respectively, described hydraulic pressure delivery side of pump to connect respectively after electrically-controlled valve described in a group more respectively with described back-end crop hydraulic motor, described back-end crop oil cylinder, describedly hold up sugarcane hydraulic motor, describedly hold up sugarcane oil cylinder, describedly cut sugarcane hydraulic motor, described feeding hydraulic motor is connected with described delivery hydraulic pressure motor correspondence, and the control input end of described electrohydraulic proportional control valve is connected with the control input end of described electrically-controlled valve is corresponding with the control output end of described controller respectively.
The present invention automatically controlled electrohydraulic proportional control valve and electrically-controlled valve replace traditional hand control valve, increase the automatic control of controller realization to each device dynamical system, thus reach the object automatically controlling reaping machine on the whole.Concrete controling parameters is arranged according to the human-computer interaction interface (internal or external) of controller, can realize the automatic operation of reaping machine after setting.
Further, global position system and remote communication module is provided with in described controller.Like this, realize locating the position of this reaping machine by global position system, realize the telecommunication with remote computer by remote communication module, thus can realize, to the Long-distance Control of single or multiple intelligent cane harvesting machine, realizing unmanned completely.
As preferably, described engine is BBG; The driving pump of described hydraulic motor travel motor is electrical-liquid control pump.
The autocontrol method of intelligent cane harvesting machine of the present invention is: described controller sends corresponding stripping leaf hydraulic motor control signal according to sugarcane kind, and control fluid flow by corresponding described electrohydraulic proportional control valve, realize the control to stripping leaf hydraulic motor rotary speed; The rotating speed of described controller hydraulic motor travel motor according to following formulae discovery:
In formula I, V represents the rotating speed of hydraulic motor travel motor, and L represents sugarcane line-spacing, L
1represent sugarcane height, V
1represent stripping leaf linear velocity, K represents stripping leaf transfer ratio, wherein V
1determined by leaf stripping device inherent parameters with K.
Above-mentioned computing formula is placed in controller with the form of program, above-mentioned each parameter is determined according to the cane plantation of reality and stripping leaf hydraulic motor, operator only needs various known parameters input control device in advance, controller can control the speed of stripping leaf hydraulic motor and hydraulic motor travel motor automatically as stated above, thus realize best stripping leaf effect, and the problem of channel blockage, engine misses when avoiding occurring causing results.
Beneficial effect of the present invention is:
Intelligent cane harvesting machine of the present invention can by the automatic control of controller realization to each power terminal, and realize Long-distance Control and unmanned by global position system and remote communication module, decrease operation easier and intensity, improve efficiency of crop, and achieve energy-saving and emission-reduction, for the comprehensive automation operation realizing harvesting sugarcane lays the first stone.It is regulate according to the best realizing shelling leaf hydraulic motor rotary speed and hydraulic motor travel motor rotating speed that autocontrol method of the present invention passes through with sugarcane kind, sugarcane line-spacing, sugarcane height, stripping leaf linear velocity and stripping leaf transfer ratio, thus make cane harvesting machine be in best running status, realize best efficiency of crop under prerequisite smoothly guaranteeing that reaping machine runs.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of intelligent cane harvesting machine of the present invention;
Fig. 2 is the structural representation of the automatic control system of intelligent cane harvesting machine of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described in detail:
As depicted in figs. 1 and 2, intelligent cane harvesting machine of the present invention comprises frame 5, driver's cabin 3, engine 6, hydraulic pump 601, back-end crop device 1, hold up sugarcane device 2, sugarcane cutter 8, leaf stripping device 4, running gear 9, controller 10 and control valve group 501, back-end crop fills 1 and comprises back-end crop hydraulic motor 101 and back-end crop oil cylinder 102, hold up sugarcane device 2 to comprise and hold up sugarcane hydraulic motor 201 and hold up sugarcane oil cylinder 202, sugarcane cutter 8 comprises cuts sugarcane hydraulic motor 801, and leaf stripping device 4 comprises feeding hydraulic motor 401, stripping leaf hydraulic motor 402, delivery hydraulic pressure motor 403, running gear 9 comprises hydraulic motor travel motor 901, control valve group 501 comprises two groups of electrohydraulic proportional control valves and seven groups of electrically-controlled valve, and (concrete control valve does not mark in the drawings, its quantity also can increase or reduce as required), the output of hydraulic pump 601 to be connected after one group of electrohydraulic proportional control valve more respectively with hydraulic motor travel motor 901 with shell that leaf hydraulic motor 402 is corresponding to be connected respectively, the output of hydraulic pump 601 to connect respectively after one group of electrically-controlled valve more respectively with back-end crop hydraulic motor 101, back-end crop oil cylinder 102, hold up sugarcane hydraulic motor 201, hold up sugarcane oil cylinder 202, cut sugarcane hydraulic motor 801, feeding hydraulic motor 401 is connected with delivery hydraulic pressure motor 403 correspondence, and the control input end of two groups of electrohydraulic proportional control valves is connected with the control input end of seven groups of electrically-controlled valve is corresponding with the control output end of controller 10 respectively.In this example, hydraulic pump 601 is installed on engine 6 and forms hydraulic power system 7, and control valve group 501 is installed in frame 5, and controller 10 is installed in driver's cabin 3, also can be arranged on other position as required.
Composition graphs 2, in order to realize Long-distance Control, global position system and remote communication module (not illustrating in the drawings) is provided with in controller 10, realize locating the position of this reaping machine by global position system, the telecommunication with remote computer is realized by remote communication module, thus can realize, to the Long-distance Control of single or multiple intelligent cane harvesting machine, realizing unmanned completely.In order to realize Optimal Control, engine 6 is BBG; The driving pump (not shown) of hydraulic motor travel motor 901 is electrical-liquid control pump.
Composition graphs 2, the autocontrol method of intelligent cane harvesting machine of the present invention is: controller 10 sends corresponding stripping leaf hydraulic motor control signal according to sugarcane kind, and control fluid flow by corresponding electrohydraulic proportional control valve, realize the control to stripping leaf hydraulic motor 402 rotating speed; Controller 10 is according to the rotating speed of following formulae discovery hydraulic motor travel motor 901:
In formula I, V represents the rotating speed of hydraulic motor travel motor 901, and L represents sugarcane line-spacing, L
1represent sugarcane height, V
1represent stripping leaf linear velocity, K represents stripping leaf transfer ratio, wherein V
1determined by the parameter of leaf stripping device 4 self with K.
Above-mentioned computing formula is placed in controller 10 with the form of program, above-mentioned each parameter is determined according to the cane plantation of reality and stripping leaf hydraulic motor 402, operator only needs various known parameters input control device 10 in advance, controller 10 can control the speed of stripping leaf hydraulic motor 402 and hydraulic motor travel motor 901 automatically as stated above, thus realize best stripping leaf effect, and the problem that when avoiding occurring causing results, channel blockage, engine 6 stop working.Concrete controling parameters is arranged according to the human-computer interaction interface (internal or external) of controller 10, can realize the automatic operation of reaping machine after setting.
Claims (1)
1. an autocontrol method for intelligent cane harvesting machine, described intelligent cane harvesting machine comprises frame, driver's cabin, engine, hydraulic pump, back-end crop device, hold up sugarcane device, sugarcane cutter, leaf stripping device and running gear, described back-end crop device comprises back-end crop hydraulic motor and back-end crop oil cylinder, described in hold up sugarcane device to comprise to hold up sugarcane hydraulic motor and hold up sugarcane oil cylinder, described sugarcane cutter comprises cuts sugarcane hydraulic motor, and described leaf stripping device comprises feeding hydraulic motor, stripping leaf hydraulic motor, delivery hydraulic pressure motor, described running gear comprises hydraulic motor travel motor, described intelligent cane harvesting machine also comprises controller and control valve group, described control valve group comprises electrohydraulic proportional control valve and electrically-controlled valve, described hydraulic pressure delivery side of pump to be connected after electrohydraulic proportional control valve described in a group more respectively with described hydraulic motor travel motor with described stripping leaf hydraulic motor is corresponding connects respectively, described hydraulic pressure delivery side of pump to connect respectively after electrically-controlled valve described in a group more respectively with described back-end crop hydraulic motor, described back-end crop oil cylinder, describedly hold up sugarcane hydraulic motor, describedly hold up sugarcane oil cylinder, describedly cut sugarcane hydraulic motor, described feeding hydraulic motor is connected with described delivery hydraulic pressure motor correspondence, and the control input end of described electrohydraulic proportional control valve is connected with the control input end of described electrically-controlled valve is corresponding with the control output end of described controller respectively, it is characterized in that: autocontrol method is: described controller sends corresponding stripping leaf hydraulic motor control signal according to sugarcane kind, and control fluid flow by corresponding described electrohydraulic proportional control valve, realize the control to stripping leaf hydraulic motor rotary speed, the rotating speed of described controller hydraulic motor travel motor according to following formulae discovery:
(formula I)
In formula I,
represent the rotating speed of hydraulic motor travel motor,
represent sugarcane line-spacing,
represent sugarcane height,
represent stripping leaf linear velocity,
represent stripping leaf transfer ratio, wherein
with
determined by leaf stripping device inherent parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310306318.8A CN103430696B (en) | 2013-07-22 | 2013-07-22 | Intelligence cane harvesting machine and autocontrol method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310306318.8A CN103430696B (en) | 2013-07-22 | 2013-07-22 | Intelligence cane harvesting machine and autocontrol method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103430696A CN103430696A (en) | 2013-12-11 |
| CN103430696B true CN103430696B (en) | 2015-10-14 |
Family
ID=49684497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310306318.8A Active CN103430696B (en) | 2013-07-22 | 2013-07-22 | Intelligence cane harvesting machine and autocontrol method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103430696B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104938145B (en) * | 2015-05-12 | 2017-07-28 | 黄华 | Sugarcane combining method |
| BR102015020070B1 (en) * | 2015-08-20 | 2018-06-12 | Cnh Industrial Latin America Ltda. | AUTOMOTIVE HARVEST OPERATION METHOD |
| CN105501443A (en) * | 2015-12-16 | 2016-04-20 | 无锡同春新能源科技有限公司 | Unmanned sugarcane harvester |
| CN105474879B (en) * | 2015-12-26 | 2017-07-14 | 唐强 | Sugarcane harvesting squeezer |
| CN107390699B (en) * | 2017-09-04 | 2023-07-28 | 广西民族大学 | Route planning system and route planning method of sugarcane planter |
| CN108307788B (en) * | 2017-12-19 | 2020-06-02 | 洛阳辰汉农业装备科技有限公司 | Harvesting device and harvester |
| CN108551857A (en) * | 2018-05-09 | 2018-09-21 | 王凡 | Sugarcane cutting equipment and use its Small Model Sugar Cane Harvester |
| CN109168598A (en) * | 2018-11-20 | 2019-01-11 | 湖北国拓重工科技有限责任公司 | A kind of cane combine |
| US20210169008A1 (en) * | 2019-12-05 | 2021-06-10 | Alan Lewis Fitzmaurice | Pre-processing of sugar cane |
| CN115989747A (en) * | 2021-10-18 | 2023-04-21 | 广西蓝星智能农机装备有限责任公司 | Operation method of inter-row sugarcane harvester |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN2722597Y (en) * | 2004-03-05 | 2005-09-07 | 广西壮族自治区农业机械研究所 | Entire rod type sugar cane combine |
| CN200983763Y (en) * | 2006-09-28 | 2007-12-05 | 广西壮族自治区农业机械研究院 | Sugarcane combine for cutting into pieces |
| CN101690449A (en) * | 2009-06-03 | 2010-04-07 | 广州市科利亚农业机械有限公司 | Segmenting type sugar cane combine harvester |
| CN203423983U (en) * | 2013-07-22 | 2014-02-12 | 四川泛水基电液机械有限责任公司 | Intelligent cane harvesting machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CU22934A1 (en) * | 2002-04-03 | 2004-02-20 | Ct Nac Para La Produccion De Animales De Lab | ELECTRONIC SYSTEM FOR AUTOMATIC REGULATION OF TRANSFER SPEED AND HEIGHT OF CUTTING DISCS IN A CANA HARVEST |
-
2013
- 2013-07-22 CN CN201310306318.8A patent/CN103430696B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN2722597Y (en) * | 2004-03-05 | 2005-09-07 | 广西壮族自治区农业机械研究所 | Entire rod type sugar cane combine |
| CN200983763Y (en) * | 2006-09-28 | 2007-12-05 | 广西壮族自治区农业机械研究院 | Sugarcane combine for cutting into pieces |
| CN101690449A (en) * | 2009-06-03 | 2010-04-07 | 广州市科利亚农业机械有限公司 | Segmenting type sugar cane combine harvester |
| CN203423983U (en) * | 2013-07-22 | 2014-02-12 | 四川泛水基电液机械有限责任公司 | Intelligent cane harvesting machine |
Non-Patent Citations (1)
| Title |
|---|
| 甘蔗联合收割机的应用技术及发展趋势;叶才学等;《装备制造技术》;20091231(第10期);126-127 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103430696A (en) | 2013-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103430696B (en) | Intelligence cane harvesting machine and autocontrol method | |
| CN109526381B (en) | Low-loss threshing control system and method for corn harvester | |
| CN106982590B (en) | Cutting and walking follow-up adjusting system of combine harvester | |
| GB2542673A (en) | Mower blade speed control system | |
| EA029020B1 (en) | Mower-conditioner header speed control based on forward travel speed | |
| CN109548472A (en) | CAN bus based harvest corn harvesting damage control system and control method | |
| CN107060727A (en) | A kind of hydraulic gate TT＆C system | |
| CN203423983U (en) | Intelligent cane harvesting machine | |
| EP3760027B1 (en) | Drive system for a harvester | |
| CN104982149A (en) | Intelligent control device and control method of guide plate of combined harvester | |
| CN104521419A (en) | Hydraulic control variable-swath riding type mower | |
| CN102848914A (en) | Hydraulic continuously-variable drive axle assembly | |
| CN107960190B (en) | Intelligent self-propelled sweet potato vine breaker | |
| CN109315130A (en) | A kind of hydraulic drive track combine load monitoring and ambulation control method | |
| EP2832205B2 (en) | Self-propelled harvester | |
| CN202979674U (en) | Cutter-windrower for applicable to oilseed rape harvesting | |
| CN104196788A (en) | Hydraulically-driven corn straw crushing and returning device and use method thereof | |
| CN207626109U (en) | A kind of grass mower adjusted with multi gear position | |
| CN202819218U (en) | Multifunctional corn castration machine | |
| CN103016431A (en) | Hydraulic system of full hydraulic seedling planting machine | |
| CN204811000U (en) | Combine harvester guide plate intelligent control device | |
| CN113575115B (en) | Wheel-track combined regenerated rice combine harvester | |
| CN102090387B (en) | Method and device for removing grassland weeds-iridaceous plants | |
| CN107046927A (en) | A kind of united reaper independence ceding of Taiwan Hydraulic Power Transmission System and its application method | |
| CN204061381U (en) | A kind of hydraulic driving corn straw smashing returning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Owner name: HUBEI GOTTALL HEAVY INDUSTRY TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: SICHUAN FANSHUIJI ELECTROHYDRAULIC MACHINERY CO., LTD. Effective date: 20150703 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20150703 Address after: 435000, Hubei, Huangshi, Xingang (logistics) Industrial Park Management Committee, Xingang Avenue, No. 1, Huangshi Applicant after: Sichuan Flashing Basis Electric Hydraulic Machinery Co., Ltd. Address before: 610000, No. two, Lane 11, No. 1, Lane Wah Yuen, Chengdu hi tech Development Zone, Sichuan Applicant before: Sichuan Fanshuiji Electrohydraulic Machinery Co., Ltd. |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |