CN104635582A - Vehicle-mounted terminal of round bander and control system and method - Google Patents
Vehicle-mounted terminal of round bander and control system and method Download PDFInfo
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- CN104635582A CN104635582A CN201510018543.0A CN201510018543A CN104635582A CN 104635582 A CN104635582 A CN 104635582A CN 201510018543 A CN201510018543 A CN 201510018543A CN 104635582 A CN104635582 A CN 104635582A
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- bale
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F15/00—Baling presses for straw, hay or the like
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Harvester Elements (AREA)
Abstract
The invention discloses a vehicle-mounted terminal of a round bander and a control system and a method. A central processor is used for acquiring parameters such as the rotating speed of a feeding knife roll of the bander, the position of a feeding hole bottom door, the position of a baling connecting rod and the pressure of a baling oil cylinder in real time through a signal input module in real time, and the back pressure of a safety valve is changed through an output control module, so that density regulation of bales is realized; the opening of a feeding hole can be adjusted according to the rotating speed change characteristic of the feeding knife roll by changing the position of the feeding hole bottom door, so that straw blockage is avoided, and logical control of picking, bundling, parking, winding and unloading is realized. The operation state and parameters, geographic position information and the like of the bander can be displayed and stored in real time, and output and remote monitoring can be performed through serial communication and wireless communication. The operation state and parameters of the bander are monitored in real time, so that the overall operation performance, efficiency and reliability are improved.
Description
Technical field
The invention belongs to baler automatic control technology field, be specifically related to a kind of car-mounted terminal of round bale baler and control system and method.
Background technology
In baler automatic control technology field, picking up and bundling is the important step realizing agricultural crop straw comprehensive utilization, and baler is then the main facility realizing stalk bundling.Can be divided into round bale baler and square bale baler according to the shape baler of bale, wherein to mainly contain long adhesive tape type, short adhesive tape type and steel rider formula etc. several for round bale baler.
In recent years, the round bale baler of China's self-developing various ways, but compared with external advanced type, its overall supporting power is less, intelligence degree is low, poor reliability, especially, when gathering in the crops moistening, tall and big complete rice straw and herbage bundling, feed blocking problem is serious.The blocking of material mostly occurs and to go out at feeding mouth, although many types add at feeding mouth force feeding running roller, improve the transportation performance of material, because feeding mouth structure is fixed, blockage problem fails effectively to be solved always.The packing of justifying bale shaping is subject to the impact that baling connecting rod acts on bale external cylindrical surface upward pressure, this pressure mainly determined by baling oil path in oil cylinder safety valve back pressure, in order to the material bundling requirement meeting different water cut, different packing requires, need to adjust safety valve back pressure, this work at present still relies on and manually completes.Bale is shaping is the process that compression bale diameter constantly increases, what generally adopt at present is install proximity switch in bale nominal diameter position, output signal after bale diameter reaches setting value, thus complete bundling process, this cannot the change procedure of Real-Time Monitoring bale diameter, and due to factors such as the reliability of proximity switch and interference, easily lead to errors output signal, reduce bundling functional reliability.
Summary of the invention
In order to achieve the above object, it is of the present invention that to the present invention is directed to current round bale baler automaticity low, poor reliability, the deficiency that blockage problem is serious, design a kind of car-mounted terminal of baler and control system and method, propose by the change of Real-Time Monitoring feeding axle rotational speed, automatic adjustment feeding mouth aperture, improve baler feeding property, changed by baling connecting rod position, the change procedure of diameter when monitoring bale is shaping, and can adjust safety valve back pressure, to meet different water cut, the material bundling requirement that different packing requires, realization is picked up, bundled, stop, twine the logic control of net and discharging, there is fault alarm, job state stores, serial ports and wireless communication output function.
The technical scheme of system of the present invention is:
A kind of car-mounted terminal of round bale baler and control system, it is characterized in that, comprise central processing unit, signal input module, output control module, video module, display, memory module, GPS module, serial communication, radio communication, memory module, alarm module and Keysheet module;
Described central processing unit is connected with signal input module, output control module, GPS module, Keysheet module, serial communication, radio communication, alarm module, memory module, display respectively, and described video module is connected with display;
Described signal input module is used for that Real-time Collection feeding axle rotational speed, feeding mouth bottom door position, baling connecting rod position, baling oil cylinder working-pressure, bale diameter are spacing, net volume bundling completes and tail-gate keying signal parameter;
Described output control module is for driving feeding mouth to regulate electric cylinder, safety valve backpressure regulation, net volume binding mechanism, tail-gate to open and close oil cylinder and unloading bundle push rod oil cylinder;
Described central controller, on the one hand for obtaining job state and parameter, the GPS information of baler, realizes picking up, the logic control of bundled, stop, twine net and discharging, and by display real-time condition display; Central controller is used for fault alarm and job state storage on the other hand, is undertaken exporting and remote monitoring by serial communication and wireless telecommunications.
Further, described Keysheet module is used for the specified feeding axle rotational speed n of central processing unit input baler
ewith rational relative speed variation
scope, by signal input module monitoring feeding axle rotational speed n, is inputted central processing unit and is calculated feeding axle rotational speed rate of change
The technical scheme of method of the present invention comprises step:
Step 1, start baler, first central processing unit reads baler job state parameter, as noted abnormalities, sends sound and light alarm information by alarm module, and after bundle machine operation state parameter is normal, machine carries out bundling operation;
Step 2, in bundling operation process, central processing unit Real-Time Monitoring feeding axle rotational speed n, and the feeding axle rotational speed rate of change calculated
as n and
at the feeding axle rotational speed n of setting in advance
ewith rational relative speed variation
time in scope, feeding mouth regulates electric cylinder to be failure to actuate, and feeding mouth aperture keeps constant initial position;
Step 3, in bale forming process, central processing unit by monitoring baling connecting rod position signal, obtains bale diameter change procedure, when bale diameter reaches specified spacing value in real time, send signal baler to halt, and starting net volume bundling, after net volume bundling completes, central processing unit sends signal driving tail-gate oil cylinder and opens tail-gate, and then driving is unloaded bundle push rod and drawn off round bale, finally drive tail-gate oil cylinder to close tail-gate, complete a bundling operation.
Further, the feeding mouth aperture of described step 2 is determined by feeding mouth bottom door position, feeding mouth bottom door position is gathered by signal input module, and inputted central processing unit, central processing unit drives feeding mouth electric cylinder by output control module, to change feeding mouth bottom door position, thus regulate feeding mouth aperture size.
Further, in the bale forming process of described step 3, the shaping packing of bale is subject to the impact that baling connecting rod acts on bale external cylindrical surface upward pressure F, the size of F is then determined by baling oil cylinder working-pressure, central processing unit can regulation safety valve back pressure by output control module output signal, thus change bundle oil cylinder working-pressure F, with the forage bundling demand adapting to different water cut, different packing requires.
The effect that the present invention obtains: compared with prior art, the car-mounted terminal of a kind of round bale baler of the present invention and control method, with ARM or PLC for core can gather, the job state of real-time display round bale baler, and can by serial ports and wireless way for transmitting, realization is picked up, bundled, stop, twine the logic control of net and discharging, foundation is changed to feed axle rotational speed, automatic adjustment feeding mouth aperture, improve baler feeding property, forage is avoided to block feeding mouth, baling connecting rod can be changed by adjustment baling oil path in oil cylinder safety valve back pressure and act on bale external cylindrical surface upward pressure, to adapt to different water cut, the forage bundling demand that different packing requires, can the change procedure of Real-Time Monitoring bale diameter, thus effectively improve round bale baler automatization level, the reliability and stability of continuous bundling operation.
Accompanying drawing explanation
Fig. 1 is that a kind of car-mounted terminal of round bale baler controls calcspar;
Fig. 2 is a kind of car-mounted terminal control flow chart of round bale baler.
In figure: 1-central processing unit, 2-signal input module, 3-monitor signal, 4-control element, 5-output control module, 6-Keysheet module, 7-video module, 8-display, 9-serial communication, 10-radio communication, 11-alarm module, 12-memory module, 13-GPS module.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
A kind of car-mounted terminal structure of round bale baler refers to Fig. 1.
Car-mounted terminal is with central processing unit 1 for control core, and central processing unit 1 can select ARM or PLC to be hardware platform.Central processing unit 1 receives the job state monitor signal 3 of baler by signal input module 2, monitor signal 3 comprises that bale diameter is spacing, net volume bundling completes, tail-gate keying signal, feeding axle rotational speed, feeding mouth bottom door position, baling connecting rod position, baling oil cylinder working-pressure, central processing unit 1 also receives the geographical location information of bundling by GPS module 13.The Controlling model of baler is solidificated in central processing unit 1, the parameter of Controlling model can be adjusted by Keysheet module 6, baler monitor signal 3 is after central processing unit 1 calculation process, central processing unit 1 is by output control module 5 drived control element 4, and control element 4 comprises feeding mouth and regulates electric cylinder, safety valve back pressure, net volume binding mechanism, tail-gate to open and close oil cylinder, unloads bundle push rod oil cylinder.The monitor signal 3 that central processing unit 1 receives and GPS information are by display 8 display and memory module 12 record in real time, to obtain the whole operation process of baler, also wired and wireless transmission can be carried out by serial communication 9 and radio communication 10, to realize on-line analysis and the remote monitoring of baler job state.At baler afterbody, camera is installed, opens and closes to obtain tail-gate and unload careless situation, and being shown in real time by video module 7 input display 8, to improve the safety and reliability unloading bale operation.
Described Keysheet module 6 is for inputting the specified feeding axle rotational speed n of baler to central processing unit 1
ewith rational relative speed variation
scope, monitors feeding axle rotational speed n by signal input module 2, is inputted central processing unit 1 and calculates feeding axle rotational speed rate of change
The feeding mouth aperture of baler bale forming room is determined by feeding mouth bottom door position, feeding mouth bottom door position is gathered by signal input module 2, and inputted central processing unit 1, central processing unit 1 can drive feeding mouth electric cylinder by output control module 5, to change feeding mouth bottom door position, thus regulate feeding mouth aperture size.
In bale forming process, the compacting all the time of baling connecting rod is at the external cylindrical surface of bale, and rotate with the increase of bale diameter, baling connecting rod position passes through displacement sensor, measurement result inputs central processing unit 1 by signal input module 2, and central processing unit 1 can Real-time Obtaining bale forming process by the change of monitoring baling connecting rod position; The shaping packing of bale is subject to the impact that baling connecting rod acts on bale external cylindrical surface upward pressure F, the size of F is then determined by baling oil cylinder working-pressure, central processing unit 1 is outputed signal by output control module 5 can regulation safety valve back pressure, thus change bundle oil cylinder working-pressure F, with the forage bundling demand adapting to different water cut, different packing requires.
A kind of car-mounted terminal control flow of round bale baler refers to Fig. 2.
After baler startup work, first central processing unit 1 reads baler job state parameter, as noted abnormalities, sends sound and light alarm information by alarm module 11, and after bundle machine operation state parameter is normal, machine carries out bundling operation.In bundling operation process, central processing unit 1 Real-Time Monitoring feeding axle rotational speed n, and the feeding axle rotational speed rate of change calculated
as n and
at the feeding axle rotational speed n of setting in advance
ewith rational relative speed variation
time in scope, feeding mouth electric cylinder is failure to actuate, and feeding mouth aperture keeps constant initial position.In bundling operation process, central processing unit 1 is in real time by monitoring baling connecting rod position signal, obtain bale diameter change procedure, when bale diameter reaches specified spacing value, send signal baler and halt, and start net volume bundling, after net volume bundling completes, central processing unit 1 sends signal driving tail-gate oil cylinder and opens tail-gate, then driving is unloaded bundle push rod and is drawn off round bale, finally drives tail-gate oil cylinder to close tail-gate, completes a bundling operation.
Feeding axle rotational speed abnormality judgment method: set specified feeding axle rotational speed n in advance in central processing unit 1
ewith rational relative speed variation
scope, as n and
all at n
ewith
time in scope, feeding mouth electric cylinder is failure to actuate, and feeding mouth aperture keeps initial position, as n or
be less than the n of setting
ewith
threshold value time, central processing unit 1 is outputed signal by output control module 5 and drives feeding mouth electric cylinder, reduces feeding mouth bottom door position, thus increases feeding mouth aperture, improves baler feeding property, avoids forage to block feeding mouth, as n and
be restored to the n of setting
ewith
time in scope, output control module 5 outputs signal and drives feeding mouth electric cylinder, regulates feeding mouth aperture to return to initial position.
The rated speed n of baler feeding rotor
edetermined by baler drive system structure, but pick up in operation process, along with the change of picking up inventory, feeding rotor load also can change, feeding axle rotational speed is caused to change within the specific limits, the variation range of n in plugging fault situation is there is not by testing the baler determined, and using this variation range as n
ereasonable change threshold value input central processing unit 1.
Baler generation plugging fault is not only relevant with feeding axle rotational speed n, also with its rate of change
relevant, test finds, when the inventory picked up increases suddenly,
sharply can reduce, be easy to cause feeding mouth to block, therefore in central processing unit 1, differential calculation is carried out to the n of Real-Time Monitoring, namely
under there is not plugging fault situation in the baler determined by test
variation range, and using this variation range as
reasonable change threshold value input central processing unit 1.
The shaping packing of bale is subject to the impact that baling connecting rod acts on bale external cylindrical surface upward pressure F, the size of F is determined by baling oil cylinder working-pressure, baling oil cylinder working-pressure is then regulated by safety valve back pressure, when the kind, density, length, water percentage etc. of bundling material change, or when needing to regulate bale density with satisfied different demand, instruction can be sent by central processing unit 1, and output signal regulation safety valve back pressure by output control module 5, thus change bundle oil cylinder working-pressure F.
Above-described embodiment is preferred embodiment of the present invention; but the present invention is not limited to above-mentioned embodiment; when not deviating from flesh and blood of the present invention, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection scope of the present invention.
Claims (5)
1. the car-mounted terminal of a round bale baler and control system, it is characterized in that, comprise central processing unit (1), signal input module (2), output control module (5), video module (7), display (8), memory module (12), GPS module (13), serial communication (9), radio communication (10), memory module (12), alarm module (11) and Keysheet module (6);
Described central processing unit (1) is connected with signal input module (2), output control module (5), GPS module (13), Keysheet module (6), serial communication (9), radio communication (10), alarm module (11), memory module (12), display (8) respectively, and described video module (7) is connected with display (8);
Described signal input module (2) is spacing for Real-time Collection feeding axle rotational speed, feeding mouth bottom door position, baling connecting rod position, baling oil cylinder working-pressure, bale diameter, net volume bundling completes and tail-gate keying signal parameter;
Described output control module (5) is for driving feeding mouth to regulate electric cylinder, safety valve backpressure regulation, net volume binding mechanism, tail-gate to open and close oil cylinder and unloading bundle push rod oil cylinder;
Described central controller, on the one hand for obtaining job state and parameter, the GPS information of baler, realizes picking up, the logic control of bundled, stop, twine net and discharging, and by display (8) real-time condition display; Central controller is used for fault alarm and job state storage on the other hand, is undertaken exporting and remote monitoring by serial communication (9) and wireless telecommunications (10).
2. the car-mounted terminal of a kind of round bale baler according to claim 1 and control system, is characterized in that: described Keysheet module (6) is for the specified feeding axle rotational speed n of central processing unit (1) input baler
ewith rational relative speed variation
scope, by signal input module (2) monitoring feeding axle rotational speed n, is inputted central processing unit (1) and is calculated feeding axle rotational speed rate of change
3. the car-mounted terminal of round bale baler and a control method, is characterized in that, comprise step:
Step 1, start baler, central processing unit (1) first reads baler job state parameter, as noted abnormalities, sends sound and light alarm information by alarm module (11), after bundle machine operation state parameter is normal, machine carries out bundling operation;
Step 2, in bundling operation process, central processing unit (1) Real-Time Monitoring feeding axle rotational speed n, and the feeding axle rotational speed rate of change calculated
as n and
at the feeding axle rotational speed n of setting in advance
ewith rational relative speed variation
time in scope, feeding mouth regulates electric cylinder to be failure to actuate, and feeding mouth aperture keeps constant initial position;
Step 3, in bale forming process, central processing unit (1) by monitoring baling connecting rod position signal, obtains bale diameter change procedure, when bale diameter reaches specified spacing value in real time, send signal baler to halt, and starting net volume bundling, after net volume bundling completes, central processing unit (1) sends signal driving tail-gate oil cylinder and opens tail-gate, and then driving is unloaded bundle push rod and drawn off round bale, finally drive tail-gate oil cylinder to close tail-gate, complete a bundling operation.
4. the car-mounted terminal of round bale baler according to claim 3 and control method, it is characterized in that, the feeding mouth aperture of described step 2 is determined by feeding mouth bottom door position, feeding mouth bottom door position is gathered by signal input module (2), and inputted central processing unit (1), central processing unit (1) drives feeding mouth electric cylinder by output control module (5), to change feeding mouth bottom door position, thus regulates feeding mouth aperture size.
5. the car-mounted terminal of round bale baler according to claim 3 and control method, it is characterized in that, in the bale forming process of described step 3, the shaping packing of bale is subject to the impact that baling connecting rod acts on bale external cylindrical surface upward pressure F, the size of F is then determined by baling oil cylinder working-pressure, central processing unit (1) can regulation safety valve back pressure by output control module (5) output signal, thus change bundle oil cylinder working-pressure F, with the forage bundling demand adapting to different water cut, different packing requires.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510018543.0A CN104635582B (en) | 2015-01-15 | 2015-01-15 | A kind of car-mounted terminal of round bale baler and control system and method |
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|---|---|---|---|
| CN201510018543.0A CN104635582B (en) | 2015-01-15 | 2015-01-15 | A kind of car-mounted terminal of round bale baler and control system and method |
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| Publication Number | Publication Date |
|---|---|
| CN104635582A true CN104635582A (en) | 2015-05-20 |
| CN104635582B CN104635582B (en) | 2018-01-16 |
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ID=53214458
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|---|---|---|---|
| CN201510018543.0A Expired - Fee Related CN104635582B (en) | 2015-01-15 | 2015-01-15 | A kind of car-mounted terminal of round bale baler and control system and method |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105467895A (en) * | 2015-12-23 | 2016-04-06 | 甘肃省机械科学研究院 | Universal-type control system for bundling and film wrapping of silage |
| CN106644016A (en) * | 2016-11-18 | 2017-05-10 | 江苏大学 | Bundling machine dynamic weighing and valuation apparatus, control system and control method |
| CN109156178A (en) * | 2018-08-14 | 2019-01-08 | 内蒙古农业大学 | A kind of machine for forming cylindrical bale monitoring system and method |
| CN110254845A (en) * | 2019-06-20 | 2019-09-20 | 山东五征高北农牧机械有限公司 | The rotary coating machine control method of platform |
| CN110347126A (en) * | 2019-06-20 | 2019-10-18 | 山东五征高北农牧机械有限公司 | Bundling coating all-in-one machine control method |
| CN110488881A (en) * | 2019-08-28 | 2019-11-22 | 合肥微擎信息技术有限公司 | Baling press bale pressure controls autocontrol method |
| CN110515330A (en) * | 2019-08-15 | 2019-11-29 | 安徽科技学院 | A kind of baler based on Internet of Things tidies up action monitoring device and monitoring method |
| CN110658788A (en) * | 2019-08-15 | 2020-01-07 | 安徽科技学院 | Bundling machine supervision and scheduling management system based on Internet of things |
| CN110663368A (en) * | 2018-07-02 | 2020-01-10 | 新疆农业大学 | Square bundle bundling machine bale compactness control system and control method |
| CN110786153A (en) * | 2019-01-07 | 2020-02-14 | 吉林农业大学 | Intelligence bundling machine operation data monitoring devices |
| CN111103830A (en) * | 2019-12-18 | 2020-05-05 | 安徽农业大学 | Real-time detection method and system for pickup mechanism of round bundle bundling machine |
| CN111226617A (en) * | 2020-03-02 | 2020-06-05 | 安徽中科智能感知产业技术研究院有限责任公司 | Real-time online detection method for bundling average bundling length of bundling machine based on magnetic sensor |
| CN113615407A (en) * | 2021-08-10 | 2021-11-09 | 广东皓耘科技有限公司 | Bundling control method and device and bundling machine |
| CN114246067A (en) * | 2021-12-20 | 2022-03-29 | 中国铁建重工集团股份有限公司 | Bundling machine control system and method |
| CN114931031A (en) * | 2022-05-27 | 2022-08-23 | 山东五征高北农牧机械有限公司 | Fixed type square bundle bundling and film coating integrated machine electric control system and control method thereof |
| CN115226504A (en) * | 2022-08-15 | 2022-10-25 | 广东皓耘科技有限公司 | Intelligent control system and bundling machine |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105467895A (en) * | 2015-12-23 | 2016-04-06 | 甘肃省机械科学研究院 | Universal-type control system for bundling and film wrapping of silage |
| CN106644016A (en) * | 2016-11-18 | 2017-05-10 | 江苏大学 | Bundling machine dynamic weighing and valuation apparatus, control system and control method |
| CN110663368A (en) * | 2018-07-02 | 2020-01-10 | 新疆农业大学 | Square bundle bundling machine bale compactness control system and control method |
| CN109156178A (en) * | 2018-08-14 | 2019-01-08 | 内蒙古农业大学 | A kind of machine for forming cylindrical bale monitoring system and method |
| CN110786153A (en) * | 2019-01-07 | 2020-02-14 | 吉林农业大学 | Intelligence bundling machine operation data monitoring devices |
| CN110347126B (en) * | 2019-06-20 | 2022-03-18 | 山东五征高北农牧机械有限公司 | Control method for bundling and film-wrapping integrated machine |
| CN110254845A (en) * | 2019-06-20 | 2019-09-20 | 山东五征高北农牧机械有限公司 | The rotary coating machine control method of platform |
| CN110347126A (en) * | 2019-06-20 | 2019-10-18 | 山东五征高北农牧机械有限公司 | Bundling coating all-in-one machine control method |
| CN110515330A (en) * | 2019-08-15 | 2019-11-29 | 安徽科技学院 | A kind of baler based on Internet of Things tidies up action monitoring device and monitoring method |
| CN110658788A (en) * | 2019-08-15 | 2020-01-07 | 安徽科技学院 | Bundling machine supervision and scheduling management system based on Internet of things |
| CN110488881A (en) * | 2019-08-28 | 2019-11-22 | 合肥微擎信息技术有限公司 | Baling press bale pressure controls autocontrol method |
| CN110488881B (en) * | 2019-08-28 | 2023-08-18 | 合肥微擎信息技术有限公司 | Automatic control method for bale pressure control of baler |
| CN111103830A (en) * | 2019-12-18 | 2020-05-05 | 安徽农业大学 | Real-time detection method and system for pickup mechanism of round bundle bundling machine |
| CN111226617A (en) * | 2020-03-02 | 2020-06-05 | 安徽中科智能感知产业技术研究院有限责任公司 | Real-time online detection method for bundling average bundling length of bundling machine based on magnetic sensor |
| CN113615407A (en) * | 2021-08-10 | 2021-11-09 | 广东皓耘科技有限公司 | Bundling control method and device and bundling machine |
| CN114246067A (en) * | 2021-12-20 | 2022-03-29 | 中国铁建重工集团股份有限公司 | Bundling machine control system and method |
| WO2023116039A1 (en) * | 2021-12-20 | 2023-06-29 | 中国铁建重工集团股份有限公司 | Baler control system and method |
| CN114931031A (en) * | 2022-05-27 | 2022-08-23 | 山东五征高北农牧机械有限公司 | Fixed type square bundle bundling and film coating integrated machine electric control system and control method thereof |
| CN114931031B (en) * | 2022-05-27 | 2023-03-21 | 山东五征高北农牧机械有限公司 | Fixed square bundle bundling and film coating integrated machine electric control system and control method thereof |
| CN115226504A (en) * | 2022-08-15 | 2022-10-25 | 广东皓耘科技有限公司 | Intelligent control system and bundling machine |
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|---|---|
| CN104635582B (en) | 2018-01-16 |
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