CN104698892B - A kind of control monitoring method of organic fertilizer turner walking wireless remote-control system - Google Patents
A kind of control monitoring method of organic fertilizer turner walking wireless remote-control system Download PDFInfo
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- CN104698892B CN104698892B CN201510107374.8A CN201510107374A CN104698892B CN 104698892 B CN104698892 B CN 104698892B CN 201510107374 A CN201510107374 A CN 201510107374A CN 104698892 B CN104698892 B CN 104698892B
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- organic fertilizer
- communication module
- wireless communication
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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
Abstract
The present invention relates to a kind of organic fertilizer turner walking wireless remote-control system and its control monitoring methods.Including hand held controller and the Airborne Control Unit being installed on organic fertilizer turner body, hand held controller wireless interaction connects Airborne Control Unit, hand held controller includes the first MCU controller, speed-regulating switch, two axis manipulation bar and the first wireless communication module, the controlled end connection speed-regulating switch and two axis manipulation bar of first MCU controller, communication terminal connect the first wireless communication module；Airborne Control Unit includes the 2nd MCU controller and the second wireless communication module, and the communication terminal of the 2nd MCU controller connects the second wireless communication module, the second wireless communication module and the first wireless communication module communication connection.It realizes the remote control of organic fertilizer turner, provides position and the status data of the walking of organic fertilizer turner for operator, make operator far from harsh environments, be conducive to protect Health Status For Workers Exposed and improve working efficiency.
Description
Technical field
The present invention relates to a kind of wireless remote-control system and its control monitoring method, especially a kind of organic fertilizer that is suitable for turns over throwing
The control monitoring method of the wireless remote-control system of machine walking, belongs to agricultural machinery technological field.
Background technique
According to the applicant understood, it needs to carry out fertile heap during organic fertilizer production repeatedly to turn over polishing working, the heap when turning over throwing
Fertilizer is crushed, is again in heaps after stirring, so that the oxygen content inside compost, temperature and moisture are adjusted, to reach suitable fermentation
Process conditions.
The polishing working that turns over of fertilizer heap is mostly manual work at present, is turning over hydrogen sulfide and the amine gas etc. that throwing process can generate fermentation
Foul smell is dispersed into surrounding air, is polluted operating personnel's working environment, is endangered operating personnel's health.
Summary of the invention
It is an object of the invention to: in view of the above-mentioned problems of the prior art, proposing a kind of organic fertilizer turner walking
The control monitoring method of wireless remote-control system, which can remotely operate turner completion and turn over polishing working, to effectively protect
It protects the health of operating personnel, improve working efficiency.
In order to reach the goals above, a kind of organic fertilizer turner of the invention walking wireless remote-control system.Including hand-held control
Device processed and the Airborne Control Unit being installed on organic fertilizer turner body, hand held controller wireless interaction connect airborne control dress
It sets, hand held controller includes the first MCU controller, speed-regulating switch, two axis manipulation bar and the first wireless communication module, the first MCU
The controlled end connection speed-regulating switch and two axis manipulation bar of controller, communication terminal connect the first wireless communication module；Airborne control
Device includes the 2nd MCU controller and the second wireless communication module, and the receiving end connection four of the 2nd MCU controller, which is set to, turns over throwing
Ultrasonic distance-measuring sensor on machine fuselage, control terminal connect the controlled end of hydraulic power unit and hydraulic valve bank, hydraulic power unit
Output end connects the input terminal of hydraulic valve bank, and the output end of hydraulic valve bank connects two sides creeper undercarriage by driving mechanism,
It is respectively equipped with displacement sensor on the creeper undercarriage of two sides, displacement sensor connects the receiving end of the 2nd MCU controller, and second
The communication terminal of MCU controller connects the second wireless communication module, and the second wireless communication module and the first wireless communication module communicate
Connection.
Hand held controller is the interface of operator Yu organic fertilizer turner command interaction, passes through control stick and speed-regulating switch
The demand for control for receiving operator is converted thereof into corresponding control command and is led to by the first MCU controller response control demand
It crosses the first wireless communication module and is sent to aircraft mounted control system.Hand held controller is connect in real time by the first wireless communication module simultaneously
The turner walking position and status data of on-board controller feedback are received, and aobvious with figure or data mode in a lcd display
Show to operator, determines that subsequent control provides reference and foundation for operator.
Preferred embodiment of the invention is: four ultrasonic distance-measuring sensors are respectively arranged at turner fuselage front and rear sides
On four apex angles, convenient for perception organic fertilizer turner at a distance from surrounding barrier.
Preferably, hydraulic drive mechanism is set to the wheel shaft two sides of the crawler belt.
Preferably, the output end connection LCD display and acoustic control warning device of the first MCU controller.
A kind of control monitoring method of organic fertilizer turner walking wireless remote-control system, including hand held controller and be installed on
Airborne Control Unit on organic fertilizer turner body, hand held controller wireless interaction connect Airborne Control Unit, hold control
Device include the first MCU controller, speed-regulating switch, two axis manipulation bar and the first wireless communication module, the first MCU controller it is controlled
End connection speed-regulating switch and two axis manipulation bar, communication terminal connect the first wireless communication module；Airborne Control Unit includes second
MCU controller and the second wireless communication module, the receiving end of the 2nd MCU controller connect four and are set to surpassing on turner fuselage
Sound ranging sensor, control terminal connect the controlled end of hydraulic power unit and hydraulic valve bank, and the output end of hydraulic power unit connects liquid
The output end of the input terminal of pressure valve group, hydraulic valve bank connects two sides creeper undercarriage, two sides crawler travel by driving mechanism
Displacement sensor is respectively equipped in mechanism, displacement sensor connects the receiving end of the 2nd MCU controller, the 2nd MCU controller
Communication terminal connects the second wireless communication module, the second wireless communication module and the first wireless communication module communication connection.Including such as
Lower step,
1) hand held controller receives the demand for control of operator by two axis manipulation bar and speed-regulating switch, by the first MCU
Controller response control demand, and it is sent to Airborne Control Unit by the first wireless communication module.
2) the second wireless communication module of Airborne Control Unit receives the demand for control of hand held controller, and is sent to second
MCU controller, demand for control control hydraulic drive mechanism drives two sides crawler travel machine to the 2nd MCU controller based on the received
Structure.
3) displacement sensor on the creeper undercarriage of two sides detects left and right side creeper undercarriage in hydraulic-driven respectively
The unilateral displacement actually generated under the driving of mechanism, and the 2nd MCU controller is fed back to, when displacement accumulative deviation in two sides is more than
When setting tolerance causes direction of travel to change, the 2nd MCU makes correction according to deviation, adjusts hydraulic valve bank state, and amendment has
The direction of travel of machine fertilizer turner, the deviation for keeping two sides displacement accumulative are less than the tolerance of setting.
4) the ultrasonic distance-measuring sensor acquisition organic fertilizer being set on the apex angle of turner fuselage front and rear sides four turns over throwing
The distance signal of machine and surrounding barrier, and it is sent to the 2nd MCU controller, when barrier is small with a distance from organic fertilizer turner
When 5 meters, range information is sent to hand held controller by the second wireless communication module by the 2nd MCU controller, holds control
Device is shown in a manner of figure and numerical value LCD display；When barrier with a distance from organic fertilizer turner less than 3 meters when,
Hand held controller increases audible alarm prompt by audible alarm equipment；When barrier with a distance from organic fertilizer turner less than 1
Meter Shi, the 2nd MCU controller stop the walking of organic fertilizer turner at once, and the rapid audible alarm of hand held controller simultaneously shows and turns over throwing
Machine walking abends symbol.
The invention has the following beneficial effects: pass through the remote interaction of hand held controller and on-board controller system command, realization pair
The remote control of organic fertilizer turner, and position and the status data of the walking of organic fertilizer turner, operation are provided for operator
Personnel fulfil assignment far from harsh environments, remote control organic fertilizer turner, are conducive to protect Health Status For Workers Exposed and mention
High working efficiency.
Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is system block diagram of the invention.
Fig. 2 is system hardware structure main view of the invention.
Fig. 3 is system hardware structure left view of the invention.
Specific embodiment
Embodiment one
A kind of organic fertilizer turner walking wireless remote-control system of the present embodiment,.Including hand
The Airborne Control Unit 22 holding controller 21 and being installed on organic fertilizer turner body, the connection of 21 wireless interaction of hand held controller
Airborne Control Unit 22, hand held controller 21 include the first MCU controller 17, speed-regulating switch 18, two axis manipulation bar 15 and first
Wireless communication module 19, the controlled end connection speed-regulating switch 18 and two axis manipulation bar 15 of the first MCU controller 17, communication terminal connect
Connect the first wireless communication module 19；Airborne Control Unit 22 includes the 2nd MCU controller 10 and the second wireless communication module 13,
The receiving end of MCU controller 10 connects four ultrasonic distance-measuring sensors 8,9,11,12 being set on turner fuselage, control
The controlled end of end connection hydraulic power unit 6 and hydraulic valve bank 7, the input terminal of the output end connection hydraulic valve bank 7 of hydraulic power unit 6, liquid
The output end of pressure valve group 7 connects two sides creeper undercarriage 3,5 by driving mechanism 4, distinguishes on two sides creeper undercarriage 3,5
Equipped with displacement sensor 1,2, displacement sensor 1,2 connects the receiving end of the 2nd MCU controller 10, the 2nd MCU controller 10
Communication terminal connects the second wireless communication module 13, and the second wireless communication module 13 and the first wireless communication module 19 pass through antenna
20,14 communication connection.
Four ultrasonic distance-measuring sensors 8,9,11,12 are respectively arranged at four apex angles of turner fuselage front and rear sides
On, convenient for perception organic fertilizer turner at a distance from surrounding barrier.
Hydraulic drive mechanism 4 is set to the wheel shaft two sides of the crawler belt.
The output end connection LCD display 16 and acoustic control warning device of first MCU controller 17.
A kind of control monitoring method of organic fertilizer turner walking wireless remote-control system as described in claim 1, including
Following steps,
1) hand held controller 21 receives the demand for control of operator by two axis manipulation bar 15 and speed-regulating switch 18, by the
One MCU controller, 17 response control demand, and it is sent to Airborne Control Unit 22 by the first wireless communication module 19.
2) the second wireless communication module 13 of Airborne Control Unit 22 receives the demand for control of hand held controller 21, and sends
To the 2nd MCU controller 10, demand for control control hydraulic drive mechanism 4 drives two sides to the 2nd MCU controller 10 based on the received
Creeper undercarriage 3,5.
3) displacement sensor 1,2 on two sides creeper undercarriage 3,5 detects left and right side creeper undercarriage in liquid respectively
The unilateral displacement actually generated under the driving of driving mechanism 4 is pressed, and feeds back to the 2nd MCU controller 10, displacement is accumulative when two sides
Deviation be more than setting tolerance when direction of travel being caused to change, the 2nd MCU controller 10 makes correction, adjustment liquid according to deviation
Pressure valve group state corrects the direction of travel of organic fertilizer turner, and the deviation for keeping two sides displacement accumulative is less than the tolerance of setting, simultaneously
Automatic correction amount is sent to hand held controller 21 by the second wireless communication module 13 by the 2nd MCU controller 10, is shown to behaviour
Make personnel.
4) acquisition of ultrasonic distance-measuring sensor 8,9,11,12 being set on the apex angle of turner fuselage front and rear sides four has
The distance signal of machine fertilizer turner and surrounding barrier, and it is sent to the 2nd MCU controller 10, when barrier turns over throwing from organic fertilizer
When the distance of machine is less than 5 meters, range information is sent to hand-held control by the second wireless communication module 10 by the 2nd MCU controller 10
Device 21 processed, hand held controller 21 are shown in a manner of figure and numerical value LCD display；When barrier is from organic fertilizer turner
Distance less than 3 meters when, hand held controller 21 by audible alarm equipment increase audible alarm prompt；When barrier is from organic fertilizer
When the distance of turner is less than 1 meter, the 2nd MCU controller 10 stops the walking of organic fertilizer turner, hand held controller 21 at once
Rapid audible alarm simultaneously shows that turner walking abends symbol.
The system is using ultrasonic distance-measuring sensor 9, left back ultrasonic distance measurement before left front ultrasonic distance-measuring sensor 8, the right side
Sensor 11 and it is right after ultrasonic range finder sensor 12 monitor organic fertilizer turner walking position, the 2nd MCU controller 10 is according to having
The position signal of machine fertilizer turner and control command from hand held controller 21 start hydraulic power unit 6, control hydraulic valve bank 7,
Being hydraulically operated mechanism 4 drives organic fertilizer turner left track walking mechanism 3 and right side track walking mechanism 5 to realize organic fertilizer
The walking of turner, left position displacement sensor 1 and right displacement sensor 2 feed back left and right sides walking accumulative displacement deviation to second
MCU controller 10 forms closed loop organic fertilizer turner traveling control system.
This system wireless remote control operation makes operator far from harsh environments, be conducive to protect Health Status For Workers Exposed and
Improve working efficiency.
In addition to the implementation, the present invention can also have other embodiments.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (1)
1. a kind of control monitoring method of organic fertilizer turner walking wireless remote-control system, which is characterized in that including hand-held control
Device and the Airborne Control Unit being installed on organic fertilizer turner body, the hand held controller wireless interaction connection are described airborne
Control device, the hand held controller include the first MCU controller, speed-regulating switch, two axis manipulation bar and the first wireless telecommunications mould
Block, the controlled end connection speed-regulating switch and two axis manipulation bar of the first MCU controller, communication terminal connection described first is wireless
Communication module；The Airborne Control Unit includes the 2nd MCU controller and the second wireless communication module, the 2nd MCU control
The receiving end of device is connected at four ultrasonic distance-measuring sensors of the turner fuselage, control terminal connect hydraulic power unit and
The controlled end of hydraulic valve bank, the output end of the hydraulic power unit connect the input terminal of the hydraulic valve bank, the hydraulic valve bank
Output end connects two sides creeper undercarriage by driving mechanism, is respectively equipped with displacement sensing on the two sides creeper undercarriage
Device, institute's displacement sensors connect the receiving end of the 2nd MCU controller, the communication terminal connection of the 2nd MCU controller
Second wireless communication module, second wireless communication module and the first wireless communication module communication connection；Including
Following steps,
1) hand held controller receives the demand for control of operator by control stick and speed-regulating switch, is rung by the first MCU controller
Demand for control is answered, and it is sent to Airborne Control Unit by the first wireless communication module；
2) the second wireless communication module of Airborne Control Unit receives the demand for control of hand held controller, and is sent to the 2nd MCU
Controller, demand for control control hydraulic drive mechanism drives two sides creeper undercarriage to the 2nd MCU controller based on the received；
3) displacement sensor on the creeper undercarriage of two sides detects left and right side creeper undercarriage in hydraulic drive mechanism respectively
Driving under the unilateral displacement that actually generates, and the 2nd MCU controller is fed back to, when displacement accumulative deviation in two sides is more than setting
When tolerance causes direction of travel to change, the 2nd MCU makes correction according to deviation, adjusts hydraulic valve bank state, corrects organic fertilizer
The direction of travel of turner, the deviation for keeping two sides displacement accumulative are less than the tolerance of setting；
4) be set on the apex angle of turner fuselage front and rear sides four ultrasonic distance-measuring sensor acquisition organic fertilizer turner with
The distance signal of surrounding barrier, and be sent to the 2nd MCU controller, when barrier with a distance from organic fertilizer turner less than 5
Range information is sent to hand held controller by the second wireless communication module by meter Shi, the 2nd MCU controller, and hand held controller is logical
LCD display is crossed to show in a manner of figure and numerical value；When barrier with a distance from organic fertilizer turner less than 3 meters when, hold
Controller increases audible alarm prompt by audible alarm equipment；When barrier with a distance from organic fertilizer turner less than 1 meter when,
2nd MCU controller stops the walking of organic fertilizer turner at once, and the rapid audible alarm of hand held controller simultaneously shows turner row
Walk the symbol that abends.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510107374.8A CN104698892B (en) | 2015-03-11 | 2015-03-11 | A kind of control monitoring method of organic fertilizer turner walking wireless remote-control system |
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| CN201510107374.8A CN104698892B (en) | 2015-03-11 | 2015-03-11 | A kind of control monitoring method of organic fertilizer turner walking wireless remote-control system |
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| CN104698892A CN104698892A (en) | 2015-06-10 |
| CN104698892B true CN104698892B (en) | 2019-03-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107422711B (en) * | 2017-08-03 | 2020-09-01 | 福建农林大学 | System and method for monitoring running state of fermentation bed outside breeding house in real time |
| CN111862562A (en) * | 2020-05-15 | 2020-10-30 | 合智和利(山东)智能设备有限公司 | Electric self-propelled multifunctional application platform based on real-time teleoperation and implementation method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102603381A (en) * | 2012-03-09 | 2012-07-25 | 新疆天物科技发展有限公司 | Lifting type wireless control turnover throwing machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2730602B1 (en) * | 1995-02-21 | 1997-04-30 | Jeantil Sa | MACHINE FOR TURNING THE RODS, ESPECIALLY MANURE, WITH CONVEYOR CONVEYOR |
| KR100586090B1 (en) * | 2004-05-01 | 2006-06-08 | 양사헌 | Fermentation compost system for position measurement of organic waste |
| CN102515909B (en) * | 2011-12-08 | 2016-03-23 | 厦工(三明)重型机器有限公司 | A kind of turnover throwing machine and apparatus control system thereof |
| CN204039280U (en) * | 2014-07-23 | 2014-12-24 | 农业部南京农业机械化研究所 | A kind of fertilizer turnover throwing machine |
| CN204536771U (en) * | 2015-03-11 | 2015-08-05 | 农业部南京农业机械化研究所 | A kind of fertilizer turner walking wireless remote-control system |
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2015
- 2015-03-11 CN CN201510107374.8A patent/CN104698892B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102603381A (en) * | 2012-03-09 | 2012-07-25 | 新疆天物科技发展有限公司 | Lifting type wireless control turnover throwing machine |
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