CN104914882A - Automatic control device of agricultural machinery plow and control method - Google Patents
Automatic control device of agricultural machinery plow and control method Download PDFInfo
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Abstract
The invention provides an automatic control device of an agricultural machinery plow and a control method. The automatic control device of the agricultural machinery plow comprises a signal monitoring module, a programmable controller, a hydraulic dive module and a plow execution module; the programmable controller drives a plow in the plow execution module through the hydraulic drive module to implement deep plowing, steering and obstacle crossing actions and the like; and the signal monitoring module is used to monitor a plow state and a tractor running state and to feed the plow state and the tractor running state to the programmable controller. The automatic control method for the agricultural machinery plow comprises a plow steering automation control and plow obstacle crossing automation control. The problem that the traditional agricultural machinery has a plow using control difficulty is effectively solved, the facts that the agricultural machinery plow automatically completes deep plowing control, steering control and obstacle crossing control are achieved, use is simple, and a requirement for a driver's degree of proficiency and driver's labor intensity are greatly reduced.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery plough automation, and particularly relates to an automatic control device and a control method for an agricultural machinery plough.
Background
Conventional agricultural machines for tilling land comprise two parts, a tractor and a plough tool, wherein the tractor functions to provide driving and working power, necessary control of the plough tool, etc.
When the agricultural machinery carries out plowing operation, the following control on a plough tool is required: 1. tilling depth control, i.e. controlling the depth of the plough cutting into the soil, generally by hydraulically driving the plough; 2. the plough tool is lifted when the agricultural machinery turns, and when the agricultural machinery turns, the plough tool needs to be completely lifted, otherwise the plough tool is deformed or damaged; 3. obstacle crossing control, namely when the agricultural machinery crosses obstacles such as ridges and the like, the plough needs to be lifted up in time, and after the agricultural machinery crosses the obstacles, the plough is put down again to continue operation. The key of obstacle-crossing control is to control the lifting and lowering of the plough tool at a time, and the operation quality is adversely affected when the time is too early or too late.
The traditional agricultural machinery implements manual control on the plough, and the control on the plough needs to be completed manually by a driver, so that the requirement on the proficiency of the driver is high, and the labor intensity of the driver is high.
Aiming at the defects of agricultural machine plough control, the invention provides an automatic control device and method for agricultural machine ploughs, which can improve the operation quality of agricultural machines and reduce the labor intensity of drivers.
Disclosure of Invention
The invention aims to solve the technical problem that the automatic control device and the method for the agricultural machine plough can automatically complete tilling depth control, steering control and obstacle crossing control, and greatly reduce the labor intensity of a driver due to higher operation quality of the agricultural machine.
The technical scheme of the invention is as follows:
an automatic control device for a plough of an agricultural machine comprises a signal monitoring module, a programmable logic controller, a hydraulic driving module and a plough executing module, wherein the programmable logic controller is used for sending an action command to the hydraulic driving module, the hydraulic driving module is directly connected with the plough executing module, a hydraulic cylinder in the hydraulic driving module is used for driving the plough in the plough executing module to implement deep ploughing, steering, obstacle crossing and other actions, and the signal monitoring module is used for monitoring the state of the plough and the running state of a tractor and feeding back the state to the programmable logic controller, so that the programmable logic controller can accurately send a next control command.
The signal monitoring module comprises a driving angle sensor, a steering angle sensor, a vehicle speed sensor and a plough angle sensor;
the steering angle sensor is connected with a steering switch of the tractor, is connected with the programmable controller through a communication cable and is used for monitoring the change of the steering angle of the tractor to form an automatic control closed loop lifted by the plough during steering;
the plough angle sensor is arranged on the plough and is connected with the controller through a communication cable to monitor the operating angle of the plough so as to form a control closed loop of the working angle of the plough;
the driving angle sensor is arranged at the top end of a tractor cab, is connected with the programmable controller through a communication cable and is used for monitoring the driving angle of the agricultural machinery host in real time;
the speed sensor is connected with a speedometer of the tractor, is connected with the programmable controller through a communication cable and is used for monitoring the running speed of the agricultural machinery; the speed sensor and the driving angle sensor are connected with the programmable controller to form a plough obstacle crossing control closed loop.
The programmable controller receives state signals acquired by a driving angle sensor, a steering angle sensor, a vehicle speed sensor and a plough angle sensor, and performs operation and processing by combining with a built-in control method algorithm to generate a solenoid valve iron control current signal, and the solenoid valve iron receives the control signal from the programmable controller to execute corresponding actions.
The hydraulic driving module comprises a hydraulic cylinder, an electromagnetic hydraulic proportional valve, a hydraulic pump and an oil tank, wherein the cylinder body of the hydraulic cylinder is fixed on the tractor, the output end of the hydraulic cylinder is connected with the plough implement module, the action of the hydraulic cylinder is controlled by the electromagnetic hydraulic proportional valve, the electromagnetic hydraulic proportional valve comprises a proportional valve, an electromagnet A and an electromagnet B, the electromagnet A is electrified so as to push the proportional valve to act, the proportional valve drives the oil cylinder to extend out, and the plough implement is put down; the electromagnet B is electrified, so that the proportional valve is pushed to act, the proportional valve drives the oil cylinder to contract, the plough tool is lifted, the electromagnet A and the electromagnet B are not electrified, the proportional valve does not act, and the plough tool works normally or stops.
A control method of an automatic control device of a plough of an agricultural machine comprises automatic control of turning direction of the plough and automatic control of obstacle crossing of the plough:
the automatic control of the plough during turning comprises the following steps:
when the programmable controller detects that the output angle value of the steering angle sensor is larger than a certain preset angle, the programmable controller outputs control current to a hydraulic proportional valve electromagnet B, and the hydraulic cylinder is controlled to retract through the hydraulic proportional valve so as to lift the plough to the highest position; and when the steering angle of the steering wheel is returned to be within the preset angle, the operating state of the plough tool is recovered according to the operation of the driver.
The method comprises the following specific steps:
A1. presetting an activation threshold for a pivot angle in a programmable controller、And is and；
A2. when the driver turns the steering wheel to steer, the programmable controller receives the actual steering angle value of the steering wheel collected by the steering angle sensor；
A3. The programmable controller judges the absolute value result of the actual steering angle asIf the driver is operating the vehicle to steer, the programmable controller transmits a signal to the electromagnet B, so that the electromagnet B is electrified, the proportional valve is pushed, the hydraulic cylinder is driven to retract, and the plough is lifted;
or, the programmable controller judges the absolute value result of the actual steering angle asWhen a driver sends a plough releasing instruction, the programmable controller transmits a signal to the electromagnet A to enable the electromagnet A to be electrified, so that the proportional valve is pushed, the hydraulic cylinder is driven to extend out, and the plough tool is released;
or, the programmable controller judges the absolute value result of the actual steering angle asThe programmable controller judges that the driver does not turn and the state of the plough is not changed.
The automatic control step of the plough when crossing obstacles:
firstly, judging a normal driving state and an obstacle crossing state through signals of a driving angle sensor, and if the driving angle is increased and rapidly decreased in a short time, indicating that wheels pass through the obstacle; calculating the time of the barrier reaching the plough tool position through a vehicle speed sensor according to the size, the speed and the like of the vehicle; finally, a control signal is sent to an electromagnet B of the hydraulic proportional valve through a programmable controller, and the oil cylinder is driven by the hydraulic proportional valve to lift the plough tool;
after the obstacle passes through the plough, the controller automatically controls the plough to recover the original operation state, and the automatic control obstacle crossing function of the system is realized.
The method comprises the following specific steps:
A1. presetting an activation threshold for a driving angle in a programmable controller；
A2. When the vehicle is running and crossing an obstacle, the running angle sensor outputs an actual running angle；
A3. The programmable controller judges the absolute value result of the actual driving angle asThe programmable controller determines that the vehicle is crossing an obstacle and begins counting, passesThe programmable controller sends a control signal to the electromagnet B, so that the electromagnet B is electrified to push the proportional valve to act, and the proportional valve drives the hydraulic cylinder to retract so as to lift the plough; wherein,，the value of the empirical coefficient, typically a constant,the vehicle running speed;
or, the programmable controller judges the absolute value result of the actual driving angle asThe programmable controller determines that the vehicle obstacle crossing is complete and begins to count, passingAfter time, the programmable controller sends a control signal to the electromagnet A, so that the electromagnet A is electrified, the proportional valve is pushed to act, the proportional valve drives the oil cylinder to extend out, and the plough is put down; wherein，，The value of the empirical coefficient, typically a constant,the vehicle running speed;
or, the programmable controller judges the absolute value result of the actual driving angle asAnd the programmable controller judges that the vehicle does not cross the obstacle and the state of the plough is unchanged.
The invention has the beneficial effects that:
the invention effectively solves the problem that the traditional agricultural machine is difficult to control the use of the plough, realizes that the plough of the agricultural machine automatically finishes tilling depth control, steering control and obstacle crossing control, is simple to use, and greatly reduces the proficiency requirement on a driver and the labor intensity thereof.
Drawings
FIG. 1 is a schematic structural view of an automatic control device of an agricultural machine plow of the present invention;
FIG. 2 is a flow chart of plow lifting control during turning of the present invention;
FIG. 3 is a flow chart of the plow set-down control during steering according to the present invention;
FIG. 4 is a flow chart of plow control when the obstacle crossing is performed according to the present invention;
description of reference numerals: 1. a travel angle sensor; 2. a tractor; 3. a steering switch; 4. a steering angle sensor; 5. a vehicle speed sensor; 6. a vehicle speed meter; 7. a proportional valve; 8. a solenoid valve B; 9. an oil tank; 10. a hydraulic pump; 11. a programmable controller; 12. an electromagnetic valve A; 13. a plough tool; 14. a plow angle sensor; 15. and a hydraulic cylinder.
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
As shown in fig. 1, an automatic control device for a plough of an agricultural machine comprises a signal monitoring module, a programmable controller 11, a hydraulic driving module and a plough 13, wherein the programmable controller 11 is a core component of the automatic control device and is responsible for coordination processing work of other components.
The signal monitoring module comprises a driving angle sensor 1, a steering angle sensor 4, a vehicle speed sensor 6 and a plough angle sensor 14;
the steering angle sensor 4 is connected with a steering switch 3 of the tractor 2 and is connected to the programmable controller 11 through a communication cable, the tractor 4 steers, the steering angle sensor 4 generates a steering angle signal which is transmitted to the programmable controller 11, the programmable controller 11 controls the plough tool 13 to generate corresponding actions by combining with a set algorithm, and an automatic control closed loop lifted by the plough tool 13 during steering is formed;
the plough tool angle sensor 14 is arranged on the plough tool 13 and is connected to the programmable controller 11 through a communication cable, and the programmable controller 11 receives an angle signal transmitted by the plough tool angle sensor 14 to control the working angle of the plough tool 13 so as to form a control closed loop of the working angle of the plough tool 13;
the driving angle sensor 1 is installed at the top end of a cab of the tractor 2, is connected to the programmable controller 11 through a communication cable, and monitors the driving angle of the agricultural machinery host in real time;
the vehicle speed sensor 6 is connected with the vehicle speed instrument 6 and is connected to the programmable controller 11 through a communication cable, so that the running speed of the agricultural machine is monitored in real time; the vehicle speed sensor 6 and the driving angle sensor 1 are connected with the programmable controller 11 to form an obstacle crossing control closed loop of the plough tool 13.
The programmable controller 11 receives signals collected by the traveling angle sensor 1, the steering angle sensor 4, the vehicle speed sensor 6 and the plough angle sensor 14, meanwhile, the programmable controller 11 performs operation and processing by combining with a built-in control method and algorithm and generates a control current signal to control the electromagnet 8 and the electromagnet 12 to act, the electromagnetic valve iron 8 and the electromagnet 12 receive the control signal from the programmable controller 11 to operate the proportional valve 7 and control the hydraulic cylinder 15, and the purpose of controlling the lifting or lowering of the plough 13 is further achieved.
The hydraulic driving module comprises a hydraulic cylinder 15, an electromagnetic proportional valve, a hydraulic pump 10 and an oil tank 9, wherein the cylinder body of the hydraulic cylinder 15 is fixedly arranged on the tractor, and the output end of the hydraulic cylinder is connected with the plough 13; the electromagnetic hydraulic proportional valve comprises a proportional valve 7, an electromagnet A8 and an electromagnet B12, wherein the electromagnet A8 is electrified so as to push the proportional valve to act, the proportional valve 7 drives a hydraulic cylinder 15 to extend out, and the plough 13 is put down; the electromagnet B12 is electrified to push the proportional valve 7 to act, the proportional valve 7 drives the hydraulic cylinder 15 to contract to lift the plough tool 13, the electromagnet A8 and the electromagnet B12 are not electrified, the proportional valve 7 does not act, and the plough tool 13 normally works or stops.
A control method of an automatic control device of a plough of an agricultural machine comprises automatic control of turning direction of the plough and automatic control of obstacle crossing of the plough:
the automatic control of the plough during turning comprises the following steps:
A1. an activation threshold for a pivot angle is preset in the programmable controller 11、And is and；
A2. when the driver turns the steering wheel to make a turnThe programmable controller 11 receives the actual steering angle value of the steering wheel collected by the steering angle sensor 4；
A3. The programmable controller 11 determines the absolute value of the actual steering angle as a resultIf the programmable controller 11 judges that the driver is operating the vehicle to steer, the programmable controller 11 transmits a signal to the electromagnet B12, so that the electromagnet B12 is electrified, the proportional valve 7 is pushed, the hydraulic cylinder 15 is driven to retract, and the plough tool 13 is lifted;
or, the programmable controller 11 judges the absolute value of the actual steering angle as the resultWhen the driver sends a command of lowering the plough 13, the programmable controller 11 transmits a signal to the electromagnet A8, so that the electromagnet A8 is electrified, the proportional valve 7 is pushed, the hydraulic cylinder 15 is driven to extend, and the plough 13 is lowered;
or, the programmable controller 11 judges the absolute value of the actual steering angle as the resultThe programmable controller 11 judges that the driver does not turn and the state of the plough 13 is unchanged.
The automatic control step of the plough when crossing obstacles:
the method comprises the following specific steps:
A1. presetting an activation threshold for the driving angle in programmable controller 11；
A2. When traveling and crossing an obstacle, the traveling angle sensor 1 outputs actualAngle of travel；
A3. The programmable controller 11 determines the absolute value of the actual driving angle as a resultThe programmable controller 11 determines that the vehicle is crossing an obstacle and starts counting, passingWhen the plough tool is used, the programmable controller 11 sends a control signal to the electromagnet B12, so that the electromagnet B12 is electrified, the proportional valve 7 is pushed to act, the hydraulic cylinder 15 is driven by the proportional valve 7 to retract, and the plough tool 13 is lifted; wherein,，the value of the empirical coefficient, typically a constant,the vehicle running speed;
or, the programmable controller 11 judges the absolute value of the actual driving angle as the resultThe programmable controller 11 determines that the vehicle obstacle crossing is complete and starts counting, passesAfter time, the programmable controller 11 sends a control signal to the electromagnet A8, so that the electromagnet A8 is electrified, the proportional valve 7 is pushed to act, the proportional valve 7 drives the hydraulic cylinder 15 to extend, and the plough 13 is put down; wherein,，the value of the empirical coefficient, typically a constant,the vehicle running speed;
or, the programmable controller 11 judges the absolute value of the actual driving angle as the resultThe programmable controller 11 determines that the vehicle does not cross the obstacle and the state of the plough 13 is unchanged.
The invention has been described in an illustrative manner, and it is to be understood that the invention is not limited to the above-described embodiments, and that various modifications may be made without departing from the spirit and scope of the invention.
Claims (5)
1. An automatic control device of agricultural machinery plows is characterized by comprising a signal monitoring module, a programmable logic controller, a hydraulic driving module and a plows executing module; the programmable controller is used for sending an action command to the hydraulic driving module, the hydraulic driving module is directly connected with the plough tool execution module, and a hydraulic cylinder in the hydraulic driving module drives a plough tool in the plough tool execution module to implement actions such as deep ploughing, turning, obstacle crossing and the like; the signal monitoring module is used for monitoring the plough state and the tractor running state and feeding back the plough state and the tractor running state to the programmable controller;
the signal monitoring module comprises a driving angle sensor, a steering angle sensor, a vehicle speed sensor and a plough angle sensor;
the steering angle sensor is connected with a steering switch of the tractor, is connected with the programmable controller through a communication cable and is used for monitoring the change of the steering angle of the tractor to form an automatic control closed loop lifted by the plough tool during steering;
the plough tool angle sensor is arranged on the plough tool, is connected with the controller through a communication cable, monitors the operation angle of the plough tool and forms a control closed loop of the working angle of the plough tool;
the driving angle sensor is mounted at the top end of a tractor cab, is connected with the programmable controller through a communication cable and is used for monitoring the driving angle of the agricultural machinery host in real time;
the speed sensor is connected with a speed meter of the tractor, is connected with the programmable controller through a communication cable and is used for monitoring the running speed of the agricultural machinery; the speed sensor and the driving angle sensor are connected with the programmable controller to form a plough obstacle crossing control closed loop;
the programmable controller receives state signals acquired by the driving angle sensor, the steering angle sensor, the vehicle speed sensor and the plough angle sensor, and meanwhile, the programmable controller performs operation and processing by combining with a built-in control method algorithm and generates a solenoid valve iron control current signal, and the solenoid valve iron receives the control signal from the programmable controller and executes corresponding action.
2. The automatic control device of the agricultural machinery plough tool according to claim 1, wherein the hydraulic driving module comprises a hydraulic cylinder, an electromagnetic hydraulic proportional valve, a hydraulic pump and an oil tank; the hydraulic cylinder body is fixed on the tractor, the output end of the hydraulic cylinder body is connected with the plough implement execution module, the hydraulic cylinder is controlled to act through an electromagnetic type hydraulic proportional valve, the electromagnetic type hydraulic proportional valve comprises a proportional valve, an electromagnet A and an electromagnet B, the electromagnet A is electrified so as to push the proportional valve to act, and the proportional valve drives the oil cylinder to extend out to put down the plough implement; the electromagnet B is electrified, so that the proportional valve is pushed to act, the proportional valve drives the oil cylinder to contract, the plough tool is lifted, the electromagnet A and the electromagnet B are not electrified, the proportional valve does not act, and the plough tool works normally or stops.
3. An automatic control method of a plough of an agricultural machine is characterized by comprising automatic control of turning of the plough and automatic control of obstacle crossing of the plough;
the automatic control of the turning direction of the plough comprises the following steps:
when the programmable controller detects that the output angle value of the steering angle sensor is larger than a certain preset angle, the programmable controller outputs control current to a hydraulic proportional valve electromagnet B, and the hydraulic cylinder is controlled to retract through the hydraulic proportional valve so as to lift the plough to the highest position; when the steering angle of the steering wheel is returned to be within the preset angle, the operation state of the plough tool is recovered according to the operation of a driver;
the automatic control step of the obstacle crossing of the plough comprises the following steps:
firstly, judging a normal driving state and an obstacle crossing state through signals of a driving angle sensor, and if the driving angle is increased and rapidly decreased in a short time, indicating that wheels pass through the obstacle; calculating the time of the barrier reaching the plough tool position through a vehicle speed sensor according to the size, the speed and the like of the vehicle; finally, a control signal is sent to an electromagnet B of the hydraulic proportional valve through a programmable controller, and the oil cylinder is driven by the hydraulic proportional valve to lift the plough tool;
when the obstacle passes through the plough, the controller automatically controls the plough to restore the original operation state.
4. The automatic control method of the agricultural machine plow according to claim 3, wherein the automatic control step of the turning direction of the plow comprises the steps of:
a1, presetting an activation threshold value of a rotation angle in a programmable controller、And is and；
a2, when the driver turns the steering wheel, the programmable controller receives the actual steering angle value of the steering wheel collected by the steering angle sensor；
A3, judging the absolute value of the actual steering angle by the programmable controller to beIf the driver is operating the vehicle to steer, the programmable controller transmits a signal to the electromagnet B, so that the electromagnet B is electrified, the proportional valve is pushed, the hydraulic cylinder is driven to retract, and the plough is lifted;
or, the programmable controller judges the absolute value result of the actual steering angle asWhen a driver sends a plough releasing instruction, the programmable controller transmits a signal to the electromagnet A to enable the electromagnet A to be electrified, so that the proportional valve is pushed, the hydraulic cylinder is driven to extend out, and the plough tool is released;
or, the programmable controller judges the absolute value result of the actual steering angle asThe programmable controller judges that the driver does not turn and the state of the plough is not changed.
5. The automatic control method of the agricultural machine plow according to claim 3, wherein the automatic control step of the obstacle crossing of the plow comprises the following steps:
a1, presetting a driving angle activation threshold value in a programmable controller；
A2, when the vehicle is running and crossing an obstacle, the running angle sensor outputs the actual running angle；
A3, the programmable controller judges the absolute value of the actual driving angle asThe programmable controller determines that the vehicle is crossing an obstacle and begins counting, passesThe programmable controller sends a control signal to the electromagnet B, so that the electromagnet B is electrified to push the proportional valve to act, and the proportional valve drives the hydraulic cylinder to retract so as to lift the plough; wherein,，in order to be an empirical factor,the vehicle running speed;
or, the programmable controller judges the absolute value result of the actual driving angle asThe programmable controller determines that the vehicle obstacle crossing is complete and begins to count, passingAfter time, the programmable controller sends a control signal to the electromagnet A, so that the electromagnet A is electrified, the proportional valve is pushed to act, the proportional valve drives the oil cylinder to extend out, and the plough is put down; wherein,，in order to be an empirical factor,the vehicle running speed;
or, the programmable controller judges the absolute value result of the actual driving angle asAnd the programmable controller judges that the vehicle does not cross the obstacle and the state of the plough is unchanged.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510180019.3A CN104914882B (en) | 2015-04-16 | 2015-04-16 | A kind of agricultural machinery plough tool automaton and control method |
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| CN201510180019.3A CN104914882B (en) | 2015-04-16 | 2015-04-16 | A kind of agricultural machinery plough tool automaton and control method |
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| CN104914882B CN104914882B (en) | 2018-03-30 |
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| CN201510180019.3A Expired - Fee Related CN104914882B (en) | 2015-04-16 | 2015-04-16 | A kind of agricultural machinery plough tool automaton and control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105409353A (en) * | 2015-12-18 | 2016-03-23 | 李惠远 | Intelligent control system and method for rotary cultivator |
| CN108207131A (en) * | 2018-01-17 | 2018-06-29 | 谷梅友 | A kind of board-like trench plow of spring hooks |
| CN109907030A (en) * | 2019-04-10 | 2019-06-21 | 山东农业工程学院 | A kind of multifunctional adjustable fruit tree spraying vehicle |
| CN114464044A (en) * | 2022-01-12 | 2022-05-10 | 新兴际华科技发展有限公司 | Socialized emergency product inspection and detection index system under complex disaster environment |
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| CN201869533U (en) * | 2010-10-20 | 2011-06-22 | 山东常林机械集团股份有限公司 | Ploughing depth control device of wheeled tractor |
| US20130112123A1 (en) * | 2011-11-08 | 2013-05-09 | Leo V. Turko | Parallel linkage opener with adjustable spring loaded packer wheel |
| CN103988594A (en) * | 2013-02-19 | 2014-08-20 | 江苏派芬自动控制技术有限公司 | Tractor plough depth active shock-absorption control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201869533U (en) * | 2010-10-20 | 2011-06-22 | 山东常林机械集团股份有限公司 | Ploughing depth control device of wheeled tractor |
| US20130112123A1 (en) * | 2011-11-08 | 2013-05-09 | Leo V. Turko | Parallel linkage opener with adjustable spring loaded packer wheel |
| CN103988594A (en) * | 2013-02-19 | 2014-08-20 | 江苏派芬自动控制技术有限公司 | Tractor plough depth active shock-absorption control device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105409353A (en) * | 2015-12-18 | 2016-03-23 | 李惠远 | Intelligent control system and method for rotary cultivator |
| CN105409353B (en) * | 2015-12-18 | 2017-05-31 | 李惠远 | A kind of method being controlled to rotary cultivator |
| CN108207131A (en) * | 2018-01-17 | 2018-06-29 | 谷梅友 | A kind of board-like trench plow of spring hooks |
| CN109907030A (en) * | 2019-04-10 | 2019-06-21 | 山东农业工程学院 | A kind of multifunctional adjustable fruit tree spraying vehicle |
| CN109907030B (en) * | 2019-04-10 | 2021-06-22 | 山东农业工程学院 | Fruit tree spraying vehicle with adjustable it is multi-functional |
| CN114464044A (en) * | 2022-01-12 | 2022-05-10 | 新兴际华科技发展有限公司 | Socialized emergency product inspection and detection index system under complex disaster environment |
| CN114464044B (en) * | 2022-01-12 | 2024-04-12 | 新兴际华科技发展有限公司 | Socialization emergency product inspection and detection index system under complex disaster environment |
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| CN104914882B (en) | 2018-03-30 |
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