CN105409353A - Intelligent control system and method for rotary cultivator - Google Patents
Intelligent control system and method for rotary cultivator Download PDFInfo
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- CN105409353A CN105409353A CN201510949770.5A CN201510949770A CN105409353A CN 105409353 A CN105409353 A CN 105409353A CN 201510949770 A CN201510949770 A CN 201510949770A CN 105409353 A CN105409353 A CN 105409353A
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- rotovator
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The present invention includes an intelligent control system and method for a rotary cultivator. The system comprises: a reference surface monitoring apparatus, a reference surface monitoring unit, an operation panel, a control unit, a position control rise electrically controlled valve and a position control fall electrically controlled valve, wherein the reference surface monitoring unit and the operation panel are connected with the control unit, and the control unit is connected with the position control rise electrically controlled valve and the position control fall electrically controlled valve. The present invention further comprises the intelligent control method for the rotary cultivator. According to the intelligent control system and method for the rotary cultivator, the tilling state of the rotary cultivator can be controlled, so that the operation is simple, the tilling effect is good, the work efficiency is high, and the labor intensity is low.
Description
Technical field
The present invention relates to a kind of rotovator intelligence control system and method.
Background technology
At present, wheeled or the crawler-type rotary cultivator that market uses is primarily of head and rotovator composition, both are rigidly connected at the genus that links together mechanically, rotovator is under the control of the hydraulic system of head, can realize moving up and down or can either realize move up and down and the motion that tilts can be realized, head is responsible for providing tractive force and turning to, and arable land is responsible for by rotovator.Because the farming face in soil all around can be uneven, the base in soil also can the depth different, during rotovator work, meeting dipping and heaving or inclination, in order to ensure the smooth and degree of depth of ploughing, be generally by control handle hydraulic control system manually, carry out moving up and down or side-to-side movement controls to regulate the tilth of rotovator and the levelness of fuselage, complex operation.Because of judgement and the operate miss of people, the soil degree of depth after farming may have to be had shallow deeply, and can be uneven, arable land effect is undesirable, and inefficiency, the labour intensity of people is quite large.
In addition; rotovator usually also needs constantly to lift rotovator in cultivating procedure; rotovator is needed to lift during as moveed backward; also rotovator is needed to lift certain altitude during turning; when putting down again after rotovator lifts; the depth location declined also needs to control by people, also tilling depth can be caused undesirable because of error.In addition in cultivating procedure, the degree of tightness of soil soil property differs, the resistance brought to rotovator is also different, when rotovator tilth is too dark especially when soil property is harder, resistance becomes conference makes the stressed change of the parts such as gearbox large, and nose towing power is not enough, thus cause engine misses or occur the phenomenon of head tyre slip, if process not in time, gearbox even can be caused to damage, have a strong impact on the service life of equipment.
Rotovator rotary tillage cutter working depth regulation and control system disclosed in CN104756628A, face, None-identified arable land (be not the face of ploughing be reference data), and tilth is using the face of ploughing as reference benchmark, face, None-identified arable land is uncontrollable tilth just, can not meet the market demand.
Summary of the invention
Technical problem to be solved by this invention is, provides one can improve arable land effect, increases work efficiency, and reduces rotovator intelligence control system and the method for labour intensity.
The present invention solves the technical scheme that its technical problem adopts:
The rotovator intelligence control system of the present invention, comprise datum level monitoring device, datum level monitoring means, guidance panel, control unit, position control rising electrically-controlled valve and position control decline electrically-controlled valve, described datum level monitoring means, guidance panel are connected with control unit, and rise electrically-controlled valve, position control decline electrically-controlled valve of described control unit and position control is connected.
Further, be also provided with balance monitoring unit, balance controls rising electrically-controlled valve and balance controls decline electrically-controlled valve, described balance monitoring unit is connected with control unit, and described control unit controls rising electrically-controlled valve, balances and control decline electrically-controlled valve and be connected with balancing.
Further, be also provided with load monitoring unit, described load monitoring unit is connected with control unit.
Further, be also provided with gearbox-gear monitoring means, described gearbox-gear monitoring means is connected with control unit.
Further, described datum level monitoring device is planker, one end of described planker is flexibly connected with rotovator, the other end is positioned on face, arable land, when described rotovator tilth changes, the difference in height in the described rotovator rotary cultivating wheel center of circle and face, described arable land can change, thus causes the relative position of described planker and described rotovator to change, and then causes the position of planker to change.
Further, described datum level monitoring means can be obliquity sensor, rotary encoder or displacement transducer etc.
Further, described balance monitoring unit can be obliquity sensor, rotary encoder or displacement transducer etc.
Further, described load monitoring unit can be speed probe.
Further, described gearbox-gear monitoring means can be the position switch such as proximity switch or limit switch.
Further, described control unit is controller or single-chip microcomputer etc.The collection computing that described control unit mainly carries out monitor signal and control signal judges, exports control signal to performance element.
Further, described guidance panel is provided with regulating handle, power supply indicator, mode of operation switching push button, display screen, left-right balance adjustment toggle switch, position memory button, a key lifting switch, self diagnosis indicator lamp, turns and lift switch.Wherein, regulating handle is used for arranging the position of described rotovator, after described regulating handle is by the position adjustments of described rotovator, memory button depressed position, the signal of described control unit receiving position memory button, remembers the position residing for described rotovator, and is set to reference value.During energising, described power supply indicator is bright.Mode of operation switching push button, there are walking mode and mode of operation two kinds of patterns, when control system is in walking mode, described rotovator is lifted to extreme higher position and any operation can not be carried out to described rotovator, must by systematic evaluation to mode of operation when field work.Display screen is used for display control program state and parameter.Left-right balance regulates toggle switch for regulating the left-right balance gradient of described rotovator, described rotovator balance sysmte default value is horizontal plane, but some soil is will by the slope for ground farming, when needs farming becomes inclined-plane, toggle switch is regulated to regulate the angle of described rotovator and horizontal plane by described left-right balance, described its angle value of control unit meeting real time record, and be automatically set to reference value.When needs revert to level, only need restart system, system can return to default level face amount 0 ° about the default value of described rotovator fuselage, namely described rotovator fuselage and plane-parallel.One key lifting switch, as long as when whenever described control unit in the operational mode receives the lifting signal that a described key lifting switch provides, described rotovator can be raised up to extreme higher position, when described control unit receives the reset signal that a described key lifting switch provides, system can automatically switch to tilling depth automatic control mode, if do not arrange the position of described rotovator, when described control unit receives the reset signal that a described key lifting switch provides, described rotovator can not decline, and still maintains extreme higher position.Self diagnosis indicator lamp, when system malfunctions, corresponding indicator lamp will light; Switch is lifted in turning, when described control unit receive that described turning lifts that switch provides on lift signal time, described rotovator can on degree of raising, on degree of raising be the half that the degree of depth is set, when described control unit receive described turning lift the reset signal that certain switch provides time, described rotovator can return to and arrange the degree of depth.
The above-mentioned intelligence control system that utilizes of the present invention to the method that rotovator controls is: be flexibly connected with rotovator by described datum level monitoring device, when rising and falling appears in complete machine, when sinking or other working conditions cause described rotovator position to change, the position of described datum level monitoring device also can change, described datum level monitoring means monitors described datum level monitoring device position when changing, the signal of telecommunication of described datum level monitoring device change in location is transferred to described control unit by cable by described datum level monitoring means, described control unit is carried out computing to input signal and judges to be sent by stube cable to control the signal of telecommunication to described position control rising electrically-controlled valve or position control decline electrically-controlled valve, after described position control rising electrically-controlled valve or position control decline electrically-controlled valve receive the signal of described control unit, control is made to hydraulic system, make described rotovator increase or decline to return to setting position, after described rotovator returns to setting position, described datum level monitoring device also can be returned to setting position.
Further, described balance monitoring cellular installation, on described rotovator, is horizontal, and default reference benchmark is horizontal plane (also can regulate setting), is connected with control unit by cable, when described rotovator and horizontal plane not parallel time, namely during described rotovator run-off the straight, described balance monitoring unit monitors the change of described rotovator left and right directions level, described control unit is given by electric signal transmission, judge that sending break-make instruction by cable controls rising electrically-controlled valve or described balance control decline electrically-controlled valve to described balance through computing after described control unit receives input electrical signal, after described balance control rising electrically-controlled valve or described balance control decline electrically-controlled valve receive the instruction of described control unit, hydraulic control system, described rotovator is made to be returned to horizontal level, as long as described rotovator tilts, described control unit will send instruction allows described rotovator return to level.
Further, described load monitoring unit is arranged on nose engine, is used for detecting the rotating speed of engine, is connected with control unit by cable, when described load monitoring unit monitors described nose engine when power is constant, rotating speed declines, namely when rotovator resistance becomes large or when described nose towing power is not enough, tach signal can be transferred to described control unit by described load monitoring unit, rising control instruction is sent through computing to described position control rising electrically-controlled valve after described control unit receives signal, described position control rising electrically-controlled valve can control described hydraulic system makes described rotovator rise to discharge load, (value of normal work is arranged in described control unit value resistance or tractive force being returned to can normally work, as reference value), ensure normally carrying out of work, when described nose towing power lower than the resistance of settings or described head higher than settings time, tilling depth automatic control function will lose efficacy, and now described rotovator rises and reduces rotary tillage degree of depth release load, after tractive force or resistance return to normal value, tilling depth automatic control function recovers, and described control unit provides instruction and allows described rotovator return to arrange the degree of depth.
Further, described gearbox-gear monitoring means is arranged on by gearbox joystick reverse gear position, is connected with control unit by cable; When gear joystick change in location, signal is exported to control unit and is carried out computing judgement by described gearbox-gear monitoring means: when gear joystick is in reverse gear position, lifts function, extreme higher position lifted to by described rotovator on startup reverse gear is automatic; When gear joystick is not in reverse gear position, start tilling depth automatic control function, rotovator automatically restores to setting position.
Datum level monitoring device set by the present invention, it is the reference datum using surface, soil as tilth, set datum level monitoring device can detect the change in location of rotovator relative to datum level, change in location detected by datum level monitoring device can be transformed into the corresponding signal of telecommunication and export to control unit by datum level monitoring means, when tilth does not change, the value that datum level monitoring means exports is certain, when tilth changes, the signal value that datum level monitoring means exports also can correspondingly change.Tilth of the present invention refers to the difference in height of the lower-limit point of the rotary cultivating wheel of rotovator to soil upper surface.
Tilth is by manually pre-setting, set up, the value that datum level monitoring means exports also just determines, system can remember the value that described datum level monitoring means exports, when tilth changes, deepen or shoal, the output valve of datum level monitoring means also can change, in order to ensure the uniformity of tilth, control unit will hydraulic control system make described rotovator carry out corresponding actions, make the output valve of described datum level monitoring means consistent with the value of system log (SYSLOG), just can ensure the uniformity of tilth in this way.
Balance monitoring unit of the present invention is used for carrying out Real-Time Monitoring to described rotovator left and right horizontal position, as long as described rotovator run-off the straight, the horizontal level variable signal collected can be transformed into the signal of telecommunication and pass to described control unit by described balance monitoring unit, judge to carry out Level tune control to rotovator through control unit computing, make it return to horizontal level, ensure that farming face is smooth.The datum level default value of the degree of balance is horizontal plane, also can preset 1 value and be stored in control unit.
Load monitoring unit of the present invention is used for monitoring the change of described head load resistance, when described load monitoring unit monitors when described head resistance becomes large or when described nose towing power is not enough, its state transfer can become electric signal transmission to described control unit by described load monitoring unit, instruction can be sent to described position control rising electrically-controlled valve after described control unit receives signal, described position control rising electrically-controlled valve can hydraulic control system make described rotovator rise, tilth is reduced by rising, to discharge load, resistance is made to return to the value that can normally work, ensure normally carrying out of work, the resistance that rotary tillage function is normally worked or value of thrust are arranged in described control unit.When described nose towing power lower than the resistance of settings or described head higher than settings time, tilling depth automatic control function will lose efficacy, now rise reduce this function of tilling depth to discharge load i.e. described rotovator, when tractive force higher than or resistance lower than setting value after, tilling depth automatic control function recovers, and described control unit provides instruction and allows described rotovator return to arrange the degree of depth.
The major function of gearbox-gear monitoring means of the present invention is the duty of monitoring gearbox, when described gearbox-gear monitoring means monitor gearbox be in reverse gear state time, function on is lifted on rotovator is automatic, namely described rotovator automatically on lift to extreme higher position, tilling depth automatic control function lost efficacy, when described gearbox-gear monitoring means monitor gearbox be not in reverse gear state time, tilling depth automatic control function start, described rotovator automatically restores to setting position.
Guidance panel of the present invention is provided with regulating handle, power supply indicator, mode of operation switching push button, display screen, left-right balance adjustment toggle switch, position memory button, a key lifting switch, self diagnosis indicator lamp, turns and lift switch etc., by operator it manipulated and monitor, the mode mechanically carrying out hydraulic control system fading margin is changed to and carrys out hydraulic control system fading margin mode by automatically controlled mode, spend before alleviating the work of operator, its configuration can require adjust according to difference.
Utilize the cultivation condition of the present invention to rotovator to control, no matter head is in any state, and rotovator can both keep level, and tilth is consistent; And can remember tilth, same position can both be put into when transferring again after rotovator is lifted at every turn.Real-Time Monitoring can also be carried out to nose engine load simultaneously, automatically can discharge load by lifting rotovator when load is excessive, can automatically reset again after load reduces.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the rotovator intelligence control system of the embodiment of the present invention;
Fig. 2 is the scheme of installation of control system shown in Fig. 1;
The guidance panel schematic diagram that Fig. 3 is control system shown in Fig. 1.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
With reference to accompanying drawing, the rotovator intelligence control system of the present embodiment, comprise datum level monitoring device 01, datum level monitoring means 02, guidance panel 06, control unit 07, position control rising electrically-controlled valve 10 and position control decline electrically-controlled valve 11, described datum level monitoring means 02, guidance panel 06 are connected with control unit 07, and described control unit 07 is connected with position control rising electrically-controlled valve 10, position control decline electrically-controlled valve 11.
The present embodiment is also provided with balance monitoring unit 03, balance controls rising electrically-controlled valve 08 and balance controls decline electrically-controlled valve 09, described balance monitoring unit 03 is connected with control unit 07, and described control unit 07 controls rising electrically-controlled valve 08 with balance, balance and control decline electrically-controlled valve 09 and be connected.
The present embodiment is also provided with load monitoring unit 04, and described load monitoring unit 04 is connected with control unit 07.
The present embodiment is also provided with gearbox-gear monitoring means 05, and described gearbox-gear monitoring means 05 is connected 07 with control unit.
Described in the present embodiment, datum level monitoring device 01 is planker, one end of described planker is flexibly connected with rotovator, the other end is positioned on face, arable land, when described rotovator tilth changes, the difference in height in the described rotovator rotary cultivating wheel center of circle and face, described arable land can change, thus cause the relative position of described planker and described rotovator to change, and then the position of planker is caused to change.
In the present embodiment, described datum level monitoring means 02 is obliquity sensor.Certainly, also can be rotary encoder or displacement transducer etc.
In the present embodiment, described balance monitoring unit 03 is obliquity sensor.Certainly, also can be rotary encoder or displacement transducer etc.
In the present embodiment, described load monitoring unit 04 is speed probe.
In the present embodiment, described gearbox-gear monitoring means 05 is proximity switch.Certainly, also can be limit switch etc.
In the present embodiment, described control unit 07 is controller.Certainly, also can be single-chip microcomputer etc.
In the present embodiment, described guidance panel 06 is provided with regulating handle 001, power supply indicator 002, mode of operation switching push button 003, display screen 004, left-right balance adjustment toggle switch 005, position memory button 006, key lifting switch 007, self diagnosis indicator lamp 008, turns and lift switch 009.Wherein, regulating handle 001 is used for arranging the position of described rotovator 12, after described regulating handle 001 is by the position adjustments of described rotovator 12, memory button 006 depressed position, the signal of described control unit 07 receiving position memory button 006, position residing for described rotovator 12 is remembered, and is set to reference value.During energising, described power supply indicator 002 is bright.Mode of operation switching push button 003, there are walking mode and mode of operation two kinds of patterns, when control system is in walking mode, described rotovator 12 is lifted to extreme higher position and any operation can not be carried out to described rotovator 12, must by systematic evaluation to mode of operation when field work.Display screen 004 is used for display control program state and parameter.Left-right balance regulates toggle switch 005 for regulating the left-right balance gradient of described rotovator 12, described rotovator 12 balance sysmte default value is horizontal plane, but some soil is will by the slope for ground farming, when needs farming becomes inclined-plane, toggle switch 005 is regulated to regulate the angle of described rotovator 12 and horizontal plane by described left-right balance, described its angle value of control unit 07 meeting real time record, and be automatically set to reference value.When needs revert to level, only need restart system, system can return to default level face amount 0 ° about the default value of described rotovator 12 fuselage, namely described rotovator fuselage and plane-parallel.One key lifting switch 007, as long as when whenever described control unit 07 in the operational mode receives the lifting signal that a described key lifting switch 007 provides, described rotovator 12 can be raised up to extreme higher position, when described control unit 07 receives the reset signal that a described key lifting switch 007 provides, system can automatically switch to tilling depth automatic control mode, if do not arrange the position of described rotovator 12, when described control unit 07 receives the reset signal that a described key lifting switch 007 provides, described rotovator 12 can not decline, still extreme higher position is maintained.Self diagnosis indicator lamp 008, when system malfunctions, corresponding indicator lamp will light; Switch 009 is lifted in turning, when described control unit 07 receive that described turning lifts that switch 009 provides on lift signal time, degree of raising in described rotovator 12 meeting, on degree of raising be the half that the degree of depth is set, when described control unit 07 receive described turning lift the reset signal that certain switch 009 provides time, described rotovator 12 can return to and arrange the degree of depth.
The above-mentioned intelligence control system that utilizes of the present embodiment to the method that rotovator controls is: datum level monitoring device 01 is passed through cylinder axis with rotovator 12() be rotatably connected, datum level monitoring means 02 is arranged on datum level monitoring device 01 and (also can be arranged on rotovator or head), when rising and falling appears in complete machine, when sinking or other working conditions cause described rotovator 12 position to change, the position of described datum level monitoring device 01 also can change, described datum level monitoring means 02 monitors described datum level monitoring device 01 position when changing, the signal of telecommunication of described datum level monitoring device 01 change in location is transferred to described control unit 07 by cable by described datum level monitoring means 02, described control unit 07 pair of input signal is carried out computing and judges to be sent by stube cable to control the signal of telecommunication to described position control rising electrically-controlled valve 10 or position control decline electrically-controlled valve 11, after described position control rising electrically-controlled valve 10 or position control decline electrically-controlled valve 11 receive the signal of described control unit 07, control is made to hydraulic system, described rotovator 12 is made to rise or decline to return to setting position, after described rotovator 12 returns to setting position, described datum level monitoring device 01 also can be returned to setting position.
Described balance monitoring unit 03 is arranged on described rotovator 12, is horizontal, and default reference benchmark is horizontal plane (also can regulate setting), is connected with control unit 07 by cable, when described rotovator 12 is not parallel with horizontal plane, namely during described rotovator 12 run-off the straight, described balance monitoring unit 03 monitors the change of described rotovator 12 left and right directions level, described control unit 07 is given by electric signal transmission, judge that sending break-make instruction by cable controls rising electrically-controlled valve 08 or described balance control decline electrically-controlled valve 09 to described balance through computing after described control unit 07 receives input electrical signal, after described balance control rising electrically-controlled valve 08 or described balance control decline electrically-controlled valve 09 receive the instruction of described control unit 07, hydraulic control system, described rotovator 12 is made to be returned to horizontal level, as long as described rotovator 12 tilts, described control unit 07 will send instruction allows described rotovator return to level.
Described load monitoring unit 04 is arranged on head 13 engine, is used for detecting the rotating speed of engine, is connected with control unit 07 by cable, when described load monitoring unit 04 monitors described head 13 engine when power is constant, rotating speed declines, namely when rotovator 12 resistance becomes large or when described head 13 tractive force is not enough, tach signal can be transferred to described control unit 07 by described load monitoring unit 04, rising control instruction is sent through computing to described position control rising electrically-controlled valve 10 after described control unit 07 receives signal, described position control rising electrically-controlled valve 10 can control described hydraulic system makes described rotovator 12 rise to discharge load, (value of normal work is arranged in described control unit 07 value resistance or tractive force being returned to can normally work, as reference value), ensure normally carrying out of work, when described head 13 tractive force lower than the resistance of settings or described head 13 higher than settings time, tilling depth automatic control function will lose efficacy, and now described rotovator 12 rises and reduces rotary tillage degree of depth release load, after tractive force or resistance return to normal value, tilling depth automatic control function recovers, and described control unit 07 provides instruction and allows described rotovator 12 return to arrange the degree of depth.
Described gearbox-gear monitoring means 05 is arranged on by gearbox joystick reverse gear position, is connected with control unit 07 by cable; When gear joystick change in location, signal is exported to control unit 07 and is carried out computing judgement by described gearbox-gear monitoring means 05: when gear joystick is in reverse gear position, lifts function, extreme higher position lifted to by described rotovator 12 on startup reverse gear is automatic; When gear joystick is not in reverse gear position, start tilling depth automatic control function, rotovator 12 automatically restores to setting position.
Claims (10)
1. a rotovator intelligence control system, it is characterized in that: comprise datum level monitoring device, datum level monitoring means, guidance panel, control unit, position control rising electrically-controlled valve and position control decline electrically-controlled valve, described datum level monitoring means, guidance panel are connected with control unit, and rise electrically-controlled valve, position control decline electrically-controlled valve of described control unit and position control is connected.
2. rotovator intelligence control system according to claim 1, it is characterized in that: be also provided with balance monitoring unit, balance controls rising electrically-controlled valve and balance controls decline electrically-controlled valve, described balance monitoring unit is connected with control unit, and described control unit controls rising electrically-controlled valve with balance, balance and control decline electrically-controlled valve and be connected.
3. rotovator intelligence control system according to claim 1 and 2, is characterized in that: be also provided with load monitoring unit, and described load monitoring unit is connected with control unit.
4. rotovator intelligence control system according to claim 1 and 2, is characterized in that: be also provided with gearbox-gear monitoring means, described gearbox-gear monitoring means is connected with control unit.
5. rotovator intelligence control system according to claim 1 and 2, it is characterized in that: described datum level monitoring device is planker, one end of described planker is flexibly connected with rotovator, the other end is positioned on face, arable land, when described rotovator tilth changes, the difference in height in the described rotovator rotary cultivating wheel center of circle and face, described arable land can change, thus causes the relative position of described planker and described rotovator to change, and then causes the position of planker to change.
6. rotovator intelligence control system according to claim 1 and 2, is characterized in that: described datum level monitoring means is obliquity sensor, rotary encoder or displacement transducer; Described balance monitoring unit is obliquity sensor, rotary encoder or displacement transducer; Described load monitoring unit is speed probe.
7. the method utilizing intelligence control system described in claim 1 to control rotovator, is characterized in that: be flexibly connected with rotovator by described datum level monitoring device, when rising and falling appears in complete machine, when sinking or other working conditions cause described rotovator position to change, the position of described datum level monitoring device also can change, described datum level monitoring means monitors described datum level monitoring device position when changing, the signal of telecommunication of described datum level monitoring device change in location is transferred to described control unit by cable by described datum level monitoring means, described control unit is carried out computing to input signal and judges to be sent by stube cable to control the signal of telecommunication to described position control rising electrically-controlled valve or position control decline electrically-controlled valve, after described position control rising electrically-controlled valve or position control decline electrically-controlled valve receive the signal of described control unit, control is made to hydraulic system, make described rotovator increase or decline to return to setting position, after described rotovator returns to setting position, described datum level monitoring device also can be returned to setting position.
8. the method that rotovator is controlled according to claim 7, it is characterized in that: the method system for use in carrying also comprises balance monitoring unit, balance controls rising electrically-controlled valve and balance controls decline electrically-controlled valve, described balance monitoring unit is connected with control unit, and described control unit controls rising electrically-controlled valve with balance, balance and control decline electrically-controlled valve and be connected;
Described balance monitoring cellular installation, on described rotovator, is horizontal, and default reference benchmark is horizontal plane, is connected with control unit by cable, when described rotovator and horizontal plane not parallel time, namely during described rotovator run-off the straight, described balance monitoring unit monitors the change of described rotovator left and right directions level, described control unit is given by electric signal transmission, judge that sending break-make instruction by cable controls rising electrically-controlled valve or described balance control decline electrically-controlled valve to described balance through computing after described control unit receives input electrical signal, after described balance control rising electrically-controlled valve or described balance control decline electrically-controlled valve receive the instruction of described control unit, hydraulic control system, described rotovator is made to be returned to horizontal level, as long as described rotovator tilts, described control unit will send instruction allows described rotovator return to level.
9. the method that rotovator is controlled according to claim 8, it is characterized in that: the method system for use in carrying also comprises load monitoring unit, described load monitoring unit is connected with control unit, described load monitoring unit is arranged on nose engine, be used for detecting the rotating speed of engine, be connected with control unit by cable, when described load monitoring unit monitors described nose engine when power is constant, rotating speed declines, namely when rotovator resistance becomes large or when described nose towing power is not enough, tach signal can be transferred to described control unit by described load monitoring unit, rising control instruction is sent through computing to described position control rising electrically-controlled valve after described control unit receives signal, described position control rising electrically-controlled valve can control described hydraulic system makes described rotovator rise to discharge load, resistance or tractive force is made to return to the value that can normally work, ensure normally carrying out of work, when described nose towing power lower than the resistance of settings or described head higher than settings time, tilling depth automatic control function will lose efficacy, and now described rotovator rises and reduces rotary tillage degree of depth release load, after tractive force or resistance return to normal value, tilling depth automatic control function recovers, and described control unit provides instruction and allows described rotovator return to arrange the degree of depth.
10. the method that rotovator is controlled according to claim 9, it is characterized in that: the method system for use in carrying also comprises gearbox-gear monitoring means, described gearbox-gear monitoring means is arranged on by gearbox joystick reverse gear position, is connected with control unit by cable; When gear joystick change in location, signal is exported to control unit and is carried out computing judgement by described gearbox-gear monitoring means: when gear joystick is in reverse gear position, lifts function, extreme higher position lifted to by described rotovator on startup reverse gear is automatic; When gear joystick is not in reverse gear position, start tilling depth automatic control function, rotovator automatically restores to setting position.
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| CN201510949770.5A CN105409353B (en) | 2015-12-18 | 2015-12-18 | A kind of method being controlled to rotary cultivator |
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| CN201510949770.5A CN105409353B (en) | 2015-12-18 | 2015-12-18 | A kind of method being controlled to rotary cultivator |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105850240A (en) * | 2016-04-11 | 2016-08-17 | 当阳市天工实业有限公司 | Intelligent rotary tiller and intelligent control method thereof |
| CN106376253A (en) * | 2016-08-31 | 2017-02-08 | 湖南考思特电子有限公司 | Rotary cultivator leveling system and method |
| CN106508153A (en) * | 2016-11-29 | 2017-03-22 | 湖南春燕机械制造有限公司 | Automatic tilling depth control device applied to tillage machine tool |
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| CN107980261A (en) * | 2017-11-22 | 2018-05-04 | 中国农业大学 | A kind of general-purpose type tilling depth automatic detection and control device |
| CN108243635A (en) * | 2018-03-09 | 2018-07-06 | 浙江理工大学 | A kind of tractor rotary tillage unit tilling depth automaton and its control method |
| CN109479410A (en) * | 2019-01-18 | 2019-03-19 | 南县伟业机械制造有限公司 | A kind of telescopic planisher |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105850240A (en) * | 2016-04-11 | 2016-08-17 | 当阳市天工实业有限公司 | Intelligent rotary tiller and intelligent control method thereof |
| CN106376253A (en) * | 2016-08-31 | 2017-02-08 | 湖南考思特电子有限公司 | Rotary cultivator leveling system and method |
| CN106376253B (en) * | 2016-08-31 | 2019-01-29 | 湖南考思特电子有限公司 | A kind of rotary cultivator leveling system and method |
| CN106508153A (en) * | 2016-11-29 | 2017-03-22 | 湖南春燕机械制造有限公司 | Automatic tilling depth control device applied to tillage machine tool |
| CN106576447A (en) * | 2016-11-29 | 2017-04-26 | 湖南春燕机械制造有限公司 | Rotary cultivator tilling depth monitoring control system and tilling depth control method |
| CN107980261A (en) * | 2017-11-22 | 2018-05-04 | 中国农业大学 | A kind of general-purpose type tilling depth automatic detection and control device |
| CN107980261B (en) * | 2017-11-22 | 2019-08-30 | 中国农业大学 | A kind of general-purpose type tilling depth automatic detection and control device |
| CN108243635A (en) * | 2018-03-09 | 2018-07-06 | 浙江理工大学 | A kind of tractor rotary tillage unit tilling depth automaton and its control method |
| CN108243635B (en) * | 2018-03-09 | 2023-04-07 | 浙江理工大学 | Automatic control device and control method for tilling depth of tractor rotary tillage unit |
| CN109479410A (en) * | 2019-01-18 | 2019-03-19 | 南县伟业机械制造有限公司 | A kind of telescopic planisher |
| CN109479410B (en) * | 2019-01-18 | 2021-06-22 | 南县伟业机械制造有限公司 | Telescopic levelling machine |
| CN110199590A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | Intelligent mini-tiller and its hard object bypassing method |
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Effective date of registration: 20180424 Address after: 410205 room 307, A4 building, 27 Yuan Lu Yuan Yuan, Wen Xuan Road, Changsha hi tech Development Zone, Changsha, Hunan. Patentee after: Hunan test site Electronics Co Ltd Address before: 410005, Huamei 389 building, No. 2012 Wuyi Road, Hunan, Changsha Patentee before: Li Huiyuan |