CN105409353B - A kind of method being controlled to rotary cultivator - Google Patents
A kind of method being controlled to rotary cultivator Download PDFInfo
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- CN105409353B CN105409353B CN201510949770.5A CN201510949770A CN105409353B CN 105409353 B CN105409353 B CN 105409353B CN 201510949770 A CN201510949770 A CN 201510949770A CN 105409353 B CN105409353 B CN 105409353B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 80
- 238000012806 monitoring device Methods 0.000 claims abstract description 22
- 230000007423 decrease Effects 0.000 claims abstract description 19
- 230000000630 rising effect Effects 0.000 claims description 10
- 238000003971 tillage Methods 0.000 claims description 8
- 230000008054 signal transmission Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 16
- 230000033228 biological regulation Effects 0.000 description 14
- 239000002689 soil Substances 0.000 description 10
- 238000009313 farming Methods 0.000 description 7
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000004092 self-diagnosis Methods 0.000 description 4
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
A kind of rotary cultivator intelligence control system and method, the system includes that datum level monitoring device, datum level monitoring unit, guidance panel, control unit, position control rise electrically-controlled valve and position control decline electrically-controlled valve, the datum level monitoring unit, guidance panel are connected with control unit, and described control unit rises electrically-controlled valve, position control decline electrically-controlled valve and is connected with position control.Present invention additionally comprises a kind of rotary cultivator intelligent control method.The cultivation condition of rotary cultivator is controlled using the present invention, easy to operate, arable land effect is good, and high working efficiency, labour intensity is low.
Description
Technical field
The present invention relates to a kind of rotary cultivator intelligence control system and method.
Background technology
At present, the wheeled or crawler-type rotary cultivator that in the market is used mainly is made up of head and rotary cultivator, and both pass through
Be mechanically attached to belong to together and be rigidly connected, rotary cultivator under the control of the hydraulic system of head, be capable of achieving move up and down or
Person is can either to realize moving up and down and can realizing the motion that tilts, and head is responsible for providing tractive force and steering etc., rotary tillage
Machine is responsible for arable land.Because the farming face in soil can all around be uneven, the base in soil also can depth difference, rotary cultivator work
When, meeting dipping and heaving or inclination, in order to ensure the smooth and depth in arable land, are controlled generally by manually control handle
Hydraulic system, is moved up and down or side-to-side movement control adjusts the tilth of rotary cultivator and the levelness of fuselage, is grasped
Make cumbersome.Because of the judgement and operational error of people, the soil depth after farming might have has shallow deeply, can be uneven, arable land effect
Really undesirable, and inefficiency, the labour intensity of people is quite big.
Additionally, rotary cultivator usually also needs to constantly lift rotary cultivator in cultivating procedure, needed rotary cultivator when such as moveing backward
Lift, be also required to for rotary cultivator to lift certain altitude during turning, when being put down again after rotary cultivator is lifted, the depth location of decline
Need to be controlled by people, also because of error tilling depth can be caused undesirable.In addition in cultivating procedure, soil soil property it is elastic not
One, the resistance brought to rotary cultivator is also different, and when rotary cultivator tilth is too deep especially harder in soil property, resistance becomes conference
The parts such as gearbox stress is set to become big, nose towing power is not enough, so as to cause engine misses or head tyre slip occur
Phenomenon, if treatment not in time, result even in gearbox damage, have a strong impact on the service life of equipment.
Rotary cultivator rotary tillage cutter working depth regulation and control system disclosed in CN104756628A, it is impossible to recognize arable land face
（It with the face of ploughing is reference data not to be）, and tilth is using the face of ploughing as reference data, it is impossible to recognize arable land face just
Uncontrollable tilth, can not meet the market demand.
The content of the invention
The technical problems to be solved by the invention are to provide one kind can improve arable land effect, improve operating efficiency, reduce labor
The rotary cultivator intelligence control system and method for fatigue resistance.
The present invention solves the technical scheme adopted of its technical problem：
The rotary cultivator intelligence control system of the present invention, including datum level monitoring device, datum level monitoring unit, operating surface
Plate, control unit, position control rise electrically-controlled valve and position control decline electrically-controlled valve, the datum level monitoring unit, operating surface
Plate is connected with control unit, and described control unit rises electrically-controlled valve, position control decline electrically-controlled valve and is connected with position control.
Further, balance monitoring unit, balance control rising electrically-controlled valve and balance control are additionally provided with and decline electrically-controlled valve, it is described
Balance monitoring unit is connected with control unit, and described control unit declines automatically controlled with balance control rising electrically-controlled valve, balance control
Valve is connected.
Further, load monitoring unit is additionally provided with, the load monitoring unit is connected with control unit.
Further, gearbox-gear monitoring unit is additionally provided with, the gearbox-gear monitoring unit is connected with control unit.
Further, the datum level monitoring device is planker, and one end of the planker is flexibly connected with rotary cultivator, the other end
On the face of arable land, when the rotary cultivator tilth changes, the rotary cultivator rotary cultivating wheel center of circle and the arable land face
Difference in height can change, so as to cause the planker to be changed with the relative position of the rotary cultivator, and then cause to drag
The position of plate changes.
Further, the datum level monitoring unit can be obliquity sensor, rotary encoder or displacement transducer etc..
Further, the balance monitoring unit can be obliquity sensor, rotary encoder or displacement transducer etc..
Further, the load monitoring unit can be speed probe.
Further, the gearbox-gear monitoring unit can be the position switch such as proximity switch or limit switch.
Further, described control unit is controller or single-chip microcomputer etc..Described control unit is mainly and is monitored signal
Judge with the collection computing of control signal, to execution unit output control signal.
Further, the guidance panel be provided with regulation handle, power supply indicator, mode of operation switching push button, display screen,
Switch is lifted in left-right balance regulation toggle switch, position memory button, a key lifting switch, self diagnosis indicator lamp, turning.Its
In, regulation handle is used for setting the position of the rotary cultivator, when the regulation handle finishes the position adjustments of the rotary cultivator
Afterwards, depressed position memory button, the signal of described control unit receiving position memory button, by the location of described rotary cultivator
Remember, and be set to reference value.During energization, the power supply indicator is bright.Mode of operation switching push button, there is walking mode and Working mould
Formula both of which, when control system is in walking mode, lifts to extreme higher position and can not be to the rotary tillage on the rotary cultivator
Machine carries out any operation, system must be switched into mode of operation in field work.Display screen is used for display control program shape
State and parameter.Left-right balance regulation toggle switch is used to adjust the left-right balance gradient of the rotary cultivator, and the rotary cultivator is put down
Balance system default value is horizontal plane, but some soils are that ground farming is in the slope, when needing farming into inclined-plane, are passed through
The left-right balance adjusts toggle switch to adjust the angle of the rotary cultivator and horizontal plane, and described control unit can real time record
Its angle value, and it is automatically set to reference value.When needing to revert to level, only system need to be restarted, system is on the rotary tillage
The default value of machine fuselage can return to 0 ° of default level face amount, that is, the rotary cultivator fuselage and plane-parallel.One key is lifted
Rise switch, if in the operational mode whenever described control unit receives the lifting that key lifting switch is provided
During signal, the rotary cultivator can be raised up to extreme higher position, be given when described control unit receives the key lifting switch
Reset signal when, system can automatically switch to tilling depth automatic control mode, if being not provided with the position of the rotary cultivator, when
When described control unit receives the reset signal that the key lifting switch is provided, the rotary cultivator will not decline, and still tie up
Hold in extreme higher position.Self diagnosis indicator lamp, when system breaks down, corresponding indicator lamp will be lighted；Switch is lifted in turning,
When described control unit receive it is described turning lift switch be given upper lift signal when, the rotary cultivator can on degree of raising, upper lift
Highly it is the half of setting depth, when described control unit receives the reset signal turned and lift and necessarily switch and provide
When, the rotary cultivator can return to setting depth.
The present invention's is to the method that rotary cultivator is controlled using above-mentioned intelligence control system：By datum level monitoring
Device is flexibly connected with rotary cultivator；The rotary cultivator position is caused to be sent out when fluctuating, sinking or other working conditions occurs in whole machine
During changing, the position of the datum level monitoring device can also change, and the datum level monitoring unit monitors the base
When quasi- face monitoring device position changes, the datum level monitoring unit is by the electricity of the datum level monitoring device change in location
Signal is transferred to described control unit by cable, and described control unit carries out computing to input signal and judges by connecting electricity
Cable sends control electric signal and rises electrically-controlled valve or position control decline electrically-controlled valve to the position control, in the position control
After liter electrically-controlled valve or position control decline electrically-controlled valve receive the signal of described control unit, control is made to hydraulic system,
The rotary cultivator is set to rise or decline to return to set location, after the rotary cultivator returns to set location, the base
Quasi- face monitoring device can also be returned to set location.
Further, the balance monitoring unit is arranged on the rotary cultivator, is horizontal, and default reference benchmark is
Horizontal plane（Setting can also be adjusted）, it is connected with control unit by cable；When the rotary cultivator and horizontal plane are not parallel,
Namely during the rotary cultivator run-off the straight, the balance monitoring unit monitors the rotary cultivator left and right directions level change,
By electric signal transmission to described control unit, described control unit is judged by cable after receiving input electrical signal by computing
Line sends break-make and instructs and rises electrically-controlled valve or balance control decline electrically-controlled valve, the balance control to the balance control
After rising electrically-controlled valve or balance control decline electrically-controlled valve receive the instruction of described control unit, hydraulic system is controlled,
The rotary cultivator is set to be returned to horizontal level, as long as the rotary cultivator tilts, described control unit will send instruction and allow
The rotary cultivator returns to horizontality.
Further, the load monitoring unit is arranged on nose engine, for detecting the rotating speed of engine, by electricity
Cable is connected with control unit；When the load monitoring unit monitors that the nose engine is constant in power, under rotating speed
When drop, i.e. rotary cultivator resistance become big or when the nose towing power is not enough, the load monitoring unit can pass tach signal
Described control unit is defeated by, described control unit sends through computing after receiving signal to position control rising electrically-controlled valve
Rise control instruction, the position control rises electrically-controlled valve can control the hydraulic system rotary cultivator is increased to discharge load
Lotus, makes resistance or tractive force return to the value of energy normal work（The value of normal work is arranged in described control unit, as
Reference value）To ensure being normally carried out for work；When the nose towing power is higher than less than the resistance of arranges value or the head
During arranges value, tilling depth automatic control function will fail, and now the rotary cultivator rises to reduce rotary tillage depth release load；When leading
After gravitation or resistance return to normal value, tilling depth automatic control function recovers, and described control unit provides instruction and allows the rotation
Cultivated machine returns to setting depth.
Further, the gearbox-gear monitoring unit is arranged on by gearbox joystick reverse gear position, by cable
Line is connected with control unit；When gear joystick change in location, the gearbox-gear monitoring unit gives signal output
Control unit carries out computing judgement：When gear joystick is in reverse gear position, start reverse gear upper lift function, the rotary cultivator automatically
On lift to extreme higher position；When gear joystick is not in reverse gear position, start tilling depth automatic control function, rotary cultivator recovers automatically
To set location.
Set datum level monitoring device of the invention, is the reference datum using soil surface as tilth, set base
Quasi- face monitoring device can detect change in location of the rotary cultivator relative to datum level, and datum level monitoring unit can supervise datum level
Survey the change in location detected by device to be transformed into corresponding electric signal and export to control unit, when tilth is not changed in
When, the value that datum level monitoring unit is exported is certain, and when tilth changes, datum level monitoring unit is exported
Signal value corresponding can also change.Tilth of the invention refers to the lower-limit point of the rotary cultivating wheel of rotary cultivator on soil
The difference in height on surface.
Tilth is set up by manually pre-setting, and the value that datum level monitoring unit is exported also is determined that, system
The value of the datum level monitoring unit output can be remembered, when tilth changes, deepened or shoaled, datum level monitoring is single
The output valve of unit can also change, and in order to ensure the uniformity of tilth, control unit will control the hydraulic system to make institute
Stating rotary cultivator carries out corresponding actions, makes the output valve of the datum level monitoring unit consistent with the value that system is recorded, by this
Mode is to ensure that the uniformity of tilth.
Balance monitoring unit of the present invention is used for carrying out real-time monitoring to the rotary cultivator left and right horizontal position, as long as institute
Rotary cultivator run-off the straight is stated, the horizontal level variable signal that the balance monitoring unit will can be collected is transformed into electric signal and is transmitted to
Described control unit, judges to carry out Level tune control to rotary cultivator through control unit computing, it is returned to horizontal level, protects
Card farming face is smooth.The datum level default value of the degree of balance is horizontal plane, can also preset 1 value and store in control unit.
Load monitoring unit of the present invention is used for monitoring the change of the head load resistance, when the load monitoring list
When unit monitors that the head resistance becomes big or when the nose towing power is not enough, the load monitoring unit can be by its state
It is transformed into electric signal transmission to described control unit, described control unit can issue instructions to the position control after receiving signal
System rises electrically-controlled valve, and the position control rises electrically-controlled valve can control the hydraulic system rotary cultivator is increased, by rise come
Reduce tilth, to discharge load, make resistance return to can the value of normal work ensure being normally carried out for work, make rotation
The resistance or value of thrust for ploughing function normal work are arranged in described control unit.When the nose towing power is less than arranges value
Or the resistance of the head, when being higher than arranges value, tilling depth automatic control function will fail, now discharging load i.e. institute
State rotary cultivator to rise to reduce based on tilling depth this function, after tractive force is higher than or resistance is less than setting value, tilling depth is automatic
Control function is recovered, and described control unit provides instruction allows the rotary cultivator to return to setting depth.
The major function of gearbox-gear monitoring unit of the present invention is the working condition for monitoring gearbox, when the change
When fast gear box monitoring unit monitors that gearbox is in reverse gear state, rotary cultivator is automatically upper to lift function on, i.e., described rotary tillage
Extreme higher position, tilling depth automatic control function failure, when the gearbox-gear monitoring unit monitors speed change are lifted on machine is automatic
When case is not at reverse gear state, tilling depth automatic control function starts, and the rotary cultivator automatically restores to set location.
Regulation handle, power supply indicator, mode of operation switching push button, display are installed on guidance panel of the present invention
Switch is lifted in screen, left-right balance regulation toggle switch, position memory button, a key lifting switch, self diagnosis indicator lamp, turning
Deng, it is manipulated and is monitored by operator, control the mode of regulation of hydraulic system to change mechanically
It is that regulation of hydraulic system mode is controlled by automatically controlled mode, is spent before mitigating the work of operator, its configuration can be according to difference
It is required that being adjusted.
The cultivation condition of rotary cultivator is controlled using the present invention, no matter what state head is in, and rotary cultivator can
Level, tilth is enough kept to be consistent；And tilth can be remembered, rotary cultivator is transferred again after lifting every time
When can be put into same position.Real-time monitoring can also be carried out to nose engine load simultaneously, the energy when load excessive
Enough automatic lifting rotary cultivator release load, can automatically reset again after reduction is loaded.
Brief description of the drawings
Fig. 1 is the theory diagram of the rotary cultivator intelligence control system of the embodiment of the present invention；
Fig. 2 is the scheme of installation of control system shown in Fig. 1；
Fig. 3 is the guidance panel schematic diagram of control system shown in Fig. 1.
Specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Referring to the drawings, the rotary cultivator intelligence control system of the present embodiment, including datum level monitoring device 01, datum level is monitored
Unit 02, guidance panel 06, control unit 07, position control rise electrically-controlled valve 10 and position control declines electrically-controlled valve 11, described
Datum level monitoring unit 02, guidance panel 06 are connected with control unit 07, and described control unit 07 rises automatically controlled with position control
Valve 10, position control declines electrically-controlled valve 11 and is connected.
The present embodiment is additionally provided with balance monitoring unit 03, balance control rising electrically-controlled valve 08 and balance control and declines electrically-controlled valve
09, the balance monitoring unit 03 is connected with control unit 07, and described control unit 07 rises electrically-controlled valve 08, puts down with balance control
Weighing apparatus control declines electrically-controlled valve 09 and is connected.
The present embodiment is additionally provided with load monitoring unit 04, and the load monitoring unit 04 is connected with control unit 07.
The present embodiment is additionally provided with gearbox-gear monitoring unit 05, the gearbox-gear monitoring unit 05 and control unit
Connected 07.
Datum level monitoring device 01 described in the present embodiment is planker, and one end of the planker is flexibly connected with rotary cultivator, separately
One end is located on the face of arable land, and when the rotary cultivator tilth changes, the rotary cultivator rotary cultivating wheel center of circle is ploughed with described
The difference in height on ground can change, and so as to cause the planker to be changed with the relative position of the rotary cultivator, and then lead
The position of planker is caused to change.
In the present embodiment, the datum level monitoring unit 02 is obliquity sensor.It is of course also possible to be rotary encoder or
Displacement transducer etc..
In the present embodiment, the balance monitoring unit 03 is obliquity sensor.It is of course also possible to be rotary encoder or position
Displacement sensor etc..
In the present embodiment, the load monitoring unit 04 is speed probe.
In the present embodiment, the gearbox-gear monitoring unit 05 is proximity switch.It is of course also possible to be limit switch
Deng.
In the present embodiment, described control unit 07 is controller.It is of course also possible to be single-chip microcomputer etc..
In the present embodiment, the guidance panel 06 is provided with regulation handle 001, the switching of power supply indicator 002, mode of operation
Button 003, display screen 004, left-right balance regulation toggle switch 005, position memory button 006, a key lifting switch 007, from
Switch 009 is lifted in diagnostic led 008, turning.Wherein, regulation handle 001 is used for setting the position of the rotary cultivator 12, works as institute
State after regulation handle 001 finishes the position adjustments of the rotary cultivator 12, depressed position memory button 006, described control unit
The signal of 07 receiving position memory button 006, the location of described rotary cultivator 12 is remembered, and be set to reference value.During energization,
The power supply indicator 002 is bright.Mode of operation switching push button 003, there is walking mode and mode of operation both of which, when control is
When system is in walking mode, is lifted on the rotary cultivator 12 to extreme higher position and any operation can not be carried out to the rotary cultivator 12,
System must be switched to mode of operation in field work.Display screen 004 is used for display control program state and parameter.Left and right
Balance adjustment toggle switch 005 is used to adjust the left-right balance gradient of the rotary cultivator 12, the balance system of the rotary cultivator 12
Default value is horizontal plane, but some soils are that ground farming is in the slope, when needing farming into inclined-plane, by the left side
Right balance adjustment toggle switch 005 adjusts the angle of the rotary cultivator 12 and horizontal plane, and described control unit 07 can remember in real time
Its angle value is recorded, and is automatically set to reference value.When needing to revert to level, only system need to be restarted, system is on the rotation
The default value for ploughing the fuselage of machine 12 can return to 0 ° of default level face amount, that is, the rotary cultivator fuselage and plane-parallel.One
Key lifting switch 007, if in the operational mode whenever described control unit 07 receives key lifting switch
007 be given lifting signal when, the rotary cultivator 12 can be raised up to extreme higher position, when described control unit 07 receive it is described
During the reset signal that one key lifting switch 007 is given, system can automatically switch to tilling depth automatic control mode, if be not provided with
The position of the rotary cultivator 12, when described control unit 07 receives the reset signal that the key lifting switch 007 is provided,
The rotary cultivator 12 will not decline, and remain within extreme higher position.Self diagnosis indicator lamp 008, when system breaks down, relatively
The indicator lamp answered will be lighted；Switch 009 is lifted in turning, 009 is given when described control unit 07 receives the turning and lifts switch
Upper lift signal when, the rotary cultivator 12 can on degree of raising, above degree of raising be set depth half, when described control unit 07
When receiving the turning and lifting the reset signal that certain switch 009 is provided, the rotary cultivator 12 can return to setting depth.
The present embodiment using above-mentioned intelligence control system is to the method that rotary cultivator is controlled：Datum level is monitored and is filled
1 is set to 0 with rotary cultivator 12（By cylinder axis）Rotatable connection, datum level monitoring unit 02 is arranged in datum level monitoring device 01
（Also can be arranged on rotary cultivator or head）；Cause the rotary cultivator when fluctuating, sinking or other working conditions occurs in whole machine
When 12 positions change, the position of the datum level monitoring device 01 can also change, the datum level monitoring unit 02
When monitoring that the position of datum level monitoring device 01 changes, the datum level monitoring unit 02 monitors the datum level
The electric signal of the change in location of device 01 is transferred to described control unit 07 by cable, and described control unit 07 is to input signal
Carry out computing and judge that send control electric signal by connection cable rises electrically-controlled valve 10 or position control to the position control
Decline electrically-controlled valve 11, the position control rises electrically-controlled valve 10 or position control declines electrically-controlled valve 11 and receives the control list
After the signal of unit 07, control is made to hydraulic system, the rotary cultivator 12 is risen or is declined to return to set location, when
After the rotary cultivator 12 returns to set location, the datum level monitoring device 01 can also be returned to set location.
The balance monitoring unit 03 is arranged on the rotary cultivator 12, is horizontal, and default reference benchmark is water
Plane（Setting can also be adjusted）, it is connected with control unit 07 by cable；When the rotary cultivator 12 and horizontal plane are not parallel
When, that is, during 12 run-off the straight of rotary cultivator, the balance monitoring unit 03 monitors the left and right directions of the rotary cultivator 12
Level changes, and by electric signal transmission to described control unit 07, described control unit 07 is received after input electrical signal by fortune
Calculation judges to be sent break-make and instructed by cable to decline electricity to the balance control rising electrically-controlled valve 08 or the balance control
Control valve 09, the balance control rises electrically-controlled valve 08 or the balance control declines electrically-controlled valve 09 and receives described control unit
After 07 instruction, hydraulic system is controlled, the rotary cultivator 12 is returned to horizontal level, as long as the lateral tilting of the rotary cultivator 12
Tiltedly, described control unit 07 will send instruction and allow the rotary cultivator to return to horizontality.
The load monitoring unit 04 is arranged on the engine of head 13, for detecting the rotating speed of engine, by cable
Line is connected with control unit 07；When the load monitoring unit 04 monitors that the engine of the head 13 is constant in power, turn
Speed declines, i.e., when the resistance of rotary cultivator 12 becomes big or when the tractive force of the head 13 is not enough, the load monitoring unit 04 can be by
Tach signal is transferred to described control unit 07, and described control unit 07 is received after signal through computing in the position control
Rise electrically-controlled valve 10 and send rising control instruction, the position control rises electrically-controlled valve 10 can control the hydraulic system to make the rotation
Plough machine 12 to rise to discharge load, resistance or tractive force is returned to the value of energy normal work（The value of normal work is arranged on
In described control unit 07, as reference value）To ensure being normally carried out for work；When the tractive force of the head 13 is less than setting
When the resistance of value or the head 13 is higher than arranges value, tilling depth automatic control function will fail, now on the rotary cultivator 12
Rise to reduce rotary tillage depth release load；After tractive force or resistance return to normal value, tilling depth automatic control function recovers,
Described control unit 07 provides instruction allows the rotary cultivator 12 to return to setting depth.
The gearbox-gear monitoring unit 05 is arranged on by gearbox joystick reverse gear position, by cable and control
Unit processed 07 is connected；When gear joystick change in location, the gearbox-gear monitoring unit 05 is by signal output to control
Unit processed 07 carries out computing judgement：When gear joystick is in reverse gear position, start reverse gear upper lift function, the rotary cultivator automatically
Extreme higher position is lifted on 12；When gear joystick is not in reverse gear position, start tilling depth automatic control function, rotary cultivator 12 is automatic
Return to set location.
Claims (3)
1. a kind of method being controlled to rotary cultivator, it is characterised in that：The method system for use in carrying include datum level monitoring device,
Datum level monitoring unit, balance monitoring unit, guidance panel, control unit, position control rise electrically-controlled valve, position control and decline
Electrically-controlled valve, balance control rise electrically-controlled valve and balance control declines electrically-controlled valve, the datum level monitoring unit, balance monitoring list
Unit, guidance panel are connected with control unit, and described control unit declines automatically controlled with position control rising electrically-controlled valve, position control
Valve, balance control rising electrically-controlled valve, balance control decline electrically-controlled valve and are connected；
The datum level monitoring device is flexibly connected with rotary cultivator；When fluctuating, sinking or other working conditions occurs in whole machine
When causing the rotary cultivator position to change, the position of the datum level monitoring device can also change, the datum level
When monitoring unit monitors that the datum level monitoring device position changes, the datum level monitoring unit is by the datum level
The electric signal of monitoring device change in location is transferred to described control unit by cable, and described control unit is entered to input signal
Row computing judges that send control electric signal by connection cable rises electrically-controlled valve or position control decline to the position control
Electrically-controlled valve, the position control rises electrically-controlled valve or position control declines the signal that electrically-controlled valve receives described control unit
Afterwards, control is made to hydraulic system, the rotary cultivator is risen or is declined to return to set location, when the rotary cultivator is extensive
Answer to after set location, the datum level monitoring device can also be returned to set location；
The balance monitoring unit is arranged on the rotary cultivator, is horizontal, and default reference benchmark is horizontal plane, is passed through
Cable is connected with control unit；When the rotary cultivator and horizontal plane are not parallel, that is, during the rotary cultivator run-off the straight,
The balance monitoring unit monitors the rotary cultivator left and right directions level change, by electric signal transmission to described control unit,
Described control unit judges that sending break-make by cable instructs to the balance control after receiving input electrical signal by computing
System rises electrically-controlled valve or balance control declines electrically-controlled valve, and the balance control rises electrically-controlled valve or balance control
After decline electrically-controlled valve receives the instruction of described control unit, hydraulic system is controlled, the rotary cultivator is returned to horizontal level,
As long as the rotary cultivator tilts, described control unit will send instruction allows the rotary cultivator to return to horizontality.
2. the method being controlled to rotary cultivator according to claim 1, it is characterised in that：The method system for use in carrying is also wrapped
Load monitoring unit is included, the load monitoring unit is connected with control unit, and the load monitoring unit starts installed in head
On machine, for detecting the rotating speed of engine, it is connected with control unit by cable；When the load monitoring unit monitors institute
Nose engine is stated when power is constant, rotating speed declines, i.e., when rotary cultivator resistance becomes big or when the nose towing power is not enough,
Tach signal can be transferred to described control unit by the load monitoring unit, and described control unit is received after signal through computing
Rise electrically-controlled valve to the position control and send rising control instruction, the position control rises electrically-controlled valve can control the hydraulic pressure
System makes the rotary cultivator rise to discharge load, make resistance or tractive force return to can the value of normal work ensure work
That makees is normally carried out；When the nose towing power is higher than arranges value less than the resistance of arranges value or the head, tilling depth is certainly
Dynamic control function will fail, and now the rotary cultivator rises to reduce rotary tillage depth release load；When tractive force or resistance are extensive
Answer to after normal value, tilling depth automatic control function recovers, and described control unit provides instruction allows the rotary cultivator to return to setting
Depth.
3. the method being controlled to rotary cultivator according to claim 2, it is characterised in that：The method system for use in carrying is also wrapped
Gearbox-gear monitoring unit is included, the gearbox-gear monitoring unit is arranged on by gearbox joystick reverse gear position, is led to
Cable is crossed to be connected with control unit；When gear joystick change in location, the gearbox-gear monitoring unit is by signal
Export carries out computing judgement to control unit：When gear joystick is in reverse gear position, start reverse gear upper lift function automatically, it is described
Extreme higher position is lifted on rotary cultivator；When gear joystick is not in reverse gear position, start tilling depth automatic control function, rotary cultivator is certainly
It is dynamic to return to set location.
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Families Citing this family (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 |
| 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 |
| 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 |
| 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 |
| 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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| EP2936956A1 (en) * | 2014-04-24 | 2015-10-28 | Iseki & Co., Ltd. | Walk-behind tiller |
| CN104914882A (en) * | 2015-04-16 | 2015-09-16 | 湖南网大科技有限公司 | Automatic control device of agricultural machinery plow and control method |
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