CN106576447A - Rotary cultivator tilling depth monitoring control system and tilling depth control method - Google Patents
Rotary cultivator tilling depth monitoring control system and tilling depth control method Download PDFInfo
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- CN106576447A CN106576447A CN201611074926.0A CN201611074926A CN106576447A CN 106576447 A CN106576447 A CN 106576447A CN 201611074926 A CN201611074926 A CN 201611074926A CN 106576447 A CN106576447 A CN 106576447A
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- tilling depth
- wire
- slide bar
- rotary cultivator
- slide
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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
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention provides a rotary cultivator tilling depth monitoring control system and a tilling depth control method. The system comprises a tilling depth feedback mechanism, a signal conversion mechanism, a stay wire, and a control module. The tilling depth feedback mechanism comprises a tooth bar and a gear that are engaged with each other. The tooth bar is connected to a frame in an upward and downward moving manner. The bottom end of the tooth bar is provided with a land wheel. The gear is arranged on the frame through a wheel shaft. The wheel shaft is provided with a reel. The signal conversion mechanism comprises a sliding rheostat and a stabilized power supply. Two electrodes of the stabilized power supply are connected with a slide bar of the slide rheostat and one end of a resistance wire respectively to form a tilling depth monitoring circuit. The stay wire is formed by a wire sleeve and a wire core. One end of the wire sleeve is fixed on a wire sleeve stand positioned on the frame. The other end of the wire sleeve is fixed on the wire sleeve stand positioned behind the slide bar. One end of the wire core is connected with the reel, and the other end of the wire core is connected with a slide sleeve. The system is capable of monitoring tilling depth accurately in real time, and can automatically control a hydraulic suspension elevating apparatus to make machines and tools rise and descend so that tilling depth is consistent when the machines and tools are working.
Description
Technical field
The present invention relates to technical field of agricultural machinery, and in particular to a kind of rotary cultivator tilling depth monitor control system and tilling depth control
Method processed.
Background technology
In recent years, under the support on policy that country carries forward vigorously mechanization of agriculture, in, large-scale agricultural machinery quickly grow,
Especially south China paddy-field-working, in, large farm machinery rapid development, for the cooperation for ploughing whole quality and agriculture requirement, carry
Higher requirement is gone out.
The agricultural machinery power combination of the various and complete set of farm machines and tools applied at present, can not realize effective to the tilling depth of equipment
Balance route, unit operation operation in, affected by natural conditions such as landform, the field foot depths, sometimes result in unit ripple
Shape wave is advanced.When unit nose advances, the equipment of rear suspension occurs and pushes, and causes equipment tilling depth to increase；When unit sticks up
When tail advances, rear portion equipment can occur above to carry, cause equipment tilling depth to shoal or be vented it is cultivated less than.Plot is so had a strong impact on
The uniformity of tilth and the flatness of earth's surface, make to plough it is whole after soil be difficult to meet crop-planting the cultivated whole of plot wanted
Ask.
In prior art, the method point of tilling depth control is usually that driver passes through the manual regulation handle behaviour of observation tilling depth situation
Make, driver not only needs to put into substantial amounts of energy to operate agricultural ploughing machine, and cannot precisely in real time monitor tilling depth, and plough
Deep control accuracy is not high.
The content of the invention
For defect of the prior art, the present invention provides a kind of rotary cultivator tilling depth monitor control system and tilling depth controlling party
Method, lifts equipment, so that equipment operation to be monitored and automatically control hydraulic suspension lowering or hoisting gear to tilling depth precisely in real time
When tilling depth can be kept consistent.
On the one hand, the invention discloses a kind of rotary cultivator tilling depth monitor control system, including tilling depth feedback mechanism, signal turn
Converting mechanism, bracing wire and the control module for automatically controlling tilling depth；The tilling depth feedback mechanism includes intermeshing tooth bar
And gear, the tooth bar it is vertically arranged and it is movable up and down be connected to frame, tooth bar lower end is provided with land wheel, and the gear leads to
Cross on the rack-mounted axle bed of wheel shaft, on the wheel shaft reel is provided with；The signal shifter includes sliding and becomes
Resistance device and regulated power supply, the slide rheostat includes slide bar, sliding sleeve, slide plate, resistance wire and sliding sleeve sliding sleeve resilience part, described
Sliding sleeve is enclosed within slide bar and can be fixed on sliding sleeve along slide bar slide anteroposterior, the upper end of the slide plate, the lower end of slide plate and resistance
Silk contact, the two poles of the earth of the regulated power supply form tilling depth observation circuit by one end that wire is connected in respectively slide bar and resistance wire；
The bracing wire is made up of line set and core, and one end of the line set is held within the line block set in frame, and it is another that line covers
End is held within the line block set of slide bar rear end, and described core one end is connected on reel, the core other end and sliding sleeve phase
Even.
The present invention can be monitored precisely in real time to tilling depth, when tilling depth becomes big or reduces, the tooth bar on equipment and land wheel
Between produce relative motion, and then drive pinion rotation, make the tension of core and loosen, in the effect of core and sliding sleeve resilience part
Under, slide anteroposterior on slide bar is slided over, so as to change the size that slide rheostat accesses resistance, tilling depth is converted into into connecing for resistance
Enter value, the voltage of tilling depth observation circuit regulated power supply is certain, according to I=U/R, further tilling depth is converted into into electric current, by electricity
The size of stream is reflecting precisely in real time and monitor tilling depth；Control module can also be made by the situation of change of circuital current
Reaction, automatically controls hydraulic suspension lowering or hoisting gear lifting equipment, so as to can keep tilling depth consistent during equipment operation.
Further, ammeter is connected with the tilling depth observation circuit, it is corresponding cultivated that ammeter is marked with measure electric current
Deep degree.Ammeter can determine the electric current of circuit, according to electric current and the corresponding relation of tilling depth, tilling depth be included to indicate tilling depth quarter
On the ammeter of degree, real-time monitoring and tilling depth situation can be shown, it is intuitive, clear.
Further, the control module includes current signal collector, controller and for controlling hydraulic suspension liter
The electromagnetic valve of falling unit work, the current signal collector is used to gather the current signal of tilling depth observation circuit, the control
The analog input end of device is connected with current signal collector, and the output switch parameter end of controller is connected with electromagnetic valve.Electric current is believed
Number harvester gathers the current signal of tilling depth observation circuit, and is transferred to controller, and controller is made according to the size of collection electric current
Go out reaction, lifting sent to electromagnetic valve or declines instruction, solenoid valve control hydraulic suspension lowering or hoisting gear makes equipment be lifted or be declined,
Enable to keep tilling depth consistent during equipment operation, so as to realize automatically controlling for tilling depth.
Further, the sliding sleeve resilience part is spring, and the two ends of spring withstand on respectively the front side of slide bar back end of line block set
With the rear side of sliding sleeve.When core is tightened up, sliding sleeve is slided backward, and spring is compressed, when core loosens, by the elastic recovery of spring
Power makes sliding sleeve forward slip, so as to realize the front front slide of sliding sleeve, to control the access resistance of slide rheostat.
Further, the spring housing is on slide bar.By spring housing on slide bar, Stability Analysis of Structures, to prevent spring from being pressed
It is askew.
Further, the two poles of the earth of the regulated power supply are connected in the front end of slide bar and resistance wire by wire.By such
The mode of connection, slide plate is moved forward, and is accessed resistance and is become big, and slide plate is moved rearwards by, and accesses resistance and diminishes.
Further, the line set of the bracing wire adopts the core of plastic production, bracing wire to make using steel wire.Line set is using modeling
Material makes, and practical and low cost, core is made using steel wire, and retractility is little, with certain rigidity and toughness.
On the other hand, the invention discloses a kind of tilling depth control method, comprises the steps：
Step one, sets preset tilling depth, calculates the preset tilling depth according to tilling depth and the corresponding relation of electric current corresponding preset
Electric current；
Step 2, current signal collector gathers the current signal of tilling depth observation circuit, and is transferred to controller；
Step 3, controller is contrasted, analyzed to the current signal for gathering with preset current, when the electric current of collection is equal to
Preset current, controller sends maintenance tilling depth instruction to electromagnetic valve, when the electric current of collection is more than or less than preset current, calculates
The height for being lifted or being declined, controller is needed lifting to be sent to electromagnetic valve or declines instruction；
Step 4, solenoid valve control hydraulic suspension lowering or hoisting gear lifts equipment or declines corresponding height；
Step 5, produces relative motion between tooth bar during implement lift and on land wheel, and then drives pinion rotation, makes line
Core is tensed or loosened, and to adjust the resistance sizes for accessing tilling depth observation circuit, the electric current for making tilling depth observation circuit is equal to preset electricity
Stream.
The tilling depth control method can according to demand set preset tilling depth, while tilling depth is converted into into corresponding electric current, pass through
The size variation of electric current can in time reflect tilling depth and control hydraulic suspension lowering or hoisting gear adjusting equipment height to monitor and control tilling depth
Degree realizes automatization, intellectuality that tilling depth is controlled to keep tilling depth consistent, and controls accurate.
Beneficial effects of the present invention：Tilling depth can be converted into corresponding electric current by the present invention, by the size variation reality of electric current
When, accurately tilling depth is monitored and hydraulic suspension lowering or hoisting gear lifting equipment is automatically controlled, so as to can protect during equipment operation
Hold tilling depth consistent.
Description of the drawings
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete
The accompanying drawing to be used needed for embodiment or description of the prior art is briefly described.In all of the figs, similar element
Or part is typically identified by similar reference.In accompanying drawing, each element or part might not draw according to actual ratio.
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the control principle drawing of the embodiment of the present invention；
Fig. 3 is the control method flow chart of embodiments of the invention.
In accompanying drawing, 1 represents tilling depth feedback mechanism；11 represent tooth bar；12 represent gear；13 represent land wheel；14 represent coiling
Wheel；2 represent slide rheostat；21 represent slide bar；22 represent sliding sleeve；23 represent slide plate；24 represent resistance wire；25 represent that sliding sleeve is returned
Bullet part；3 represent regulated power supply；4 represent bracing wire；41 represent line set；42 represent core；43 represent line block set；5 represent ammeter；6
Represent current signal collector；7 represent frame.
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is clearly illustrated, therefore is only used as example, and the protection model of the present invention can not be limited with this
Enclose.
In a first aspect, present embodiment discloses a kind of rotary cultivator tilling depth monitor control system, as shown in figure 1, including tilling depth
Feedback mechanism 1, signal shifter, bracing wire 4 and the control module for automatically controlling tilling depth；Tilling depth feedback mechanism 1 includes
Intermeshing tooth bar 11 and gear 12, tooth bar 11 it is vertically arranged and it is movable up and down be connected to frame 7, the lower end of tooth bar 11 sets
Land wheel 13 is equipped with, gear 12 is arranged on the axle bed in frame 7 by wheel shaft, and reel 14 is provided with wheel shaft；Signal is changed
Mechanism includes slide rheostat 2 and regulated power supply 3, slide rheostat 2 include slide bar 21, sliding sleeve 22, slide plate 23, resistance wire 24 with
And sliding sleeve resilience part 25, sliding sleeve 22 is enclosed within slide bar 21 and can be fixed on sliding sleeve along the slide anteroposterior of slide bar 21, the upper end of slide plate 23
On 22, the lower end of slide plate 23 contacts with resistance wire 24, and the two poles of the earth of regulated power supply 3 are connected in respectively slide bar 21 and resistance wire by wire
24 one end forms tilling depth observation circuit, and the regulated power supply 3 of the present embodiment is connected on the front end of slide bar 21 and resistance wire 24；Tilling depth is supervised
It is connected with ammeter 5 on slowdown monitoring circuit, ammeter 5 is marked with the corresponding tilling depth scale of measure electric current, real-time monitoring and can shows cultivated
Deep feeling condition, it is intuitive, clear；Sliding sleeve resilience part 25 can be spring, to prevent spring from being pressed askew, spring housing on slide bar 21, bullet
Spring two ends withstand on respectively the front side of the back end of line block set 43 of slide bar 21 and the rear side of sliding sleeve 22；Bracing wire 4 is by 42 groups of line set 41 and core
Into the line set 41 of bracing wire 4 adopts the core 42 of plastic production, bracing wire 4 to make using steel wire, and one end of line set 41 is held within
In line block set 43 in frame 7, the other end of line set 41 is held within the line block set 43 of the rear end of slide bar 21, the one end of core 42
It is connected on reel 14, the other end of core 42 is connected with sliding sleeve 22.
The depth of tilling depth can be converted to the size of tilling depth observation circuit and intuitively include tilling depth by the present embodiment
In ammeter 5.When tilling depth is increased, ground faces upwards jack-up land wheel 13 and band carry-over bar 11 is moved upwards, and tooth bar 11 is with moving gear
12 rotate clockwise, and the core 42 of bracing wire 4 is rotated and tightened up together with the reel 14 coaxial with gear 12, and core 42 pulls slide plate
23 move backward, and spring is compressed, the resistance increase that slide rheostat 2 is accessed, and the voltage of tilling depth observation circuit regulated power supply 3
Necessarily, according to I=U/R, the electric current of tilling depth observation circuit reduces, by the relativity between tilling depth and electric current, by tilling depth
Be converted to electric current and be displayed on ammeter 5；Plough less than tooth bar 11 and land wheel under gravity when tilling depth shoals or is vented
13 move downward, and tooth bar 11 is rotated counterclockwise with moving gear 12, and drawing is rotated and loosened together with the reel 14 coaxial with gear 12
The core 42 of line 4, makes the forward slip of sliding sleeve 22 and is returned to preset position by the elastic-restoring force of compression spring, slip variable resistance
The resistance that device 2 is accessed reduces, and the voltage of tilling depth observation circuit regulated power supply 3 is certain, according to I=U/R, the electricity of tilling depth observation circuit
Stream increase, by the relativity between tilling depth and electric current, electric current is converted to and including on ammeter 5 by tilling depth.
With reference to Fig. 2, control module includes current signal collector 6, controller and for controlling hydraulic suspension lifting dress
The electromagnetic valve of work is put, current signal collector 6 is used to gather the current signal of tilling depth observation circuit, and the analog quantity of controller is defeated
Enter end to be connected with current signal collector 6, the defeated end of switching value of controller is connected with electromagnetic valve, and current signal collector 6 is gathered
The current signal of tilling depth observation circuit, and controller is transferred to, controller is reacted according to the size of collection electric current, to electromagnetism
Valve sends lifting or declines instruction, and solenoid valve control hydraulic suspension lowering or hoisting gear makes equipment be lifted or be declined, when making equipment operation
Tilling depth can be kept consistent, so as to realize automatically controlling for tilling depth.
Second aspect, present embodiment discloses a kind of tilling depth control method, comprises the steps：
Step one, sets preset tilling depth, calculates the preset tilling depth according to tilling depth and the corresponding relation of electric current corresponding preset
Electric current；
Step 2, current signal collector 6 gathers the current signal of tilling depth observation circuit, and is transferred to controller；
Step 3, controller to gather current signal contrasted, analyzed with preset current, according to tilling depth, electric current and
Mutual relation between resistance, calculates the height for needing to be lifted or declined, and controller sends lifting to electromagnetic valve or declines and refers to
Order maintains instruction；
Step 4, solenoid valve control hydraulic suspension lowering or hoisting gear lifts equipment or declines corresponding height；
Step 5, produces relative motion, and then 12 turns of moving gear of band between the tooth bar 11 during implement lift and on land wheel 13
It is dynamic, core 42 is tensed or is loosened, to adjust the resistance sizes for accessing tilling depth observation circuit, make electric current of tilling depth observation circuit etc.
In preset current.
The tilling depth control method can according to demand set preset tilling depth, while tilling depth is converted into into corresponding electric current, pass through
The size variation of electric current can in time reflect tilling depth and control hydraulic suspension lowering or hoisting gear adjusting equipment height to monitor and control tilling depth
Degree realizes automatization, intellectuality that tilling depth is controlled to keep tilling depth consistent, and controls accurate.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technology of appropriate technical solution
The scope of scheme, it all should cover in the middle of the claim of the present invention and the scope of description.
Claims (8)
1. a kind of rotary cultivator tilling depth monitor control system, it is characterised in that：
Including tilling depth feedback mechanism, signal shifter, bracing wire and control module for automatically controlling tilling depth；
The tilling depth feedback mechanism includes intermeshing rack and pinion, and the tooth bar is vertically arranged and company movable up and down
Frame is connected to, tooth bar lower end is provided with land wheel, and the gear on the wheel shaft by the rack-mounted axle bed of wheel shaft, setting
It is equipped with reel；
The signal shifter includes slide rheostat and regulated power supply, and the slide rheostat includes slide bar, sliding sleeve, cunning
Piece, resistance wire and sliding sleeve resilience part, the sliding sleeve is enclosed within slide bar and can consolidate along slide bar slide anteroposterior, the upper end of the slide plate
It is scheduled on sliding sleeve, the lower end of slide plate contacts with resistance wire, the two poles of the earth of the regulated power supply are connected in respectively slide bar and electricity by wire
One end of resistance silk forms tilling depth observation circuit；
The bracing wire is made up of line set and core, and one end of the line set is held within the line block set in frame, line set
The other end is held within the line block set of slide bar rear end, and described core one end is connected on reel, the core other end and cunning
Set is connected.
2. rotary cultivator tilling depth monitor control system according to claim 1, it is characterised in that：On the tilling depth observation circuit
Ammeter is connected with, ammeter is marked with the corresponding tilling depth scale of measure electric current.
3. rotary cultivator tilling depth monitor control system according to claim 1 and 2, it is characterised in that：The control module bag
Include current signal collector, controller and the electromagnetic valve for controlling the work of hydraulic suspension lowering or hoisting gear, the current signal
Harvester is used to gather the current signal of tilling depth observation circuit, the analog input end of the controller and current signal collector
Connection, the output switch parameter end of controller is connected with electromagnetic valve.
4. rotary cultivator tilling depth monitor control system according to claim 1, it is characterised in that：The sliding sleeve resilience part is bullet
Spring, the two ends of spring withstand on respectively the front side of slide bar back end of line block set and the rear side of sliding sleeve.
5. rotary cultivator tilling depth monitor control system according to claim 4, it is characterised in that：The spring housing is in slide bar
On.
6. the rotary cultivator tilling depth monitor control system according to claim 4 or 5, it is characterised in that：The regulated power supply
The two poles of the earth are connected in the front end of slide bar and resistance wire by wire.
7. rotary cultivator tilling depth monitor control system according to claim 1, it is characterised in that：The line set of the bracing wire is adopted
Plastic production, the core of bracing wire is made using steel wire.
8. a kind of tilling depth control method, it is characterised in that using rotary cultivator tilling depth Monitoring and Controlling system as claimed in claim 3
System, comprises the steps：
Step one, sets preset tilling depth, and according to tilling depth and the corresponding relation of electric current the corresponding preset current of the preset tilling depth is calculated；
Step 2, current signal collector gathers the current signal of tilling depth observation circuit, and is transferred to controller；
Step 3, controller is contrasted, analyzed to the current signal for gathering with preset current, when the electric current of collection is equal to preset
Electric current, controller sends maintenance tilling depth instruction to electromagnetic valve, when the electric current of collection is more than or less than preset current, calculates needs
The height for being lifted or being declined, controller sends lifting to electromagnetic valve or declines instruction；
Step 4, solenoid valve control hydraulic suspension lowering or hoisting gear lifts equipment or declines corresponding height；
Step 5, produces relative motion between tooth bar during implement lift and on land wheel, and then drives pinion rotation, draws core
Tight or loosen, to adjust the resistance sizes for accessing tilling depth observation circuit, the electric current for making tilling depth observation circuit is equal to preset current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611074926.0A CN106576447A (en) | 2016-11-29 | 2016-11-29 | Rotary cultivator tilling depth monitoring control system and tilling depth control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611074926.0A CN106576447A (en) | 2016-11-29 | 2016-11-29 | Rotary cultivator tilling depth monitoring control system and tilling depth control method |
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| Publication Number | Publication Date |
|---|---|
| CN106576447A true CN106576447A (en) | 2017-04-26 |
Family
ID=58594166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611074926.0A Pending CN106576447A (en) | 2016-11-29 | 2016-11-29 | Rotary cultivator tilling depth monitoring control system and tilling depth control method |
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| Country | Link |
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| CN (1) | CN106576447A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699220A (en) * | 2018-12-18 | 2019-05-03 | 湖北省农业机械工程研究设计院 | Paddy field tilling depth measuring device and method |
| CN109769415A (en) * | 2018-12-18 | 2019-05-21 | 湖北省农业机械工程研究设计院 | Boat-type tractor tilling depth measuring device and method with measurement adjustment function |
| 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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| JPH01124304A (en) * | 1987-11-06 | 1989-05-17 | Touyoushiya:Kk | Automatic control of tilling depth by rotary tilling and working machine and rear cover thereof |
| CN2091058U (en) * | 1991-01-25 | 1991-12-25 | 重钢劳动服务公司金属联合加工厂 | Deep-adjusting rotary cultivator for farmland |
| RU2124824C1 (en) * | 1996-06-11 | 1999-01-20 | Санкт-Петербургский государственный аграрный университет | Cultivator-ridge former |
| CN204408857U (en) * | 2015-01-27 | 2015-06-24 | 重庆理工大学 | With the rotary cultivator attachment of mechanical type tilling depth regulating system |
| CN105409353A (en) * | 2015-12-18 | 2016-03-23 | 李惠远 | Intelligent control system and method for rotary cultivator |
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2016
- 2016-11-29 CN CN201611074926.0A patent/CN106576447A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01124304A (en) * | 1987-11-06 | 1989-05-17 | Touyoushiya:Kk | Automatic control of tilling depth by rotary tilling and working machine and rear cover thereof |
| CN2091058U (en) * | 1991-01-25 | 1991-12-25 | 重钢劳动服务公司金属联合加工厂 | Deep-adjusting rotary cultivator for farmland |
| RU2124824C1 (en) * | 1996-06-11 | 1999-01-20 | Санкт-Петербургский государственный аграрный университет | Cultivator-ridge former |
| CN204408857U (en) * | 2015-01-27 | 2015-06-24 | 重庆理工大学 | With the rotary cultivator attachment of mechanical type tilling depth regulating system |
| CN105409353A (en) * | 2015-12-18 | 2016-03-23 | 李惠远 | Intelligent control system and method for rotary cultivator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699220A (en) * | 2018-12-18 | 2019-05-03 | 湖北省农业机械工程研究设计院 | Paddy field tilling depth measuring device and method |
| CN109769415A (en) * | 2018-12-18 | 2019-05-21 | 湖北省农业机械工程研究设计院 | Boat-type tractor tilling depth measuring device and method with measurement adjustment function |
| 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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