CN109579764A - A kind of pivot plow detection device - Google Patents
A kind of pivot plow detection device Download PDFInfo
- Publication number
- CN109579764A CN109579764A CN201910068223.4A CN201910068223A CN109579764A CN 109579764 A CN109579764 A CN 109579764A CN 201910068223 A CN201910068223 A CN 201910068223A CN 109579764 A CN109579764 A CN 109579764A
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- detection device
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- serial interface
- cpu
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- 238000001514 detection method Methods 0.000 title claims abstract description 59
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000002093 peripheral effect Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000007306 turnover Effects 0.000 description 7
- 230000036544 posture Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/18—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring depth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2231—Master slave
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25171—Serial, RS232
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a kind of pivot plow detection devices, belong to field of communication technology, including main detection device and from detection device, main detection device includes depth transducer, host CPU, main 232 chips, first serial interface and second serial interface, depth transducer is electrically connected with host CPU, first serial interface and second serial interface are separately connected the first serial output end and second serial output end of main 232 chips, and a serial ports, the second serial input terminal of the first serial input terminal connection host CPU of main 232 chips connect another serial ports of host CPU；From detection device include attitude transducer, from CPU, from 232 chips and third serial interface, attitude transducer is electrically connected with from CPU, from the connection of the second serial input terminal of 232 chips from a serial ports of CPU, third serial interface, third serial interface and first serial interface communication are connected from the second serial output end of 232 chips.The technical issues of present invention is a kind of pivot plow detection device, and solution accurately measures the posture of pivot plow.
Description
Technical field
The invention belongs to sensor technical field, in particular to a kind of pivot plow detection device.
Background technique
For traditional common subsoiling equipment, generally existing a variety of depth calculation modes in industry, however pivot plow machine
It is more special to have, because it is turned over there are a left side turns over two kinds of postures with the right side, and pull rod is isogonal under tractor hydraulic arm
When a left side turn over that the right practical tilling depth turned over is different, this just causes great inconvenience to practical tilling depth of measurement overturning plough.
Summary of the invention
The object of the present invention is to provide a kind of pivot plow detection devices, solve the technology for the posture for accurately measuring pivot plow
Problem.
To achieve the above object, the invention adopts the following technical scheme:
A kind of pivot plow detection device, including main detection device and from detection device, main detection device is mounted on pivot plow
Hanging beam on, be mounted on the outside of the cylinder body of the hydraulic cylinder of pivot plow from detection device；
Main detection device includes depth transducer, host CPU, leads 232 chips, first serial interface and second serial interface,
Depth transducer is electrically connected with host CPU, and first serial interface and second serial interface are separately connected the first serial for leading 232 chips
Output end and second serial output end, serial ports, a second serial of the first serial input terminal connection host CPU of main 232 chips
Another serial ports of input terminal connection host CPU；
From detection device include attitude transducer, from CPU, from 232 chips and third serial interface, attitude transducer with from
CPU electrical connection, it is defeated from the second serial of 232 chips from the connection of the second serial input terminal of 232 chips from a serial ports of CPU
Outlet connects third serial interface, third serial interface and first serial interface communication.
Preferably, the depth transducer and the attitude transducer are by gyro sensor MPU6050 and its outer
Enclose circuit composition；The host CPU and it is described from the model of CPU be STM32F103RCT6,232 chip of master and from 232 cores
The model of piece is SP3232EEN.
Preferably, the main detection device and described external 5V power supply power supply, the master are all made of from detection device
Detection device and described 3.3V power module, the model ASM1117 of 3.3V power module are equipped with from detection device.
A kind of pivot plow detection device of the present invention, solves and accurately measures pivot plow when overturning to different directions
Depth value the technical issues of, the present invention can save two groups of original states, respectively represent it is left turn over and the right reference angle turned over, can
Accurately and effectively to detect depth of implements, captures to turn over when pull rod angle is constant under tractor by a left side and turn over brought plough with the right side
Deep nuance.
Detailed description of the invention
Fig. 1 is hardware architecture schematic diagram of the invention；
Fig. 2 is the perspective view of pivot plow；
Fig. 3 is the operation principle schematic diagram of hydraulic cylinder；
Fig. 4 is the schematic diagram of gyro sensor MPU6050 of the invention；
Fig. 5 is the schematic diagram of host CPU of the invention；
Fig. 6 is the schematic diagram of 232 chip of master of the invention；
Fig. 7 is the schematic diagram of the invention from CPU；
Fig. 8 is the schematic diagram of the invention from 232 chips；
In figure: plough body 1, gauge wheel 2, plow frame 3, hydraulic cylinder 4, lower hinged seat 5, main detection device 7, from detection device 6, outstanding
Hanger 8, shaft 9, column 10, hanging beam 11, upper hinged seat 12, pin shaft a13, pin shaft b14.
Specific embodiment
A kind of pivot plow detection device as Figure 1-Figure 8, the pivot plow are hydraulic reversing plough, and pivot plow includes outstanding
Hanger 8, plow frame 3 and hydraulic cylinder 4 on rear side of hanger bracket 8, plow frame 3 are equipped with 9, two groups of plough bodys 1 of shaft and two gauge wheels 2,
Two gauge wheels 2 are corresponding with two groups of plough bodys 1 respectively, and plow frame 3 is fixedly connected with shaft 9；Hanger bracket 8 includes that left and right is transversely and horizontally set
The hanging beam 11 set and the column 10 being installed on the upside of 11 middle part of hanging beam, the corresponding shaft 9 of hanging beam 11 are equipped with axis hole, shaft 9
Front end is mounted in axis hole by bearing, the fixed upper hinged seat 12 of 10 top rear of column, the 9 fixed lower hinged seat 5 in outside of shaft,
Hinged seat under 4 top of hydraulic cylinder is articulated and connected by hinged seat 12, bottom end in pin shaft a13 articulated connection by pin shaft b14
5, pin shaft a13 are parallel with pin shaft b14 and are both arranged perpendicular to hydraulic cylinder 4, and the top of hydraulic cylinder 4 is its cylinder body top, liquid
4 bottom end of cylinder pressure is the bottom end of its telescopic rod；When work, pivot plow is hingedly connected to the rear side of headstock by the axis of left and right horizontal,
Under the drive of power device, entire pivot plow can be flipped up around the axis of the left and right horizontal and raise or downwardly turn over
Fall, when entire pivot plow fall and the headstock of traveling drive under, wherein one group of plough body 1 plows；Pass through control hydraulic cylinder 4
The telescopic band turn axis 9 of telescopic rod rotates, and then shaft 9 is driven to rotate, make with shaft 9 is fixedly connected also synchronous turn of plow frame 3
It is dynamic, it falls another group of plough body 1 and plows.The mechanical structure of hydraulic reversing plough is the prior art, and can be bought in Taobao etc., therefore
It is not described in detail.
Pivot plow detection device includes main detection device 7 and from detection device 6, and main detection device is mounted on the outstanding of pivot plow
On drop in beam, it is mounted on from detection device on the outside of the cylinder body of the hydraulic cylinder of pivot plow；When entire pivot plow surrounds the left and right horizontal
Axis be flipped up and raise or downwardly turn over when falling, certainly, hanger bracket and its hanging beam and column can also with pivot plow to
Upper overturning raises.
Main detection device includes depth transducer, host CPU, leads 232 chips, first serial interface and second serial interface,
Depth transducer is electrically connected with host CPU, and first serial interface and second serial interface are separately connected the first serial for leading 232 chips
Output end and second serial output end, serial ports, a second serial of the first serial input terminal connection host CPU of main 232 chips
Another serial ports of input terminal connection host CPU；
From detection device include attitude transducer, from CPU, from 232 chips and third serial interface, attitude transducer with from
CPU electrical connection, it is defeated from the second serial of 232 chips from the connection of the second serial input terminal of 232 chips from a serial ports of CPU
Outlet connects third serial interface, third serial interface and first serial interface communication.
The end SCL, the end SDA and the end INT of gyro sensor MPU6050 as shown in Figure 3 is communication ends, and the PB6 of host CPU is managed
Foot, PB67 pin and PB13 pin are separately connected the end SCL, the end SDA and the end INT of depth transducer；
The end SCL, the end SDA and INT of attitude transducer are separately connected from the PB6 pin, PB67 pin and PA5 pin of CPU
End；
Preferably, the depth transducer and the attitude transducer are by gyro sensor MPU6050 and its outer
Enclose circuit composition；The host CPU and it is described from the model of CPU be STM32F103RCT6,232 chip of master and from 232 cores
The model of piece is SP3232EEN.
Preferably, the main detection device and described external 5V power supply power supply, the master are all made of from detection device
Detection device and described 3.3V power module, the model ASM1117 of 3.3V power module are equipped with from detection device.
The second serial output end of main detection device is communicated with host computer or data acquisition equipment.
The data acquisition equipment that the present embodiment uses is the data collector equipped with Beidou communication module, the data collector
Communicated by Beidou network with server platform, server platform by mobile network and mobile communication, by main detection device and
It is transferred to mobile phone from the collected angle-data of detection device, is checked for user.
The present invention uses dual sensor framework, and the outside of the hydraulic cylinder body of pivot plow is installed in from detection device, is used for
Measure the selected angle b of hydraulic cylinder；Main detection device is installed in the hanging beam of pivot plow, for detecting the lifting of pivot plow
Angle a；It is left overturning or right overturning by the posture that angle b can detecte out pivot plow, is can detecte out and turned over by angle a
Turn the tilling depth of plough.
Sensor after the installation is completed, a pivot plow left side is first turned into plough point (tip of plough body) position of contacting to earth, is saved at this time
Main detection device and from the collected angle value of detection device, and as original state 1, then pivot plow is overturn to right side to ploughing
Point contacts to earth, and saves master reference and the angle value from sensor again, and as original state 2.
Because pivot plow or so is not complete equipilibrium, a left side turn to plough point contact to earth with it is right turn to it is hydraulic when plough point is contacted to earth
The angle value of cylinder cylinder body is different.The original state recorded twice respectively as depth of implements be 0 when reference.
The present invention can make the arable land position of the variable quantity of real-time angular value and actual measurement tractor hanging beam when actual job
For two known quantities, that is, angle a is known quantity, and angle b indicates left overturning or right overturning, calculates one according to trigonometric function
A depth value, hanging beam band logical integrally overturn depth when lifting on plough and are negative, and hanging beam band logical integrally overturns plough decentralization
When depth be positive.
By comparison original state 1 and original state 2, it can capture and turned over when pivot plow hanging beam is constant by a left side and the right side
The nuance of tilling depth value brought by turning over.
A kind of pivot plow detection device of the present invention is to increase main detection on the basis of existing structure pivot plow
Device and from detection device, solves the technical issues of depth value for accurately measuring pivot plow when overturning to different directions, this
Invention can save two groups of original states, respectively represent the left reference angle turned over and the right side is turned over, can accurately and effectively detect operation
Depth captures to turn over when pull rod angle is constant under tractor by a left side and turns over brought tilling depth nuance with the right side.
Claims (3)
1. a kind of pivot plow detection device, it is characterised in that: including main detection device (7) and from detection device (6), main detection is filled
It sets (7) to be mounted in the hanging beam (11) of pivot plow, outside the cylinder body of hydraulic cylinder (4) that detection device (6) is mounted on pivot plow
Side；
Main detection device (7) includes depth transducer, host CPU, leads 232 chips, first serial interface and second serial interface, deep
Degree sensor is electrically connected with host CPU, first serial interface and second serial interface be separately connected lead 232 chips first serial it is defeated
Outlet and second serial output end, serial ports, a second serial of the first serial input terminal connection host CPU of main 232 chips are defeated
Enter another serial ports of end connection host CPU；
From detection device (6) include attitude transducer, from CPU, from 232 chips and third serial interface, attitude transducer with from
CPU electrical connection, it is defeated from the second serial of 232 chips from the connection of the second serial input terminal of 232 chips from a serial ports of CPU
Outlet connects third serial interface, third serial interface and first serial interface communication.
2. a kind of pivot plow detection device as described in claim 1, it is characterised in that: the depth transducer and the posture
Sensor is to be made of gyro sensor MPU6050 and its peripheral circuit；The host CPU and the model from CPU are equal
It is SP3232EEN for STM32F103RCT6,232 chip of master and from the model of 232 chips.
3. a kind of pivot plow detection device as described in claim 1, it is characterised in that: the main detection device (7) and described
External 5V power supply power supply is all made of from detection device (6), the main detection device (7) and described equal from detection device (6)
Equipped with 3.3V power module, the model ASM1117 of 3.3V power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910068223.4A CN109579764B (en) | 2019-01-24 | 2019-01-24 | Turnover plow detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910068223.4A CN109579764B (en) | 2019-01-24 | 2019-01-24 | Turnover plow detection device |
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| Publication Number | Publication Date |
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| CN109579764A true CN109579764A (en) | 2019-04-05 |
| CN109579764B CN109579764B (en) | 2024-02-02 |
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| CN201910068223.4A Active CN109579764B (en) | 2019-01-24 | 2019-01-24 | Turnover plow detection device |
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Citations (8)
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|---|---|---|---|---|
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| CN206974439U (en) * | 2017-06-08 | 2018-02-06 | 北京农业智能装备技术研究中心 | Agricultural implement mounting lifting monitors sensing device and the agricultural machinery working monitoring system with the device |
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| CN108401684A (en) * | 2018-05-03 | 2018-08-17 | 黄冈师范学院 | A kind of intelligence fruit picking and picking method |
| CN209857866U (en) * | 2019-01-24 | 2019-12-27 | 江苏北斗农机科技有限公司 | Turnover plow detection device |
-
2019
- 2019-01-24 CN CN201910068223.4A patent/CN109579764B/en active Active
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| CN105698665A (en) * | 2014-11-28 | 2016-06-22 | 张凤军 | Device for automatically measuring farm machinery tillage depth |
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