CN113236614A - Automatic ditching control device for transverse sugarcane planting and control method thereof - Google Patents
Automatic ditching control device for transverse sugarcane planting and control method thereof Download PDFInfo
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- CN113236614A CN113236614A CN202110347169.4A CN202110347169A CN113236614A CN 113236614 A CN113236614 A CN 113236614A CN 202110347169 A CN202110347169 A CN 202110347169A CN 113236614 A CN113236614 A CN 113236614A
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- 240000000111 Saccharum officinarum Species 0.000 title claims abstract description 30
- 235000007201 Saccharum officinarum Nutrition 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000002689 soil Substances 0.000 claims abstract description 28
- 238000003971 tillage Methods 0.000 claims abstract description 22
- 238000012360 testing method Methods 0.000 claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 abstract 2
- 239000003921 oil Substances 0.000 description 76
- 230000008602 contraction Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/16—Systems essentially having two or more interacting servomotors, e.g. multi-stage
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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
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C14/00—Methods or apparatus for planting not provided for in other groups of this subclass
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/16—Systems essentially having two or more interacting servomotors, e.g. multi-stage
- F15B9/17—Systems essentially having two or more interacting servomotors, e.g. multi-stage with electrical control means
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention discloses a ditching automatic control device for transverse planting of sugarcane and a control method thereof, wherein the control device comprises: a frame; the ditching device comprises an upper swing arm, a lower swing arm, a rotary tillage assembly and a rear plough, wherein an upper arm hydraulic cylinder is hinged between the upper swing arm and the frame; a lower arm hydraulic cylinder is hinged between the upper swing arm and the lower swing arm; the test system comprises a distance measurement sensor, an upper arm displacement sensor, a lower arm angle sensor and a speed sensor, wherein the distance measurement sensor is arranged below the frame; the upper arm displacement sensor is arranged on the upper arm hydraulic cylinder; the lower arm angle sensor is arranged on the lower swing arm; the speed sensor is arranged on the frame; the hydraulic system is arranged on the frame and is used for controlling the ditching device to work; and the controller is arranged on the frame, and the test system and the hydraulic system are in data connection with the controller. Also disclosed is a control method for such a control device. The control device and the control method can adjust the ditching depth and the soil cutting pitch in real time according to different terrains.
Description
Technical Field
The invention relates to the technical field of sugarcane planting, in particular to an automatic ditching control device for transverse sugarcane planting and a control method thereof.
Background
The sugarcane is used as a main raw material for sugar production in China, and plays a vital role in the supply safety of the national sugar industry market. The whole sugarcane planting process is mechanized to be one of key development directions of domestic planting machines. At present, the sugarcane planting and ditching system is mostly fixed ditching system, and ditching system adopting double-arm control is also available, but manual control is adopted, the operation proficiency of the manipulator is extremely high in field operation, the control requirement is hardly met, and in the operation process, the real-time depth adjustment is more difficult to be carried out on the terrain, the rotary tillage rotating speed is also difficult to be adjusted in real time on the advancing speed and the depth, so that the planting depth and the soil cutting pitch cannot meet the requirements. Therefore, the research on the automatic ditching control device for transverse sugarcane planting and the control method thereof are very necessary.
Disclosure of Invention
The invention aims to provide an automatic ditching control device for transverse sugarcane planting and a control method thereof, so that the defect that the existing ditching device cannot adjust ditching depth and soil cutting pitch in real time according to terrain is overcome.
In order to achieve the aim, the invention provides an automatic ditching control device for transverse sugarcane planting, which comprises a frame; the ditching device comprises an upper swing arm, a lower swing arm, a rotary tillage assembly and a rear plough, wherein the front end of the upper swing arm is hinged with the bottom of the frame in a manner of swinging up and down, and an upper arm hydraulic cylinder is hinged between the top of the upper swing arm and the frame; the upper end of the lower swing arm is hinged with the rear end of the upper swing arm in a manner of swinging back and forth, and a lower arm hydraulic cylinder is hinged between the bottom of the upper swing arm and the front side of the lower swing arm; the rotary tillage component is rotatably arranged at the lower end of the lower swing arm and is driven to rotate by a hydraulic motor; the rear plough is arranged at the lower end of the lower swing arm and is positioned behind the rotary tillage assembly; the testing system comprises a distance measuring sensor, an upper arm displacement sensor, a lower arm angle sensor and a speed sensor, wherein the distance measuring sensor is arranged below the frame and in front of the ditching device and is used for collecting the distance between the frame and the sugarcane planting field; the upper arm displacement sensor is arranged on the upper arm hydraulic cylinder and used for acquiring the elongation of the hydraulic cylinder; the lower arm angle sensor is mounted on the lower swing arm and used for collecting the angle of the lower swing arm relative to the horizon; the speed sensor is arranged on the frame and used for measuring the running speed of the frame; a hydraulic system mounted on the frame for controlling the operation of the upper arm hydraulic cylinder, the lower arm hydraulic cylinder and the hydraulic motor; and the controller is arranged on the frame, the distance measuring sensor, the upper arm displacement sensor, the lower arm angle sensor, the speed sensor and the hydraulic system of the test system are in data connection with the controller, and the controller can receive information acquired by the test system in real time and control the work of the hydraulic system according to the information acquired by the test system in real time.
Preferably, in the above technical solution, the test system further includes an upper arm pressure sensor and a lower arm pressure sensor, the upper arm pressure sensor is mounted at an oil inlet of the upper arm hydraulic cylinder and is used for acquiring load pressure of the upper arm hydraulic cylinder; the lower arm pressure sensor is mounted on an oil inlet of the lower arm hydraulic cylinder and used for collecting the load pressure of the lower arm hydraulic cylinder; wherein the upper arm pressure sensor and the lower arm pressure sensor are both in data connection with the controller.
Preferably, in the above technical solution, the hydraulic system includes: an oil tank; an oil inlet of the hydraulic pump is connected with the oil tank; an oil inlet of the overflow valve is connected with an oil outlet of the hydraulic pump, and an oil outlet of the overflow valve is connected with the oil tank; an oil inlet of the first flow dividing valve is connected with an oil outlet of the hydraulic pump; an oil inlet of the second flow dividing valve is connected with a first oil outlet of the first flow dividing valve; an oil inlet of the upper arm electromagnetic directional valve is connected with the first oil outlet of the second shunt valve, and a working oil port of the upper arm electromagnetic directional valve is connected with an oil inlet and an oil outlet of the upper arm hydraulic cylinder through an upper arm locking loop; an oil inlet of the lower arm electromagnetic directional valve is connected with a second oil outlet of the second shunt valve, and a working oil port of the lower arm electromagnetic directional valve is connected with an oil inlet and an oil outlet of the lower arm hydraulic cylinder through a lower arm locking loop; an oil inlet of the throttling valve is respectively connected with an oil return port of the upper arm electromagnetic reversing valve and an oil return port of the lower arm electromagnetic reversing valve, and an oil outlet of the throttling valve is connected with the oil tank; an oil inlet of the electro-hydraulic proportional flow valve is connected with a second oil outlet of the first flow dividing valve, and a working oil port is connected with the hydraulic motor; an oil return port of the electro-hydraulic proportional flow valve is connected with the oil tank; the hydraulic pump, the upper arm electromagnetic directional valve, the lower arm electromagnetic directional valve and the electro-hydraulic proportional flow valve are all in data connection with the controller.
Preferably, in the above technical scheme, the hydraulic system further includes a filter, an oil inlet of the filter is connected with the oil tank, and an oil outlet of the filter is connected with an oil inlet of the hydraulic pump.
Preferably, in the above technical solution, the ditching device further includes a front plow, and the front plow is installed at the lower end of the lower swing arm and located in front of the rotary tillage assembly.
A control method of an automatic ditching control device for transverse sugarcane planting comprises the following steps:
1) data acquisition is carried out on a sugarcane planting field to be ditched in advance, soil hardness and humidity data are acquired, and ditching depth and soil cutting pitch required by ditching of a ditching device are determined according to the soil hardness and humidity data; determining the relation between the distance data of the frame and the ground and the telescopic data of the upper arm hydraulic cylinder according to the required ditching depth; determining the relation between the speed data of the frame and the rotating speed data of the hydraulic motor according to the required soil cutting pitch;
2) after data acquisition is finished and before ditching operation is carried out, inputting the data relation determined in the step (1) into a controller; then setting the angle of a lower arm angle sensor in the controller to be 90 degrees;
3) and (3) finally, carrying out ditching operation, wherein in the process of carrying out ditching operation, the controller can acquire data acquired by the distance measuring sensor, the upper arm displacement sensor, the lower arm angle sensor and the speed sensor in real time, and comparing the acquired data with preset data in the controller in the step (2), so that the controller controls the elongation of the upper arm hydraulic cylinder, the elongation of the lower arm hydraulic cylinder and the rotating speed of the hydraulic motor in real time, and thus the actual ditching depth is equal to the required ditching depth, and the actual soil cutting pitch is equal to the required soil cutting pitch until the whole ditching operation is completed.
Preferably, in the above technical scheme, the test system further includes an upper arm pressure sensor and a lower arm pressure sensor, the upper arm pressure sensor is arranged at an oil inlet of the upper arm hydraulic cylinder, the lower arm hydraulic sensor is arranged at an oil inlet of the lower arm hydraulic cylinder, and before the step (3), the maximum load pressure of the upper arm hydraulic cylinder and the maximum load pressure of the lower arm hydraulic cylinder are preset in the controller.
Compared with the prior art, the invention has the following beneficial effects:
1. the control device can adopt various sensors to collect the working information of the ditching device in real time and send the working information of the ditching device to the controller, so that the controller can control the working state of the ditching device in real time according to the working information fed back by the sensors, and the control device is suitable for different terrains, so that the actual ditching depth is equal to the required ditching depth, and the actual soil cutting pitch is equal to the required soil cutting pitch.
2. By adopting the control method, data acquisition can be carried out on the sugarcane planting field in advance before ditching operation is carried out, so that the control method is suitable for sugarcane planting fields with different hardness and humidity, and the ditching quality is improved; and when ditching is carried out, the ditching machine can be automatically adjusted to adapt to different terrains.
Drawings
FIG. 1 is a schematic structural diagram of an automatic ditching control device for transverse sugarcane planting according to the invention.
Fig. 2 is a schematic diagram of a hydraulic system according to the present invention.
FIG. 3 is a flow chart of the control principle of the ditching device according to the invention.
Description of the main reference numerals:
1-vehicle frame, 2-upper swing arm, 3-lower swing arm, 4-front plough, 5-hydraulic motor, 6-rotary tillage component, 7-rear plough, 1-1-distance measuring sensor, 2-1-upper arm hydraulic cylinder, 2-2-upper arm displacement sensor, 2-3-upper arm pressure sensor, 2-4-upper arm electromagnetic directional valve, 2-5-upper arm locking loop, 3-1-lower arm angle sensor, 3-2-lower arm hydraulic cylinder, 3-3-lower arm pressure sensor, 3-4-lower arm electromagnetic directional valve, 3-5-lower arm locking loop, 5-1-electro-hydraulic proportional flow valve, 8-first shunt valve, 9-overflow valve, 10-hydraulic pump, 11-filter, 12-speed sensor, 13-second diverter valve, 14-throttle valve.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Fig. 1 to 3 show a schematic structure of an automatic ditching control device for transverse planting of sugarcane, which comprises a vehicle frame 1, a ditching device, a testing system, a hydraulic system and a controller.
Referring to fig. 1, the ditching device comprises an upper swing arm 2, a lower swing arm 3, a rotary tillage assembly 6 and a rear plough 7, wherein the front end of the upper swing arm 2 is hinged with the bottom of a vehicle frame 1 in a mode of swinging up and down, an upper arm hydraulic cylinder 2-1 is hinged between the top of the upper swing arm 2 and the vehicle frame 1, and the height of the upper swing arm 2 swinging up and down is adjusted by driving the upper arm hydraulic cylinder 2-1 to stretch and retract. The upper end of the lower swing arm 3 is hinged with the rear end of the upper swing arm 2 in a manner of swinging back and forth, a lower arm hydraulic cylinder 3-2 is hinged between the bottom of the upper swing arm 2 and the front side of the lower swing arm 3, and the angle of the lower swing arm 3 relative to the horizon is adjusted by driving the upper arm hydraulic cylinder 2-1 to stretch. The rotary tillage subassembly 6 is installed in the lower extreme of swing arm 3 down with the mode that can rotate, and rotary tillage subassembly 6 rotates through the drive of hydraulic motor 5, and wherein, rotary tillage subassembly 6 includes pivot and rotary tillage blade disc, and the pivot is rotated and is installed in the lower extreme of swing arm 3 down, and rotary tillage blade disc fixed mounting is in the pivot, and hydraulic motor 5 is connected with rotary tillage subassembly 6's pivot. The rear plough 7 is arranged at the lower end of the lower swing arm 3 and behind the rotary tillage assembly 6 and is used for excavating planting ditches. Preferably, the ditching device also comprises a front plough 4, and the front plough 4 is arranged at the lower end of the lower swing arm 3 and is positioned in front of the rotary tillage assembly 6 so as to improve ditching quality.
Referring to fig. 1 and 2, the testing system comprises a distance measuring sensor 1-1, an upper arm displacement sensor 2-2, a lower arm angle sensor 3-1 and a speed sensor 12, wherein the distance measuring sensor 1-1 is mounted below the vehicle frame 1 and located in front of the ditching device and used for collecting the distance between the vehicle frame 1 and the sugarcane planting field. The upper arm displacement sensor is arranged on the upper arm hydraulic cylinder 2-1 and used for acquiring the elongation of the upper arm hydraulic cylinder 2-1. The lower arm angle sensor 3-1 is mounted on the lower swing arm 3 and used for collecting the angle of the lower swing arm 3 relative to the horizon. A speed sensor 12 is mounted on the vehicle frame 1 for measuring the traveling speed of the vehicle frame 1. The working information of the ditching device can be collected in real time through the ranging sensor 1-1, the upper arm displacement sensor 2-2, the lower arm angle sensor 3-1 and the speed sensor 12. Preferably, the test system further comprises an upper arm pressure sensor 2-3 and a lower arm pressure sensor 3-3, wherein the upper arm pressure sensor 2-3 is installed at an oil inlet of the upper arm hydraulic cylinder 2-1 and used for collecting the load pressure of the upper arm hydraulic cylinder 2-1; the lower arm pressure sensor 3-3 is arranged on an oil inlet of the lower arm hydraulic cylinder 3-2 and used for collecting the load pressure of the lower arm hydraulic cylinder 3-2, so that the working load force of the upper arm hydraulic cylinder 2-1 and the lower arm hydraulic cylinder 3-2 can be prevented from exceeding the maximum load pressure, and the hydraulic cylinders are prevented from being damaged.
Referring to fig. 1 to 3, a hydraulic system is mounted on a frame 1 for controlling the operations of an upper arm hydraulic cylinder 2-1, a lower arm hydraulic cylinder 3-2, and a hydraulic motor 5. Preferably, the hydraulic system comprises a fuel tank, a hydraulic pump 10, an overflow valve 9, a first shunt valve 8, a second shunt valve 13, an upper arm electromagnetic directional valve 2-4, a lower arm electromagnetic directional valve 3-4, a throttle valve 14 and an electro-hydraulic proportional flow valve 5-1. An oil inlet of the hydraulic pump 10 is connected with an oil tank for providing power for a hydraulic system. An oil inlet of the overflow valve 9 is connected with an oil outlet of the hydraulic pump 10, and an oil outlet of the overflow valve 9 is connected with an oil tank, so that the safety of the whole hydraulic system is ensured. An oil inlet of the first flow dividing valve 8 is connected with an oil outlet of the hydraulic pump 10; an oil inlet of the second flow dividing valve 13 is connected with a first oil outlet of the first flow dividing valve 8; an oil inlet of the upper arm electromagnetic directional valve 2-4 is connected with a first oil outlet of the second flow dividing valve 13, a working oil port of the upper arm electromagnetic directional valve 2-4 is connected with an oil inlet and an oil outlet of the upper arm hydraulic cylinder 2-1 through an upper arm locking loop 2-5, and the upper arm electromagnetic directional valve 2-4 drives the upper arm hydraulic cylinder 2-1 to extend or contract. An oil inlet of the lower arm electromagnetic directional valve 3-4 is connected with a second oil outlet of the second flow dividing valve 13, a working oil port of the lower arm electromagnetic directional valve 3-4 is connected with an oil inlet and an oil outlet of the lower arm hydraulic cylinder 3-2 through a lower arm locking loop 3-5, and the lower arm hydraulic cylinder 3-2 is driven to extend or contract through the lower arm electromagnetic directional valve 3-4. The oil inlet of the throttle valve 14 is respectively connected with the oil return ports of the upper arm electromagnetic directional valves 2-4 and the oil return ports of the lower arm electromagnetic directional valves 3-4, the oil outlet of the throttle valve 14 is connected with the oil tank, the size of the valve port of the throttle valve 14 is adjusted, and the expansion speed of the two hydraulic cylinders can be adjusted. An oil inlet of the electro-hydraulic proportional flow valve 5-1 is connected with a second oil outlet of the first flow dividing valve 8, and a working oil port of the electro-hydraulic proportional flow valve 5-1 is connected with the hydraulic motor 5; and the oil return port of the electro-hydraulic proportional flow valve 5-1 is connected with an oil tank, and the rotating speed of the hydraulic motor 5 is regulated through the electro-hydraulic proportional flow valve 5-1. Preferably, the hydraulic system further comprises a filter 11, an oil inlet of the filter 11 is connected with the oil tank, an oil outlet of the filter 11 is connected with an oil inlet of the hydraulic pump 10, and hydraulic oil in the oil tank can be filtered, so that the hydraulic system can work normally.
Referring to fig. 1 to 3, a controller is arranged on a vehicle frame 1, and a distance measuring sensor 1-1, an upper arm displacement sensor 2-2, a lower arm angle sensor 3-1, a speed sensor 12, an upper arm pressure sensor 2-3, a lower arm pressure sensor 3-3 of a testing system, a hydraulic pump 10 of a hydraulic system, an upper arm electromagnetic directional valve 2-4, a lower arm electromagnetic directional valve 3-4 and an electro-hydraulic proportional flow valve 5-1 are all in data connection with the controller. The data connection is a wired connection or a wireless connection as long as data can be transmitted. The controller can receive information collected by the test system in real time, namely the controller can receive information collected by the test system, such as the distance between the frame 1 and the ground, the elongation of the upper arm hydraulic cylinder 2-1, the included angle between the lower swing arm 3 and the horizon, the running speed of the frame 1, the load pressure of the upper arm hydraulic cylinder 2-1, the load pressure of the lower arm hydraulic cylinder 3-2 and the like, and control the work of the hydraulic system according to the information collected by the test system in real time, namely control the work of a hydraulic pump 10, an upper arm electromagnetic directional valve 2-4, a lower arm electromagnetic directional valve 3-4 and an electro-hydraulic proportional flow valve 5-1 of the hydraulic system. The control device can adopt various sensors to collect the working information of the ditching device in real time and send the working information of the ditching device to the controller, so that the controller can control the working state of the ditching device in real time according to the working information fed back by the sensors, the actual ditching depth and the actual soil cutting pitch of the ditching device can meet the requirements, the ditching device is suitable for different terrains, the structure is simple, the practicability is high, the automation degree is high, and the ditching device is suitable for different terrains
Referring to fig. 1 to 3, a control method of an automatic ditching control device for transverse planting of sugarcane comprises the following steps:
1) data acquisition is carried out on a sugarcane planting field to be ditched in advance, soil hardness and humidity data are acquired, ditching depth and soil cutting pitch required by ditching of a ditching device are determined according to the soil hardness and humidity data, and the relation between distance data of a frame 1 and the ground and telescopic data of an upper arm hydraulic cylinder 2-1 is determined according to the required ditching depth; and determining the relation between the speed data of the frame 1 and the rotating speed data of the hydraulic motor 5 according to the required soil cutting pitch.
2) And (3) after data acquisition is finished and before ditching operation is carried out, inputting the data relation determined in the step (1) into a controller, so that the depths of the planting ditches are kept consistent and are not influenced by the terrain. Then, a lower arm angle sensor 3-1 is arranged in the controller, the angle of the lower arm angle sensor is 90 degrees, so that the lower swing arm 3 can be perpendicular to the ground level, and the working quality of the rotary tillage device is improved. And the maximum load pressure of the upper arm hydraulic cylinder 2-1 and the maximum load pressure of the lower arm hydraulic cylinder 3-2 are preset in the controller.
3) And finally, performing ditching operation, wherein in the process of ditching operation, the controller can acquire data acquired by the distance measuring sensor 1-1, the upper arm displacement sensor 2-2, the lower arm angle sensor 3-1, the speed sensor 12, the upper arm pressure sensor 2-3 and the lower arm pressure sensor 3-3 in real time, and compare the data acquired in real time with the data preset in the controller in the step (2), so that the controller can control the extension amount of the upper arm hydraulic cylinder 2-1, the extension amount of the lower arm hydraulic cylinder 3-2 and the rotating speed of the hydraulic motor 5 in real time, the actual ditching depth is equal to the required ditching depth, and the actual soil cutting pitch is equal to the required soil cutting pitch until the whole ditching operation is completed. For example, when the distance measuring sensor 1-1 detects that the distance between the vehicle frame 1 and the ground is increased, the controller controls the extension of the upper arm hydraulic cylinder 2-1 through the upper arm electromagnetic directional valve 2-4, when the upper arm displacement sensor 2-2 detects that the extension of the upper arm hydraulic cylinder 2-1 meets the requirement, the controller controls the extension of the upper arm hydraulic cylinder 2-1 to be stopped, the actual ditching depth is ensured to be equal to the required ditching depth, meanwhile, the lower arm angle sensor 3-1 detects that the included angle between the lower swing arm 3 and the horizontal line is larger than or smaller than 90 degrees, the controller controls the extension of the lower arm hydraulic cylinder 3-2 through the lower arm electromagnetic directional valve 3-4 until the included angle between the lower swing arm 3 and the horizontal line is equal to 90 degrees; when the distance measuring sensor 1-1 detects that the distance between the frame 1 and the ground is reduced, the controller controls the contraction of the upper arm hydraulic cylinder 2-1 through the upper arm electromagnetic directional valve 2-4, when the upper arm displacement sensor 2-2 detects that the contraction amount of the upper arm hydraulic cylinder 2-1 meets the requirement, the controller controls the stopping of the expansion of the upper arm hydraulic cylinder 2-1, the actual ditching depth is ensured to be equal to the required ditching depth, meanwhile, the lower arm angle sensor 3-1 detects that the included angle between the lower swing arm 3 and the horizontal line is larger than or smaller than 90 degrees, and the controller controls the expansion of the lower arm hydraulic cylinder 3-2 through the lower arm electromagnetic directional valve 3-4 until the included angle between the lower swing arm 3 and the horizontal line is equal to 90 degrees; when the speed sensor 12 detects that the running speed of the frame 1 is increased, the controller increases the rotating speed of the hydraulic motor 5 through the electro-hydraulic proportional flow valve 5-1 to ensure that the actual soil cutting pitch is equal to the required soil cutting pitch; when the speed sensor 12 detects that the running speed of the frame 1 is reduced, the controller reduces the rotating speed of the hydraulic motor 5 through the electro-hydraulic proportional flow valve 5-1 to ensure that the actual soil cutting pitch is equal to the required soil cutting pitch; when the load pressure of the upper arm hydraulic cylinder 2-1 detected by the upper arm pressure sensor 2-3 is larger than the maximum load pressure thereof and/or the load pressure of the lower arm hydraulic cylinder 3-2 detected by the lower arm pressure sensor 3-3 is larger than the maximum load pressure thereof, the upper arm hydraulic cylinder 2-1 is controlled to retract and lift the rotary tillage assembly 6.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (7)
1. An automatic control device for transverse sugarcane planting ditching is characterized by comprising:
a frame;
the ditching device comprises an upper swing arm, a lower swing arm, a rotary tillage assembly and a rear plough, wherein the front end of the upper swing arm is hinged with the bottom of the frame in a manner of swinging up and down, and an upper arm hydraulic cylinder is hinged between the top of the upper swing arm and the frame; the upper end of the lower swing arm is hinged with the rear end of the upper swing arm in a manner of swinging back and forth, and a lower arm hydraulic cylinder is hinged between the bottom of the upper swing arm and the front side of the lower swing arm; the rotary tillage component is rotatably arranged at the lower end of the lower swing arm and is driven to rotate by a hydraulic motor; the rear plough is arranged at the lower end of the lower swing arm and is positioned behind the rotary tillage assembly;
the testing system comprises a distance measuring sensor, an upper arm displacement sensor, a lower arm angle sensor and a speed sensor, wherein the distance measuring sensor is arranged below the frame and in front of the ditching device and is used for collecting the distance between the frame and the sugarcane planting field; the upper arm displacement sensor is arranged on the upper arm hydraulic cylinder and used for acquiring the elongation of the hydraulic cylinder; the lower arm angle sensor is mounted on the lower swing arm and used for collecting the angle of the lower swing arm relative to the horizon; the speed sensor is arranged on the frame and used for measuring the running speed of the frame;
a hydraulic system mounted on the frame for controlling the operation of the upper arm hydraulic cylinder, the lower arm hydraulic cylinder and the hydraulic motor; and
the controller is arranged on the frame, the distance measuring sensor, the upper arm displacement sensor, the lower arm angle sensor, the speed sensor and the hydraulic system of the testing system are in data connection with the controller, and the controller can receive information collected by the testing system in real time and control the work of the hydraulic system according to the information collected by the testing system in real time.
2. The automatic control device for transverse sugarcane planting furrowing of claim 1, wherein the test system further comprises an upper arm pressure sensor and a lower arm pressure sensor, the upper arm pressure sensor is mounted at an oil inlet of the upper arm hydraulic cylinder and used for collecting the load pressure of the upper arm hydraulic cylinder; the lower arm pressure sensor is mounted on an oil inlet of the lower arm hydraulic cylinder and used for collecting the load pressure of the lower arm hydraulic cylinder; wherein the upper arm pressure sensor and the lower arm pressure sensor are both in data connection with the controller.
3. An automatic control device for transverse sugarcane planting according to claim 1, characterized in that the hydraulic system comprises:
an oil tank;
an oil inlet of the hydraulic pump is connected with the oil tank;
an oil inlet of the overflow valve is connected with an oil outlet of the hydraulic pump, and an oil outlet of the overflow valve is connected with the oil tank;
an oil inlet of the first flow dividing valve is connected with an oil outlet of the hydraulic pump;
an oil inlet of the second flow dividing valve is connected with a first oil outlet of the first flow dividing valve;
an oil inlet of the upper arm electromagnetic directional valve is connected with the first oil outlet of the second shunt valve, and a working oil port of the upper arm electromagnetic directional valve is connected with an oil inlet and an oil outlet of the upper arm hydraulic cylinder through an upper arm locking loop;
an oil inlet of the lower arm electromagnetic directional valve is connected with a second oil outlet of the second shunt valve, and a working oil port of the lower arm electromagnetic directional valve is connected with an oil inlet and an oil outlet of the lower arm hydraulic cylinder through a lower arm locking loop;
an oil inlet of the throttling valve is respectively connected with an oil return port of the upper arm electromagnetic reversing valve and an oil return port of the lower arm electromagnetic reversing valve, and an oil outlet of the throttling valve is connected with the oil tank; and
an oil inlet of the electro-hydraulic proportional flow valve is connected with a second oil outlet of the first flow dividing valve, and a working oil port is connected with the hydraulic motor; an oil return port of the electro-hydraulic proportional flow valve is connected with the oil tank;
the hydraulic pump, the upper arm electromagnetic directional valve, the lower arm electromagnetic directional valve and the electro-hydraulic proportional flow valve are all in data connection with the controller.
4. The automatic control device for ditching for transverse planting of sugarcane according to claim 3, wherein the hydraulic system further comprises a filter, an oil inlet of the filter is connected with the oil tank, and an oil outlet of the filter is connected with an oil inlet of the hydraulic pump.
5. An automated furrowing control device for transverse planting of sugar cane according to claim 1, wherein the furrowing device further comprises a front plow mounted at a lower end of the lower swing arm and forward of the rotary tillage assembly.
6. A control method of an automatic control device for furrowing for transverse planting of sugar cane according to claim 1, characterized by comprising the steps of:
1) data acquisition is carried out on a sugarcane planting field to be ditched in advance, soil hardness and humidity data are acquired, and ditching depth and soil cutting pitch required by ditching of a ditching device are determined according to the soil hardness and humidity data; determining the relation between the distance data of the frame and the ground and the telescopic data of the upper arm hydraulic cylinder according to the required ditching depth; determining the relation between the speed data of the frame and the rotating speed data of the hydraulic motor according to the required soil cutting pitch;
2) after data acquisition is finished and before ditching operation is carried out, inputting the data relation determined in the step (1) into a controller; then setting the angle of a lower arm angle sensor in the controller to be 90 degrees;
3) and (3) finally, carrying out ditching operation, wherein in the process of carrying out ditching operation, the controller can acquire data acquired by the distance measuring sensor, the upper arm displacement sensor, the lower arm angle sensor and the speed sensor in real time, and comparing the acquired data with preset data in the controller in the step (2), so that the controller controls the elongation of the upper arm hydraulic cylinder, the elongation of the lower arm hydraulic cylinder and the rotating speed of the hydraulic motor in real time, and thus the actual ditching depth is equal to the required ditching depth, and the actual soil cutting pitch is equal to the required soil cutting pitch until the whole ditching operation is completed.
7. The control method of the automatic control device for ditching for transverse planting of sugarcane according to claim 6, wherein the test system further comprises an upper arm pressure sensor and a lower arm pressure sensor, the upper arm pressure sensor is arranged at an oil inlet of the upper arm hydraulic cylinder, the lower arm hydraulic sensor is arranged at an oil inlet of the lower arm hydraulic cylinder, and the maximum load pressure of the upper arm hydraulic cylinder and the maximum load pressure of the lower arm hydraulic cylinder are preset in the controller before the step (3).
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| CN113236614B (en) | 2024-05-14 |
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