CN113236614B - Automatic ditching control device for transverse planting of sugarcane and control method thereof - Google Patents
Automatic ditching control device for transverse planting of sugarcane and control method thereof Download PDFInfo
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- CN113236614B CN113236614B CN202110347169.4A CN202110347169A CN113236614B CN 113236614 B CN113236614 B CN 113236614B CN 202110347169 A CN202110347169 A CN 202110347169A CN 113236614 B CN113236614 B CN 113236614B
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- 240000000111 Saccharum officinarum Species 0.000 title claims abstract description 27
- 235000007201 Saccharum officinarum Nutrition 0.000 title claims abstract description 27
- 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
- 239000003921 oil Substances 0.000 description 77
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000012876 topography Methods 0.000 description 3
- 230000001276 controlling effect Effects 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
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 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
Classifications
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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
-
- 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
-
- 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 and a control method thereof for transverse planting of sugarcane, 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 plow, and 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 ranging sensor, an upper arm displacement sensor, a lower arm angle sensor and a speed sensor, wherein the ranging 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 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 both in data connection with the controller. Also comprises a control method of the 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 taken 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 process of sugarcane planting is mechanized into one of the key development directions of domestic planting machines. At present, most of sugarcane planting ditching systems are fixed ditching systems, and ditching systems adopting double-arm control are also available, but are all manually controlled, so that the requirements of field operation on the operation proficiency of a manipulator are extremely high, the control requirements are difficult to reach, in the process of operation, real-time depth adjustment is more difficult to be carried out on terrains, and the rotary tillage rotating speed is also difficult to be adjusted in real time on the advancing speed and depth, so that the planting depth and the soil cutting pitch cannot meet the requirements. It is therefore necessary to develop an automatic control device for the lateral planting of sugar cane in ditches and a control method thereof.
Disclosure of Invention
The invention aims to provide an automatic ditching control device and a control method for transverse planting of sugarcane, so that the defect that the conventional ditching device cannot adjust ditching depth and soil cutting pitch in real time according to topography is overcome.
In order to achieve the above purpose, the invention provides an automatic ditching control device for transverse planting of sugarcane, which comprises a frame; the ditching device comprises an upper swing arm, a lower swing arm, a rotary tillage assembly and a rear plow, wherein the front end of the upper swing arm is hinged with the bottom of the frame in a mode of being capable 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 mode of being capable 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 assembly is rotatably arranged at the lower end of the lower swing arm and is driven to rotate by a hydraulic motor; the rear plow is arranged at the lower end of the lower swing arm and is positioned behind the rotary tillage assembly; the testing system comprises a ranging sensor, an upper arm displacement sensor, a lower arm angle sensor and a speed sensor, wherein the ranging 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 is used for collecting the elongation of the hydraulic cylinder; the lower arm angle sensor is arranged on the lower swing arm and is used for collecting the angle of the lower swing arm relative to the horizon; the speed sensor is arranged on the frame and is used for measuring the running speed of the frame; the hydraulic system is arranged on the frame and used for controlling the work of the upper arm hydraulic cylinder, the lower arm hydraulic cylinder and the hydraulic motor; and the controller is arranged on the frame, the ranging sensor, the upper arm displacement sensor, the lower arm angle sensor, the speed sensor and the hydraulic system of the test system are all 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, where the upper arm pressure sensor is installed at an oil inlet of the upper arm hydraulic cylinder, and is used for collecting load pressure of the upper arm hydraulic cylinder; the lower arm pressure sensor is arranged on an oil inlet of the lower arm hydraulic cylinder and used for collecting the load pressure of the lower arm hydraulic cylinder; and 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; the oil inlet of the hydraulic pump is connected with the oil tank; the oil inlet of the overflow valve is connected with the oil outlet of the hydraulic pump, and the oil outlet of the overflow valve is connected with the oil tank; the oil inlet of the first shunt valve is connected with the oil outlet of the hydraulic pump; the oil inlet of the second shunt valve is connected with the first oil outlet of the first shunt valve; the oil inlet of the upper arm electromagnetic directional valve is connected with the first oil outlet of the second flow dividing valve, and the working oil port of the upper arm electromagnetic directional valve is connected with the oil inlet and the oil outlet of the upper arm hydraulic cylinder through an upper arm locking loop; the oil inlet of the lower arm electromagnetic directional valve is connected with the second oil outlet of the second flow dividing valve, and the working oil port of the lower arm electromagnetic directional valve is connected with the oil inlet and the oil outlet of the lower arm hydraulic cylinder through a lower arm locking loop; the oil inlet of the throttle valve is respectively connected with the oil return port of the upper arm electromagnetic directional valve and the oil return port of the lower arm electromagnetic directional valve, and the oil outlet of the throttle valve is connected with the oil tank; the oil inlet of the electrohydraulic proportional flow valve is connected with the second oil outlet of the first flow dividing valve, and the working oil port is connected with the hydraulic motor; the 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 solution, 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 scheme, the ditching device further comprises a front plow, and the front plow is mounted at the lower end of the lower swing arm and is located in front of the rotary tillage assembly.
A control method of a ditching automatic 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, and ditching depth and soil cutting pitch required by the ditching device for excavating are determined according to the soil hardness and humidity data; determining the relation between the distance data between 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 completed, before ditching operation is carried out, inputting the data relation determined in the step (1) into a controller; setting the angle of the lower arm angle sensor to be 90 degrees in the controller;
3) And finally, carrying out ditching operation, wherein in the process of ditching operation, the controller can acquire data acquired in real time by the ranging sensor, the upper arm displacement sensor, the lower arm angle sensor and the speed sensor, and compare the acquired data with preset data in the controller in the step (2), so that the controller can control 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, thereby enabling the actual ditching depth to be equal to the required ditching depth and the actual soil cutting pitch to be equal to the required soil cutting pitch until the whole ditching operation is completed.
Preferably, in the above technical solution, the test system further includes an upper arm pressure sensor and a lower arm pressure sensor, an upper arm pressure sensor is disposed at an oil inlet of the upper arm hydraulic cylinder, a lower arm hydraulic sensor is disposed at an oil inlet of the lower arm hydraulic cylinder, and before the step (3), a maximum load pressure of the upper arm hydraulic cylinder and a 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 ditching device is applicable to different terrains, thereby enabling the actual ditching depth to be equal to the required ditching depth and the actual soil cutting pitch to be equal to the required soil cutting pitch.
2. By adopting the control method, data acquisition can be performed on the sugarcane planting land in advance before ditching operation is performed, so that the control method is suitable for the sugarcane planting land with different hardness and humidity, and ditching quality is improved; and when ditching is carried out, can automatically regulated, adapt to different topography.
Drawings
FIG. 1 is a schematic structural view of an automatic ditching control device for transverse planting of sugarcane according to the present invention.
Fig. 2 is a schematic diagram of a hydraulic system according to the invention.
FIG. 3 is a flow chart of the control principle of the ditching apparatus according to the present invention.
The main reference numerals illustrate:
The hydraulic machine comprises a 1-frame, a 2-upper swing arm, a 3-lower swing arm, a 4-front plow, a 5-hydraulic motor, a 6-rotary tillage assembly, a 7-rear plow, a 1-1-ranging sensor, a 2-1-upper arm hydraulic cylinder, a 2-2-upper arm displacement sensor, a 2-3-upper arm pressure sensor, a 2-4-upper arm electromagnetic directional valve, a 2-5-upper arm locking loop, a 3-1-lower arm angle sensor, a 3-2-lower arm hydraulic cylinder, a 3-3-lower arm pressure sensor, a 3-4-lower arm electromagnetic directional valve, a 3-5-lower arm locking loop, a 5-1-electrohydraulic proportional flow valve, an 8-first shunt valve, a 9-overflow valve, a 10-hydraulic pump, an 11-filter, a 12-speed sensor, a 13-second shunt valve and a 14-throttle valve.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
Fig. 1 to 3 show a schematic construction of an automatic ditching control device for sugarcane lateral planting according to a preferred embodiment of the present invention, which comprises a frame 1, a ditching device, a test 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 plow 7, wherein the front end of the upper swing arm 2 is hinged with the bottom of a frame 1 in a manner of being capable 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 frame 1, and the upper arm hydraulic cylinder 2-1 is driven to stretch and retract, so that the height of the upper swing arm 2 swinging up and down is adjusted. The upper end of the lower swing arm 3 is hinged with the rear end of the upper swing arm 2 in a mode of being capable 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 line is adjusted by driving the upper arm hydraulic cylinder 2-1 to stretch. The rotary tillage assembly 6 is installed in the lower extreme of swing arm 3 with rotatable mode, and rotary tillage assembly 6 rotates through hydraulic motor 5 drive, and wherein, rotary tillage assembly 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 the pivot of rotary tillage assembly 6. The rear plow 7 is arranged at the lower end of the lower swing arm 3 and positioned at the rear of the rotary tillage assembly 6 and is used for excavating planting furrows. Preferably, the ditching device further comprises a front plow 4, wherein the front plow 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 test system includes a ranging sensor 1-1, an upper arm displacement sensor 2-2, a lower arm angle sensor 3-1 and a speed sensor 12, wherein the ranging sensor 1-1 is installed below the frame 1 and in front of the ditching device for collecting the distance between the frame 1 and the sugarcane planting area. The upper arm displacement sensor is arranged on the upper arm hydraulic cylinder 2-1 and is used for collecting 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 for acquiring an angle of the lower swing arm 3 with respect to the horizon. A speed sensor 12 is mounted on the frame 1 for measuring the running speed of the frame 1. Working information of the ditching device can be acquired 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 arranged at an oil inlet of the upper arm hydraulic cylinder 2-1 and is used for collecting the load pressure of the upper arm hydraulic cylinder 2-1; the lower arm pressure sensor 3-3 is installed on the oil inlet of the lower arm hydraulic cylinder 3-2 and is 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 operation of an upper arm cylinder 2-1, a lower arm cylinder 3-2, and a hydraulic motor 5. Preferably, the hydraulic system comprises an oil 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 electrohydraulic proportional flow valve 5-1. The oil inlet of the hydraulic pump 10 is connected with an oil tank for providing power to the hydraulic system. The oil inlet of the overflow valve 9 is connected with the oil outlet of the hydraulic pump 10, and the oil outlet of the overflow valve 9 is connected with the oil tank for ensuring the safety of the whole hydraulic system. The oil inlet of the first diverter valve 8 is connected with the oil outlet of the hydraulic pump 10; the oil inlet of the second shunt valve 13 is connected with the first oil outlet of the first shunt valve 8; the oil inlet of the upper arm electromagnetic directional valve 2-4 is connected with the first oil outlet of the second shunt valve 13, the working oil port of the upper arm electromagnetic directional valve 2-4 is connected with the oil inlet and the oil outlet of the upper arm hydraulic cylinder 2-1 through the upper arm locking loop 2-5, and the upper arm hydraulic cylinder 2-1 is driven to extend or retract through the upper arm electromagnetic directional valve 2-4. The oil inlet of the lower arm electromagnetic directional valve 3-4 is connected with the second oil outlet of the second shunt valve 13, the working oil port of the lower arm electromagnetic directional valve 3-4 is connected with the oil inlet and the oil outlet of the lower arm hydraulic cylinder 3-2 through the lower arm locking loop 3-5, and the lower arm hydraulic cylinder 3-2 is driven to extend or retract through the lower arm electromagnetic directional valve 3-4. The oil inlet of the throttle valve 14 is respectively connected with the oil return port of the upper arm electromagnetic directional valve 2-4 and the oil return port of the lower arm electromagnetic directional valve 3-4, the oil outlet of the throttle valve 14 is connected with an oil tank, the valve port size of the throttle valve 14 is regulated, and the expansion speed of the two hydraulic cylinders can be regulated. 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 an oil return port of the electro-hydraulic proportional flow valve 5-1 is connected with an oil tank, and the rotation 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 of the oil tank can be filtered, so that the hydraulic system can work normally.
Referring to fig. 1 to 3, a controller is provided on a vehicle frame 1, and a ranging sensor 1-1, an upper arm displacement sensor 2-2, a lower arm angle sensor 3-1, a speed sensor 12, upper arm pressure sensors 2-3 and lower arm pressure sensors 3-3 of a test system, and 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 a hydraulic system are all in data connection with the controller. The data connection is a wired connection or a wireless connection, so long as the data can be transmitted. The controller can receive information collected by the test system in real time, namely, the controller can receive information 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 collected by the test system in real time, and control the work of the hydraulic system according to the information collected by the test system, namely, the work of the hydraulic pump 10, the upper arm electromagnetic directional valve 2-4, the lower arm electromagnetic directional valve 3-4 and the electrohydraulic 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 soil cutting pitch of the ditching device can meet the requirements, and the ditching device is suitable for different terrains, simple in structure, strong in practicability and high in automation degree
Referring to fig. 1 to 3, a control method of a ditching automatic 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 the ditching device for ditching are determined according to the soil hardness and humidity data, and the relation between distance data of the frame 1 and the ground and telescopic data of the upper arm hydraulic cylinder 2-1 is determined according to the required ditching depth; according to the required soil cutting pitch, the relation between the speed data of the frame 1 and the rotating speed data of the hydraulic motor 5 is determined.
2) After data acquisition is completed, the data relationship determined in the step (1) is input into the controller before ditching operation is carried out, so that the depth of the planting ditches is kept consistent and is not influenced by topography. Then, the angle of the lower arm angle sensor 3-1 is 90 degrees in the controller, so that the lower swing arm 3 can be perpendicular to the horizon, and the working quality of the rotary tillage device is improved. And the maximum load pressure of the upper arm cylinder 2-1 and the maximum load pressure of the lower arm cylinder 3-2 are preset in the controller.
3) And finally, carrying out ditching operation, wherein in the ditching operation process, the controller can acquire data acquired in real time by the ranging 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, and compare the data acquired in real time with preset data in the controller in the step (2), so that the controller can control the elongation of the upper arm hydraulic cylinder 2-1, the elongation of the lower arm hydraulic cylinder 3-2 and the rotating speed of the hydraulic motor 5 in real time, thereby enabling the actual ditching depth to be equal to the required ditching depth, and the actual soil cutting pitch to be 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 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 and retraction 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 horizon is larger than or smaller than 90 degrees, and the controller controls the extension and retraction 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 horizon 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 shrinkage 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 shrinkage of the upper arm hydraulic cylinder 2-1 meets the requirement, the controller controls and stops the shrinkage 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 horizon is larger than or smaller than 90 degrees, and the controller controls the shrinkage 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 horizon 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, so that the actual soil cutting pitch is ensured to be 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, so that the actual soil cutting pitch is ensured to be 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 greater 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 greater 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 are 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 the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various 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 (5)
1. A ditching automatic control device for sugarcane is planted transversely, characterized by comprising:
A frame;
The ditching device comprises an upper swing arm, a lower swing arm, a rotary tillage assembly and a rear plow, wherein the front end of the upper swing arm is hinged with the bottom of the frame in a mode of being capable 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 mode of being capable 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 assembly is rotatably arranged at the lower end of the lower swing arm and is driven to rotate by a hydraulic motor; the rear plow is arranged at the lower end of the lower swing arm and is positioned behind the rotary tillage assembly;
The testing system comprises a ranging sensor, an upper arm displacement sensor, a lower arm angle sensor and a speed sensor, wherein the ranging 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 is used for collecting the elongation of the hydraulic cylinder; the lower arm angle sensor is arranged on the lower swing arm and is used for collecting the angle of the lower swing arm relative to the horizon; the speed sensor is arranged on the frame and is used for measuring the running speed of the frame;
The hydraulic system is arranged on the frame and used for controlling the work of the upper arm hydraulic cylinder, the lower arm hydraulic cylinder and the hydraulic motor; and
The controller is arranged on the frame, the ranging sensor, the upper arm displacement sensor, the lower arm angle sensor, the speed sensor and the hydraulic system of the test system are all 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;
the testing system further comprises an upper arm pressure sensor and a lower arm pressure sensor, wherein the upper arm pressure sensor is arranged at an oil inlet of the upper arm hydraulic cylinder and is used for collecting load pressure of the upper arm hydraulic cylinder; the lower arm pressure sensor is arranged 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;
Wherein, the hydraulic system includes:
An oil tank;
The oil inlet of the hydraulic pump is connected with the oil tank;
The oil inlet of the overflow valve is connected with the oil outlet of the hydraulic pump, and the oil outlet of the overflow valve is connected with the oil tank;
The oil inlet of the first shunt valve is connected with the oil outlet of the hydraulic pump;
The oil inlet of the second shunt valve is connected with the first oil outlet of the first shunt valve;
the oil inlet of the upper arm electromagnetic directional valve is connected with the first oil outlet of the second flow dividing valve, and the working oil port of the upper arm electromagnetic directional valve is connected with the oil inlet and the oil outlet of the upper arm hydraulic cylinder through an upper arm locking loop;
The oil inlet of the lower arm electromagnetic directional valve is connected with the second oil outlet of the second flow dividing valve, and the working oil port of the lower arm electromagnetic directional valve is connected with the oil inlet and the oil outlet of the lower arm hydraulic cylinder through a lower arm locking loop;
The oil inlet of the throttle valve is respectively connected with the oil return port of the upper arm electromagnetic directional valve and the oil return port of the lower arm electromagnetic directional valve, and the oil outlet of the throttle valve is connected with the oil tank; and
The oil inlet of the electrohydraulic proportional flow valve is connected with the second oil outlet of the first flow dividing valve, and the working oil port of the electrohydraulic proportional flow valve is connected with the hydraulic motor; the 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.
2. The automatic ditching control device for transverse planting of sugarcane of claim 1, 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.
3. The automatic ditching control device for sugarcane lateral planting according to claim 1, further comprising a front plow mounted at a lower end of the lower swing arm and located in front of the rotary tillage assembly.
4. A control method of a ditching automatic control device for transverse planting of sugarcane as claimed in claim 1, comprising the steps of:
Step one: 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 the ditching device for excavating are determined according to the soil hardness and humidity data; determining the relation between the distance data between 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;
Step two: after data acquisition is completed, before ditching operation is carried out, inputting the data relation determined in the first step into a controller; setting the angle of the lower arm angle sensor to be 90 degrees in the controller;
Step three: and finally, carrying out ditching operation, wherein in the process of ditching operation, the controller can acquire data acquired in real time by the ranging sensor, the upper arm displacement sensor, the lower arm angle sensor and the speed sensor, and compare the acquired data with preset data in the controller in the second step, so that the controller can control 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, thereby enabling the actual ditching depth to be equal to the required ditching depth and the actual soil cutting pitch to be equal to the required soil cutting pitch until the whole ditching operation is completed.
5. The method according to claim 4, 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 the oil inlet of the upper arm hydraulic cylinder, the lower arm hydraulic sensor is arranged at the 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 third step.
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| CN114165502B (en) * | 2021-11-15 | 2024-04-02 | 广西民族大学 | Automatic control method and system for double-bud sugarcane section transverse planter tillage depth |
| CN115336476A (en) * | 2022-07-27 | 2022-11-15 | 阜南佳利工艺品股份有限公司 | Supplementary cuttage device of salix integra strip |
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