CN201812174U - Remote real-time monitoring system of agricultural machine - Google Patents
Remote real-time monitoring system of agricultural machine Download PDFInfo
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- CN201812174U CN201812174U CN 201020189270 CN201020189270U CN201812174U CN 201812174 U CN201812174 U CN 201812174U CN 201020189270 CN201020189270 CN 201020189270 CN 201020189270 U CN201020189270 U CN 201020189270U CN 201812174 U CN201812174 U CN 201812174U
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Abstract
The utility model provides a remote real-time monitoring system of an agricultural machine. The monitoring system mainly comprises a remote monitoring subsystem and a monitored agricultural machine subsystem, wherein, the monitored agricultural machine subsystem is mounted on the agricultural machine; the remote monitoring subsystem is mounted in a remote monitoring room; with the help of environment image information transmitted by the monitored agricultural machine subsystem in a wireless real-time manner, the control personnel in the remote monitoring room sends control information to the monitored agricultural machine subsystem through remote control subsystem software; and the monitored agricultural machine subsystem receives a control signal, processes the control signal, and controls and drives four ways of oil circuits to push different execution mechanisms, so as to achieve remote motion control over the agricultural machine and the lifting control over a working mechanism. The monitoring system is applicable to various agricultural machines capable of being conveniently driven and controlled by hydraulic pressure.
Description
Technical field
The utility model relates to a kind of remote real-time monitoring system that is applied to agricultural machinery, realizes monitoring in real time in 5 kilometer range, and it is applicable on the agricultural machinery of artificial inconvenient closely operation in complex environments such as farmland.
Background technology
At present, the remote real-time monitoring technology has been widely used in every field, but still few in the agriculture field application, especially in intensive labor such as farming, plantation and results; Scope of activities is narrow and small and traditional agriculture machinery work under bad environment is still many manually closely to be operating as the master; This had both limited the work efficiency of agricultural machinery, again might be owing to the abominable staff's health that influences of working environment, and the driving mechanism of traditional agriculture machinery and the reliability of topworks and precision are all relatively poor, if closely misoperation can produce personal injury to operating personnel.
Summary of the invention
In order to overcome the above-mentioned all deficiencies of general agricultural machinery, the utility model provides a kind of control system of monitoring agricultural machinery in 5 kilometer range in real time, and make full use of its original topworks, realization is to the Long-distance Control of agricultural machinery motion state and working mechanism's lifting, it easy to operate simple, safe and reliable.
Native system is divided into two subsystems: remote monitoring subsystem and monitored agricultural machinery subsystem; The remote monitoring subsystem comprises the radio receiver of image and the wireless base station apparatus of control signal, and it is indoor to be installed on remote monitoring, and wherein image received device is connected to form by the RJ45 interface by rear end bridge and PC; Monitored agricultural machinery subsystem is installed on the agricultural machinery, and it comprises the receiving and processing device and the fluid pressure drive device of agricultural mechanical operation ambient image information transmitting apparatus, control signal; Adopt remote monitoring control operating type, the function of the corresponding realization of institute is: the left-hand bend of agricultural machinery, right-hand bend, suspend, advance and working mechanism's lifting.
The wireless transmission of image and receiving trap are made up of camera, video encoder and wireless front and back end bridge.Two CCD cameras directly connect with video encoder, video encoder links to each other with the front end bridge, two-way CCD camera is installed on the agricultural machinery front portion respectively, the image information of agricultural machinery two surrounding environment road conditions will be gathered respectively, the two-way image information is carried out video compress respectively through video encoder, make that the image transmission is smooth more and show more clear exquisiteness, the WLAN (wireless local area network) that two-way image information after the compression is made up of the front and back end bridge simultaneously is wirelessly transmitted on the remote monitoring subsystem PC monitor screen, and operating personnel are by the working environment image information enforcement of the wireless transmission wireless monitor to agricultural machinery.
The remote monitoring subsystem comprises the required rear end of wireless local area network building bridge, control signal wireless transmitter module and monitoring client software; Back-end network bridge joint in this subsystem is received the wireless environment image information, and on the PC monitor screen, show, operating personnel send control information by this image information by monitoring client software, and this control information is sent by serial ports and KYL-320H wireless sending module.The receiving and processing device of control signal comprises wireless receiving module KYL-320M on the monitored agricultural machinery, the control signal that this wireless receiving module receiving remote Monitor And Control Subsystem sends also transfers to main control chip AT89S52, produce low level through triggering the corresponding P1 mouth of AT89S52 after the decoding processing, this electric signal drives corresponding delivery outlet relay circuit, relay circuit drives the corresponding relays action, relay is realized control to hydraulic circuit by control corresponding solenoid valve break-make, relay circuit directly links to each other with AT89S52, relay is the G2R-14-DC12 type, the adhesive that AT89S52 comes pilot relay by control two-stage transistor switching circuit, off-state, relay is realized control to hydraulic circuit by control corresponding solenoid valve break-make.On the slave computer control circuit board, LCDs has been installed, has been used to show the real-time working state of agricultural machinery.
Fluid pressure drive device on the monitored agricultural machinery subsystem is controlled the action of corresponding mechanical mechanism and then is realized 5 functions by the break-make of controlling 4 oil circuits by the break-make of three 2/2-way solenoid valves and 4 oil circuits of a three position four-way electromagnetic valve control.The on off operating mode of three 2/2-way solenoid valves and a three position four-way electromagnetic valve is realized by five relay controls of corresponding relay circuit; Two relays and respective drive circuit thereof are used for controlling the state of a three position four-way electromagnetic valve to realize working mechanism's lifting in five relays; Its excess-three relay and respective drive circuit thereof are controlled three 2/2-way solenoid valves respectively to control the break-make of left-hand rotation oil circuit, right-hand rotation oil circuit and total oil circuit respectively.
The break-make of a control oil return line in the 2/2-way solenoid valve of hydraulic system; The stall of a control revolver; The stall of a right wheel of control; The lifting of three position four-way electromagnetic valve Control work mechanism.Realize that need control the solenoid valve of revolver stall and oil return line disconnection and work simultaneously, the oil circuit that turns left accordingly connection promotes left-hand rotation topworks and makes the revolver clutch and the left-hand rotation of stop motion realization agricultural machinery; Realize right-hand rotation, need the solenoid valve of control right wheel stall and oil return line disconnection to work simultaneously, the oil circuit of turning right is accordingly connected and is promoted the right-hand rotation that right-hand rotation topworks makes right wheel clutch stop motion realization agricultural machinery; Realize suspending, the solenoid valve that needs the stall of control revolver, the stall of right wheel and oil return line to disconnect is worked simultaneously, turns left accordingly and the oil circuit of turning right is connected simultaneously and promoted to change about corresponding topworks and makes revolver and the right wheel clutch simultaneously stop motion time-out with realization agricultural machinery; Realize the lifting of working mechanism, need the break-make of while Control work mechanism's lifting solenoid valve 3 and oil return line solenoid valve to realize the lifting of working mechanism, the lifting of working mechanism, need the solenoid valve of Control work mechanism lifting to be in the closed electromagnetic valve of right position, control oil return line break-make, realize the lifting of agricultural working machine mechanism; The decline of working mechanism needs the solenoid valve of Control work mechanism lifting solenoid valve to be in position, a left side and makes that the decline oil circuit is logical, the oil return line solenoid valve disconnects and realize the decline of agricultural working machine mechanism by the gravity of working mechanism self.
By to we can see that its beneficial effect is in the introduction of the utility model basic control function and characteristics: overcome the manually-operated inconvenience of agricultural machinery fully, in 5 kilometer range, realize remote real-time monitoring control, the parts of former traditional mechanical are made full use of, realize various functions by the corresponding connector of hydrostatic control.The agricultural machinery model that the utility model is used is Dongming board 1YG-7.5 type tiller.
Description of drawings
Further specify the present invention below in conjunction with accompanying drawing and enforcement.
Fig. 1 is a remote monitoring Control work surface chart of the present invention.
Fig. 2 is a slave computer control circuit board schematic diagram of the present invention.
Fig. 3 is two solenoid valve interface circuit diagrams that the present invention controls left-hand rotation.
Fig. 4 is two solenoid valve interface circuit diagrams that the present invention controls right-hand rotation.
Fig. 5 is two solenoid valve interface circuit diagrams of Control work of the present invention mechanism lifting.
Fig. 6 is three solenoid valve interface circuit diagrams that the present invention controls time-out.
Fig. 7 is a solenoid control oil circuit break-make synoptic diagram of the present invention.
Fig. 8 is a native system overall framework synoptic diagram.
Fig. 1 is remote monitoring control working interface figure of the present invention. The video images that two graphic interface display respectively two-way ccd video cameras are gathered, the motion control interface comprises and advances, turns left, turns right, stops the lifting with operating mechanism according to showing in the graphic interface that the motion state of agricultural machinery controls the motion of agricultural machinery.
Fig. 2 is slave computer control circuit figure of the present invention. Main control chip U1 is the AT89S52 single-chip microcomputer, TXD and RXD intersect respectively RXD and the TXD mouth (not marking among the figure) that connects wireless receiving module, the P1.0-P1.4 mouth is succeeded electrical apparatus control circuit, only marked the P1.0 control circuit among the figure, when P1.0 is low level, control the adhesive of 12V relay by one 9015 (PNP) and one 8050 (NPN) triode, and then control back solenoid valve conduction.
Fig. 3 is two solenoid valve interface circuit diagrams that the present invention controls left-hand rotation: relay 0 is the circuit of control oil return with magnetic valve 0, and relay 1 is the circuit of control left steering clutch with magnetic valve 1. Single-chip microcomputer sends the left-hand rotation instruction by P1.0 and P1.1, and normally open solenoid valve 0 cuts out, and oil return line disconnects, and normally closed solenoid valve 1 is opened, and the left-hand rotation oil circuit is connected, and promotes the left steering clutch by hydraulic means, and then realizes. 1 is that relay 0,2 is that relay 1,3 is that magnetic valve 0,4 is magnetic valve 1 among Fig. 3.
Fig. 4 is two solenoid valve interface circuit diagrams that the present invention controls right-hand rotation: relay 0 is the circuit of control oil return with magnetic valve 0, and relay 2 is circuits of control right turn clutch with magnetic valve 2. Single-chip microcomputer sends the right-hand rotation instruction by P1.0 and P1.2, and normally open solenoid valve 0 cuts out, and oil return line disconnects, and normally closed solenoid valve 2 is opened, and the right-hand rotation oil circuit is connected, and promotes the right turn clutch by hydraulic means, and then realizes turning right. 1 is that relay 0,2 is that relay 2,3 is that magnetic valve 0,4 is magnetic valve 2 among Fig. 4.
Fig. 5 is two solenoid valve interface circuit diagrams that the present invention controls operating mechanism's lifting: relay 0 is the circuit of control oil return with magnetic valve 0, and relay 3, relay 4 are circuits of control lowering or hoisting gear with three position four-way electromagnetic valve 3. When single-chip microcomputer sent the decline instruction by P1.0 and P1.3, normally open solenoid valve 0 cut out, and oil return line disconnects, normally closed solenoid valve 3 is positioned at left position, and the decline oil circuit is connected, and promotes elevating lever by hydraulic means, and then realize that elevating mechanism descends, when single-chip microcomputer sent climb command by P1.0 and P1.4, normally open solenoid valve 0 cut out, and oil return line disconnects, normally closed solenoid valve 3 is positioned at right position, the rising oil circuit is connected, and promotes elevating lever by hydraulic means, and then realizes operating mechanism's rising. 1 is that relay 0,2 is that relay 3,3 is that relay 4,4 is that magnetic valve 0,5 is magnetic valve 3 among Fig. 5.
Fig. 6 is three solenoid valve interface circuit diagrams that the present invention controls time-out: relay 0 is the circuit of control oil return with magnetic valve 0, and relay 1 is the circuit of control left steering clutch with magnetic valve 1, and relay 2 is circuits of control right turn clutch with magnetic valve 2. Single-chip microcomputer sends halt instruction by P1.0, P1.1 and P1.2, normally open solenoid valve 0 cuts out, oil return line disconnects, normally closed solenoid valve 1 is opened with normally closed solenoid valve 2, the left/right rotation oil circuit is connected simultaneously, promote left and right sides steering cluth by hydraulic means, left and right sides power cuts off simultaneously, and then realizes stopping. 1 is that relay 0,2 is that relay 1,3 is that relay 2,4 is that magnetic valve 0,5 is that magnetic valve 1,6 is magnetic valve 2 among Fig. 6.
Fig. 7 is solenoid control oil circuit break-make schematic diagram of the present invention: magnetic valve 0 control oil return line, for often opening, when single-chip microcomputer does not send any instruction, the oil of oil pump is by the direct oil sump tank of this oil circuit, when single-chip microcomputer sends left-hand rotation, during any instruction in turning right, stop, rising, descending, this oil circuit disconnects; Magnetic valve 1 control left-hand rotation oil circuit for normally closed, is connected when single-chip microcomputer sends the left-hand rotation instruction, promotes the left steering clutch by oil cylinder 1 and makes the power cut of revolver crawler belt, realizes. Magnetic valve 2 control right-hand rotation oil circuits for normally closed, are connected when single-chip microcomputer sends the right-hand rotation instruction, promote the right turn clutch by oil cylinder 2 and make the right crawler belt power cut of taking turns, and realize turning right. Magnetic valve 3 is three position four-way electromagnetic valve, control lifting oil circuit, for normally closed, when sending climb command, single-chip microcomputer is positioned at right position, and the rising oil circuit is connected, promote elevating lever by hydraulic means, and then realize operating mechanism's rising, and single-chip microcomputer is positioned at left position when sending the decline instruction, and the decline oil circuit is connected, promote elevating lever by hydraulic means, and then realize that operating mechanism descends. 1 is that magnetic valve 0,2 is that magnetic valve 1,3 is the left-hand rotation clutch for the oil cylinder Isosorbide-5-Nitrae among Fig. 7, and 5 is that magnetic valve 3,6 is elevating lever, and 7 is fuel tank, and 8 is that oil cylinder 3,9 is that oil cylinder 2,10 is the right-hand rotation clutch, and 11 is magnetic valve 2.
Fig. 8 is native system overall framework schematic diagram. Two CCD cameras directly link to each other with video encoder in the lower computer system, and the video encoder another port connects the front end bridge; The KYL-320M wireless receiving module links to each other with control signal receiving processing circuit plate main control chip AT89S52 serial ports; The KYL-320H wireless transmitter module links to each other with the monitoring host computer serial ports by the RS232 agreement in the master system; The rear end wireless bridge links to each other with the monitoring host computer network interface by the RJ45 agreement.
Embodiment
In Fig. 1, two graphic interfaces show the video image that the two-way ccd video camera is gathered respectively, the motion control interface is according to the motion state that shows agricultural machinery in the graphic interface, operating personnel by the corresponding button in the operation control interface come Long-distance Control agricultural machinery left-hand rotation, turn right, stop, advancing and the lifting of working mechanism.
In Fig. 8, system is made up of remote monitoring subsystem and monitored agricultural machinery subsystem, monitored agricultural machinery subsystem is installed on the agricultural machinery, comprises the receiving and processing device and the fluid pressure drive device of agricultural mechanical operation ambient image information transmitting apparatus, control signal; Two CCD cameras in the image information transmitting device directly connect with video encoder, and video encoder links to each other with the front end bridge, can gather agricultural machinery the place ahead traffic information in real time; The receiving and processing device of control signal comprises wireless receiving module KYL-320M, and the control signal that this wireless receiving module receiving remote Monitor And Control Subsystem sends also transfers to main control chip AT89S52; The remote monitoring subsystem is installed on the remote monitoring chamber, comprises the radio receiver of image and the wireless base station apparatus of control signal; Wherein image received device is connected to form by the RJ45 interface by rear end bridge and PC, and the picture signal that the monitored agricultural machinery subsystem end of the real-time reception of this device passes over also shows on remote monitoring chamber monitoring PC display.
In Fig. 2, main control chip U1 is the AT89S52 single-chip microcomputer, the P1.0-P1.4 mouth is succeeded electrical apparatus control circuit, only marked the P1.0 operation circuit among the figure, when P1.0 is low level, control the adhesive of 12V relay by one 9015 (PNP) and one 8050 (NPN) triode, and then control back solenoid valve conduction.All the other relay circuits and P1.0 mouth similar.
In Fig. 3, single-chip microcomputer sends instruction by P1.0 and P1.1, and normally open solenoid valve 0 cuts out, and oil return line disconnects, and normally closed solenoid valve 1 is opened, and the left-hand rotation oil circuit is connected, and promotes the left steering clutch coupling by hydraulic means, and then realizes.
In Fig. 4, single-chip microcomputer sends the instruction of turning right by P1.0 and P1.2, and normally open solenoid valve 0 cuts out, and oil return line disconnects, and normally closed solenoid valve 2 is opened, and the right-hand rotation oil circuit is connected, and promotes the right turn clutch coupling by hydraulic means, and then realizes turning right.
In Fig. 5, when single-chip microcomputer sent the decline instruction by P1.0 and P1.3, normally open solenoid valve 0 cut out, oil return line disconnects, and normally closed solenoid valve 3 is positioned at position, a left side, and the decline oil circuit is connected, promote elevating lever by hydraulic means, and then realize that elevating mechanism descends, when single-chip microcomputer sends climb command by P1.0 and P1.4, normally open solenoid valve 0 cuts out, oil return line disconnects, and normally closed solenoid valve 3 is positioned at right position, and the rising oil circuit is connected, promote elevating lever by hydraulic means, and then realize working mechanism's rising.
In Fig. 6, single-chip microcomputer sends halt instruction by P1.0, P1.1 and P1.2, normally open solenoid valve 0 cuts out, oil return line disconnects, normally closed solenoid valve 1 is opened with normally closed solenoid valve 2, about change oil circuit and connect simultaneously, promote left and right sides steering clutch by hydraulic means, left and right sides power cuts off simultaneously, and then realizes stopping.
Claims (6)
1. agricultural machinery remote real-time monitoring system, mainly form by remote monitoring subsystem and monitored agricultural machinery subsystem, it is characterized in that: monitored agricultural machinery subsystem is installed on the agricultural machinery, comprises the receiving and processing device and the fluid pressure drive device of agricultural mechanical operation ambient image information transmitting apparatus, control signal; Two CCD cameras in the image information transmitting device directly connect with video encoder, and video encoder links to each other with the front end bridge; The receiving and processing device of control signal comprises wireless receiving module KYL-320M; The remote monitoring subsystem is installed on the remote monitoring chamber, comprises the radio receiver of image and the wireless base station apparatus of control signal; Wherein image received device is connected to form by the RJ45 interface by rear end bridge and PC.
2. agricultural machinery remote real-time monitoring system according to claim 1, it is characterized in that two CCD cameras on the monitored agricultural machinery subsystem are installed on the agricultural machinery front portion respectively, be used to gather two-way agricultural machinery the place ahead road conditions environmental information, image information after the collection is through this subsystem video encoder compressed encoding, and the picture signal behind the coding is transferred to the remote monitoring subsystem by the WLAN (wireless local area network) of being made up of the front and back end bridge in the system the most at last.
3. agricultural machinery remote real-time monitoring system according to claim 1, it is characterized in that the control signal that the wireless receiving module receiving remote Monitor And Control Subsystem of monitored agricultural machinery subsystem sends and transfer to main control chip AT89S52, produce low level through triggering the corresponding P1 mouth of AT89S52 after the decoding processing, this electric signal drives corresponding delivery outlet relay circuit, relay circuit drives the corresponding relays action, and relay is realized control to hydraulic circuit by control corresponding solenoid valve break-make.
4. agricultural machinery remote real-time monitoring system according to claim 3, it is characterized in that relay circuit directly links to each other with AT89S52, relay is the G2R-14-DC12 type, adhesive, off-state that AT89S52 comes pilot relay by control two-stage transistor switching circuit.
5. agricultural machinery remote real-time monitoring system according to claim 4 is characterized in that five relays control the state of three 2/2-way solenoid valves, a three position four-way electromagnetic valve respectively.
6. agricultural machinery remote real-time monitoring system according to claim 5 is characterized in that in five relays that two relays and respective drive circuit thereof are used for controlling the state of a three position four-way electromagnetic valve to realize working mechanism's lifting; Its excess-three relay and respective drive circuit thereof are controlled three 2/2-way solenoid valves respectively to control the break-make of left-hand rotation oil circuit, right-hand rotation oil circuit and total oil circuit respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020189270 CN201812174U (en) | 2010-04-28 | 2010-04-28 | Remote real-time monitoring system of agricultural machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020189270 CN201812174U (en) | 2010-04-28 | 2010-04-28 | Remote real-time monitoring system of agricultural machine |
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| CN201812174U true CN201812174U (en) | 2011-04-27 |
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| CN 201020189270 Expired - Fee Related CN201812174U (en) | 2010-04-28 | 2010-04-28 | Remote real-time monitoring system of agricultural machine |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102300079A (en) * | 2011-07-01 | 2011-12-28 | 全国农业技术推广服务中心 | System and method for video monitoring on agricultural insect disease |
| CN102612249A (en) * | 2011-01-25 | 2012-07-25 | 南京普爱射线影像设备有限公司 | Local power switch device for X-ray machine |
| CN102650885A (en) * | 2012-04-18 | 2012-08-29 | 西北农林科技大学 | Robot walking monitoring system with remote-range prewarning function |
| CN102854851A (en) * | 2012-07-25 | 2013-01-02 | 深圳市深芯半导体有限公司 | Internet integrated operating system |
| CN103917932A (en) * | 2011-10-12 | 2014-07-09 | 洋马株式会社 | Remote monitoring terminal device for traveling work machine or ship |
| CN104503284A (en) * | 2014-12-20 | 2015-04-08 | 尹立新 | Control device and control method of rotary cultivator |
| CN105043247A (en) * | 2014-04-25 | 2015-11-11 | 迪尔公司 | Control system for operation of one or more agricultural operations and method for such |
| CN105438468A (en) * | 2015-12-16 | 2016-03-30 | 无锡同春新能源科技有限公司 | Unmanned sorghum harvester |
| CN105676849A (en) * | 2016-04-14 | 2016-06-15 | 任雁 | Intelligent agriculture and forestry machinery full-autonomous working detection and control system |
| CN105700406A (en) * | 2016-04-11 | 2016-06-22 | 南京农业大学 | Wireless network based large field agricultural machine remote operation and control platform |
| DE112014001482B4 (en) | 2013-03-15 | 2022-07-14 | Topcon Positioning Systems, Inc. | Monitoring and control display system and method |
| US11793098B2 (en) | 2019-08-27 | 2023-10-24 | Cnh Industrial America Llc | System and method for detecting levelness of tools of a tillage implement based on material flow |
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2010
- 2010-04-28 CN CN 201020189270 patent/CN201812174U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102612249A (en) * | 2011-01-25 | 2012-07-25 | 南京普爱射线影像设备有限公司 | Local power switch device for X-ray machine |
| CN102300079A (en) * | 2011-07-01 | 2011-12-28 | 全国农业技术推广服务中心 | System and method for video monitoring on agricultural insect disease |
| CN103917932B (en) * | 2011-10-12 | 2016-08-24 | 洋马株式会社 | Travel Work machine or the remote monitoring terminal device of boats and ships |
| CN103917932A (en) * | 2011-10-12 | 2014-07-09 | 洋马株式会社 | Remote monitoring terminal device for traveling work machine or ship |
| CN102650885A (en) * | 2012-04-18 | 2012-08-29 | 西北农林科技大学 | Robot walking monitoring system with remote-range prewarning function |
| CN102854851A (en) * | 2012-07-25 | 2013-01-02 | 深圳市深芯半导体有限公司 | Internet integrated operating system |
| DE112014001482B4 (en) | 2013-03-15 | 2022-07-14 | Topcon Positioning Systems, Inc. | Monitoring and control display system and method |
| CN105043247A (en) * | 2014-04-25 | 2015-11-11 | 迪尔公司 | Control system for operation of one or more agricultural operations and method for such |
| CN104503284B (en) * | 2014-12-20 | 2017-11-07 | 尹立新 | The control device and control method of a kind of rotary cultivator |
| CN104503284A (en) * | 2014-12-20 | 2015-04-08 | 尹立新 | Control device and control method of rotary cultivator |
| CN105438468A (en) * | 2015-12-16 | 2016-03-30 | 无锡同春新能源科技有限公司 | Unmanned sorghum harvester |
| CN105700406A (en) * | 2016-04-11 | 2016-06-22 | 南京农业大学 | Wireless network based large field agricultural machine remote operation and control platform |
| CN105676849A (en) * | 2016-04-14 | 2016-06-15 | 任雁 | Intelligent agriculture and forestry machinery full-autonomous working detection and control system |
| US11793098B2 (en) | 2019-08-27 | 2023-10-24 | Cnh Industrial America Llc | System and method for detecting levelness of tools of a tillage implement based on material flow |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20110427 Termination date: 20120428 |