CN208191176U - Satellite flat ground control system based on L inux operating system - Google Patents
Satellite flat ground control system based on L inux operating system Download PDFInfo
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- CN208191176U CN208191176U CN201721912891.3U CN201721912891U CN208191176U CN 208191176 U CN208191176 U CN 208191176U CN 201721912891 U CN201721912891 U CN 201721912891U CN 208191176 U CN208191176 U CN 208191176U
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Abstract
The utility model provides a satellite land leveling control system based on L inux operating system, includes leveler, controller, navigation information receiver and navigation information basic station, the leveler is equipped with the visual device of afterbody, the leveler includes level land shovel and level ground sword, the leveler passes through level control device and connects the level land shovel, level ground sword is arranged in level land shovel afterbody, the navigation information receiver is used for receiving the navigation signal that the navigation information basic station sent, the navigation information receiver connects the controller and passes the navigation signal to the controller, the controller is connected the leveler and drives the leveler and move.
Description
Technical field
The utility model belongs to engineering machinery control technology field, more particularly, to a kind of based on (SuSE) Linux OS
Satellite level land control system.
Background technique
China is large agricultural country, and the smooth degree of field level will affect the water application efficiency and water under the conditions of surface irrigation
Divide distribution consistency degree, so that influence quality of pouring water.Prepartion of land can effectively improve water, and the utilization rate of labour and the energy are to change
One of the important technique measure of kind surface irrigation method.
Conventional prepartion of land method includes artificial level land, the multiple means such as semi-artificial semi-machine level land and machine grading.
Existing land leveller can only be carried out level land using land level scraper mostly by its equipment self-defect and the limited restriction of manual operation precision
When operation or larger difference in height, land level scraper is big by resistance, influences working efficiency, influences prepartion of land precision.Or
Prepartion of land precision can not continue to improve after reaching a certain level.
Utility model content
Problem to be solved in the utility model is to provide a kind of satellite level land control system based on (SuSE) Linux OS,
To solve the above problems.
In order to solve the above technical problems, the technical solution adopted in the utility model is: one kind being based on Linux operating system
Satellite level land control system, including land leveller, controller, navigation information receiver and navigation information base station, the land leveller
Equipped with tail portion visual device, the tail portion visual device includes bracket, rotary shaft and reflective mirror, is propped up described in the rotation axis connection
Frame one end and tractor, the bracket other end connect the reflective mirror, and the land leveller includes land level scraper peace earthing knife-switch, described
Land leveller is equipped with land wheel and wheel shaft, land wheel described in the wheel axis connection, and the land leveller passes through described in level(l)ing device connection
Land level scraper, the level(l)ing device include power cylinder, deflection piece and supporting element, and the deflection piece is hinged with the wheel shaft,
The supporting element is fixed on the wheel shaft, and for the land wheel by being hingedly mounted on deflection piece, the power cylinder includes piston
Bar and cylinder body, the piston rod and the deflection piece are hinged, and the cylinder body and the supporting element are hinged, the power cylinder, described
Deflection piece and the supporting element, which join end to end, constitutes triangle, and crossbeam is equipped with above the land level scraper, and the level land knife is placed in institute
Land level scraper tail portion is stated, the level land knife includes blade, hydraulic stem, connection sheet, and the blade passes through described in hydraulic stem connection
Connection sheet, the connection sheet connect the crossbeam, and the level land knife is multiple groups, and the level land knife is evenly distributed on the crossbeam
On, the navigation information receiver and the controller are placed on the land leveller crossbeam, and the navigation information receiver is used to
The navigation signal that the navigation information base station issues is received, the navigation information receiver connects the controller and leads described
Boat signal is transmitted to the controller, and the controller includes shell and internal control system, and the control system includes micro process
Device and battery, the battery connect the microprocessor, the microprocessor be equipped with signal processing unit, signature computation unit and
Signal comparing unit, signal successively pass through the signal processing unit, the signature computation unit and the signal comparing unit,
The controller connects the land leveller and the land leveller is driven to move.
Further, the shell is rectangular parallelepiped structure, and the shell front is equipped with control panel, on the control panel
Equipped with OLED display screen, LED light and button, the button includes switch button, mode switching button and regulation button.
Further, the microprocessor is equipped with BLUETOOTH unit, WiFi unit and GSM unit, the microprocessor
It is connected by the wireless display apparatus of BLUETOOTH unit, WiFi unit or GSM unit and user terminal, the BLUETOOTH is mono-
Member is CC2540 module, and the WiFi unit is Esp8266 module, and the GSM unit is sim module.
Further, the wireless display apparatus is mobile phone, computer or printer.
Further, the tail portion visual device further includes U-shaped frame, position point among the U-shaped frame both ends vertical direction
Position among multiple brackets is not connected.
Further, it is equipped with sensor inside the controller, the sensor includes angular transducer and elevation sensor.
Further, the reflective mirror is spherical mirror or camera.
Further, the navigation information base station is RTK measuring instrument.
Further, the angular transducer is MEMS dual-shaft acceleration sensor.
Further, the navigation information receiver is GPS information receiver.
The utility model has the advantages and positive effects of:
1, the angular transducer of the utility model can detect the pitch angle and roll angular data of land level scraper, be passed by elevation
Sensor can detect the horizontality data in soil.Navigation information receiver on the one hand receives GPS, GLONASS or big-dipper satellite is led
Navigate issue navigation signal, can promptly carry out one-off construction benchmark automatic and accurate positioning, facilitate it is accurate, time saving and energy saving,
Working efficiency is high, and the uniformity on level land, smooth precision have guarantee；On the other hand, navigation information base station hair is received
Navigation signal out.According to above data, controller can control land level scraper and level land the knife work surface in different working condition to begin
It is horizontal eventually, improve operating accuracy and working efficiency.
2, level land knife is arranged by the tail end in land level scraper in the utility model, and level land knife is controlled by hydraulic stem, works as ground
When harder, first knife loose ground in level land can be driven to improve flat to reduce the resistance of land level scraper before driving land level scraper level land
The efficiency of ground shovel.
3, the utility model can position grading operation region, and mono- by BLUETOOTH by GPS positioning function in real time
Controller correlation duty parameter is uploaded to user hand generator terminal by member, WiFi unit or GSM unit in real time, and user can observe flat in real time
Ground machine status.Administrative staff are facilitated to inquire grading operation relevant information.
4, the utility model is equipped with tail portion visual device, by the setting of reflective mirror so that driver be easier to see it is peaceful
The subsequent blind area of ground machine, so that constructing operation more secure and reliable.
5, the land level scraper of the utility model is equipped with level(l)ing device, flexible by the piston rod for controlling power cylinder, to adjust
Save land the height of wheel, and the horizontality of land level scraper is kept by adjusting the height of land wheel, avoids in out-of-flatness ground or the gradient
When the operation of face, two fixed land wheel height can be made different and cause equipment shovel blade inclination that the ground of operation is made also to show imitative type and incline
Oblique defect improves the efficiency of the accuracy on level land pacifically.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model embodiment
Fig. 2 is the tail portion visual device structural schematic diagram of the utility model embodiment
Fig. 3 is the controller architecture schematic diagram of the utility model embodiment
Fig. 4 is the operation principle schematic diagram of the control system of the utility model embodiment
Fig. 5 is the interface circuit figure of the OLED display screen of the utility model embodiment
In figure:
1, hydraulic stem 2, connection sheet 3, controller
4, navigation information receiver 5, land leveller 6, deflection piece
7, piston rod 8, power cylinder 9, cylinder body
10, wheel shaft 11, land wheel 12, supporting element
13, level(l)ing device 14, land level scraper 15, crossbeam
16, blade 17, navigation information base station 18, shell
19, OLED display screen 20, tail portion visual device 21, rotary shaft
22, level land knife 23, bracket 24, reflective mirror
25, U-shaped frame 26, control panel 27, LED light
28, switch button 29, mode switching button 30, regulation button
31, angular transducer 32, elevation sensor 33, microprocessor
34, battery 35, signal processing unit 36, signature computation unit
37, signal comparing unit
Specific embodiment
The utility model embodiment is described further with reference to the accompanying drawing:
As shown in Figure 1, a kind of satellite level land control system based on (SuSE) Linux OS, including land leveller 5, controller
3, navigation information receiver 4 and navigation information base station 17, navigation information receiver 4 are GPS information receiver.Navigation information base
17 are stood as RTK measuring instrument.RTK, English name: Real-time kinematic, Chinese name: real time dynamic differential method is that one kind is led
Navigate information measuring method.It uses carrier phase dynamic real-time difference method, can obtain in real time centimeter-level positioning essence in field
Degree.RTK measuring instrument can effectively receive simultaneously transmitting satellite navigation data information with RTK measurement method.Land leveller 5 includes
The peaceful earthing knife-switch 22 of land level scraper 14, land leveller 5 are equipped with land wheel 11 and wheel shaft 10, and wheel shaft 10 connects land wheel 11, and land leveller 5 passes through water
Heibei provincial opera regulating device 13 connects land level scraper 14, and level(l)ing device 13 includes power cylinder 8, deflection piece 6 and supporting element 12, deflection piece 6
It is hinged with wheel shaft 10, supporting element 12 is fixed on wheel shaft 10, and land wheel 11 is by being hingedly mounted on deflection piece 6, power cylinder 8
Including piston rod 7 and cylinder body 9, piston rod 7 and deflection piece 6 are hinged, and cylinder body 9 and supporting element 12 are hinged, power cylinder 8,6 and of deflection piece
Supporting element 12, which joins end to end, constitutes triangle, and crossbeam 15 is equipped with above land level scraper 14, and level land knife 22 is placed in 14 tail portion of land level scraper, puts down
Earthing knife-switch 22 includes blade 16, hydraulic stem 1, connection sheet 2, and blade 16 connects connection sheet 2,2 connecting cross beam of connection sheet by hydraulic stem 1
15, level land knife 22 is multiple groups, and level land knife 22 is evenly distributed on 15 on crossbeam.Navigation information receiver 4 and controller 3 are placed in level land
On 5 crossbeam 15 of machine, navigation information receiver 4 is used to receive the navigation signal of the sending of navigation information base station 17, and navigation information receives
Device 4 connects controller 3 and navigation signal is transmitted to controller 3.
As shown in Fig. 2, land leveller 5 is equipped with tail portion visual device 20, tail portion visual device 20 includes bracket 23, rotary shaft 21
With reflective mirror 24, pacifically machine 5,23 other end of bracket connect reflective mirror 24, reflective mirror 24 for 21 connecting bracket of rotary shaft, 23 one end
For spherical mirror or camera.Tail portion visual device 20 further includes U-shaped frame 25, position among U-shaped 25 both ends vertical direction of frame
It is separately connected the intermediate position of multiple brackets 23.
As shown in figure 3, controller 3 includes shell 18 and internal control system, shell 18 is rectangular parallelepiped structure, and shell 18 is just
Face is equipped with control panel 26, and control panel 26 is equipped with OLED display screen 19, LED light 27 and button, and button includes switch
Button 28, mode switching button 29 and regulation button 30.
As shown in figure 4, being equipped with sensor inside controller 3, sensor includes angular transducer 31 and elevation sensor 32.
Angular transducer 31 is MEMS dual-shaft acceleration sensor.Control system includes microprocessor 33 and battery 34, and battery 34 connects
Microprocessor 33, microprocessor 33 be equipped with signal processing unit 35, signature computation unit 36 and signal comparing unit 37, signal according to
Secondary to pass through signal processing list, 35, signature computation unit 36 and signal comparing unit 37, controller 3 connects land leveller 5 and driving is flat
Ground machine 5 moves.Microprocessor 33 is equipped with BLUETOOTH unit, WiFi unit and GSM unit, and microprocessor 33 passes through
The connection of the wireless display apparatus of BLUETOOTH unit, WiFi unit or GSM unit and user terminal, BLUETOOTH unit are
CC2540 module, WiFi unit are Esp8266 module, and GSM unit is sim module.Wireless display apparatus be mobile phone, computer or
Printer.
The working principle of the utility model embodiment is: when using the utility model, navigation information base station 17 being respectively provided with
Except wait level land, controller 3 is placed on land leveller 5, the proper height of adjusting controller 3.After fixation, opening is opened
Button 28, LED light bright 27 are closed, display controller 3 is currently in the course of work, on the one hand navigation information receiver 4 receives
GPS, GLONASS or Beidou satellite navigation information, such as geographical location navigation information；On the other hand navigation information receiver 4 receives
The navigation information that navigation information base station 17 issues, such as elevation difference navigation information.Navigation information receiver 4 can be by above- mentioned information number
According to the microprocessor 33 for being transmitted to controller 3, the signal processing unit 35 in microprocessor 33 handles the signal of input,
Signal, according to the information of land leveller 5, is calculated the physical location of land leveller 5, is then compared by signal by signature computation unit 36
Unit 37 is compared the physical location of land leveller 5 with the target position that user inputs, and is calculated, is obtained according to comparison result
Amount of exercise needed for land leveller 5 and OLED display screen 19 is output a control signal to out, makes one more intuitively observe land leveller 5
Motion information, select suitable mode further according to actual conditions.
The information measured is transmitted to microprocessor 33 by navigation information receiver 4, and microprocessor 33 handles signal,
Detection information is shown by OLED display screen 19, it is more intuitive, facilitate observation, 19 model of OLED display screen that the present embodiment is selected
VGG12864E-S002 type, resolution ratio are 128 × 64, built-in 64 × 64 display data RAM.Bits per inch is according to corresponding OLED in RAM
Bright, the dark state of a point on display screen 19.Therefore two panels column drive control device is used, every 64 rows export line driver.
VGG12864E module and the connection type of microprocessor 33 are to indirectly control, the interface circuit of OLED display screen 19 such as Fig. 5 institute
Show, the common chip of interface circuit is P89C669, and the P1 mouth of P89C669, which is selected as data port, P3.2 and P3.3 as piece, to be believed
Number, for P3.4 as reseting controling signal, P3.5 is register selection signal, and P3.6 is enable signal E, and P3.7 is read-write.
It will send information to the mobile phone, computer or printing of user terminal by BLUETOOTH unit, WiFi unit or GSM unit simultaneously
Machine can facilitate user constantly to monitor, and information can be printed archive backups by printer.
The utility model has the advantages and positive effects of:
1, the angular transducer of the utility model can detect the pitch angle and roll angular data of land level scraper, be passed by elevation
Sensor can detect the horizontality data in soil.On the one hand navigation information receiver receives GPS, GLONASS or big-dipper satellite
Navigate the navigation signal issued, can promptly carry out the positioning of one-off construction benchmark automatic and accurate, facilitate accurate, time saving province
Power, working efficiency are high, and the uniformity on level land, smooth precision have guarantee；On the other hand, navigation information base station is received
The navigation signal of sending.According to above data, controller can control land level scraper and level land the knife work surface in different working condition
Always horizontal, improve operating accuracy and working efficiency.
2, level land knife is arranged by the tail end in land level scraper in the utility model, and level land knife is controlled by hydraulic stem, works as ground
When harder, first knife loose ground in level land can be driven to improve flat to reduce the resistance of land level scraper before driving land level scraper level land
The efficiency of ground shovel.
3, the utility model can position grading operation region, and mono- by BLUETOOTH by GPS positioning function in real time
Controller correlation duty parameter is uploaded to user hand generator terminal by member, WiFi unit or GSM unit in real time, and user can observe flat in real time
Ground machine status.Administrative staff are facilitated to inquire grading operation relevant information.
4, the utility model is equipped with tail portion visual device, by the setting of reflective mirror so that driver be easier to see it is peaceful
The subsequent blind area of ground machine, so that constructing operation more secure and reliable.
5, the land level scraper of the utility model is equipped with level(l)ing device, flexible by the piston rod for controlling power cylinder, to adjust
Save land the height of wheel, and the horizontality of land level scraper is kept by adjusting the height of land wheel, avoids in out-of-flatness ground or the gradient
When the operation of face, two fixed land wheel height can be made different and cause equipment shovel blade inclination that the ground of operation is made also to show imitative type and incline
Oblique defect improves the efficiency of the accuracy on level land pacifically.
One embodiment of the utility model is described in detail above, but the content is only the utility model
Preferred embodiment should not be considered as limiting the scope of the present invention.It is all to be made according to application scope of the utility model
All the changes and improvements etc., should still belong within the patent covering scope of the utility model.
Claims (10)
1. a kind of satellite level land control system based on (SuSE) Linux OS, including land leveller, controller, navigation information receive
Device and navigation information base station, it is characterised in that: the land leveller is equipped with tail portion visual device, and the tail portion visual device includes branch
Frame, rotary shaft and reflective mirror, bracket one end and tractor described in the rotation axis connection, the bracket other end connection are described anti-
Light microscopic, the land leveller include land level scraper peace earthing knife-switch, and the land leveller is equipped with land wheel and wheel shaft, described in the wheel axis connection
Wheel, the land leveller connect the land level scraper by level(l)ing device, and the level(l)ing device includes power cylinder, deflection piece
And supporting element, the deflection piece are hinged with the wheel shaft, the supporting element is fixed on the wheel shaft, and the land wheel passes through hinge
It connects and is mounted on deflection piece, the power cylinder includes piston rod and cylinder body, and the piston rod and the deflection piece are hinged, the cylinder
Body and the supporting element are hinged, and the power cylinder, the deflection piece and the supporting element, which join end to end, constitutes triangle, described flat
Ground shovel top is equipped with crossbeam, and the level land knife is placed in the land level scraper tail portion, and the level land knife includes blade, hydraulic stem, connection
Piece, the blade connect the connection sheet by the hydraulic stem, and the connection sheet connects the crossbeam, and the level land knife is more
Group, the level land knife are evenly distributed on the crossbeam, and the navigation information receiver and the controller are placed in the level land
On machine crossbeam, the navigation information receiver is used to receive the navigation signal that the navigation information base station issues, the navigation letter
Breath receiver connects the controller and the navigation signal is transmitted to the controller, and the controller includes shell and inside
Control system, the control system include microprocessor and battery, and the battery connects the microprocessor, the microprocessor
Equipped with signal processing unit, signature computation unit and signal comparing unit, signal successively passes through the signal processing unit, described
Signature computation unit and the signal comparing unit, the controller connect the land leveller and the land leveller are driven to move.
2. a kind of satellite level land control system based on (SuSE) Linux OS according to claim 1, it is characterised in that:
The shell be rectangular parallelepiped structure, the shell front be equipped with control panel, the control panel be equipped with OLED display screen,
LED light and button, the button include switch button, mode switching button and regulation button.
3. a kind of satellite level land control system based on (SuSE) Linux OS according to claim 1 or 2, feature exist
In: the microprocessor is equipped with BLUETOOTH unit, WiFi unit and GSM unit, and the microprocessor passes through BLUETOOTH
The connection of the wireless display apparatus of unit, WiFi unit or GSM unit and user terminal, the BLUETOOTH unit are CC2540 mould
Block, the WiFi unit are Esp8266 module, and the GSM unit is sim module.
4. a kind of satellite level land control system based on (SuSE) Linux OS according to claim 3, it is characterised in that:
The wireless display apparatus is mobile phone, computer or printer.
5. a kind of satellite level land control system based on (SuSE) Linux OS according to claim 1 or 2, feature exist
In: the tail portion visual device further includes U-shaped frame, and position is separately connected multiple described among the U-shaped frame both ends vertical direction
Position among bracket.
6. a kind of satellite level land control system based on (SuSE) Linux OS according to claim 1 or 2, feature exist
In: sensor is equipped with inside the controller, the sensor includes angular transducer and elevation sensor.
7. a kind of satellite level land control system based on (SuSE) Linux OS according to claim 1 or 2, feature exist
In: the reflective mirror is spherical mirror or camera.
8. a kind of satellite level land control system based on (SuSE) Linux OS according to claim 1 or 2, feature exist
In: the navigation information base station is RTK measuring instrument.
9. a kind of satellite level land control system based on (SuSE) Linux OS according to claim 6, it is characterised in that:
The angular transducer is MEMS dual-shaft acceleration sensor.
10. a kind of satellite level land control system based on (SuSE) Linux OS according to claim 1 or 2, feature exist
In: the navigation information receiver is GPS information receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721912891.3U CN208191176U (en) | 2017-12-30 | 2017-12-30 | Satellite flat ground control system based on L inux operating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721912891.3U CN208191176U (en) | 2017-12-30 | 2017-12-30 | Satellite flat ground control system based on L inux operating system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208191176U true CN208191176U (en) | 2018-12-07 |
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ID=64490738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721912891.3U Active CN208191176U (en) | 2017-12-30 | 2017-12-30 | Satellite flat ground control system based on L inux operating system |
Country Status (1)
| Country | Link |
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| CN (1) | CN208191176U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111258999A (en) * | 2020-01-16 | 2020-06-09 | 山东大学 | SLR-based BDS satellite orbit near-real-time checking service system |
| CN112602388A (en) * | 2019-10-03 | 2021-04-06 | 迪尔公司 | Work vehicle material management using a ground shovel door |
-
2017
- 2017-12-30 CN CN201721912891.3U patent/CN208191176U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112602388A (en) * | 2019-10-03 | 2021-04-06 | 迪尔公司 | Work vehicle material management using a ground shovel door |
| CN112602388B (en) * | 2019-10-03 | 2024-02-13 | 迪尔公司 | Work vehicle material management using a blade door |
| CN111258999A (en) * | 2020-01-16 | 2020-06-09 | 山东大学 | SLR-based BDS satellite orbit near-real-time checking service system |
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