CN103688635A - Intelligent control system and method for multifunctional orchard management machine - Google Patents
Intelligent control system and method for multifunctional orchard management machine Download PDFInfo
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- CN103688635A CN103688635A CN201310696091.2A CN201310696091A CN103688635A CN 103688635 A CN103688635 A CN 103688635A CN 201310696091 A CN201310696091 A CN 201310696091A CN 103688635 A CN103688635 A CN 103688635A
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Abstract
The invention discloses an intelligent control system and method for a multifunctional orchard management machine, and relates to the field of agricultural equipment. The intelligent control system for the multifunctional orchard management machine comprises a controller, a touch screen, a driving speed monitoring and controlling part, a furrow opening speed monitoring and controlling part, a chemical delivery monitoring and controlling part and a fertilizer application monitoring and controlling part. The intelligent control system, on the basis of combination of driving speed monitoring, furrow opening speed monitoring, chemical delivery monitoring and fertilizer application monitoring modules, realizes single-function or complex operation of chemical delivery, furrow opening and fertilizer application as well as a load feedback intelligent mode operation in view of single function and complex function control process design of touch screen keys. The intelligent control system realizes monitoring alarm on oil amount, chemical amount, overload and other states of the orchard management machine on the basis of multi-sensing information and a touch screen alarm light, thus effectively reducing difficulties and complexities of operation and switching among multiple functions and improving working reliability. The intelligent control system is applicable to automatic operation of orchard and field multifunctional management machinery.
Description
Affiliated technical field
The present invention relates to agricultural equipment field, particularly a kind of intelligence control system of Multifunctional orchard management machine and method.
Background technology
The seasonal strong feature of, operation numerous for orchard production link, Multifunctional orchard management machine becomes the direction of middle-size and small-size Machinery for orchard development.The LG-1 type multifunctional garden operation machine of Xinjiang Machine Academe's exploitation (Zhu Haitao. the improvement design of LG_1 multifunctional garden operation machine. Xinjiang agricultural machanization, 2011, (5): 44,62).), CN202285496 U) multifunctional garden operation machine of Xinjiang Academy of Land Reclamation &. Cultivation exploitation (Granted publication number: CN202653062U), the Multifunctional orchard management machine that proposes of Jiang Niankun (Granted publication number: the type such as, realize a tractor serves several purposes of the functions such as soil management, irrigation, beta pruning, Material Transportation, but all by simple additional different operation part on chassis, reach the object of extended function, between each functional module, lack organic integration, most functions can even articulate related device on tractor at conventional workover rig by user and can realize.Meanwhile, each function is by manually carrying out part replacement and operation respectively, and its complicated operation is inconvenient, cannot meet the needs of orchard multifunctional management far away.
Summary of the invention
The object of the present invention is to provide a kind of intelligence control system and method for Multifunctional orchard management machine, to realize Based Intelligent Control and the status monitoring of Multifunctional orchard management machine trench digging, fertilising, dispenser operation, report to the police, effectively improve handiness and the reliability of Multifunctional orchard management machine.
In order to solve above technical problem, the concrete technology technical scheme that the present invention adopts is as follows:
An intelligence control system for Multifunctional orchard management machine, is characterized in that: comprise controller (6), touch-screen (5) travel speed Monitoring and Controlling part, trench digging speed monitoring control section, dispenser Monitoring and Controlling part and fertilising Monitoring and Controlling part; Travel speed Monitoring and Controlling part, trench digging speed monitoring control section, dispenser Monitoring and Controlling part and fertilising Monitoring and Controlling part are connected with controller (6) by I/O mouth respectively, and touch-screen (5) is connected with controller (6) by communication interface.
According to the control method of the intelligence control system of described a kind of Multifunctional orchard management machine, it is characterized in that comprising the following steps:
Step 1, initialization system, human pilot is handled chassis (1) and is advanced;
As press ditching-fertilizing key (35), and Miniature diaphragm pump (19) stops, and fuel tank magnetic valve (21) cuts out with medicine-chest magnetic valve (25), and electronic switch (23) disconnects, and dispenser system (4) is in the state of stopping operation; Electromagnetic clutch (15) engages plough axle (13) is rotated, and plough (2) carries out ditching operation; Simultaneously fertilizer stepper motor (30) drives defertilizing opening (32) to open, fertilizer applicator (3) operation of applying fertilizer;
As press full operation key (36), and Miniature diaphragm pump (19) work, fuel tank magnetic valve (21) is opened, electronic switch (23) sparking, medicine-chest magnetic valve (25) is opened, and dispenser system (4) is carried out dispenser operation; Electromagnetic clutch (15) engages plough axle (13) is rotated simultaneously, and plough (2) carries out ditching operation; Simultaneously fertilizer stepper motor (30) drives defertilizing opening (32) to open, fertilizer applicator (3) operation of applying fertilizer;
Step 3, as press intelligent mode key (37), enter feedback loading job state; Otherwise maintain without the open loop of feedback and control job state;
Step 4, at feedback loading job state, as the real-time rotate speed n of plough axle (13)
sbe less than plough axle (13) stabilized (steady-state) speed n
00.6 times, the load that shows to ditch increases obviously, by real-time rotate speed n
sfrom stabilized (steady-state) speed n
0be reduced to 0.6n
0time t and time threshold t
0relatively, distinguish:
As t<t
0, show that load sharply increases, there is the barriers such as ratchel in the place ahead, and controller (6) is given an order, and electromagnetic clutch (15) is separated rapidly, makes plough axle (13) no longer include power input; Simultaneously electromagnetic brake (7) rapidly braking make chassis (1) stop advancing, overload-alarm lamp (38) sends warning, the prompting driver inspection of getting off;
As t>t
0show not cause trench digging load to continue to increase because casting does not freely wait, controller (6) is given an order, and speed governing stepper motor (11) rotates, drive HST stepless speed-changing system (9) automatically to adjust the pace of chassis (1), the load that makes to ditch drops to optimum state;
Step 5, as fertile quantity sensor (28) detects the fertile quantity not sufficient in fertile case (31), fertile amount alarm lamp (39) is bright, and human pilot is handled chassis (1) and is stopped, artificial supplementation fertilizer; Otherwise represent that fertile amount is sufficient, continue current job state;
Step 6, the dose detecting in medicine-chest (26) as medicine-chest liquid level sensor (27) is not enough, and dose alarm lamp (40) is bright, and human pilot is handled chassis (1) and is stopped, artificial supplementation liquid; Otherwise represent that dose is sufficient, continues current job state;
Step 7, as oil tank liquid level sensor (17) detects the low on fuel in fuel tank (20), oil quantity alarming lamp (33) is bright, and human pilot is handled chassis (1) and is stopped, and refuels.Otherwise represent that oil mass is sufficient, continues current job state.
the present invention has beneficial effect.Module with travel speed monitoring, trench digging speed monitoring, dispenser monitoring and fertilising monitoring is combined as basis, single function based on touch-screen button and the design of complex function control flow, realized the multi-functional organic assembling of orchard supervisor and the monitoring, alarming of the state such as oil mass, dose and overload, effectively reduced difficulty and the complexity of multifunctional operating and switching and improved operational reliability.
Accompanying drawing explanation
Fig. 1 is Multifunctional orchard management machine structural representation.
Fig. 2 is Multifunctional orchard management machine control system structural representation.
Fig. 3 is the monitoring interface schematic diagram of Multifunctional orchard management machine touch-screen 5.
Fig. 4 is Multifunctional orchard management machine Based Intelligent Control flow process schematic diagram.
In figure, 1. chassis, 2. plough, 3. fertilizer applicator, 4. dispenser system, 5. touch-screen, 6. controller, 7. electromagnetic brake, 8. braking relay, 9.HST stepless speed-changing system, 10. travel speed sensor, 11. speed governing stepper motors, 12. speed-regulating drivers, 13. plough axles, 14. trench digging velocity sensors, 15. electromagnetic clutch, 16. trench digging relays, 17. oil tank liquid level sensors, 18. for oil relay, 19. Miniature diaphragm pumps, 20. fuel tanks, 21. fuel tank magnetic valves, 22. ignition relay, 23. electronic switches, 24. dispenser engines, 25. medicine-chest magnetic valves, 26. medicine-chests, 27. medicine-chest liquid level sensors, 28. fertile quantity sensors, 29. fertilizer drivers, 30. fertilizer stepper motors, 31. fertile casees, 32. defertilizing openings, 33. oil quantity alarming lamps, 34. dispenser keys, 35. ditching-fertilizing keys, 36. full operation keys, 37. intelligent mode keys, 38. overload-alarm lamps, 39. fertile amount alarm lamps, 40. dose alarm lamps.
Embodiment
As Fig. 1, a kind of Multifunctional orchard management machine, consists of chassis 1, plough 2, fertilizer applicator 3, dispenser system 4.Chassis 1 comprises sustainer and fuel tank 20.The output shaft of sustainer connects HST stepless speed-changing system 9, and chassis 1 is driven and travelled by sustainer.Plough 2 is installed on the afterbody on chassis 1, and plough 2 is driven by the sustainer on chassis 1.Fertilizer applicator 3 comprises fertile case 31 and defertilizing opening 32, and fertilizer applicator 3 is installed on the top of plough 2.Dispenser system 4 comprises dispenser engine 24 and medicine-chest 26, and dispenser system 4 is installed on 1 top, chassis, and dispenser system 4 is driven and sprayed operation by dispenser engine 24.Sustainer and dispenser engine 24 are by fuel tank 20 fuel feeding.
As Fig. 2, Multifunctional orchard management machine intelligence control system comprises controller 6, touch-screen 5, travel speed Monitoring and Controlling part, trench digging speed monitoring control section, dispenser Monitoring and Controlling part and fertilising Monitoring and Controlling part.Travel speed Monitoring and Controlling part, trench digging speed monitoring control section, dispenser Monitoring and Controlling part and fertilising Monitoring and Controlling part are connected with controller 6 by I/O mouth respectively, and touch-screen 5 is connected with controller 6 by communication interface.
Wherein travel speed Monitoring and Controlling partly comprises electromagnetic brake 7, braking relay 8, travel speed sensor 10, speed governing stepper motor 11, speed-regulating driver 12.HST stepless speed-changing system 9, through the live axle of electromagnetic brake 7 connecting base plates 1, drives HST stepless speed-changing system 9 by speed governing stepper motor 11, realizes the automatic adjustment to chassis 1 speed of travel.Travel speed sensor 10 is installed on the live axle outer end on chassis 1, the transducing signal access controller 6 of travel speed sensor 10.Controller 6 is controlled the Engage and disengage of electromagnetic brake 7 by braking relay 8.
Wherein trench digging speed detection control section comprises trench digging velocity sensor 14, electromagnetic clutch 15, trench digging relay 16.Sustainer output shaft connects plough axle 13 through electromagnetic clutch 15, and trench digging velocity sensor 14 is installed on plough axle 13 outer ends, the transducing signal access controller 6 of trench digging velocity sensor 14.Controller 6 is controlled the Engage and disengage of electromagnetic clutch 15 by trench digging relay 16.
Wherein dispenser Monitoring and Controlling partly comprises oil tank liquid level sensor 17, supplies oil relay 18, Miniature diaphragm pump 19, fuel tank magnetic valve 21, ignition relay 22, electronic switch 23, medicine-chest magnetic valve 25, medicine-chest liquid level sensor 27.Oil tank liquid level sensor 17 and Miniature diaphragm pump 19 are installed on respectively in fuel tank 20, and medicine-chest liquid level sensor 27 is installed in medicine-chest 26, and fuel tank magnetic valve 21 is installed between fuel tank 20 and dispenser engine 24.Fuel tank magnetic valve 21 is controlled it by controller 6 and is opened and closed, and controller 6 is by controlling the work of Miniature diaphragm pump 19 and stop for oil relay 18, and controller 6 is controlled the on/off of electronic switch 23 by ignition relay 22.
The Monitoring and Controlling of wherein applying fertilizer partly comprises that fertile quantity sensor 28, fertilizer driver 29, fertilizer stepper motor 30 form.Fertile quantity sensor 28 is installed in fertile case 31, and fertilizer stepper motor 30 is installed on defertilizing opening 32.The transducing signal access controller 6 of fertile quantity sensor 28.Controller 6 is controlled the rotation of fertilizer stepper motor 30 by fertilizer driver 29, and then controls opening and closing of defertilizing opening 32.
As Fig. 3, the monitoring interface of Multifunctional orchard management machine touch-screen 5 comprises oil quantity alarming lamp 33, dispenser key 34, ditching-fertilizing key 35, full operation key 36, intelligent mode key 37, overload-alarm lamp 38, fertile amount alarm lamp 39, dose alarm lamp 40.
As Fig. 3 and Fig. 4, the control flow of the monitoring interface function of touch-screen 5 of the present invention and the intelligent control method of Multifunctional orchard management machine is as follows:
(1) system initialization, human pilot is handled chassis 1 and is advanced;
(2) as pressed the dispenser key 34 of touch-screen 5, electromagnetic clutch 15 separation make plough 2 in the state of stopping operation, and fertilizer stepper motor 30 makes defertilizing opening 32 in closed condition; First controller 6 controls Miniature diaphragm pump 19 work by the fuel oil suction oil circuit in fuel tank 20; And rear fuel tank magnetic valve 21 is opened, fuel oil enters dispenser engine 24; Electronic switch 23 sparkings subsequently start dispenser engine 24; Open medicine-chest magnetic valve 25, liquid ejection realizes dispenser operation;
As press ditching-fertilizing key 35, and Miniature diaphragm pump 19 stops, and fuel tank magnetic valve 21 cuts out with medicine-chest magnetic valve 25, and electronic switch 23 disconnects, and dispenser system 4 is in the state of stopping operation; Electromagnetic clutch 15 engages plough axle 13 is rotated, and plough 2 carries out ditching operation; Simultaneously fertilizer stepper motor 30 drives defertilizing openings 32 to open, fertilizer applicator 3 operation of applying fertilizer;
As press full operation key 36, and Miniature diaphragm pump 19 work, fuel tank magnetic valve 21 is opened, electronic switch 23 sparkings, medicine-chest magnetic valve 25 is opened, and dispenser system 4 is carried out dispenser operation; Electromagnetic clutch 15 engages plough axle 13 is rotated simultaneously, and plough 2 carries out ditching operation; Simultaneously fertilizer stepper motor 30 drives defertilizing openings 32 to open, fertilizer applicator 3 operation of applying fertilizer;
(3) as pressed intelligent mode key 37, enter feedback loading job state;
(4) the stabilized (steady-state) speed n of plough axle 13
0for 180rpm, at feedback loading job state, as the real-time rotate speed n of plough axle 13
sbe 108 rpm, the load that shows to ditch increases obviously, by real-time rotate speed n
sfrom stabilized (steady-state) speed 180rpm, be reduced to time t and the time threshold 0.2s comparison of 108 rpm, distinguish:
As t<0.2s, show that load sharply increases, there is the barriers such as ratchel in the place ahead, and controller 6 is given an order, and electromagnetic clutch 15 is separated rapidly, makes plough axle 13 no longer include power input; Simultaneously electromagnetic brake 7 rapidly braking make chassis 1 stop advancing, overload-alarm lamp 38 sends warning, the prompting driver inspection of getting off;
As t>0.2s, show not cause trench digging load to continue to increase because casting does not freely wait, controller 6 is given an order, and speed governing stepper motor 11 rotates, drive HST stepless speed-changing system 9 automatically to adjust the pace on chassis 1, the load that makes to ditch drops to optimum state;
(5) as fertile quantity sensor 28 detects the fertile quantity not sufficient in fertile case 31, fertile amount alarm lamp 39 is bright, and human pilot is handled chassis 1 and stopped, artificial supplementation fertilizer;
(6) dose detecting in medicine-chest 26 as medicine-chest liquid level sensor 27 is not enough, and dose alarm lamp 40 is bright, and human pilot is handled chassis 1 and stopped, artificial supplementation liquid;
(7) as oil tank liquid level sensor 17 detects the low on fuel in fuel tank 20, oil quantity alarming lamp 33 is bright, and human pilot is handled chassis 1 and stopped, and refuels.
Claims (2)
1. an intelligence control system for Multifunctional orchard management machine, is characterized in that: comprise controller (6), touch-screen (5) travel speed Monitoring and Controlling part, trench digging speed monitoring control section, dispenser Monitoring and Controlling part and fertilising Monitoring and Controlling part; Travel speed Monitoring and Controlling part, trench digging speed monitoring control section, dispenser Monitoring and Controlling part and fertilising Monitoring and Controlling part are connected with controller (6) by I/O mouth respectively, and touch-screen (5) is connected with controller (6) by communication interface.
2. the control method of the intelligence control system of a kind of Multifunctional orchard management machine according to claim 1, is characterized in that comprising the following steps:
Step 1, initialization system, human pilot is handled chassis (1) and is advanced;
Step 2, as press the dispenser key (34) of touch-screen (5), electromagnetic clutch (15) separation makes plough (2) in the state of stopping operation, and fertilizer stepper motor (30) makes defertilizing opening (32) in closed condition; Controller (6) is first controlled Miniature diaphragm pump (19) work by the fuel oil suction oil circuit in fuel tank (20); And rear fuel tank magnetic valve (21) is opened, fuel oil enters dispenser engine (24); Electronic switch (23) sparking subsequently starts dispenser engine (24); Open medicine-chest magnetic valve 25, liquid ejection realizes dispenser operation;
As press ditching-fertilizing key (35), and Miniature diaphragm pump (19) stops, and fuel tank magnetic valve (21) cuts out with medicine-chest magnetic valve (25), and electronic switch (23) disconnects, and dispenser system (4) is in the state of stopping operation; Electromagnetic clutch (15) engages plough axle (13) is rotated, and plough (2) carries out ditching operation; Simultaneously fertilizer stepper motor (30) drives defertilizing opening (32) to open, fertilizer applicator (3) operation of applying fertilizer;
As press full operation key (36), and Miniature diaphragm pump (19) work, fuel tank magnetic valve (21) is opened, electronic switch (23) sparking, medicine-chest magnetic valve (25) is opened, and dispenser system (4) is carried out dispenser operation; Electromagnetic clutch (15) engages plough axle (13) is rotated simultaneously, and plough (2) carries out ditching operation; Simultaneously fertilizer stepper motor (30) drives defertilizing opening (32) to open, fertilizer applicator (3) operation of applying fertilizer;
Step 3, as press intelligent mode key (37), enter feedback loading job state; Otherwise maintain without the open loop of feedback and control job state;
Step 4, at feedback loading job state, as the real-time rotate speed n of plough axle (13)
sbe less than plough axle (13) stabilized (steady-state) speed n
00.6 times, the load that shows to ditch increases obviously, by real-time rotate speed n
sfrom stabilized (steady-state) speed n
0be reduced to 0.6n
0time t and time threshold t
0relatively, distinguish:
As t<t
0, show that load sharply increases, there is the barriers such as ratchel in the place ahead, and controller (6) is given an order, and electromagnetic clutch (15) is separated rapidly, makes plough axle (13) no longer include power input; Simultaneously electromagnetic brake (7) rapidly braking make chassis (1) stop advancing, overload-alarm lamp (38) sends warning, the prompting driver inspection of getting off;
As t>t
0show not cause trench digging load to continue to increase because casting does not freely wait, controller (6) is given an order, and speed governing stepper motor (11) rotates, drive HST stepless speed-changing system (9) automatically to adjust the pace of chassis (1), the load that makes to ditch drops to optimum state;
Step 5, as fertile quantity sensor (28) detects the fertile quantity not sufficient in fertile case (31), fertile amount alarm lamp (39) is bright, and human pilot is handled chassis (1) and is stopped, artificial supplementation fertilizer; Otherwise represent that fertile amount is sufficient, continue current job state;
Step 6, the dose detecting in medicine-chest (26) as medicine-chest liquid level sensor (27) is not enough, and dose alarm lamp (40) is bright, and human pilot is handled chassis (1) and is stopped, artificial supplementation liquid; Otherwise represent that dose is sufficient, continues current job state;
Step 7, as oil tank liquid level sensor (17) detects the low on fuel in fuel tank (20), oil quantity alarming lamp (33) is bright, and human pilot is handled chassis (1) and is stopped, and refuels;
Otherwise represent that oil mass is sufficient, continues current job state.
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| CN103688635B CN103688635B (en) | 2015-11-04 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105723899A (en) * | 2016-02-03 | 2016-07-06 | 安徽农业大学 | Self-propelled remote control fertilizer dot-application machine and remote control fertilizer dot-application method |
| CN105814986A (en) * | 2016-03-30 | 2016-08-03 | 刘洋 | Ridging machine with automatic regulation and detection functions |
| CN106416480A (en) * | 2015-09-01 | 2017-02-22 | 山东建筑大学 | Intelligent remote-control row-crop cultivator |
| CN109984009A (en) * | 2019-04-28 | 2019-07-09 | 山东农业大学 | A kind of caterpillar band self-propelled Multifunctional fruit tree plant robot control system and method |
| CN112636530A (en) * | 2020-11-26 | 2021-04-09 | 河南中烟工业有限责任公司 | Brake roller driving overload detection and protection method |
| CN114600606A (en) * | 2022-03-04 | 2022-06-10 | 江苏大学 | Light and simple intelligent fertilizer applicator and control system and method thereof |
| CN114711124A (en) * | 2022-04-12 | 2022-07-08 | 南通理工学院 | Orchard intelligent robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105814986A (en) * | 2016-03-30 | 2016-08-03 | 刘洋 | Ridging machine with automatic regulation and detection functions |
| CN109984009A (en) * | 2019-04-28 | 2019-07-09 | 山东农业大学 | A kind of caterpillar band self-propelled Multifunctional fruit tree plant robot control system and method |
| CN112636530A (en) * | 2020-11-26 | 2021-04-09 | 河南中烟工业有限责任公司 | Brake roller driving overload detection and protection method |
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| CN114711124A (en) * | 2022-04-12 | 2022-07-08 | 南通理工学院 | Orchard intelligent robot |
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|---|---|
| CN103688635B (en) | 2015-11-04 |
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