CN103688635B - A kind of intelligence control system of Multifunctional orchard management machine and method - Google Patents
A kind of intelligence control system of Multifunctional orchard management machine and method Download PDFInfo
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- CN103688635B CN103688635B CN201310696091.2A CN201310696091A CN103688635B CN 103688635 B CN103688635 B CN 103688635B CN 201310696091 A CN201310696091 A CN 201310696091A CN 103688635 B CN103688635 B CN 103688635B
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Abstract
The invention discloses a kind of intelligence control system and method for Multifunctional orchard management machine, relate to field of agricultural equipment.The intelligence control system of Multifunctional orchard management machine comprises controller, touch-screen, travel speed Monitoring and Controlling part, trench digging speed monitoring control section, dispenser Monitoring and Controlling part and fertilising Monitoring and Controlling part.Based on the block combiner that travel speed monitoring, trench digging speed monitoring, dispenser monitoring and fertilising are monitored, design based on single function of touch-screen button and complex function control flow, realize single function of dispenser and ditching-fertilizing or the intelligent mode operation of multiple working and feedback loading.Realize the oil mass of orchard supervisor, the monitoring, alarming of the state such as dose and overload based on many heat transfer agents and touch-screen alarm lamp, effectively reduce the difficulty of multifunctional operating and switching and complexity and improve operational reliability.The present invention can be applicable to automatic manipulation and the operation of orchard and rural area multifunctional management machinery.
Description
Art
The present invention relates to field of agricultural equipment, 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.Xinjiang Machine Academe exploitation LG-1 type multifunctional garden operation machine (Curve guide impeller of Zhu Haitao .LG_1 multifunctional garden operation machine. Xinjiang agricultural machanization, 2011, (5): 44,62).), the type such as Multifunctional orchard management machine (Authorization Notice No.: CN202285496U) that proposes of the multifunctional garden operation machine (Authorization Notice No.: CN202653062U) of Xinjiang Academy of Land Reclamation &. Cultivation's exploitation, Jiang Niankun, realize a tractor serves several purposes of the functions such as soil management, irrigation, beta pruning, Material Transportation, but the object of extended function is all reached by additional different operation part simple on chassis, lack organic integration between each functional module, most function can mount related device by user and can realize on conventional workover rig even tractor.Meanwhile, each function is by manually carrying out part replacement and operating respectively, and its complicated operation inconvenience, 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, with realize Multifunctional orchard management machine trench digging, fertilising, dispenser operation Based Intelligent Control and status monitoring reports to the police, the handiness of effective raising Multifunctional orchard management machine and reliability.
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 are connected with controller (6) respectively by I/O mouth with fertilising Monitoring and Controlling part, 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 one, initialization system, human pilot is handled chassis (1) and is advanced;
Step 2, as pressed the dispenser key (34) of touch-screen (5), then electromagnetic clutch (15) is separated and makes plough (2) be in the state of stopping operation, and fertilizer stepper motor (30) makes defertilizing opening (32) be in closed condition; Controller (6) first 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) sparking subsequently makes dispenser engine (24) start; Open medicine-chest magnetic valve (25), liquid ejection realizes dispenser operation;
As pressed ditching-fertilizing key (35), then Miniature diaphragm pump (19) stops, fuel tank magnetic valve (21) and medicine-chest magnetic valve (25) are closed, and electronic switch (23) disconnects, and dispenser system (4) is in the state of stopping operation; Electromagnetic clutch (15) engages and plough axle (13) is rotated, and plough (2) carries out ditching operation; Fertilizer stepper motor (30) drives defertilizing opening (32) to open simultaneously, and fertilizer applicator (3) carries out fertilising operation;
As pressed full operation key (36), then Miniature diaphragm pump (19) work, fuel tank magnetic valve (21) is opened, and electronic switch (23) is struck sparks, medicine-chest magnetic valve (25) is opened, and dispenser system (4) carries out dispenser operation; Electromagnetic clutch (15) engages and plough axle (13) is rotated simultaneously, and plough (2) carries out ditching operation; Fertilizer stepper motor (30) drives defertilizing opening (32) to open simultaneously, and fertilizer applicator (3) carries out fertilising operation;
Step 3, as pressed intelligent mode key (37), then enters feedback loading job state; Otherwise the opened loop control job state maintained without feedback;
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, show that trench digging load 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, showing that load sharply increases, there is barrier in front, then 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, and prompting driver gets off inspection;
As t>t
0show because casting does not freely cause trench digging load to continue to increase, then controller (6) is given an order, speed governing stepper motor (11) rotates, drive HST stepless speed-changing system (9) automatically to adjust the pace of chassis (1), make trench digging load drop to optimum state;
Step 5, as fertile quantity sensor (28) detects the fertile quantity not sufficient in fertile case (31), then fertile amount alarm lamp (39) is bright, and human pilot is handled chassis (1) and stopped, artificial supplementation fertilizer; Otherwise represent that fertile amount is sufficient, continue current job state;
Step 6, the dose detected in medicine-chest (26) as medicine-chest liquid level sensor (27) is not enough, then dose alarm lamp (40) is bright, and human pilot is handled chassis (1) and stopped, artificial supplementation liquid; Otherwise represent that dose is sufficient, continue current job state;
Step 7, as oil tank liquid level sensor (17) detects the low on fuel in fuel tank (20), then oil quantity alarming lamp (33) is bright, human pilot is handled chassis (1) and is stopped, refuel, otherwise represent that oil mass is sufficient, continue current job state.
The present invention has beneficial effect.Based on the block combiner that travel speed monitoring, trench digging speed monitoring, dispenser monitoring and fertilising are monitored, design based on single function of touch-screen button and complex function control flow, achieve the monitoring, alarming of the state such as multi-functional organic assembling and oil mass, dose and overload of orchard supervisor, effectively reduce the difficulty of multifunctional operating and switching and complexity and improve operational reliability.
Accompanying drawing explanation
Fig. 1 is Multifunctional orchard management machine structural representation.
Fig. 2 is Multifunctional orchard management machine Control system architecture schematic diagram.
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. road speed sensors, 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, is made up 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 by sustainer and travels.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 above chassis 1, and dispenser system 4 is driven by dispenser engine 24 and sprays operation.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 are connected with controller 6 respectively by I/O mouth with fertilising Monitoring and Controlling part, and touch-screen 5 is connected with controller 6 by communication interface.
Wherein travel speed Monitoring and Controlling part comprises electromagnetic brake 7, braking relay 8, road speed sensors 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 plate 1, drives HST stepless speed-changing system 9 by speed governing stepper motor 11, realizes the automatic adjustment to chassis 1 speed of travel.Road speed sensors 10 is installed on the live axle outer end on chassis 1, the transducing signal access controller 6 of road speed sensors 10.Controller 6 controls the Engage and disengage of electromagnetic brake 7 by braking relay 8.
Velocity measuring control section of wherein ditching 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 end, the transducing signal access controller 6 of trench digging velocity sensor 14.Controller 6 controls the Engage and disengage of electromagnetic clutch 15 by trench digging relay 16.
Wherein dispenser Monitoring and Controlling part comprises oil tank liquid level sensor 17, for 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 in fuel tank 20 respectively, 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 controls it by controller 6 and opens and closes, and controller 6 is by controlling work and the stopping of Miniature diaphragm pump 19 for oil relay 18, controller 6 controls the on/off of electronic switch 23 by ignition relay 22.
The Monitoring and Controlling part of wherein applying fertilizer comprises fertile quantity sensor 28, fertilizer driver 29, fertilizer stepper motor 30 are formed.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 controls the rotation of fertilizer stepper motor 30 by fertilizer driver 29, and then controls opening and closedown 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, then electromagnetic clutch 15 is separated and makes plough 2 be in the state of stopping operation, and fertilizer stepper motor 30 makes defertilizing opening 32 be in closed condition; First controller 6 controls Miniature diaphragm pump 19 and works 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 makes dispenser engine 24 start; Open medicine-chest magnetic valve 25, liquid ejection realizes dispenser operation;
As pressed ditching-fertilizing key 35, then Miniature diaphragm pump 19 stops, and fuel tank magnetic valve 21 and medicine-chest magnetic valve 25 are closed, and electronic switch 23 disconnects, and dispenser system 4 is in the state of stopping operation; Electromagnetic clutch 15 engages and plough axle 13 is rotated, and plough 2 carries out ditching operation; Fertilizer stepper motor 30 drives defertilizing opening 32 to open simultaneously, and fertilizer applicator 3 carries out fertilising operation;
As pressed full operation key 36, then Miniature diaphragm pump 19 works, and fuel tank magnetic valve 21 is opened, and electronic switch 23 is struck sparks, and medicine-chest magnetic valve 25 is opened, and dispenser system 4 carries out dispenser operation; Electromagnetic clutch 15 engages and plough axle 13 is rotated simultaneously, and plough 2 carries out ditching operation; Fertilizer stepper motor 30 drives defertilizing opening 32 to open simultaneously, and fertilizer applicator 3 carries out fertilising operation;
(3) as pressed intelligent mode key 37, then feedback loading job state is entered;
(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
sfor 108rpm, show that trench digging load increases obviously, by real-time rotate speed n
sthe time t being reduced to 108rpm from stabilized (steady-state) speed 180rpm compares with time threshold 0.2s, distinguishes:
As t<0.2s, showing that load sharply increases, there is the barriers such as ratchel in front, then 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, and prompting driver gets off inspection;
As t>0.2s, show to cause trench digging load to continue to increase because casting is smooth etc., then 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, make trench digging load drop to optimum state;
(5) as fertile quantity sensor 28 detects the fertile quantity not sufficient in fertile case 31, then fertile amount alarm lamp 39 is bright, and human pilot is handled chassis 1 and stopped, artificial supplementation fertilizer;
(6) the dose deficiency in medicine-chest 26 detected as medicine-chest liquid level sensor 27, then 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, then oil quantity alarming lamp 33 is bright, and human pilot is handled chassis 1 and stopped, and refuels.
Claims (2)
1. the control method of the intelligence control system of a Multifunctional orchard management machine, it is characterized in that, the intelligence control system of described Multifunctional orchard management machine 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 are connected with controller (6) respectively by I/O mouth with fertilising Monitoring and Controlling part, touch-screen (5) is connected with controller (6) by communication interface, and described control method comprises the following steps:
Step one, initialization system, human pilot is handled chassis (1) and is advanced;
Step 2, as pressed the dispenser key (34) of touch-screen (5), then electromagnetic clutch (15) is separated and makes plough (2) be in the state of stopping operation, and fertilizer stepper motor (30) makes defertilizing opening (32) be in closed condition; Controller (6) first 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) sparking subsequently makes dispenser engine (24) start; Open medicine-chest magnetic valve (25), liquid ejection realizes dispenser operation;
As pressed ditching-fertilizing key (35), then Miniature diaphragm pump (19) stops, and fuel tank magnetic valve (21) and medicine-chest magnetic valve (25) are closed, and electronic switch (23) disconnects, and dispenser system (4) is in the state of stopping operation; Electromagnetic clutch (15) engages and plough axle (13) is rotated, and plough (2) carries out ditching operation; Fertilizer stepper motor (30) drives defertilizing opening (32) to open simultaneously, and fertilizer applicator (3) carries out fertilising operation;
As pressed full operation key (36), then Miniature diaphragm pump (19) work, fuel tank magnetic valve (21) is opened, and electronic switch (23) is struck sparks, and medicine-chest magnetic valve (25) is opened, and dispenser system (4) carries out dispenser operation; Electromagnetic clutch (15) engages and plough axle (13) is rotated simultaneously, and plough (2) carries out ditching operation; Fertilizer stepper motor (30) drives defertilizing opening (32) to open simultaneously, and fertilizer applicator (3) carries out fertilising operation;
Step 3, as pressed intelligent mode key (37), then enters feedback loading job state; Otherwise the opened loop control job state maintained without feedback;
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, show that trench digging load 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, showing that load sharply increases, there is barrier in front, then 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, and prompting driver gets off inspection;
As t>t0, show because casting does not freely cause trench digging load to continue to increase, then controller (6) is given an order, speed governing stepper motor (11) rotates, drive HST stepless speed-changing system (9) automatically to adjust the pace of chassis (1), make trench digging load drop to optimum state;
Step 5, as fertile quantity sensor (28) detects the fertile quantity not sufficient in fertile case (31), then fertile amount alarm lamp (39) is bright, and human pilot is handled chassis (1) and stopped, artificial supplementation fertilizer; Otherwise represent that fertile amount is sufficient, continue current job state;
Step 6, the dose detected in medicine-chest (26) as medicine-chest liquid level sensor (27) is not enough, then dose alarm lamp (40) is bright, and human pilot is handled chassis (1) and stopped, artificial supplementation liquid; Otherwise represent that dose is sufficient, continue current job state;
Step 7, as oil tank liquid level sensor (17) detects the low on fuel in fuel tank (20), then oil quantity alarming lamp (33) is bright, and human pilot is handled chassis (1) and stopped, and refuels, otherwise represents that oil mass is sufficient, continues current job state.
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: described barrier is ratchel.
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|---|---|---|---|
| CN201310696091.2A CN103688635B (en) | 2013-12-18 | 2013-12-18 | A kind of intelligence control system of Multifunctional orchard management machine and method |
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| CN201310696091.2A CN103688635B (en) | 2013-12-18 | 2013-12-18 | A kind of intelligence control system of Multifunctional orchard management machine and method |
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| CN103688635B true CN103688635B (en) | 2015-11-04 |
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| CN105723899B (en) * | 2016-02-03 | 2018-10-23 | 安徽农业大学 | A kind of self-propelled remote-control point applies fertilizer applicator and remote controlled point applies fertilizing method |
| CN105814986A (en) * | 2016-03-30 | 2016-08-03 | 刘洋 | Ridging machine with automatic regulation and detection functions |
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| CN112636530B (en) * | 2020-11-26 | 2021-10-22 | 河南中烟工业有限责任公司 | Brake roller driving overload detection and protection method |
| CN114600606B (en) * | 2022-03-04 | 2023-01-17 | 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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