CN103392533B - Put a machine and control method thereof - Google Patents
Put a machine and control method thereof Download PDFInfo
- Publication number
- CN103392533B CN103392533B CN201310279649.7A CN201310279649A CN103392533B CN 103392533 B CN103392533 B CN 103392533B CN 201310279649 A CN201310279649 A CN 201310279649A CN 103392533 B CN103392533 B CN 103392533B
- Authority
- CN
- China
- Prior art keywords
- laser
- power set
- frame
- machine
- land
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
- Soil Working Implements (AREA)
Abstract
The present invention relates to farmland production technical field, disclose one and put a machine, it comprises: power set, and for providing power, the bottom of described power set is provided with crawler type walking mechanism; Land level scraper, is connected with described power set, for level land; Ground height checkout gear, for detecting the flatness treating plane earth; Central controller, is located on described power set, is connected with described power set, land level scraper and ground height checkout gear, carries out grading operation for controlling described land level scraper.Present invention also offers a kind of above-mentioned control method of putting a machine.The present invention adopts power set to draw the form of land level scraper, the ground-engaging element of power set adopts crawler type, improves hauling ability, reduces radius of turn, be convenient to carry out operation in the raising rice seedlings booth confined space, improve mechanization and the automation of the built-in bed of seedling greenhouse.
Description
Technical field
The present invention relates to farmland production technical field, particularly relate to a kind of be applicable to seedling greenhouse put a machine and control method thereof.
Background technology
Seedbed is the place of putting seedling dish and seedling growth growth inside raising rice seedlings booth, and the quality in seedbed is very large on nurturing staff impact, and bed surface is uneven, and disk tilt, watering, fertilizing is uneven, affects the regularity of seedling growth.Bed surface is uneven, seedling tray bottom and bed surface loose contact, and the local dehydration of dish soil is fast, and rice shoot green grass or young crops can be caused withered.Putting bed process is the important cargo handling operation of before seedling cultivation of rice one, mainly the seedbed inside seedling raising greenhouse is carried out meticulous smooth, make bed soil smooth in small, broken bits, accomplish that bed surface is smooth, require that bed surface difference of height controls within ± 2cm, put an operation can be arranged according to various places actual conditions and carry out autumn, also can be arranged in and carry out spring.
Putting an operation is generally carry out in seedling greenhouse, seedling greenhouse is less, its width is generally between 6.5m ~ 12.5m, the car body of large-scale land smoothing machine is larger, seedling greenhouse cannot be entered level land, put an operation and mainly still rely on manual work, need that operation manually utilizes spade, rake, people draws light instrument such as suppression cylinder etc., rely on the artificial experience of operation to judge the flatness in seedbed.
The operation of putting manually completed has following defect: one is that human eye judges that the error of seedbed bed surface difference of height is comparatively large, and smooth precision cannot ensure, cannot reach the required precision within bed surface difference of height ± 2cm; Two is that the instrument that uses in manual work process is simple and crude, and operating efficiency is low, labour intensity is large.
Summary of the invention
(1) technical problem that will solve
The object of this invention is to provide a kind of be applicable to seedling greenhouse put a machine, to improve the mechanization of the built-in bed of seedling greenhouse.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides one and put a machine, it comprises:
Power set, for providing power, the bottom of described power set is provided with crawler type walking mechanism;
Land level scraper, is connected with described power set, for level land;
Ground height checkout gear, for detecting the flatness treating plane earth;
Central controller, is located on described power set, is connected with described power set, land level scraper and ground height checkout gear, carries out grading operation for controlling described land level scraper.
Further, described ground height checkout gear comprises generating laser, laser pickoff and laser controller, described laser controller to be located on described power set and to be connected with described central controller, described generating laser is located at and is treated on plane earth, and described laser pickoff to be located on described land level scraper and to be connected with described laser controller.
Further, described land level scraper comprises frame, hitch frame, perching knife, pack roller, pack roller support and hydraulic cylinder;
The bottom of described frame is located at by described perching knife, and described frame is connected with described power set by described hitch frame;
Described pack roller support is connected with described frame and is positioned at the front of described perching knife, and described pack roller is arranged on described pack roller support, and the two ends of described hydraulic cylinder are connected with described frame and pack roller support respectively.
Further, described land level scraper also comprises the lifting support be arranged in described frame, and described laser pickoff is arranged on described lifting support.
Further, described land level scraper also comprises native clearly scraper plate, and the side of described pack roller is located at by described clear native scraper plate.
Further, put a machine described in and also comprise the hydraulic valve bank be connected with described crawler type walking mechanism;
Described central controller is connected with described hydraulic valve bank, for controlling the walking posture of described crawler type walking mechanism;
Described hydraulic valve bank is connected with described hydraulic cylinder, and described laser controller is connected with described hydraulic valve bank, for controlling the flexible of described hydraulic cylinder.
Further, described land level scraper also comprises adjusting yoke, and the two ends of described adjusting yoke are connected with described hitch frame and frame respectively.
Further, the both sides of described perching knife are respectively equipped with the native side plate of gear, and described gear soil side plate is connected with described frame.
Further, described central controller is remote controller.
The present invention also provides a kind of control method of putting a machine, and it comprises the following steps:
S1, laser transmitter projects laser, form laser plane, and central controller and laser controller initialize, and select automatic mode or manual mode;
S2, laser controller are according to the height of laser plane adjustment laser pickoff, and regulator solution cylinder pressure rises to adjust pack roller or declines simultaneously, and then the level land height of adjustment perching knife;
The situation of the laser plane that S3, central controller feed back according to laser controller, controls land level scraper and carries out grading operation.
(3) beneficial effect
The one that technique scheme provides puts a machine and control method thereof, adopt the form of power set traction land level scraper, the ground-engaging element of power set adopts crawler type, improve hauling ability, reduce radius of turn, be convenient to carry out operation in the raising rice seedlings booth confined space, improve mechanization and the automation of the built-in bed of seedling greenhouse.
Accompanying drawing explanation
Fig. 1 is that the present invention puts a pusher side face structural representation;
Fig. 2 is that the present invention puts a machine plan structure schematic diagram;
Fig. 3 is principle of the invention figure;
Fig. 4 is control flow chart of the present invention.
Wherein, 1, power set; 2, laser controller; 3, hitch frame; 4, adjusting yoke; 12, perching knife; 5, frame; 6, laser pickoff; 7, lifting support; 8, hydraulic cylinder; 9, pack roller; 10, clear native scraper plate; 11, pack roller support; 12, perching knife; 13, native side plate is kept off; 14, tripod; 15, central controller; 16, hydraulic valve bank; 17, crawler type walking mechanism; 18, generating laser.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
As Fig. 1 and Fig. 2, one of the present invention puts a machine, and it comprises power set 1, and for providing power, the bottom of power set 1 is provided with crawler type walking mechanism 17; Land level scraper, is connected with power set 1, for level land; Ground height checkout gear, for detecting the flatness (i.e. ground height situation) treating plane earth; Central controller 15, is located on power set 1, and is connected with power set 1, land level scraper and ground height checkout gear, carries out grading operation for controlling land level scraper.The present invention adopts crawler type walking mechanism, has abandoned heavy wheel mechanism for tire on the one hand, has reduced the radius of turn of putting a machine, be convenient to carry out grading operation in the raising rice seedlings booth confined space, can improve hauling ability on the other hand.
The ground height checkout gear of the embodiment of the present invention comprises generating laser 18, laser pickoff 6 and laser controller 2, laser controller 2 to be located on power set 1 and to be connected with central controller 15, generating laser 18 is located at and is treated on plane earth, and laser pickoff 6 to be located on land level scraper and to be connected with laser controller.In addition, generating laser 18 is arranged on tripod 14.
The land level scraper of the embodiment of the present invention comprises frame 5, hitch frame 3, perching knife 12, pack roller 9, pack roller support 11 and hydraulic cylinder 8.The bottom of frame 5 is located at by perching knife 12, frame 5 is connected with power set 1 by hitch frame 3, hitch frame 3 and all adopt pinned connection between power set 1 and frame 5, dismounting can be convenient to, generating laser 6 is arranged in frame, and preferably, land level scraper also comprises rack-mounted lifting support 7, laser pickoff 6 is arranged on this lifting support 7, can regulate according to the height of the height of generating laser to laser pickoff.Pack roller support 11 is connected with frame 5 and is positioned at the front (referring to the direction on level land) of perching knife 12, pack roller 9 is arranged on pack roller support 11, the two ends of hydraulic cylinder 8 are connected with frame 5 and pack roller support 11 respectively, pack roller 9 can be driven to rise or decline by the flexible of hydraulic cylinder, thus drive hydraulic pressure land level scraper to rise or decline, to complete the course of work of shoveling soil and unloading soil.The side of pack roller 9 is also provided with native clearly scraper plate 10, and this clear native scraper plate 10 is arranged on pack roller support 11, for clearing up earth residual on pack roller 9.
Put a machine and also comprise the hydraulic valve bank 16 be connected with crawler type walking mechanism 17, this hydraulic valve bank 16 comprises multiple magnetic valve and fluid pressure line; Wherein, central controller 15 is connected with the magnetic valve of the hydraulic valve bank be connected with crawler type walking mechanism 17, for controlling the walking posture of crawler type walking mechanism; The fluid pressure line of hydraulic valve bank is connected with hydraulic cylinder 8, and laser controller 2 is connected with the magnetic valve of the hydraulic valve bank be connected with hydraulic cylinder, stretching for hydraulic control cylinder.
Land level scraper also comprises adjusting yoke 4, and the two ends of this adjusting yoke 4 are connected with hitch frame 3 and frame 5 respectively.The length direction of adjusting yoke 4 is provided with multiple spacing hole, and adjusting yoke 4, frame 5 and hitch frame 3 form triangle balanced controls, connected, can realize the adjustment of the angle of penetration of perching knife 12 by the spacing hole of diverse location.
The both sides of perching knife 12 are respectively equipped with the native side plate 13 of gear, and this gear soil side plate 13 is connected with frame 5.
Preferably, the central controller of the embodiment of the present invention is remote controller, can realize Long-distance Control.
It is pointed out that ground height checkout gear of the present invention can also for sensor be for detecting the equipment of ground height or instrument or mechanism.
The invention also discloses the control method of putting a machine that a kind of technique scheme provides, as shown in Figure 3, it comprises the following steps:
S1, generating laser 18 Emission Lasers, form laser plane, central controller 15 and laser controller 2 initialize, and select automatic mode or manual mode; Central controller is remote controller, and can control remote controller by long-range remote control transmitter, the remote control reception module of remote controller can receive the control signal of remote control transmitter;
S2, laser controller are according to the height of laser plane adjustment laser pickoff, and regulator solution cylinder pressure rises to adjust pack roller or declines simultaneously, and then the level land height of adjustment perching knife; Particularly, the electromagnetic valve work be connected with hydraulic cylinder 8 in the ground absolute altitude signal hydraulic control valve group 16 that laser controller 2 receives according to laser pickoff 6, realize the extension and contraction control to hydraulic cylinder 8, thus control rising or the decline of land level scraper, realize the adjustment to perching knife level land height; Preferably, the angle that the adjusting yoke between frame and hitch frame can also be regulated to bury to regulate perching knife;
The situation of the laser plane that S3, central controller feed back according to laser controller, controls land level scraper and carries out grading operation.
As shown in Figure 4, the specific operation process of automatic mode of the present invention and manual mode is as follows:
1, remote controller and laser controller initialize, and comprise automatic mode flag and reset, the set of manual mode flag; Manual mode lamp is bright, and automatic mode lamp goes out.
2, detect remote control transmitter button/central controller button whether to press:
2.1 have button to press, the corresponding actuation of keys of system responses:
2.1.1 manual key is pressed: automatic mode flag resets, and the set of manual mode flag, manual mode lamp is bright, and automatic mode lamp goes out.
2.1.2 automatic keying is pressed: manual mode flag resets, the set of automatic mode flag, and automatic mode lamp is bright, and manual mode lamp goes out;
2.1.3 land level scraper rising button is pressed, and land level scraper rises, and land level scraper rising lamp is bright, and land level scraper decline lamp goes out;
2.1.4 land level scraper decline button is pressed, and land level scraper declines, and land level scraper decline lamp is bright, and land level scraper rising lamp goes out;
If 2.2 press without button, judge whether current operation mode is automatic mode:
2.2.1 if yes:
2.2.1.1 automatic mode lamp is bright, and manual mode etc. go out;
2.2.1.2 read laser pickoff signal, and convert the signal into indicator lamp signal;
2.2.1.3 enter land level scraper lifting PID to control, calculate and export control signal;
2.2.1.4 the magnetic valve be connected with hydraulic cylinder is output a control signal to;
2.2.2 if NO, land level scraper stops action, and land level scraper rising lamp goes out, and land level scraper decline lamp goes out.
3, this control cycle is finished, and continues to perform step 2.
What technique scheme provided puts a machine and control method thereof, has the following advantages:
1, achieve and in the raising rice seedlings booth of existing various scale, carry out mechanization put an operation, adopt laser controlled leveling technology to improve the precision of putting an operation, improve operating efficiency, reduce labour intensity;
2, the present invention structurally adopts crawler type power set to draw the form of small-sized hydraulic land level scraper, and ground-engaging element adopts crawler type, improves hauling ability, reduces radius of turn, be convenient to carry out operation in the raising rice seedlings booth confined space;
3, the present invention proposes a kind of control method, the actions such as small-sized caterpillar belt power set start, stop, turning to, acceleration and deceleration can have been controlled by remote control transmitter, and can complete and realize manually and laser controlled leveling operation under automatic mode, improve the automaticity of putting an operation.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and replacement, these improve and replace and also should be considered as protection scope of the present invention.
Claims (8)
1. put a machine, it is characterized in that, comprising:
Power set, for providing power, the bottom of described power set is provided with crawler type walking mechanism;
Land level scraper, is connected with described power set, for level land; Described land level scraper comprises frame, hitch frame, perching knife, pack roller, pack roller support and hydraulic cylinder;
The bottom of described frame is located at by described perching knife, and described frame is connected with described power set by described hitch frame;
Described pack roller support is connected with described frame and is positioned at the front of described perching knife, and described pack roller is arranged on described pack roller support, and the two ends of described hydraulic cylinder are connected with described frame and pack roller support respectively;
Ground height checkout gear, for detecting the flatness treating plane earth, described ground height checkout gear comprises generating laser, laser pickoff and laser controller, described laser controller to be located on described power set and to be connected with central controller, described generating laser is located at and is treated on plane earth, and the frame that described land level scraper is located at by described laser pickoff is connected with described laser controller;
Central controller, is located on described power set, is connected with described power set, land level scraper and ground height checkout gear, carries out grading operation for controlling described land level scraper.
2. put a machine as claimed in claim 1, it is characterized in that, described land level scraper also comprises the lifting support be arranged in described frame, and described laser pickoff is arranged on described lifting support.
3. put a machine as claimed in claim 1, it is characterized in that, described land level scraper also comprises native clearly scraper plate, and the side of described pack roller is located at by described clear native scraper plate.
4. put a machine as claimed in claim 1, it is characterized in that, described in put a machine and also comprise the hydraulic valve bank be connected with described crawler type walking mechanism;
Described central controller is connected with described hydraulic valve bank, for controlling the walking posture of described crawler type walking mechanism;
Described hydraulic valve bank is connected with described hydraulic cylinder, and described laser controller is connected with described hydraulic valve bank, for controlling the flexible of described hydraulic cylinder.
5. put a machine as claimed in claim 1, it is characterized in that, described land level scraper also comprises adjusting yoke, and the two ends of described adjusting yoke are connected with described hitch frame and frame respectively.
6. put a machine as claimed in claim 1, it is characterized in that, the both sides of described perching knife are respectively equipped with the native side plate of gear, and described gear soil side plate is connected with described frame.
7. as described in any one of claim 1-6, put a machine, it is characterized in that, described central controller is remote controller.
8. the control method of putting a machine according to any one of claim 1-6, is characterized in that, comprise the following steps:
S1, laser transmitter projects laser, form laser plane, and central controller and laser controller initialize, and select automatic mode or manual mode;
S2, laser controller are according to the height of laser plane adjustment laser pickoff, and regulator solution cylinder pressure rises to adjust pack roller or declines simultaneously, and then the level land height of adjustment perching knife;
The situation of the laser plane that S3, central controller feed back according to laser controller, controls land level scraper and carries out grading operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279649.7A CN103392533B (en) | 2013-07-04 | 2013-07-04 | Put a machine and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279649.7A CN103392533B (en) | 2013-07-04 | 2013-07-04 | Put a machine and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103392533A CN103392533A (en) | 2013-11-20 |
| CN103392533B true CN103392533B (en) | 2015-10-28 |
Family
ID=49556448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310279649.7A Active CN103392533B (en) | 2013-07-04 | 2013-07-04 | Put a machine and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103392533B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105723829A (en) * | 2016-03-23 | 2016-07-06 | 陈荣明 | Gear type land leveler |
| US10420272B2 (en) | 2017-03-31 | 2019-09-24 | Cnh Industrial America Llc | Seedbed condition monitoring system when performing field operations |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1117317A (en) * | 1993-12-08 | 1996-02-21 | 履带拖拉机股份有限公司 | Method and apparatus for operating geography-altering machinery relative to a work site |
| EP0965818A2 (en) * | 1998-06-17 | 1999-12-22 | Kabushiki Kaisha Topcon | Rotary laser irradiating apparatus |
| CN2823342Y (en) * | 2005-09-23 | 2006-10-04 | 天津工程机械研究院 | Wireless remote-controller for bulldozer |
| CN2907204Y (en) * | 2006-07-03 | 2007-06-06 | 王玉敏 | Breaking-soil, tamping and soil-preparation apparatus for rotary cultivator |
| CN101023731A (en) * | 2006-02-24 | 2007-08-29 | 盖斯塔尔迪克里斯蒂安及公司霍尔马克有限合伙公司 | Multifunctional machine for nursery |
| CN201629962U (en) * | 2009-10-20 | 2010-11-17 | 郭长春 | Self-propelled large rice seedbed scarification machine |
| CN201938029U (en) * | 2011-01-21 | 2011-08-24 | 北京农业信息技术研究中心 | Laser land leveling device |
| CN202476041U (en) * | 2011-12-23 | 2012-10-10 | 河北农业大学 | Direct-current electric rotary flattening machine for greenhouse |
| CN102726135A (en) * | 2012-03-31 | 2012-10-17 | 北京农业智能装备技术研究中心 | Laser blade grader with adjustable posture and control method thereof |
| CN202617639U (en) * | 2012-03-31 | 2012-12-26 | 北京农业智能装备技术研究中心 | Laser land leveling shovel draft gear |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3816806B2 (en) * | 2002-01-21 | 2006-08-30 | 株式会社トプコン | Construction machine control system |
| JP2009156772A (en) * | 2007-12-27 | 2009-07-16 | Topcon Corp | Surveying system |
-
2013
- 2013-07-04 CN CN201310279649.7A patent/CN103392533B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1117317A (en) * | 1993-12-08 | 1996-02-21 | 履带拖拉机股份有限公司 | Method and apparatus for operating geography-altering machinery relative to a work site |
| EP0965818A2 (en) * | 1998-06-17 | 1999-12-22 | Kabushiki Kaisha Topcon | Rotary laser irradiating apparatus |
| CN2823342Y (en) * | 2005-09-23 | 2006-10-04 | 天津工程机械研究院 | Wireless remote-controller for bulldozer |
| CN101023731A (en) * | 2006-02-24 | 2007-08-29 | 盖斯塔尔迪克里斯蒂安及公司霍尔马克有限合伙公司 | Multifunctional machine for nursery |
| CN2907204Y (en) * | 2006-07-03 | 2007-06-06 | 王玉敏 | Breaking-soil, tamping and soil-preparation apparatus for rotary cultivator |
| CN201629962U (en) * | 2009-10-20 | 2010-11-17 | 郭长春 | Self-propelled large rice seedbed scarification machine |
| CN201938029U (en) * | 2011-01-21 | 2011-08-24 | 北京农业信息技术研究中心 | Laser land leveling device |
| CN202476041U (en) * | 2011-12-23 | 2012-10-10 | 河北农业大学 | Direct-current electric rotary flattening machine for greenhouse |
| CN102726135A (en) * | 2012-03-31 | 2012-10-17 | 北京农业智能装备技术研究中心 | Laser blade grader with adjustable posture and control method thereof |
| CN202617639U (en) * | 2012-03-31 | 2012-12-26 | 北京农业智能装备技术研究中心 | Laser land leveling shovel draft gear |
Non-Patent Citations (1)
| Title |
|---|
| 农田激光控制平地技术及应用前景的探讨;高映宏 等;《天津农学院学报》;20040330;第11卷(第1期);第41-45页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103392533A (en) | 2013-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2773976C (en) | Method and apparatus for implement control of tractor hydraulics via isobus connection | |
| US9510499B2 (en) | Farm implement having a frame supported by a lift wheel assembly | |
| CN107251693B (en) | Hand-held electric transplanting machine | |
| CN110692299B (en) | Row-aligning detection device, intertillage topdressing machine and control method thereof | |
| CN204317008U (en) | Dry cayenne pepper laminating machine | |
| CN103392533B (en) | Put a machine and control method thereof | |
| CN203112371U (en) | Agricultural lifting-type tracked self-propelled walking vehicle | |
| CN201830626U (en) | Automatic laser land leveller | |
| CN106576508A (en) | Special hole digging machine for selenium-contained watermelon | |
| CN103314686A (en) | Small-sized rice transplanter | |
| CN104488424A (en) | Wide-narrow row manual rice transplanter | |
| CN211509833U (en) | Potato combine harvester with self-adjusting balance system | |
| CN116711567B (en) | A handling method using a multifunctional handling robot based on UWB technology | |
| CN206237743U (en) | A kind of laser leveling machine | |
| KR102421052B1 (en) | An electrically powered transplant platform | |
| CN109302872B (en) | A multi-purpose transplanter planting depth adjustment device and method | |
| CN205510822U (en) | Self -propelled automatic transplanter | |
| CN211128955U (en) | Multipurpose transplanter depth adjusting device that plants | |
| CN208639043U (en) | A kind of device automatically adjusting cropper chassis height | |
| CN204350609U (en) | The hand steered rice transplanter of a kind of wide-and narrow-row | |
| CN210959402U (en) | Grooving system for rocky desertification barren mountain seedling raising and afforestation | |
| CN211416882U (en) | Potato combined harvester body balance system | |
| CN207099706U (en) | A kind of crawler type Machine for cutting shrub stubble | |
| CN207305348U (en) | One kind automation garlic planting machine | |
| JP2016149974A (en) | Work vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |