Tractor automatic steering method and device with manual priority

Abstract

The invention provides a tractor automatic steering method with manual priority, comprising: judging by a pressure switch whether the closed hydraulic steering gear connected to it is in the working state, if so, maintaining the current manual operation state; if not, the controller gives the electromagnetic switch valve Power on to make it in the closed state to open the electro-hydraulic proportional directional valve; the spool of the priority valve moves so that the oil in the oil pump enters the electro-hydraulic proportional directional valve; the automatic steering oil circuit is connected to the tractor through the hydraulic control reversing valve The steering cylinder is connected; the controller controls the flow direction and flow rate of the oil in the automatic steering oil circuit by controlling the spool opening of the electro-hydraulic proportional directional valve, so that the piston of the steering hydraulic cylinder is extended or retracted to perform the desired operation. Steering operation. The method of the invention realizes the automatic steering of the tractor and ensures the priority of manual operation, thereby providing a technical basis for the automatic navigation system of the tractor in the field.

Description

technical field [0001] The invention relates to the field of control technology, in particular to an automatic steering control method and device thereof applied in a tractor automatic navigation control system. Background technique [0002] During the field operation of tractors, due to the poor maneuverability of the operation unit, it is easy to affect the productivity due to heavy plowing, missed plowing or extra distance. In order to reduce the occurrence of rework and missed work between adjacent working ridges, the existing technology mostly uses the method of marking with a marker or spraying foam to mark in the field as the basis for the driver's work navigation. With the development of domestic precision agricultural technology research in recent years, researchers have developed an agricultural machinery navigation system, which uses GPS, PC104 computers and navigation light sticks to provide navigation instructions for agricultural machinery field operations. Ho...

AI Technical Summary

Problems solved by technology

However, there are certain defects in the above two navigation instruction methods for agricultural machinery operations.

[0003] The traditional method of marking with a liner and spraying foam is basically infeasible or the navigation indication effect is poor when the visibility of the farmland operation environment is low, there is no obvious reference on the farmland surface, and the ground surface is undulating. The purpose of improving the quality of work

Most of the existing navigation indication systems use the RS232 bus, which leads to complicated system wiring and poor reliability, and the versatility and compatibility of each module of the system are not strong

At the same time, this type of navigation and indication system is greatly affected by human operation factors, and the navigation accuracy of the operation is poor, which cannot meet the application requirements of high-precision farmland operations such as sowing.

In addition, the operation and control of the existing navigation indication system still needs to be completed by the driver. In fact, it is an auxiliary operation navigation system, and the labor intensity of the driver is still relatively high.

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