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Automatic leveling system for operating machine and control method of automatic leveling system

A technology for automatic leveling and implements, applied in agricultural machinery and implements, agriculture, agricultural machinery, etc., can solve the problems that the sensing system and control system are prone to water ingress, it is difficult to accurately detect the inclination angle of the leveling blade, and the installation requirements of the sensor system are high. , to achieve the effect of slow state change, stable control and high precision

Active Publication Date: 2014-12-17
SOUTH CHINA AGRI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In order to realize the level control of the grader, the invention patent with the Chinese patent No. 200810028328.9 discloses a level control system and its control method of the grader. A sensor system is installed on the grader to sense the horizontal inclination of the grader and the rate of change of the inclination. To calculate the horizontal inclination angle of the shovel to control the level of the shovel. In practical applications, this method is affected by the movement of the shovel, which makes it difficult to accurately detect the inclination angle of the shovel, and there are high requirements for the installation of the sensor system, and the sensor system and control system are easy to detect. water problem

Method used

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  • Automatic leveling system for operating machine and control method of automatic leveling system
  • Automatic leveling system for operating machine and control method of automatic leveling system
  • Automatic leveling system for operating machine and control method of automatic leveling system

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Embodiment 1

[0032] Such as figure 1 with figure 2 As shown, the working tool automatic leveling system of this embodiment includes an inclination detection sensor module 1, a displacement detection sensor 2, an automatic leveling control module 3, and an execution module. The execution module includes a working tool 4, a rotating mechanism 5, and a telescopic mechanism. 6. The inclination detection sensor module 1, the displacement detection sensor 2 and the telescopic mechanism 6 are respectively connected to the automatic leveling control module 3. The telescopic mechanism 6 may be a hydraulic oil cylinder or an electric cylinder; wherein:

[0033] The inclination detection sensor module 1 includes an acceleration sensor and an angular velocity sensor, which are arranged on the agricultural machine body 7 to detect the tilt motion signal of the agricultural machine body 7, and the detected motion signal is calculated by the Kalman fusion algorithm. The real-time tilt angle of the body 7; t...

Embodiment 2

[0051] This embodiment is an application example. The automatic leveling system of work tools is applied to the paddy field grader to form the shovel automatic leveling system of the paddy field grader; this embodiment is for example Figure 5 As shown, the agricultural machinery body is a tractor 8, the work tool is a shovel 9, the rotating mechanism is a shovel connection mechanism 10, the telescopic mechanism is a hydraulic cylinder 11, and the driving unit is an electronically controlled hydraulic directional valve.

[0052] Such as Figure 5 As shown, the shovel 9 is hinged with the shovel connection mechanism 10, the hydraulic cylinder 11 is arranged obliquely with respect to the shovel 9 and the shovel connection mechanism 10, and one end of the telescopic shovel is hinged with the shovel 9, and the other end is connected with the shovel connection mechanism 10 articulated, the shovel 9 is connected to the tractor 8 through the shovel connection mechanism 10 to form a paddy ...

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Abstract

The invention discloses an automatic leveling system for an operating machine and a control method of the automatic leveling system. The automatic leveling system comprises an inclined-angle detecting sensor module, a displacement detection sensor, an executing module and an automatic leveling control module, wherein the executing module comprises the operating machine, a rotating mechanism and a stretching mechanism; the operating machine is connected with an agricultural machinery vehicle body through the rotating mechanism; the stretching mechanism is arranged in an inclined form relative to the operating machine; the stretching end of the stretching mechanism is connected with the operating machine; the inclined-angle detecting sensor module is arranged on the agricultural machinery vehicle body and is used for detecting an inclined motion signal of the agricultural machinery vehicle body; the displacement detection sensor is arranged on the stretching mechanism and is used for detecting a linear displacement of the stretching mechanism on an adjusting position; the inclined-angle detecting sensor module, the displacement detection sensor and the stretching mechanism are respectively connected with the automatic leveling control module. The automatic leveling system and the method provided by the invention can ensure the accurate and stable control on the operating machine so as to achieve an accurate operating purpose.

Description

Technical field [0001] The invention relates to an automatic leveling system, in particular to an automatic leveling system for work tools and a control method thereof, belonging to the field of intelligent agricultural machinery. Background technique [0002] Most modern agricultural machinery requires working tools to be parallel to the working object. At present, most of the agricultural machinery on the market is still the traditional profiling operation mode, and only a few agricultural machinery can realize the control of the height direction of the work tool, but the level control is not yet possible. However, in actual operation, due to factors such as uneven fields and different depths of mud feet, it is easy to cause the left and right wheels to not be in the same horizontal position. The lifting profiling device can only control the height of the working tool, and cannot control the whole machine in the horizontal direction. The balance of the operation results in the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01B71/02
Inventor 胡炼罗锡文林潮兴许奕杨伟伟可欣荣赵祚喜
Owner SOUTH CHINA AGRI UNIV