Leveling control method and system for high ground clearance plant protection machine
A control method and technology of plant protection machine, which are applied in the fields of catching or killing insects, applications, animal husbandry, etc., can solve the problems of unbalanced platform lifting, easy rollover, unbalanced load of outriggers, etc., to reduce safety. Accidents, damage reduction, and the effect of improving leveling accuracy
Active Publication Date: 2021-03-09
HUNAN AGRICULTURAL UNIV
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Problems solved by technology
[0005] The invention provides a leveling control method and system of a plant protection machine with a high ground gap, which is used to solve the problem that the unbalanced load of the outriggers in the process of adjusting the ground gap of the existing plant protection machine leads to unbalanced lifting of the platform or easy rollover question
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Embodiment 1
[0054] The leveling control method of the high ground clearance plant protection machine of the present invention comprises the following steps:
[0055] Coarse adjustment (position setting leveling method): According to the target height value of the chassis ground clearance set by the user and the first inclination data corresponding to each leg of the chassis obtained through the corresponding first inclination sensors at the four legs Calculate the current height of each leg, calculate the distance that each leg of the high ground clearance plant protection machine needs to rise or fall, and output the corresponding control signal respectively (in this embodiment, the control signal is switch control, that is, power-on and power-off control) The adjustment system for each outrigger is used to adjust the height of each outrigger to the coarse adjustment range of the target height value of the chassis ground clearance. In this embodiment, the coarse adjustment range of the t...
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The invention discloses a leveling control method and system of a high ground clearance plant protection machine. The method includes the following steps: rough adjustment: calculating the needs of each leg of the high ground clearance plant protection machine according to the target height value of the ground clearance of the chassis set by the user; The distance of rising or falling, respectively output corresponding control signals to the adjustment system of each outrigger, so as to adjust the height of each outrigger to the rough adjustment range of the target height value of the chassis ground clearance; fine adjustment: obtain the inclination angle of the chassis Data, judge the highest point and the lowest point of the chassis according to the inclination data, calculate the height compensation displacement distance of the corresponding highest leg and the lowest leg according to the highest point and the lowest point, and output the corresponding control signal to the adjustment system of each leg The roll angle and pitch angle of the chassis are adjusted to the fine adjustment range. The invention obtains that the average horizontal error after chassis leveling is ≤±0.20°, the maximum error is 1.13°, and the leveling accuracy is ≤±0.2°.
Description
technical field [0001] The invention relates to the technical field of electromechanical-hydraulic control of agricultural machinery, in particular to a leveling control method and system for a high-ground-gap plant protection machine. Background technique [0002] With the development of mechanical, hydraulic, and electronic control technologies, the electromechanical-hydraulic integration of intelligent agricultural equipment has been applied to various fields of agricultural production, and various automated agricultural equipment has gradually replaced human labor. In recent years, in order to improve the production efficiency of agricultural products and reduce the work intensity, self-propelled spraying machines have been developed at home and abroad. The United States, Canada and other countries mainly focus on the development of tractor-supported suspension and traction large-scale spraying machinery because of their large and flat land areas. [0003] However, Chin...
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IPC IPC(8): A01M7/00
CPCA01M7/0082A01M7/0089
Inventor 蒋蘋舒鑫石毅新胡文武罗亚辉林伟董承泉卢向阳王奕
Owner HUNAN AGRICULTURAL UNIV