Elevation self-balancing control method and device for wide land leveler

Abstract

The invention discloses a elevation self-balancing control method and a device for a wide land leveler. The method comprises the steps that a satellite positioning module in a high-precision positioning mode is set, and a land leveling elevation reference value H, a system elevation control error value sigma and a horizontal control error value tau are set; an satellite antenna sends a received satellite signal to the satellite positioning module, and the satellite positioning module calculates, and a current elevation information value h of a land leveling shovel is obtained through calculation of the satellite positioning module; an elevation controller calculates the horizontal elevation difference delta h of the current elevation information value h of the land leveling shovel relativeto the land leveling elevation reference value H, and regulates and controls the height of the land leveling shovel to be within the error range of the system elevation control error value sigma; andhorizontal attitude information of the land leveling shovel is acquired through a gyro attitude sensor, the horizontal attitude information is transmitted to the elevation controller, an angle difference theta of the land leveling shovel relative to the horizontal plane is obtained throgh calculation, and the horizontal attitude of the land leveling shovel is adjusted to be within the error rangeof the horizontal control error value tau. The invention further discloses an elevation self-balancing control device adopting the method for the wide land leveler.

Description

technical field [0001] The invention relates to agricultural intelligent equipment technology, in particular to an elevation self-balancing control method and device for a wide-width grader. Background technique [0002] The flatness of the field ground will affect the water use efficiency and distribution uniformity under surface irrigation conditions, and even affect the irrigation quality. Land leveling can effectively improve the utilization rate of water, labor and energy, and is one of the important technical measures to improve ground irrigation methods. With the development of agricultural machinery and equipment, leveling machines have been popularized, especially wide paddy field levelers based on GNSS-RTK technology are more and more widely used, and levelers based on satellite navigation technology are accurate in operation, easy to operate, and are not affected by weather and distance. Restricted by other conditions, the operation efficiency of wide-width grade...

AI Technical Summary

Problems solved by technology

With the development of agricultural machinery and equipment, leveling machines have been popularized, especially wide paddy field levelers based on GNSS-RTK technology are more and more widely used, and levelers based on satellite navigation technology are accurate in operation, easy to operate, and are not affected by weather and distance. Restricted by other conditions, the operation efficiency of wide-width graders is relatively high, but at the same time it is difficult to control, especially in paddy field operations with different mud foot depths, ordinary graders cannot meet the requirements of rice planting

[0003] In actual production operations, due to factors such as the unevenness of the field and the inclination of the field, it is easy to cause the left and right wheels to not be at the same horizontal position. The lifting profiling device can only control the height of the agricultural machinery, but cannot control the balance of the whole machine in the left and right horizontal directions. , causing the job not to meet the scheduled requirements

Especially in the precise leveling of paddy fields, due to the unevenness of the bottom of the paddy field plow, the satellite elevation control system can only control the height of the leveling shovel to be adjustable, but cannot ensure that the level of the leveling shovel is controllable, making the field flatness difficult to meet the planting requirements.

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