An electronically controlled multi-way valve for unmanned tractor and control method thereof

Abstract

The present invention is an unmanned tractor electronically controlled multi-way valve, including a vehicle manual multi-way valve and an extended electromagnetic multi-way valve, the vehicle manual multi-way valve and the extended multi-way valve are interconnected; the extended multi-way valve includes a first extended interface, a second extended interface, a two-position three-way valve and at least one extended three-position four-way valve, the second extended interface connects the valve port of the two-position three-way valve that can be connected to the remaining two valve ports in the valve body, the two-position three-way valve connects the two valve ports that are not connected to each other in the valve body of the extended three-position four-way valve, the first extended interface is connected to the extended three-position four-way valve and the oil circuit is connected in parallel to one of the oil circuits between the two-position three-way valve and the extended three-position four-way valve, and the remaining two valve ports of the extended three-position four-way valve are not connected to each other in the valve body, and are used to connect agricultural implements. Through the above structure, the present invention can realize that the original vehicle does not need to be disassembled, and can form an integral product that is independent of the entire vehicle system.

Description

Technical Field

[0001] The invention relates to the field of fluid working systems, and in particular to a tractor multi-way valve and a control method thereof. Background Art

[0002] With the improvement of my country's scientific and technological level, the automation level of tractors has also increased year by year. At the same time, compared with other farming methods such as human and animal power, tractors themselves have sufficient power and high efficiency, so they have become the main driving force for production labor in my country. In recent years, in order to further liberate the labor force, the unmanned driving technology of tractors has developed rapidly. At present, the unmanned driving technology of tractors is mainly focused on the vehicle body, and there is less research on the rear-end agricultural implements. However, in the actual farming process, the tractor and agricultural implements work together to realize the actual farming process. The coordination of tractors and agricultural implements with electronic control is imminent, and the hydraulic power output is the top priority.

[0003] The unmanned driving of small tractors is of little use, so the unmanned driving of large tractors is the current research focus. For large tractors, their hydraulic systems can be roughly divided into three circuits, one for the hydraulic power steering system, one for the lubrication and cooling of the gearbox, and the last one is a hydraulic oil circuit specifically for agricultural implements. The oil circuit can be divided into two parts, one for providing power for agricultural implement lifting, and the other for the output of hydraulic power. The former is realized by the hydraulic cylinder, and the latter is realized by the multi-way valve. At present, the multi-way valves installed on tractors are mostly manual multi-way valves, and there are no electromagnetic multi-way valve products. In order to enable the unmanned driving system to run on the tractor, the manual multi-way valve needs to be electronically controlled.

[0004] Patent: An electric proportional load-sensitive multi-way valve. Patent number CN109779993A discloses an electric proportional load-sensitive multi-way valve, which uses a proportional solenoid valve and a proportional solenoid to control the oil circuit of the valve plate, so that it has good flow control performance, greatly improves the control comfort, and can realize program control to meet the needs of unmanned operation. However, during the implementation process, this solution requires the replacement of the manual multi-way valve installed on the original vehicle as a whole, and requires cooperation with the vehicle manufacturer to carry out overall transformation and upgrading of the vehicle hydraulic system. This solution cannot be applied to existing tractors.

[0005] To solve this problem, a solution is needed to expand the manual multi-way valve of existing tractors to realize its electronic control. It does not need to disassemble the original vehicle and can form an integrated product independent of the entire vehicle system. Summary of the invention

[0006] The present invention aims to solve the problem that the manual multi-way valve installed on the original vehicle in the prior art needs to be replaced as a whole, and cooperation with the vehicle manufacturer is required to carry out overall transformation and upgrading of the hydraulic system of the whole vehicle, and the problem that it cannot be applied to the existing tractors is solved. An unmanned tractor electronically controlled multi-way valve and a control method thereof are provided, which solves the above-mentioned problem by adopting independent and combinable oil circuits for the manual and automatic driving parts.

[0007] The invention provides an unmanned tractor electronically controlled multi-way valve, comprising a vehicle manual multi-way valve and an extended multi-way valve, wherein the vehicle manual multi-way valve and the extended multi-way valve are connected to each other; the extended multi-way valve comprises a first extended interface, a second extended interface, a two-position three-way valve and at least one extended three-position four-way valve, wherein the first extended interface is connected to the two-position three-way valve, the two-position three-way valve is connected to the extended three-position four-way valve, the second extended interface is connected to the extended three-position four-way valve and an oil circuit is connected in parallel to one of the oil circuits between the two-position three-way valve and the extended three-position four-way valve, and the other two valve ports of the extended three-position four-way valve are not connected to each other in a valve body and are used for connecting agricultural implements.

[0008] The vehicle manual multi-way valve and the expanded multi-way valve are used for manual control and automatic control respectively. Through the detachable connection between the vehicle manual multi-way valve and the expanded multi-way valve and the on-off control of the oil circuit of the expanded multi-way valve, manual and automatic switching can be achieved through the vehicle manual multi-way valve control. There is no need to disassemble the original vehicle, and it can form an integral product independent of the entire vehicle system.

[0009] An unmanned tractor electronically controlled multi-way valve described in the present invention, as a preferred embodiment, the vehicle manual multi-way valve includes a first three-position six-way valve, at least one second three-position six-way valve, a first one-way valve and the same number of second one-way valves as the second three-position six-way valve, the first three-position six-way valve is connected to the pressure oil port through the first one-way valve, the second three-position six-way valve is connected to the pressure oil port through the second one-way valve, the first three-position six-way valve is connected to the pressure oil port, the first three-position six-way valve and the second three-position six-way valve are respectively connected to the return oil port, the first three-position six-way valve is connected to the second three-position six-way valve, the valve ports corresponding to the valve ports connected to the first three-position six-way valve are connected to the return oil port, and the first three-position six-way valve is connected to the first expansion interface and the second expansion interface.

[0010] The electronically controlled multi-way valve of an unmanned tractor described in the present invention is, as a preferred embodiment, a first three-position six-way valve comprises a first manual valve port, a second manual valve port, a third manual valve port, a fourth manual valve port, a fifth manual valve port and a sixth manual valve port, the first manual valve port is connected to the first one-way valve, the second manual valve port is connected to the pressure oil port, the third manual valve port is connected to the oil return port, the fourth manual valve port is connected to the first expansion interface, the fifth manual valve port is connected to the oil return port, and the sixth manual valve port is connected to the second expansion interface; when the first three-position six-way valve is located in the first working position, the second manual valve port is connected to the fifth manual valve port;

[0011] When the first three-position six-way valve is in the second working position, the first manual valve port is connected to the sixth manual valve port, and the third manual valve port is connected to the fourth manual valve port;

[0012] When the first three-position six-way valve is in the third working position, the first manual valve port is connected to the fourth manual valve port, and the sixth manual valve port is connected to the third manual valve port. The unmanned tractor electric control multi-way valve described in the present invention, as a preferred embodiment, expands the three-position four-way valve to include the first valve port, the second valve port, the third valve port and the fourth valve port, and the two-position three-way valve includes the fifth valve port, the sixth valve port and the seventh valve port, the fifth valve port is connected to the first expansion interface, the sixth valve port is connected to the first valve port, the seventh valve port is connected to the second valve port, and the third valve port and the fourth valve port are used to connect agricultural implements;

[0013] When the expanded three-position four-way valve is in the first working position, the first valve port, the second valve port, the third valve port and the fourth valve port are not connected; when the expanded three-position four-way valve is in the second working position, the first valve port is connected to the fourth valve port, and the second valve port is connected to the third valve port; when the expanded three-position four-way valve is in the third working position, the first valve port is connected to the third valve port, and the second valve port is connected to the fourth valve port;

[0014] When the two-position three-way valve is in the first working position, the fifth valve port is connected to the sixth valve port; when the two-position three-way valve is in the second working position, the fifth valve port is connected to the seventh valve port.

[0015] The electronically controlled multi-way valve for an unmanned tractor described in the present invention is, as a preferred embodiment, an expanded multi-way valve comprises at least two expanded three-position four-way valves, and each expanded three-position four-way valve is connected in parallel with each other.

[0016] The electronically controlled multi-way valve of an unmanned tractor described in the present invention is preferably configured such that the second three-position six-way valve includes a seventh manual valve port, an eighth manual valve port, a ninth manual valve port, a tenth manual valve port, an eleventh manual valve port and a twelfth manual valve port, the seventh manual valve port is connected to the second one-way valve, the eighth manual valve port is connected to the pressure oil port, the ninth manual valve port is connected to the oil return port, the eleventh manual valve port is connected to the oil return port, and the twelfth manual valve port and the tenth manual valve port are used to connect manual agricultural implements;

[0017] When the second three-position six-way valve is in the first working position, the eighth manual valve port is connected to the eleventh manual valve port;

[0018] When the second three-position six-way valve is in the second working position, the seventh manual valve port is connected to the twelfth manual valve port, and the ninth manual valve port is connected to the tenth manual valve port;

[0019] When the second three-position six-way valve is located at the third working position, the seventh manual valve port is connected to the tenth manual valve port, and the ninth manual valve port is connected to the twelfth manual valve port.

[0020] The unmanned tractor electronically controlled multi-way valve described in the present invention, as a preferred embodiment, further includes a controller, which is electrically connected to the extended multi-way valve. The controller includes an information acquisition module, an information processing module, an instruction issuing module and an information storage module. The information acquisition module is used to obtain the type of agricultural implements currently installed on the tractor, the state of the agricultural implements and the valve port connected to the agricultural implements. The information storage module is used to store instructions required for the agricultural implements to complete specific actions. The information processing module is used to call agricultural implement action instructions pre-stored in the information storage module through information from the information acquisition module. The instruction issuing module is used to send the instruction information retrieved from the information processing module to the corresponding solenoid valve. The information acquisition module transmits the collected information to the information processing module. The information processing module calls the instruction information of the information storage module through the collected information and transmits it to the instruction issuing module.

[0021] The command issuing module sends the control information of the agricultural implement to the extended multi-way valve to realize the power supply control of the two-position three-way valve and the extended three-position four-way valve, thereby realizing the control of the movement of the agricultural implement.

[0022] A control method for an electronically controlled multi-way valve of an unmanned tractor according to the present invention comprises the following steps:

[0023] S1, tractor starts working;

[0024] S2. The operator determines whether to adopt the unmanned driving mode. If so, the driver switches the first three-position six-way valve to the second working position or the third working position through the joystick, and starts to control the extended three-position four-way valve through the tractor controller, so that the tractor enters the unmanned driving mode; if not, the driver keeps the first three-position six-way valve in the first working position through the joystick, and the tractor controller does not supply power to the extended three-position four-way valve, and enters the manual operation mode;

[0025] S3, connecting the farm implement and performing the operation according to the manual driving mode or the automatic driving mode in step S2;

[0026] S4: The tractor operation is completed and the tractor stops.

[0027] The control method of the electronically controlled multi-way valve of an unmanned tractor described in the present invention, as a preferred embodiment, step S3 in the unmanned driving mode specifically comprises the following steps:

[0028] S31, connecting the agricultural implement to the third valve port and the fourth valve port of the expanded three-position four-way valve;

[0029] S32, switching the first three-position six-way valve from the first working position to the second working position or the third working position through the tractor joystick;

[0030] S33, the controller determines whether the farm implement needs to move. If so, the controller supplies power to the two-position three-way valve and the expanded three-position four-way valve at the same time, controls the two-position three-way valve to connect with the expanded three-position four-way valve, and switches the expanded three-position four-way valve from the first working position to the second working position or the third working position, and executes step S34; if no action is required, the controller keeps not supplying power to the two-position three-way valve and the expanded three-position four-way valve, and repeats step S33;

[0031] S34, judging whether the action is finished, if finished, stopping the power supply to the two-position three-way valve and the extended three-position four-way valve, if not finished, continuing the power supply;

[0032] S35, determine whether the job is finished, if not, repeat step S33, if so, run step S4.

[0033] The control method of the electronically controlled multi-way valve of an unmanned tractor described in the present invention, as a preferred embodiment, step S3 in the manual driving mode specifically comprises the following steps:

[0034] S36, determining whether the number of multi-way valves required by the agricultural implement used is the sum of the number of the first three-position six-way valve and the second three-position six-way valve; if so, disconnecting the first expansion interface from the second expansion interface; if not, maintaining the connection between the first expansion interface and the second expansion interface;

[0035] S37, installing the agricultural implement to the twelfth manual valve port and the tenth manual valve port. If the number of multi-way valves required by the installed agricultural implement is the sum of the number of the first three-position six-way valve and the second three-position six-way valve, the agricultural implement is simultaneously installed to the fourth manual valve port and the sixth manual valve port;

[0036] S38, the driver determines whether the farm implement needs to move. If so, the driver switches the first three-position six-way valve from the first working position to the second working position or the third working position through the tractor joystick, and executes step S39; if not, the driver keeps the first three-position six-way valve in the first working position, and repeats step S38;

[0037] S39, judging whether the action is finished, if so, switching the first three-position six-way valve to the first working position; if not, keeping the first three-position six-way valve in the second working position or the third working position;

[0038] S30, determine whether the job is finished, if not, repeat step S38, if yes, execute step S4.

[0039] In the electric-controlled multi-way valve of an unmanned tractor described in the present invention, in the crude oil circuit, the oil inlet and the oil return port are connected to the oil inlet and outlet of the original tractor through hydraulic pipes. When all solenoid valves are not powered, the first three-position six-way valve, the second three-position six-way valve, the two-position three-way valve and the extended three-position four-way valve are all in the first working position, and the oil directly returns to the oil cylinder in the original multi-way valve of the tractor, which is in a neutral unloading state.

[0040] When in manual mode, the hydraulic oil pipe of the farm implement is connected to the second three-way six-way valve of the vehicle manual multi-way valve. Generally, farm implements require at most three hydraulic oil pipes, that is, three second three-way six-way valves are connected. If four ways are needed, the expanded three-way four-way valve can be unplugged to connect the farm implement to the first three-way six-way valve. When the first three-way six-way valve and the second three-way six-way valve are in non-first working positions through the operating lever, the oil enters the farm implement to drive the farm implement.

[0041] When in automatic driving, after the agricultural implement is installed, the first three-position six-way valve is in a non-first working position, and the oil enters the extended multi-way valve. Assuming that the agricultural implement needs to move, a certain oil circuit needs to work at this time. At this time, the two-position three-way valve solenoid valve is energized, and the controller controls the corresponding oil circuit's extended three-position four-way valve to work. One of the corresponding third and fourth valve ports outputs high-pressure oil, and the other oil port is the return oil port. Different agricultural implements require different high-pressure oils for different actions, which needs to be judged in the control system. When the action of the agricultural implement is completed, the corresponding two-position three-way valve and the three-position four-way valve return to their positions, and the action is completed. Some agricultural implements may require 2 or 3 oil circuits to act sequentially or simultaneously, and these actions must be output in the controller.

[0042] The beneficial effects of the present invention are as follows:

[0043] (1) The detachable connection between the vehicle manual multi-way valve and the expansion multi-way valve can avoid the overall modification and upgrading of the vehicle hydraulic system;

[0044] (2) Expand the detachable multi-way valve so that the vehicle manual multi-way valve has sufficient oil circuits to connect farm implements when it is switched to manual mode;

[0045] (3) There is no need to disassemble the original vehicle, and it can form an integrated product independent of the entire vehicle system. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of an electronically controlled multi-way valve for an unmanned tractor;

[0047] Figure 2 A schematic diagram of an expanded multi-way valve for an electronically controlled multi-way valve of an unmanned tractor;

[0048] Figure 3A schematic diagram of a two-position three-way valve of an electronically controlled multi-way valve of an unmanned tractor;

[0049] Figure 4 A schematic diagram of a three-position four-way valve expansion for an electronically controlled multi-way valve for an unmanned tractor;

[0050] Figure 5 A schematic diagram of an unmanned tractor electric-controlled multi-way valve and a manual multi-way valve for a vehicle;

[0051] Figure 6 A schematic diagram of a first three-position six-way valve of an electronically controlled multi-way valve for an unmanned tractor;

[0052] Figure 7 A schematic diagram of a second, third and sixth-way valve of an electronically controlled multi-way valve of an unmanned tractor;

[0053] Figure 8 The present invention is a flow chart of a control method of an electronically controlled multi-way valve of an unmanned tractor.

[0054] Reference numerals:

[0055] 1. Vehicle manual multi-way valve; 11. First three-position six-way valve; 111. First manual valve port; 112. Second manual valve port; 113. Third manual valve port; 114. Fourth manual valve port; 115. Fifth manual valve port; 116. Sixth manual valve port; 12. Second three-position six-way valve; 121. Seventh manual valve port; 122. Eighth manual valve port; 123. Ninth manual valve port; 124. Tenth manual valve port; 125. Eleventh manual valve port; 126, twelfth manual valve port; 13, first one-way valve; 14, second one-way valve; 2, expanded multi-way valve; 21, first expansion interface; 22, second expansion interface; 23, two-position three-way valve; 231, fifth valve port; 232, sixth valve port; 233, seventh valve port; 24, expanded three-position four-way valve; 241, first valve port; 242, second valve port; 243, third valve port; 244, fourth valve port. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0057] Example 1

[0058] like Figure 1 As shown, an unmanned tractor electronically controlled multi-way valve includes a vehicle manual multi-way valve 1, an extended multi-way valve 2 and a controller. The vehicle manual multi-way valve 1 and the extended multi-way valve 2 are interconnected, and the controller is electrically connected to the extended multi-way valve 2.

[0059] The controller is electrically connected to the expansion multi-way valve. The controller includes an information acquisition module, an information processing module, an instruction issuing module and an information storage module. The information acquisition module is used to obtain the type of agricultural implements currently installed on the tractor, the state of the agricultural implements and the valve port connected to the agricultural implements. The information storage module is used to store the instructions required for the agricultural implements to complete specific actions. The information processing module is used to call the agricultural implement action instructions pre-stored in the information storage module through the information of the information acquisition module. The instruction issuing module is used to send the instruction information retrieved from the information processing module to the corresponding solenoid valve. The information acquisition module transmits the collected information to the information processing module. The information processing module calls the instruction information of the information storage module through the collected information and transmits it to the instruction issuing module.

[0060] The specific control method of the controller is as follows:

[0061] 1. Get the type of currently mounted implement.

[0062] Different implements have different ways of connecting to the tractor. The following table shows the connection devices of different implements to the vehicle. By obtaining the type of implement, you can know the connection method of the implement to the tractor. This information is entered by the driver in the system. The table lists the connection methods of different implements to the tractor.

[0063]

[0064] 2. Get the working status of agricultural implements.

[0065] When the vehicle is in the working area or not in the working area, the position of the agricultural implement is different. The following table shows the position of different agricultural implements in different working states:

[0066]

[0067] 3. Switch command trigger.

[0068] Like the vehicle, during the entire working process, the agricultural implement is in only two states, namely the working state and the non-working state. The switching between the two states is triggered by the switching of the vehicle's working area. When the vehicle switches between the working area and the non-working area, the agricultural implement control unit is triggered and starts to issue agricultural implement state switching instructions. This information is provided by the upper-level autonomous driving system.

[0069] 4. Read the operation instructions.

[0070] Different agricultural implements are connected to the tractor with different parts, and different actions require different operation sequences of the connection parts. After obtaining the switching instructions based on the type of agricultural implement, the working status of the vehicle, and the switching instructions, the operation sequence in the storage unit can be read to issue the action instructions to the agricultural implement. The following action sequence table is stored in the storage unit, and the action sequence of different agricultural implements needs to be determined in practice. Action instructions for different agricultural implements:

[0071]

[0072] Note: ①② in the figure indicate the sequence of actions.

[0073] 5. Action execution.

[0074] Each actuator performs actions according to the instructions.

[0075] like Figure 2 As shown, the expanded multi-way valve 2 includes a first expansion interface 21, a second expansion interface 22, a two-position three-way valve 23 and four expanded three-position four-way valves 24. The first expansion interface 21 is connected to the valve port of the two-position three-way valve 23 that can be connected to the other two valve ports in the valve body, the two-position three-way valve 23 is connected to the two valve ports that are not connected to each other in the valve body of the expanded three-position four-way valve 24, the second expansion interface 22 is connected to the expanded three-position four-way valve 24 and the oil circuit is connected in parallel to one of the oil circuits between the two-position three-way valve 23 and the expanded three-position four-way valve 24, and the other two valve ports of the expanded three-position four-way valve 24 are not connected to each other in the valve body and are used to connect agricultural implements. Each expanded three-position four-way valve 24 is connected in parallel to each other.

[0076] like Figure 3 , as shown in FIG. 4 , the expanded three-position four-way valve 24 includes a first valve port 241, a second valve port 242, a third valve port 243 and a fourth valve port 244, and the two-position three-way valve 23 includes a fifth valve port 231, a sixth valve port 232 and a seventh valve port 233. The fifth valve port 231 is connected to the first expansion interface 21, the sixth valve port 232 is connected to the first valve port 241, the seventh valve port 233 is connected to the second valve port 242, and the third valve port 243 and the fourth valve port 244 are used to connect agricultural implements;

[0077] When the expanded three-position four-way valve 24 is in the first working position, the first valve port 241, the second valve port 242, the third valve port 243 and the fourth valve port 244 are all disconnected; when the expanded three-position four-way valve 24 is in the second working position, the first valve port 241 is connected to the fourth valve port 244, and the second valve port 242 is connected to the third valve port 243; when the expanded three-position four-way valve 24 is in the third working position, the first valve port 241 is connected to the third valve port 243, and the second valve port 242 is connected to the fourth valve port 244. Under normal circumstances, the expanded three-position four-way valve 24 works in the neutral position. At this time, the hydraulic system is in a pressure-maintaining state. When the right-side solenoid valve works, the valve core moves to the right. At this time, the hydraulic valve works in the right-side working condition. When the left-side solenoid valve is energized, the valve core moves to the left and works in the left-side state.

[0078] When the two-position three-way valve 23 is in the first working position, the fifth valve port 231 is connected to the sixth valve port 232 ; when the two-position three-way valve 23 is in the second working position, the fifth valve port 231 is connected to the seventh valve port 233 .

[0079] like Figure 5 As shown, the vehicle manual multi-way valve 1 includes a first three-position six-way valve 11, four second three-position six-way valves 12, a first one-way valve 13 and the same number of second one-way valves 14 as the second three-position six-way valves 12, the first three-position six-way valve 11 is connected to the pressure oil port through the first one-way valve 13, the second three-position six-way valve 12 is connected to the pressure oil port through the second one-way valve 14, the first three-position six-way valve 11 is connected to the pressure oil port, the first three-position six-way valve 11 and the second three-position six-way valve are respectively connected to the return oil port, the first three-position six-way valve 11 is connected to the second three-position six-way valve 12, the first three-position six-way valve 11 and the second three-position six-way valve 12 are connected to the return oil port with the valve ports corresponding to the valve ports connected, and the first three-position six-way valve 11 is connected to the first expansion interface 21 and the second expansion interface 22.

[0080] like Figure 6 As shown, the first three-position six-way valve 11 includes a first manual valve port 111, a second manual valve port 112, a third manual valve port 113, a fourth manual valve port 114, a fifth manual valve port 115 and a sixth manual valve port 116, the first manual valve port 111 is connected to the first check valve 13, the second manual valve port 112 is connected to the pressure oil port, the third manual valve port 113 is connected to the return oil port, the fourth manual valve port 114 is connected to the second expansion interface 22, the fifth manual valve port 115 is connected to the return oil port, and the sixth manual valve port 116 is connected to the first expansion interface 21;

[0081] When the first three-position six-way valve 11 is located at the first working position, the second manual valve port 112 is connected to the fifth manual valve port 115;

[0082] When the first three-position six-way valve 11 is located at the second working position, the first manual valve port 111 is connected to the sixth manual valve port 116, and the third manual valve port 113 is connected to the fourth manual valve port 114;

[0083] When the first three-position six-way valve 11 is located at the third working position, the first manual valve port 111 is connected to the fourth manual valve port 114 , and the sixth manual valve port 116 is connected to the third manual valve port 113 .

[0084] like Figure 7 As shown, the second three-position six-way valve 12 includes a seventh manual valve port 121, an eighth manual valve port 122, a ninth manual valve port 123, a tenth manual valve port 124, an eleventh manual valve port 125 and a twelfth manual valve port 126, the seventh manual valve port 121 is connected to the second one-way valve 14, the eighth manual valve port 122 is connected to the pressure oil port, the ninth manual valve port 123 is connected to the return oil port, the eleventh manual valve port 125 is connected to the return oil port, and the twelfth manual valve port 126 and the tenth manual valve port 124 are used to connect manual agricultural implements;

[0085] When the second three-position six-way valve 12 is located at the first working position, the eighth manual valve port 122 is connected to the eleventh manual valve port 125;

[0086] When the second three-position six-way valve 12 is located at the second working position, the seventh manual valve port 121 is connected to the twelfth manual valve port 126, and the ninth manual valve port 123 is connected to the tenth manual valve port 124;

[0087] When the second three-position six-way valve 12 is located at the third working position, the seventh manual valve port 121 is connected to the tenth manual valve port 124 , and the ninth manual valve port 123 is connected to the twelfth manual valve port 126 .

[0088] Each valve port and manual valve port adopts quick plug-in. Each oil circuit adopts valve block form integration.

[0089] like Figure 8 As shown, a control method for an electronically controlled multi-way valve of an unmanned tractor comprises the following steps:

[0090] S1, tractor starts working;

[0091] S2, the operator determines whether to adopt the unmanned driving mode. If so, the driver switches the first three-position six-way valve (11) to the second working position or the third working position through the joystick, and starts to control the extended three-position four-way valve (24) through the controller of the tractor, so that the tractor enters the unmanned driving mode, that is, step S3; if not, the driver keeps the first three-position six-way valve (11) in the first working position through the joystick, and the controller of the tractor does not supply power to the extended three-position four-way valve (24), and enters the manual operation mode, that is, step S8;

[0092] S3, connecting the valve ports, connecting the agricultural implement to the third valve port 243 and the fourth valve port 244 of the expanded three-position four-way valve 24;

[0093] S4, switching the working position, switching the first three-position six-way valve 11 from the first working position to the second working position or the third working position through the tractor joystick;

[0094] S5, the controller determines whether the farm implement needs to move. If so, the controller supplies power to the two-position three-way valve 23 and the expanded three-position four-way valve 24 at the same time, controls the two-position three-way valve 23 to connect with the expanded three-position four-way valve 24, and switches the expanded three-position four-way valve 24 from the first working position to the second working position or the third working position, and executes step S6; if no action is required, the controller keeps not supplying power to the two-position three-way valve 23 and the expanded three-position four-way valve 24, and repeats step S5;

[0095] S6, judging whether the action is finished, if finished, stopping the power supply to the two-position three-way valve 23 and the extended three-position four-way valve 24, if not finished, continuing the power supply;

[0096] S7, determine whether the job is finished, if not, repeat step S5, if yes, execute step S13.

[0097] S8, determining whether the number of multi-way valves required by the agricultural implement used is the sum of the number of the first three-position six-way valve 11 and the second three-position six-way valve 12, if so, disconnecting the first expansion interface 21 and the second expansion interface 22; if not, maintaining the connection between the first expansion interface 21 and the second expansion interface 22;

[0098] S9, install the agricultural implement to the twelfth manual valve port 126 and the tenth manual valve port 124. If the number of multi-way valves required by the installed agricultural implement is the sum of the number of the first three-position six-way valve 11 and the second three-position six-way valve 12, install the agricultural implement to the fourth manual valve port 114 and the sixth manual valve port 116 at the same time;

[0099] S10, the driver determines whether the farm implement needs to move. If so, the driver switches the first three-position six-way valve 11 from the first working position to the second working position or the third working position through the tractor joystick, and executes step S11; if not, the driver keeps the first three-position six-way valve 11 in the first working position, and repeats step S10;

[0100] S11, judging whether the action is finished, if so, switching the first three-position six-way valve 11 to the first working position; otherwise, keeping the first three-position six-way valve 11 in the second working position or the third working position;

[0101] S12, determine whether the operation is completed, if not, repeat step S10, if so, execute step S13.

[0102] S13: The tractor operation is completed and the tractor stops.

[0103] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An electronically controlled multi-way valve for an unmanned tractor, characterized in that: The invention comprises a vehicle manual multi-way valve (1) and an extended multi-way valve (2), wherein the vehicle manual multi-way valve (1) and the extended multi-way valve (2) are connected to each other; the extended multi-way valve (2) comprises a first extended interface (21), a second extended interface (22), a two-position three-way valve (23) and at least one extended three-position four-way valve (24); the first extended interface (21) is connected to the two-position three-way valve (23), the two-position three-way valve (23) is connected to the extended three-position four-way valve (24), the second extended interface (22) is connected to the extended three-position four-way valve (24) and an oil circuit is connected in parallel to one of the oil circuits between the two-position three-way valve (23) and the extended three-position four-way valve (24); the other two valve ports of the extended three-position four-way valve (24) are not connected to each other in the valve body and are used for connecting agricultural implements; The vehicle manual multi-way valve (1) comprises a first three-position six-way valve (11), at least one second three-position six-way valve (12), a first one-way valve (13) and the same number of second one-way valves (14) as the second three-position six-way valve (12); the first three-position six-way valve (11) is connected to a pressure oil port via the first one-way valve (13); the second three-position six-way valve (12) is connected to a pressure oil port via the second one-way valve (14); the first three-position six-way valve (11) is connected to the pressure oil port; the first three-position six-way valve (11) and the second three-position six-way valve are respectively connected to an oil return port; the first three-position six-way valve (11) is connected to the second three-position six-way valve (12); valve ports corresponding to the valve ports connected between the first three-position six-way valve (11) and the second three-position six-way valve (12) are connected to the oil return port; the first three-position six-way valve (11) is connected to the first expansion interface (21) and the second expansion interface (22); The first three-position six-way valve (11) comprises a first manual valve port (111), a second manual valve port (112), a third manual valve port (113), a fourth manual valve port (114), a fifth manual valve port (115) and a sixth manual valve port (116); the first manual valve port (111) is connected to the first one-way valve (13); the second manual valve port (112) is connected to the pressure oil port; the third manual valve port (113) is connected to the oil return port; the fourth manual valve port (114) is connected to the first expansion interface (21); the fifth manual valve port (115) is connected to the oil return port; and the sixth manual valve port (116) is connected to the second expansion interface (22); When the first three-position six-way valve (11) is located at the first working position, the second manual valve port (112) is connected to the fifth manual valve port (115); When the first three-position six-way valve (11) is located at the second working position, the first manual valve port (111) is connected to the sixth manual valve port (116), and the third manual valve port (113) is connected to the fourth manual valve port (114); When the first three-position six-way valve (11) is located at the third working position, the first manual valve port (111) is connected to the fourth manual valve port (114), and the sixth manual valve port (116) is connected to the third manual valve port (113); the expanded three-position four-way valve (24) comprises a first valve port (241), a second valve port (242), a third valve port (243) and a fourth valve port (244); the two-position three-way valve (23) comprises a fifth valve port (231), a sixth valve port (232) and a seventh valve port (233); the fifth valve port (231) is connected to the first expansion interface (21), the sixth valve port (232) is connected to the first valve port (241), the seventh valve port (233) is connected to the second valve port (242), and the third valve port (243) and the fourth valve port (244) are used for connecting agricultural implements; When the extended three-position four-way valve (24) is in the first working position, the first valve port (241), the second valve port (242), the third valve port (243) and the fourth valve port (244) are not connected; when the extended three-position four-way valve (24) is in the second working position, the first valve port (241) is connected to the fourth valve port (244), and the second valve port (242) is connected to the third valve port (243); when the extended three-position four-way valve (24) is in the third working position, the first valve port (241) is connected to the third valve port (243), and the second valve port (242) is connected to the fourth valve port (244); When the two-position three-way valve (23) is in the first working position, the fifth valve port (231) is connected to the sixth valve port (232); when the two-position three-way valve (23) is in the second working position, the fifth valve port (231) is connected to the seventh valve port (233); The second three-position six-way valve (12) comprises a seventh manual valve port (121), an eighth manual valve port (122), a ninth manual valve port (123), a tenth manual valve port (124), an eleventh manual valve port (125) and a twelfth manual valve port (126); the seventh manual valve port (121) is connected to the second one-way valve (14); the eighth manual valve port (122) is connected to the pressure oil port; the ninth manual valve port (123) is connected to the oil return port; the eleventh manual valve port (125) is connected to the oil return port; and the twelfth manual valve port (126) and the tenth manual valve port (124) are used for connecting manual agricultural implements; The control method of the electronically controlled multi-way valve of the unmanned tractor comprises the following steps: S1, tractor starts working; S2, the operator determines whether to adopt the unmanned driving mode. If so, the driver switches the first three-position six-way valve (11) to the second working position or the third working position through the joystick, and starts to control the extended three-position four-way valve (24) through the controller of the tractor, so that the tractor enters the unmanned driving mode; if not, the driver keeps the first three-position six-way valve (11) in the first working position through the joystick, and the controller of the tractor does not supply power to the extended three-position four-way valve (24), and enters the manual operation mode; S3, connecting the farm implement and performing the operation according to the manual driving mode or the automatic driving mode in step S2; S4, the tractor operation is completed and the tractor stops; In the unmanned driving mode, step S3 specifically includes the following steps: S31, connecting the agricultural implement to the third valve port (243) and the fourth valve port (244) of the expanded three-position four-way valve (24); S32, switching the first three-position six-way valve (11) from the first working position to the second working position or the third working position through the tractor joystick; S33, the controller determines whether the agricultural implement needs to move. If so, the controller supplies power to the two-position three-way valve (23) and the extended three-position four-way valve (24) at the same time, controls the two-position three-way valve (23) to connect with the extended three-position four-way valve (24), and switches the extended three-position four-way valve (24) from the first working position to the second working position or the third working position, and executes step S34; if no action is required, the controller keeps not supplying power to the two-position three-way valve (23) and the extended three-position four-way valve (24), and repeats step S33; S34, judging whether the action is finished, if finished, stopping supplying power to the two-position three-way valve (23) and the extended three-position four-way valve (24), if not finished, continuing supplying power; S35, determine whether the operation is completed, if not, repeat step S33, if yes, execute step S4; In the manual driving mode, step S3 specifically includes the following steps: S36, determining whether the number of multi-way valves required by the agricultural implement used is the sum of the number of the first three-position six-way valve (11) and the second three-position six-way valve (12); if so, disconnecting the first expansion interface (21) from the vehicle manual multi-way valve (1) and disconnecting the second expansion interface (22) from the vehicle manual multi-way valve (1); if not, maintaining the connection between the first expansion interface (21) and the second expansion interface (22); S37, installing the agricultural implement to the twelfth manual valve port (126) and the tenth manual valve port (124); if the number of multi-way valves required by the installed agricultural implement is the sum of the number of the first three-position six-way valve (11) and the second three-position six-way valve (12), installing the agricultural implement to the fourth manual valve port (114) and the sixth manual valve port (116) at the same time; S38, the driver determines whether the farm implement needs to move. If so, the driver switches the first three-position six-way valve (11) from the first working position to the second working position or the third working position through the tractor joystick, and executes step S39; if not, the driver keeps the first three-position six-way valve (11) in the first working position, and repeats step S38; S39, judging whether the action is finished, if so, switching the first three-position six-way valve (11) to the first working position; if not, keeping the first three-position six-way valve (11) in the second working position or the third working position; S30, determine whether the job is finished, if not, repeat step S38, if yes, execute step S4.

2. The electronically controlled multi-way valve for an unmanned tractor according to claim 1, characterized in that: The expanded multi-way valve (2) comprises at least two expanded three-position four-way valves (24), and each of the expanded three-position four-way valves (24) is connected in parallel with each other.

3. The electronically controlled multi-way valve for an unmanned tractor according to claim 1, wherein: when the second three-position six-way valve (12) is located at the first working position, the eighth manual valve port (122) is connected to the eleventh manual valve port (125); When the second three-position six-way valve (12) is located at the second working position, the seventh manual valve port (121) is connected to the twelfth manual valve port (126), and the ninth manual valve port (123) is connected to the tenth manual valve port (124); When the second three-position six-way valve (12) is located at the third working position, the seventh manual valve port (121) is connected to the tenth manual valve port (124), and the ninth manual valve port (123) is connected to the twelfth manual valve port (126).

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