Pressure control method and device, vehicle controller and baling machine

Abstract

The application provides a pressure control method and device, a whole vehicle controller and a baling machine, and relates to the technical field of baling machine control. The method comprises the following steps: acquiring a density oil cylinder pressure value collected by a density oil cylinder pressure sensor when a piston pressure adjustment signal from an APP controller is received, the piston pressure adjustment signal representing that a driver selects to automatically control the piston working pressure by operating the APP controller; determining the operation mode of the baling machine based on the acquired density oil cylinder pressure value; and controlling the operation time length of the density oil cylinder pressure regulating electromagnetic valve according to the operation mode and the piston working pressure values acquired from the piston pressure sensor multiple times, so as to efficiently and accurately control the piston working pressure and guarantee the operation effect of the baling machine.

Description

Technical Field

[0001] This invention relates to the field of baler control technology, and more specifically, to a pressure control method, device, vehicle controller, and baler. Background Technology

[0002] Balers are mainly used to compress and bundle loose hay and other materials on the ground into haystacks of specific shapes (such as squares or circles) for easy transportation. In actual operation, the pressure of key components of the baler (such as pistons and density cylinders) needs to be controlled according to changes in the current working conditions to ensure the baler's performance. However, currently, this mainly relies on manual labor, resulting in low efficiency. Summary of the Invention

[0003] This invention provides a pressure control method, device, vehicle controller, and baler, which can efficiently and accurately control the pressure of key components of the baler and ensure the working effect of the baler.

[0004] The technical solution of this invention can be implemented as follows:

[0005] In a first aspect, embodiments of the present invention provide a pressure control method applied to the overall controller of a baler, wherein the baler further includes an APP controller, a density cylinder pressure sensor, a piston pressure sensor, and a density cylinder pressure regulating solenoid valve, all electrically connected to the overall controller. The method includes:

[0006] Upon receiving a piston pressure adjustment signal from the APP controller, the density cylinder pressure value collected by the density cylinder pressure sensor is acquired once. The piston pressure adjustment signal indicates that the driver selects to automatically control the piston working pressure by operating the APP controller.

[0007] Based on the density cylinder pressure value obtained this time, the operating mode of the baler is determined;

[0008] Based on the operating mode and the piston working pressure values ​​obtained multiple times from the piston pressure sensor, the operating time of the density cylinder pressure regulating solenoid valve is controlled to adjust the piston working pressure of the baler.

[0009] Optionally, the operating mode includes a grass-covered mode and a grass-free mode, and the density cylinder pressure regulating solenoid valve includes a pressure increasing solenoid valve;

[0010] The step of determining the operating mode of the baler based on the density cylinder pressure value obtained in this study includes:

[0011] If the density cylinder pressure value obtained in this instance is greater than the preset cylinder pressure value, then the operating mode of the baler is determined to be the straw-containing mode.

[0012] If the density cylinder pressure value obtained this time is not greater than the preset cylinder pressure value, then after the pressure increase solenoid valve runs for a first preset time, the density cylinder pressure value collected by the density cylinder pressure sensor is obtained again.

[0013] If the density cylinder pressure value obtained again is not less than the preset cylinder pressure value, then the operating mode of the baler is determined to be the straw-containing mode.

[0014] If the density cylinder pressure value obtained again is less than the preset cylinder pressure value, then the baler is determined to be in the straw-free mode.

[0015] Optionally, the piston pressure adjustment signal includes a piston pressure setting value input by the driver, the operating mode is a grass-covered mode, and the baler also includes a grass-pulling finger proximity switch electrically connected to the vehicle controller.

[0016] The step of controlling the operating time of the density cylinder pressure regulating solenoid valve based on the operating mode and the piston working pressure values ​​obtained multiple times from the piston pressure sensor includes:

[0017] Set the zero point value of the piston pressure sensor to the default value, activate the grass-pulling finger proximity switch once, and read the grass-pulling count value;

[0018] If the grass count value is not greater than the pre-designed value, the piston working pressure value collected by the piston pressure sensor is acquired for the first time.

[0019] If the grass chip count is greater than the preset value, the piston working pressure value collected by the piston pressure sensor will be acquired for the first time after the grass chip count proximity switch is activated once and the density cylinder pressure regulating solenoid valve is controlled to run for a second preset time.

[0020] If the piston working pressure value obtained for the first time is within the first range, then the proximity switch for the number of weeding finger pieces is activated twice, and the piston working pressure value collected by the piston pressure sensor is obtained for the second time. The first range is obtained based on the piston pressure set value.

[0021] If the piston working pressure value obtained the second time is not within the second interval, then after controlling the density cylinder pressure regulating solenoid valve to run for a second preset time, the piston working pressure value collected by the piston pressure sensor is obtained for the third time. The second interval is obtained based on the piston pressure setting value, and the first interval includes the second interval.

[0022] If the piston working pressure value acquired by the piston pressure sensor for the third time is not within the third interval, then after activating the weeding finger proximity switch once, the density cylinder pressure regulating solenoid valve is controlled to run for the second preset time to adjust the piston working pressure of the baler to the third interval. The third interval is obtained based on the piston pressure setting value, and the second interval includes the third interval.

[0023] Optionally, the piston pressure adjustment signal includes a piston pressure setting value input by the driver, the operating mode is a no-bush mode, and the baler also includes a proximity switch for the number of weeding fingers electrically connected to the vehicle controller;

[0024] The step of controlling the operating time of the density cylinder pressure regulating solenoid valve based on the operating mode and the piston working pressure values ​​obtained multiple times from the piston pressure sensor includes:

[0025] The piston working pressure value collected by the piston pressure sensor is acquired for the first time;

[0026] If the piston working pressure value obtained for the first time is not greater than the preset piston pressure value, then the zero point value of the piston pressure sensor is set according to the piston working pressure value collected by the piston pressure sensor within the preset time range.

[0027] After activating the proximity switch for the number of weeding finger pieces and controlling the density cylinder pressure regulating solenoid valve to run for a second preset time, the piston working pressure value collected by the piston pressure sensor is acquired for the second time.

[0028] If the piston working pressure value obtained the second time is within the first interval, then after activating the proximity switch for the number of weeding finger pieces twice, the piston working pressure value collected by the piston pressure sensor is obtained a third time. The first interval is obtained based on the piston pressure set value.

[0029] If the piston working pressure value obtained for the third time is not within the second interval, then after controlling the density cylinder pressure regulating solenoid valve to run for a second preset time, the piston working pressure value collected by the piston pressure sensor is obtained for the fourth time. The second interval is obtained based on the piston pressure setting value, and the first interval includes the second interval.

[0030] If the piston working pressure value acquired by the piston pressure sensor for the fourth time is not within the third interval, then after activating the weeding finger proximity switch once, the density cylinder pressure regulating solenoid valve is controlled to run for a second preset time to adjust the piston working pressure value of the baler to the third interval. The third interval is obtained based on the piston pressure setting value, and the second interval includes the third interval.

[0031] Optionally, the piston pressure sensor includes a left sensor and a right sensor, the left sensor acquiring the working pressure value of the left piston of the baler, and the right sensor acquiring the working pressure value of the right piston of the baler. The method further includes:

[0032] If the working pressure value of the left piston and / or the working pressure value of the right piston is less than a first preset value, and the difference between the working pressure values ​​of the left piston and the right piston is greater than a second preset value, then a first alarm message is sent to the APP controller for display, so that the driver can control the baler to deviate according to the first alarm message.

[0033] Optionally, the piston pressure adjustment signal includes a piston pressure setpoint input by the driver, the density cylinder pressure adjustment solenoid valve includes a pressure relief solenoid valve, and the method further includes:

[0034] If the working pressure value of the left piston and / or the working pressure value of the right piston are less than the first preset value, and the working pressure value of the left piston and / or the working pressure value of the right piston are greater than the sum of the piston pressure setting value and the third preset value, then the pressure unloading solenoid valve is activated, and the operation of the pressure unloading solenoid valve is stopped when the average value of the working pressure value of the left piston and the working pressure value of the right piston is within the target range, wherein the target range is obtained based on the piston pressure setting value.

[0035] Optionally, the method further includes:

[0036] If the working pressure values ​​of the left piston and the right piston are both not less than the first preset value, and the working pressure values ​​of the left piston and / or the right piston are less than the fourth preset value, then a second alarm message is sent to the APP controller for display, so that the driver can reduce the driving speed of the baler according to the second alarm message.

[0037] Secondly, embodiments of the present invention provide a pressure control device applied to the overall controller of a baler. The baler further includes an APP controller, a density cylinder pressure sensor, a piston pressure sensor, and a density cylinder pressure regulating solenoid valve, all electrically connected to the overall controller. The device includes:

[0038] The acquisition module is used to acquire a density cylinder pressure value collected by the density cylinder pressure sensor when a piston pressure adjustment signal is received from the APP controller. The piston pressure adjustment signal indicates that the driver selects to automatically control the piston working pressure by operating the APP controller.

[0039] The determination module is used to determine the operating mode of the baler based on the density cylinder pressure value obtained in this transaction.

[0040] The control module is used to control the operating time of the density cylinder pressure regulating solenoid valve according to the operating mode and the piston working pressure values ​​obtained from the piston pressure sensor multiple times, so as to regulate the piston working pressure of the baler.

[0041] Thirdly, embodiments of the present invention provide a vehicle controller having a computer program programmed into it, which, when executed, implements the pressure control method described in the first aspect above.

[0042] Fourthly, embodiments of the present invention provide a baling machine, which includes a vehicle controller as described in the third aspect above, and an APP controller, a density cylinder pressure sensor, a piston pressure sensor, and a density cylinder pressure regulating solenoid valve, all electrically connected to the vehicle controller.

[0043] Compared to existing technologies, this invention provides a pressure control method for a vehicle controller of a baler: Upon receiving a piston pressure adjustment signal from an APP controller, the method acquires a density cylinder pressure value collected by a density cylinder pressure sensor. The piston pressure adjustment signal indicates that the driver selects automatic control of the piston working pressure through the APP controller. Based on this acquired density cylinder pressure value, the operating mode of the baler is determined. According to the operating mode and multiple piston working pressure values ​​acquired from the piston pressure sensor, the operating duration of the density cylinder pressure regulating solenoid valve is controlled to adjust the piston working pressure of the baler. Because this invention determines the baler's operating mode based on the density cylinder pressure value acquired after receiving the piston pressure adjustment signal, and controls the operating duration of the density cylinder pressure regulating solenoid valve according to the operating mode and multiple piston working pressure values ​​acquired from the piston pressure sensor, it efficiently and accurately controls the piston working pressure, thereby ensuring the baler's operational performance. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A schematic block diagram of the architecture of a baling machine provided in an embodiment of the present invention;

[0046] Figure 2 A flowchart illustrating a pressure control method provided in an embodiment of the present invention. Figure 1 ;

[0047] Figure 3 A flowchart illustrating a pressure control method provided in an embodiment of the present invention. Figure 2 ;

[0048] Figure 4 A flowchart illustrating a pressure control method provided in an embodiment of the present invention. Figure 3 ;

[0049] Figure 5 This is a functional unit block diagram of a pressure control device provided in an embodiment of the present invention.

[0050] Icons: 100 - Pressure control device; 101 - Acquisition module; 102 - Confirmation module; 103 - Control module. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0053] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0054] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0055] In order to efficiently and accurately control the pressure of key components of the baler and ensure the working effect of the baler, this invention provides a pressure control method, which will be described in detail below.

[0056] First, let's introduce an architecture such as... Figure 1 The pressure control method provided in this embodiment of the invention is applied to the overall controller of the baler.

[0057] Please refer to Figure 1The embodiments of the present invention provide a baler vehicle controller and an APP controller, a PTO speed sensor, a density cylinder pressure sensor, a piston pressure sensor, a straw-pulling finger proximity switch, a bale counting proximity switch, and a density cylinder pressure regulating solenoid valve, all of which are electrically connected to the vehicle controller.

[0058] The density cylinder pressure regulating solenoid valve includes a pressure increasing solenoid valve, a pressure decreasing solenoid valve, and a pressure unloading solenoid valve.

[0059] The pressure increasing solenoid valve is used to directly increase the pressure of the density cylinder of the baler, the pressure decreasing solenoid valve is used to directly decrease the pressure of the density cylinder of the baler, and the pressure unloading solenoid valve is used to directly reduce the pressure of the density cylinder of the baler to approximately zero.

[0060] Pressure increasing solenoid valves, pressure decreasing solenoid valves, and pressure unloading solenoid valves are also indirectly used to regulate the piston working pressure of the baler.

[0061] The APP controller is installed on the control panel in the cab of the baler. The driver can operate the manual control switch, automatic control switch, pressure increase button, pressure decrease button, and piston pressure automatic control switch on the APP controller to trigger the pressure control process of key components such as the density cylinder and piston. The driver can also input corresponding commands through the display interface of the APP controller.

[0062] It should be noted that the manual control switch for density cylinder pressure, the automatic control switch for density cylinder pressure, and the automatic control switch for piston pressure are mutually exclusive. That is, at any given time, only one of the three can be in the open state, while the other two must be in the closed state. In this embodiment of the invention, the automatic control switch for piston pressure is opened by default. When the automatic control switch for density cylinder pressure or the manual control switch for density cylinder pressure is opened, the automatic control switch for piston pressure is directly closed.

[0063] The PTO speed sensor is used to collect the engine speed of the baler. The density cylinder pressure sensor is used to collect the density cylinder pressure of the baler. The piston pressure sensor includes a left sensor and a rear sensor. The left sensor is used to collect the working pressure of the left piston, and the right sensor is used to collect the working pressure of the right piston. Each time the grass-picking finger proximity switch is activated, the baler performs a grass-picking operation to obtain one grass-picking piece. Each time the bale counting proximity switch is activated, a bale generation operation is performed to tie all the current grass-picking pieces into one bale.

[0064] Please refer to Figure 2 The pressure control method includes steps S101 to S103.

[0065] S101, upon receiving a piston pressure adjustment signal from the APP controller, acquires the density cylinder pressure value collected by the density cylinder pressure sensor.

[0066] Among them, the piston pressure regulation signal indicates that the driver selects to automatically control the piston working pressure by operating the APP controller.

[0067] Understandably, the driver turns on the piston pressure automatic control switch on the APP controller, thereby causing the APP controller to send a piston pressure adjustment signal to the vehicle controller.

[0068] S102, Based on the density cylinder pressure value obtained this time, determine the operating mode of the baler.

[0069] The operating modes include grassed mode and no-grass mode.

[0070] Please refer to Figure 3 Step S102 may include sub-steps S102-1 to S102-4.

[0071] S102-1, If ​​the density cylinder pressure value obtained in this instance is greater than the preset cylinder pressure value, then the baler's operating mode is determined to be the straw-containing mode.

[0072] The preset cylinder pressure value can be set according to actual needs. As one possible implementation, the preset cylinder pressure value can be set to 2 MPa.

[0073] S102-2, If the density cylinder pressure value obtained this time is not greater than the preset cylinder pressure value, then after the control pressure increases and the solenoid valve runs for a first preset time, the density cylinder pressure value collected by the density cylinder pressure sensor is obtained again.

[0074] The first preset duration can be set according to actual needs. As one possible implementation, the first preset duration can be set to 200ms.

[0075] In this embodiment of the invention, since the time taken for the pressure-increasing solenoid valve to execute the command each time is the same, the vehicle controller can control the operating time of the pressure-increasing solenoid valve by controlling the number of times the execution command is sent to the pressure-increasing solenoid valve.

[0076] S102-3, if the density cylinder pressure value obtained again is not less than the preset cylinder pressure value, then the baler's operating mode is determined to be the straw-containing mode.

[0077] S102-4, If the density cylinder pressure value obtained again is less than the preset cylinder pressure value, the baler is determined to be in the no-straw mode.

[0078] In other words, after receiving the piston pressure adjustment signal, if the initial density cylinder pressure value is greater than the preset cylinder pressure value, the baler's operating mode can be directly determined as the straw-containing mode. If the initial density cylinder pressure value is not greater than the preset cylinder pressure value, the baler's operating mode cannot be directly determined as the straw-free mode. Instead, the density cylinder pressure value is determined based on the re-obtained density cylinder pressure value after the solenoid valve for controlling the pressure increases has been running for a certain period of time.

[0079] If the density cylinder pressure value is again not less than the preset cylinder pressure value, the baler's operating mode will still be set to straw-containing mode. Only if the density cylinder pressure value is again less than the preset cylinder pressure value can the baler's operating mode be set to strawless mode.

[0080] For example, suppose the preset cylinder pressure value can be set to 2 MPa, the first preset duration is 200 ms, and the first obtained density cylinder pressure value is P1.

[0081] If P1 > 2 MPa, then the baler's operating mode will be directly set to the straw-containing mode.

[0082] If P1 <= 2 MPa, then after the control pressure increases the solenoid valve runs for 200 ms, the density cylinder pressure value P2 is obtained again.

[0083] If P2>=2MPa, the baler's operating mode can be set to straw-containing mode;

[0084] If P2 < 2 MPa, then the baler's operating mode will be set to straw-free mode.

[0085] S103 controls the running time of the density cylinder pressure regulating solenoid valve according to the operating mode and the piston working pressure value obtained from the piston pressure sensor multiple times, so as to regulate the piston working pressure of the baler.

[0086] Since the operating modes include grassed mode and grassless mode, the implementation process of step S103 in grassed mode and grassless mode will be described in detail below.

[0087] Please refer to Figure 4 When the operating mode is grass mode, step S103 may include sub-steps S103-10 to S103-15.

[0088] S103-10, set the zero point value of the piston pressure sensor to the default value, activate the grass-pulling finger proximity switch, and read the grass-pulling count value.

[0089] In the straw-containing mode, the straw count is typically the number of straw pieces used in the previous baling operation. In the strawless mode, the straw count is typically 0.

[0090] S103-11, If ​​the grass count value is not greater than the pre-designed value, then the piston working pressure value collected by the piston pressure sensor is acquired for the first time.

[0091] The pre-design value can be set according to the actual operation needs. As one possible implementation method, the pre-design value can be 10.

[0092] S103-12, if the grass chip count value is greater than the preset value, then after activating the grass chip count proximity switch and controlling the density cylinder pressure regulating solenoid valve to run for the second preset time, the piston working pressure value collected by the piston pressure sensor is acquired for the first time.

[0093] The second preset duration can be set according to actual work needs.

[0094] Understandably, if the grass count value is not greater than the pre-designed value, the piston working pressure value is directly obtained for the first time. If the grass count value is greater than the pre-designed value, the two operations of "activating the grass-pulling index proximity switch" and "controlling the second preset time of the density cylinder pressure regulating solenoid valve" need to be completed before the piston working pressure value is obtained for the first time.

[0095] S103-13, if the piston working pressure value obtained for the first time is within the first interval, then activate the proximity switch for the number of weeding finger pieces twice, and obtain the piston working pressure value collected by the piston pressure sensor for the second time.

[0096] The first interval is obtained based on the piston pressure setpoint. As one possible implementation, assuming the piston pressure setpoint is P, the first interval can be [P-30KN, P+30KN].

[0097] In this invention, if the piston working pressure value obtained for the first time is not within the first range, the process returns to step S103-10, which involves "activating the proximity switch for the number of grass-pulling fingers and reading the grass-flake count value", until the piston working pressure value obtained for the first time is within the first range.

[0098] S103-14, if the piston working pressure value obtained the second time is not within the second range, then after the control density cylinder pressure regulating solenoid valve has been running for the second preset time, the piston working pressure value collected by the piston pressure sensor is obtained for the third time.

[0099] The second interval is derived from the piston pressure setpoint, and the first interval encompasses the second interval. As one possible implementation, assuming the piston pressure setpoint is P, the first interval is [P-30KN, P+30KN], and the second interval is [P-15KN, P+15KN].

[0100] In this embodiment of the invention, if the piston working pressure value obtained for the second time is within the second range, then the execution of step S103-13 is returned to "activate the proximity switch for the number of weeding finger pieces twice and obtain the piston working pressure value collected by the piston pressure sensor for the second time", until the piston working pressure value obtained for the second time is not within the second range.

[0101] S103-15, if the piston working pressure value acquired by the piston pressure sensor for the third time is not within the third range, then after activating the proximity switch for the number of weeding finger pieces, control the density cylinder pressure regulating solenoid valve to run for a second preset time to adjust the piston working pressure of the baler to the third range.

[0102] The third interval is derived from the piston pressure setpoint, and the second interval includes the third interval. As one possible implementation, assuming the piston pressure setpoint is P, the first interval is [P-30KN, P+30KN], the second interval is [P-15KN, P+15KN], and the third interval is [P-10KN, P+10KN].

[0103] Please refer to this again. Figure 4 When the operating mode is grassless mode, step S103 may include sub-steps S103-20 to S103-25.

[0104] S103-20, the first time the piston working pressure value collected by the piston pressure sensor is acquired.

[0105] Unlike the grass-covered mode, the grass-free mode has no execution restrictions on the "first acquisition of piston working pressure value".

[0106] S103-21, If ​​the piston working pressure value obtained for the first time is not greater than the preset piston pressure value, then the zero point value of the piston pressure sensor is set according to the piston working pressure value collected by the piston pressure sensor within the preset time range.

[0107] The preset piston pressure value and preset time range can be set according to actual operation needs. As one possible implementation, the preset piston pressure value can be 30KN and the preset time range can be the previous 2 hours.

[0108] In this embodiment of the invention, when the first obtained piston working pressure value is not greater than the preset piston pressure value, the average value of the piston working pressure values ​​collected by the piston pressure sensor multiple times within the preset time range can be used as the zero point value of the piston pressure sensor.

[0109] When the first obtained piston working pressure value is greater than the preset piston pressure value, an alarm message needs to be sent to the APP controller. After the baler operator sees the alarm message displayed on the APP controller's screen, he / she stops the operation and inspects the baler.

[0110] If the driver does not stop working within a certain period of time after sending an alarm message to the APP controller, for example, 2 minutes, the zero point value of the piston pressure sensor will be directly set to the preset piston pressure value, and the following steps S103-22 will continue to be executed.

[0111] S103-22, after activating the proximity switch for the number of weeding finger pieces and controlling the density cylinder pressure regulating solenoid valve to run for a second preset time, the piston working pressure value collected by the piston pressure sensor is acquired for the second time.

[0112] In this embodiment of the invention, the piston working pressure value can only be obtained a second time after the two operations of "activating the proximity switch for the number of weeding finger pieces" and "controlling the operation of the density cylinder pressure regulating solenoid valve for the second preset time" are performed in sequence.

[0113] It should be noted that when the density cylinder pressure regulating solenoid valve is faulty, its operating time cannot reach the second operating time. Therefore, it is necessary to monitor the effective operating time of the density cylinder pressure regulating solenoid valve. If the monitored time reaches the second preset time, the piston working pressure value is obtained a second time.

[0114] If the monitored duration does not reach the second preset duration, an alarm message is sent to the APP controller, causing the baler operator to stop operation after seeing the alarm message displayed on the APP controller's screen and to inspect the baler.

[0115] S103-23, if the piston working pressure value obtained the second time is within the first interval, then after activating the proximity switch for the number of weeding finger pieces twice, the piston working pressure value collected by the piston pressure sensor is obtained for the third time.

[0116] In this invention, if the second obtained piston working pressure value is not within the first range, then the process returns to step S103-22 until the second obtained piston working pressure value is within the first range.

[0117] S103-24, if the piston working pressure value obtained for the third time is not within the second range, then after the control density cylinder pressure regulating solenoid valve has been running for the second preset time, the piston working pressure value collected by the piston pressure sensor will be obtained for the fourth time.

[0118] In this embodiment of the invention, if the piston working pressure value obtained for the third time is within the second range, then the process returns to step S103-23, which involves "activating the proximity switch for the number of two weeding finger pieces and obtaining the piston working pressure value collected by the piston pressure sensor for the third time", until the piston working pressure value obtained for the third time is not within the second range.

[0119] S103-25, if the piston working pressure value acquired by the piston pressure sensor for the fourth time is not within the third range, then after activating the proximity switch for the number of weeding finger pieces, control the density cylinder pressure regulating solenoid valve to run for a second preset time to adjust the piston working pressure value of the baler to the third range.

[0120] It should be noted that the second preset duration, first interval, second interval and third interval involved in steps S103-20 to S103-25 are the same as those in steps S103-10 to S103-15, and will not be described again here.

[0121] During the automatic control of piston working pressure, the vehicle controller also needs to constantly determine whether the baler has malfunctioned based on the left piston working pressure collected by the left sensor and the right piston working pressure collected by the right sensor, and handle any malfunctions accordingly to ensure the smooth completion of the automatic control process for piston working pressure. Specifically, the following situations apply:

[0122] Scenario 1: If the working pressure value of the left piston and / or the working pressure value of the right piston is less than the first preset value, and the difference between the working pressure values ​​of the left piston and the right piston is greater than the second preset value, then a first alarm message is sent to the APP controller for display, so that the driver can control the baler to deviate according to the first alarm message.

[0123] Scenario 2: If the working pressure value of the left piston and / or the working pressure value of the right piston are less than the first preset value, and the working pressure value of the left piston and / or the working pressure value of the right piston are greater than the sum of the piston pressure setting value and the third preset value, then the pressure relief solenoid valve is activated, and the operation of the pressure relief solenoid valve is stopped when the average value of the working pressure value of the left piston and the working pressure value of the right piston is within the target range. The target range is obtained based on the piston pressure setting value.

[0124] Case 3: If the working pressure values of both the left piston and the right piston are not less than the first preset value, and the working pressure value of the left piston and / or the right piston is less than the fourth preset value, then send a second alarm message to the APP controller for display, so that the driver can reduce the traveling speed of the baler according to the second alarm message.

[0125] Under normal circumstances, if the baler is operating on hay, the piston pressure setting value is 280 - 360 KN. If the baler is operating on silage, the piston pressure setting value is 180 - 280 KN.

[0126] Exemplarily, assume that the piston pressure setting value is P, the working pressure value of the left piston is p1, the working pressure value of the right piston is p2. The first preset value can be 360 KN, the second preset value can be 30 KN, the third preset value can be 30 KN, the fourth preset value is 480 N, and the target interval is [P - 10 KN, P + 10 KN].

[0127] If either p1 or p2 is less than 360 KN, and |p1 - p2| is greater than 30 KN, then an alarm message needs to be sent to the APP controller, so that after the baler driver sees the alarm message displayed on the display interface of the APP controller, the baler is offset. Among them, if p1 < p2, the baler is offset to the left; if p1 > p2, the baler is offset to the right.

[0128] If either p1 or p2 is less than 360 KN, and either p1 or p2 is greater than P + 30 KN, then an alarm message needs to be sent to the APP controller, so that after the baler driver sees the alarm message displayed on the display interface of the APP controller, the baler is offset. Among them, if p1 < p2, the baler is offset to the left; if p1 > p2, the baler is offset to the right.

[0129] If either p1 or p2 is less than 360 KN, and both p1 and p2 are not greater than P + 30 KN, then start the pressure unloading solenoid valve, and continuously obtain the new working pressure value p1' of the left piston and the working pressure value p2' of the right piston. When p1' and p2' obtained at a certain moment are both within [P - 10 KN, P + 10 KN], stop running the pressure unloading solenoid valve.

[0130] If both p1 and p2 are not less than 360 KN, and either p1 or p2 is less than 480 KN, then an alarm message needs to be sent to the APP controller, so that after the baler driver sees the alarm message displayed on the display interface of the APP controller, reduce the traveling speed of the vehicle.

[0131] If both p1 and p2 are not less than 480KN, an alarm message needs to be sent to the APP controller so that the baler operator can stop the operation after seeing the alarm message displayed on the APP controller's screen.

[0132] The embodiments of the present invention also provide a manual control process for the pressure of the density cylinder, which will be described in detail below.

[0133] The manual control procedure for the pressure of the density cylinder includes the following steps:

[0134] Step 1: The driver turns on the manual control switch for the density cylinder pressure on the APP controller, which causes the APP controller to send a signal to the vehicle controller, triggering the manual control process for the density cylinder pressure of the vehicle controller.

[0135] Step 2: Each time the driver presses the pressure increase button on the APP controller, the vehicle and APP controllers send a signal to the vehicle controller, causing the vehicle controller to send an execution command to the pressure increase solenoid valve.

[0136] Step 3: The vehicle controller calculates the cumulative running time of the pressure increase solenoid valve. If the cumulative running time is ≥1.2T1, a prompt message is sent to the APP controller to make the driver stop pressing the density cylinder pressure increase button on the APP controller. If the cumulative running time is <1.2T1, then proceed to step 4.

[0137] Step 4: The vehicle controller detects whether it has received a signal from the APP controller indicating that the pressure reduction button of the density cylinder has been pressed. If yes, it will no longer send execution commands to the pressure increase solenoid valve. If no, it will continue to send execution commands to the pressure increase solenoid valve.

[0138] The embodiments of the present invention also provide an automatic control process for the pressure of the density cylinder, which will be described in detail below.

[0139] The automatic control process for the pressure of the density cylinder includes the following steps:

[0140] Step 1: The driver turns on the density cylinder pressure automatic control switch on the APP controller, which causes the APP controller to send a signal to the vehicle controller, triggering the density cylinder pressure automatic control process of the vehicle controller.

[0141] Step 2: The driver sets the target range of the density cylinder pressure through the display interface of the APP controller;

[0142] Step 3: The vehicle controller continuously sends execution commands to the pressure increasing solenoid valve or pressure decreasing solenoid valve by comparing the obtained density cylinder pressure value with the target value range, and monitors the cumulative running time of the pressure increasing solenoid valve or pressure decreasing solenoid valve.

[0143] Step 4: When the cumulative running time is ≥1.2T1, stop sending execution commands to the pressure increasing solenoid valve or the pressure decreasing solenoid valve;

[0144] Step 5: When the cumulative running time is less than 1.2T1, determine whether the pressure value of the density cylinder of the baler is within the target value range at the current moment. If yes, stop sending execution commands to the pressure increase solenoid valve or the pressure decrease solenoid valve after 60 seconds. If no, continue sending execution commands to the pressure increase solenoid valve or the pressure decrease solenoid valve.

[0145] In order to perform the corresponding steps in the above method embodiments and various possible implementations, an implementation of the pressure control device 100 is given below.

[0146] Please refer to Figure 5 The pressure control device 100 includes an acquisition module 101, a determination module 102, and a control module 103.

[0147] The acquisition module 101 is used to acquire the density cylinder pressure value collected by the density cylinder pressure sensor when a piston pressure adjustment signal is received from the APP controller. The piston pressure adjustment signal indicates that the driver selects to automatically control the piston working pressure by operating the APP controller.

[0148] The determination module 102 is used to determine the operating mode of the baler based on the density cylinder pressure value obtained this time;

[0149] The control module 103 is used to control the running time of the density cylinder pressure regulating solenoid valve according to the operating mode and the piston working pressure value obtained from the piston pressure sensor multiple times, so as to regulate the piston working pressure of the baler.

[0150] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the pressure control device 100 described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0151] This invention also provides a vehicle controller with a computer program programmed into it. When the computer program is executed, it can be used to perform related operations in the pressure control method provided in the above-described method embodiments.

[0152] This invention also provides a computer-readable storage medium containing a computer program, which, when executed, can be used to perform related operations in the pressure control method provided in the above-described method embodiments.

[0153] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A pressure control method, characterized in that, A vehicle controller for a baler, the baler further comprising an APP controller, a density cylinder pressure sensor, a piston pressure sensor, and a density cylinder pressure regulating solenoid valve, all electrically connected to the vehicle controller, the method comprising: Upon receiving a piston pressure adjustment signal from the APP controller, the density cylinder pressure value collected by the density cylinder pressure sensor is acquired once. The piston pressure adjustment signal indicates that the driver selects to automatically control the piston working pressure by operating the APP controller. Based on the density cylinder pressure value obtained this time, the operating mode of the baler is determined; Based on the operating mode and the piston working pressure values ​​obtained multiple times from the piston pressure sensor, the operating time of the density cylinder pressure regulating solenoid valve is controlled to adjust the piston working pressure of the baler. The operating modes include a grass-covered mode and a grassless mode, and the density cylinder pressure regulating solenoid valve includes a pressure increasing solenoid valve. The step of determining the operating mode of the baler based on the density cylinder pressure value obtained in this study includes: If the density cylinder pressure value obtained in this instance is greater than the preset cylinder pressure value, then the operating mode of the baler is determined to be the straw-containing mode. If the density cylinder pressure value obtained this time is not greater than the preset cylinder pressure value, then after the pressure increase solenoid valve runs for a first preset time, the density cylinder pressure value collected by the density cylinder pressure sensor is obtained again. If the density cylinder pressure value obtained again is not less than the preset cylinder pressure value, then the operating mode of the baler is determined to be the straw-containing mode. If the density cylinder pressure value obtained again is less than the preset cylinder pressure value, then the baler is determined to be in the straw-free mode. The piston pressure adjustment signal includes the piston pressure setting value input by the driver, the operating mode is the grass-covered mode, and the baler also includes a grass-pulling finger proximity switch electrically connected to the vehicle controller. The step of controlling the operating time of the density cylinder pressure regulating solenoid valve based on the operating mode and the piston working pressure values ​​obtained multiple times from the piston pressure sensor includes: Set the zero point value of the piston pressure sensor to the default value, activate the grass-pulling finger proximity switch once, and read the grass-pulling count value; If the grass count value is not greater than the pre-designed value, the piston working pressure value collected by the piston pressure sensor is acquired for the first time. If the grass chip count is greater than the preset value, the piston working pressure value collected by the piston pressure sensor will be acquired for the first time after the grass chip count proximity switch is activated once and the density cylinder pressure regulating solenoid valve is controlled to run for a second preset time. If the piston working pressure value obtained for the first time is within the first range, then the proximity switch for the number of weeding finger pieces is activated twice, and the piston working pressure value collected by the piston pressure sensor is obtained for the second time. The first range is obtained based on the piston pressure set value. If the piston working pressure value obtained the second time is not within the second interval, then after controlling the density cylinder pressure regulating solenoid valve to run for a second preset time, the piston working pressure value collected by the piston pressure sensor is obtained for the third time. The second interval is obtained based on the piston pressure setting value, and the first interval includes the second interval. If the piston working pressure value acquired by the piston pressure sensor for the third time is not within the third interval, then after activating the weeding finger proximity switch once, the density cylinder pressure regulating solenoid valve is controlled to run for the second preset time to adjust the piston working pressure of the baler to the third interval. The third interval is obtained based on the piston pressure setting value, and the second interval includes the third interval.

2. The method as described in claim 1, characterized in that, The piston pressure adjustment signal includes the piston pressure setting value input by the driver, the operating mode is the no-grass mode, and the baler also includes a proximity switch for the number of grass-pulling fingers that is electrically connected to the vehicle controller. The step of controlling the operating time of the density cylinder pressure regulating solenoid valve based on the operating mode and the piston working pressure values ​​obtained multiple times from the piston pressure sensor includes: The piston working pressure value collected by the piston pressure sensor is acquired for the first time; If the piston working pressure value obtained for the first time is not greater than the preset piston pressure value, then the zero point value of the piston pressure sensor is set according to the piston working pressure value collected by the piston pressure sensor within the preset time range. After activating the proximity switch for the number of weeding finger pieces and controlling the density cylinder pressure regulating solenoid valve to run for a second preset time, the piston working pressure value collected by the piston pressure sensor is acquired for the second time. If the piston working pressure value obtained the second time is within the first interval, then after activating the proximity switch for the number of weeding finger pieces twice, the piston working pressure value collected by the piston pressure sensor is obtained a third time. The first interval is obtained based on the piston pressure set value. If the piston working pressure value obtained for the third time is not within the second interval, then after controlling the density cylinder pressure regulating solenoid valve to run for a second preset time, the piston working pressure value collected by the piston pressure sensor is obtained for the fourth time. The second interval is obtained based on the piston pressure setting value, and the first interval includes the second interval. If the piston working pressure value acquired by the piston pressure sensor for the fourth time is not within the third interval, then after activating the weeding finger proximity switch once, the density cylinder pressure regulating solenoid valve is controlled to run for a second preset time to adjust the piston working pressure value of the baler to the third interval. The third interval is obtained based on the piston pressure setting value, and the second interval includes the third interval.

3. The method as described in claim 1, characterized in that, The piston pressure sensor includes a left sensor and a right sensor. The left sensor collects the working pressure value of the left piston of the baler, and the right sensor collects the working pressure value of the right piston of the baler. The method further includes: If the working pressure value of the left piston and / or the working pressure value of the right piston is less than a first preset value, and the difference between the working pressure values ​​of the left piston and the right piston is greater than a second preset value, then a first alarm message is sent to the APP controller for display, so that the driver can control the baler to deviate according to the first alarm message.

4. The method as described in claim 3, characterized in that, The piston pressure regulation signal includes a piston pressure setpoint input by the driver; the density cylinder pressure regulating solenoid valve includes a pressure unloading solenoid valve; and the method further includes: If the working pressure value of the left piston and / or the working pressure value of the right piston are less than the first preset value, and the working pressure value of the left piston and / or the working pressure value of the right piston are greater than the sum of the piston pressure setting value and the third preset value, then the pressure unloading solenoid valve is activated, and the operation of the pressure unloading solenoid valve is stopped when the average value of the working pressure value of the left piston and the working pressure value of the right piston is within the target range, wherein the target range is obtained based on the piston pressure setting value.

5. The method as described in claim 3 or 4, characterized in that, The method further includes: If the working pressure values ​​of the left piston and the right piston are both not less than the first preset value, and the working pressure values ​​of the left piston and / or the right piston are less than the fourth preset value, then a second alarm message is sent to the APP controller for display, so that the driver can reduce the driving speed of the baler according to the second alarm message.

6. A pressure control device, characterized in that, A vehicle controller for a baler, the baler further comprising an APP controller, a density cylinder pressure sensor, a piston pressure sensor, and a density cylinder pressure regulating solenoid valve, all electrically connected to the vehicle controller. The device includes: The acquisition module is used to acquire a density cylinder pressure value collected by the density cylinder pressure sensor when a piston pressure adjustment signal is received from the APP controller. The piston pressure adjustment signal indicates that the driver selects to automatically control the piston working pressure by operating the APP controller. The determination module is used to determine the operating mode of the baler based on the density cylinder pressure value obtained in this transaction. The control module is used to control the operating time of the density cylinder pressure regulating solenoid valve according to the operating mode and the piston working pressure values ​​obtained from the piston pressure sensor multiple times, so as to adjust the piston working pressure of the baler. The operating modes include a straw-containing mode and a straw-free mode. The density cylinder pressure regulating solenoid valve includes a pressure-increasing solenoid valve. The determining module is specifically used for: if the density cylinder pressure value obtained this time is greater than the preset cylinder pressure value, then the operating mode of the baler is determined to be the straw-containing mode; if the density cylinder pressure value obtained this time is not greater than the preset cylinder pressure value, then after controlling the pressure-increasing solenoid valve to run for a first preset time, the density cylinder pressure value collected by the density cylinder pressure sensor is obtained again; if the density cylinder pressure value obtained again is not less than the preset cylinder pressure value, then the operating mode of the baler is determined to be the straw-containing mode; if the density cylinder pressure value obtained again is less than the preset cylinder pressure value, then the operating mode of the baler is determined to be the straw-free mode. The piston pressure adjustment signal includes the piston pressure setpoint input by the driver. The operating mode is a grass-covered mode. The baler also includes a grass-pulling index proximity switch electrically connected to the vehicle controller. The control module is specifically used to set the zero point value of the piston pressure sensor to a default value, activate the grass-pulling index proximity switch once, and read the grass count value. If the grass count value is not greater than the preset value, the piston working pressure value collected by the piston pressure sensor is acquired for the first time. If the grass count value is greater than the preset value, after activating the grass-pulling index proximity switch once and controlling the density cylinder pressure regulating solenoid valve to run for a second preset time, the piston working pressure value collected by the piston pressure sensor is acquired for the first time. If the piston working pressure value acquired for the first time is within the first interval, the grass-pulling index proximity switch is activated twice, and the value is acquired for the second time. The piston working pressure value collected by the piston pressure sensor is in the first range, which is obtained based on the piston pressure set value. If the piston working pressure value obtained a second time is not within the second range, the piston working pressure value collected by the piston pressure sensor is obtained a third time after the density cylinder pressure regulating solenoid valve is controlled to run for a second preset time. The second range is obtained based on the piston pressure set value, and the first range includes the second range. If the piston working pressure value collected by the piston pressure sensor a third time is not within the third range, the density cylinder pressure regulating solenoid valve is controlled to run for a second preset time after the weeding finger proximity switch is activated once, so as to adjust the piston working pressure of the baler to the third range. The third range is obtained based on the piston pressure set value, and the second range includes the third range.

7. A vehicle controller, characterized in that, It contains a computer program, which, when executed, implements the pressure control method as described in any one of claims 1 to 5.

8. A baling machine, characterized in that, It includes the vehicle controller as described in claim 7, and an APP controller, a density cylinder pressure sensor, a piston pressure sensor, and a density cylinder pressure regulating solenoid valve, all electrically connected to the vehicle controller.

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