A rear suspension leveling system and method based on adaptive tillage depth adjustment

Abstract

The present invention provides a rear suspension leveling system and method based on adaptive tillage depth adjustment, including an information collection module, a central processing module, a control output module, and a tillage detection module. The information collection module collects the tractor wheel tilt angle index and the real-time attitude angle value of the tractor rear suspension tillage implement and transmits them to the central processing module. The tillage detection module detects tillage image data and tillage depth data and transmits them to the central processing module, and can evaluate the operation quality and realize real-time early warning at the same time; the central processing module analyzes and processes the received data based on the fuzzy PID algorithm, generates the best plan, and sends the target tillage implement rear suspension platform adjustment position instruction to the controller output module to adjust the real-time operation attitude. The present invention effectively solves the problem that the stability of traditional tillage implements in agricultural production is greatly affected by the environment and the leveling control accuracy is not high, so that the attitude adjustment of tillage implements under different terrains and working conditions is more stable and accurate.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent agricultural machinery, and in particular relates to a rear suspension leveling system based on adaptive tillage depth adjustment. Background Art

[0002] Currently in the field of agricultural tillage machinery technology, traditional tillage tools usually rely on operators to manually control hydraulic leveling devices for posture adjustment, which are easily affected by changes in terrain and workload, unstable posture adjustment, poor adaptability, and affect work efficiency and work quality; and traditional tillage tools lack a real-time tillage quality monitoring and feedback system, and cannot promptly detect and adjust the problem of uneven work quality, affecting the growth and yield of crops; the rear suspension tillage tools of general tractors may waste energy during work due to unstable posture adjustment and uneven tillage quality, which reduces energy utilization efficiency and increases production costs. In view of the above technical defects, the present invention proposes a rear suspension leveling system based on adaptive tillage depth adjustment to adapt to complex farm environments and achieve good leveling effects. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a rear suspension leveling system and method based on adaptive tillage depth adjustment, which solves the problem that tillage implements in agricultural production are greatly affected by the stability environment and the leveling control accuracy is not high.

[0004] The present invention achieves the above technical objectives through the following technical means.

[0005] A rear suspension leveling system based on adaptive tillage depth adjustment comprises an information acquisition module, a central processing module, a control output module, a tillage detection module and a rear suspension leveling device, wherein the information acquisition module, the tillage detection module and the control output module are all connected to the central processing module by signal, and the rear suspension leveling device is connected to the control output module by signal; the information acquisition module is used to collect the inclination angle index of the four wheels at the bottom of the tractor and the real-time attitude angle value of the tillage implement of the rear suspension of the tractor and transmit them to the central processing module; the tillage detection module is used to collect tillage image data and tillage depth data and transmit them to the central processing module, and is also used to evaluate the tillage quality and provide real-time warning; the central processing module analyzes and processes the received data based on a fuzzy PID algorithm and generates an optimal plan, and sends an adjustment instruction to the control output module; the control output module is used to receive and parse the instruction, send a control signal to an actuator of the rear suspension leveling device, control the rear suspension leveling device to perform a leveling operation, and realize tillage depth adjustment.

[0006] Furthermore, the information acquisition module includes a tilt sensor and a gyroscope sensor; the tillage detection module includes a camera, a depth sensor, a position sensor, and a control unit, the camera is installed at the tail of the tillage tool, the depth sensor is installed under the tillage tool, the position sensor is installed on the tractor chassis, and the control unit is located at the control panel position of the tractor cab; the control output module hardware is integrated in a control box and installed at the control panel position in the tractor cab; the central processing module is installed at the control panel position of the tillage machinery cab.

[0007] Furthermore, the rear suspension leveling device comprises an upper support crossbeam, one end of which is fixed to the tractor body by bolts, and the other end is respectively hinged to a left long hydraulic rod and a right long hydraulic rod, and the other ends of the left long hydraulic rod and the right long hydraulic rod are respectively connected to two universal joints on the leveling platform; the left long hydraulic rod and the right long hydraulic rod are both driven by a hydraulic system;

[0008] The rear suspension leveling device also includes a left lower supporting beam and a right lower supporting beam, one end of which is fixed to the left and right sides of the tractor body by bolts, the other ends of the left lower supporting beam and the right lower supporting beam are respectively hinged to the left supporting rod and the right supporting rod, and are also connected to the leveling platform through a connecting piece, the other ends of the left supporting rod and the right supporting rod are respectively hinged to the left rotating arm and the right rotating arm, and the other ends of the left rotating arm and the right rotating arm are respectively hinged to the left and right sides of the tractor body.

[0009] A rear suspension leveling method using the above rear suspension leveling system based on adaptive tillage depth adjustment includes the following process:

[0010] Step 1: The inclination sensor collects the inclination angle index of the four wheels at the bottom of the tractor and transmits it to the central processing module. The central processing module first calculates the inclination angle value of the tractor body, then calculates the field working condition information, and then simulates and generates the angle influence coefficient in unit time;

[0011] Step 2: The gyroscope sensor collects the real-time attitude angle value of the rear-hung tillage implement of the tractor and transmits it to the central processing module, which simulates and generates the attitude influence coefficient;

[0012] Step 3: The central processing module combines the tractor body tilt angle value with the angle influence coefficient, combines the real-time attitude angle value of the rear-hung tillage implement of the tractor with the attitude influence coefficient, and analyzes and obtains the adaptive attitude adjustment deviation angle;

[0013] Then, according to the change of field working condition information per unit time, the theoretical mechanical tillage depth difference that needs to be adjusted is predicted;

[0014] Then, through the actual tillage depth fed back in real time by the depth sensor in the tillage quality detection module, the central processing module uses the fuzzy PID algorithm to repeatedly correct the tillage depth adjustment command ZL1, and adjusts the parameters within the design range of the PID controller, and finally generates the optimal plan ZL1, and sends the target tillage machine rear suspension platform adjustment position command ZL1 to the controller output module to adjust the real-time working posture;

[0015] Step 4: The tillage quality detection module analyzes and evaluates the operating quality of the tractor tillage equipment in real time and issues early warning.

[0016] Furthermore, in step 1,

[0017] The central processing module obtains the field working condition information by calculating the four tilt angle indices Q1, Q2, Q3, Q4 and the tilt angle value A1 of the tractor body, including the soil slope index q1, Soil flatness index q2, Soil softness index q3, q3 = β0 + β1 (q1-A1) + d, soil slope fill height index h, slope bottom width index b, where Q i represents the inclination angle index of the four wheels at the bottom of the tractor, i represents the number of each wheel, and the values ​​are 1, 2, 3, and 4. β0 and β1 are the model parameters estimated by minimizing the loss function, d is the error, and the maximum value among Q1, Q2, Q3, and Q4 Then the angle influence coefficient μ1 is generated by simulation within unit time t0: α1 is a preset weight factor of the angle influence coefficient, and α1>0.

[0018] Furthermore, in step 2, the attitude influence coefficient μ2 is: α2 is a preset weight factor of the attitude influence coefficient, and α2>0, t0 represents unit time, and A2 is the real-time attitude angle value of the tillage implement mounted behind the tractor.

[0019] Furthermore, in step 3, the adaptive posture adjustment deviation angle δkA is: δkA=μ1·A1-μ2·A2.

[0020] Furthermore, in step 3, the specific process of predicting the theoretical mechanical tillage depth difference that needs to be adjusted according to the change in field condition information per unit time is as follows:

[0021] According to the change of field working condition information per unit time, the function of soil slope, flatness and softness changing with time qi(t), the function of fill height changing with time h(t), the function of slope bottom width changing with time b(t), the function of angle influence coefficient changing with time δkA(t) and the rate of change of flatness are obtained. The theoretical mechanical tillage depth difference δH that needs to be adjusted is predicted through information fusion and data analysis algorithms. j represents the index of the considered soil parameter, which ranges from 1 to n, n represents the total number of soil parameters considered, θ represents the angle parameter used for soil and tractor attitude adjustment calculation, x represents the spatial variable along the width of the soil bed, q3(θ) represents the soil flatness as a function of the angle θ, and t represents time.

[0022] Furthermore, the specific process of step 4 is as follows:

[0023] Step 4.1: Obtain the operation quality assessment coefficient by testing the tillage depth qualification rate and tillage depth uniformity:

[0024] For the rear suspension leveling system based on adaptive tillage depth adjustment, the control unit of the tillage quality detection module takes m pixel locations from the tillage effect picture taken by the current camera and calculates the tillage depth uniformity. nm max 、nm min They represent the tillage depth of the pixel with the maximum tillage depth and the pixel with the minimum tillage depth in the current tillage effect picture. If there are p qualified tillage depth points among the m pixels in the current tillage effect picture, then the qualified tillage depth rate is

[0025] The new tillage depth uniformity b1* and tillage depth qualified rate b2* are obtained again through the camera image feedback, and the tillage depth uniformity improvement value △b1 and tillage depth qualified rate improvement value △b2 are obtained by subtracting them from the b1 and b2 calculated last time respectively; the tillage depth uniformity influence coefficient is further calculated. Tillage depth qualification coefficient The operation quality evaluation coefficient B1 of the rear suspension leveling system based on adaptive tillage depth adjustment is obtained by combining X1 and X2, B1=b1X1+b2X2;

[0026] Finally, the same method was used to test and obtain the operation quality evaluation coefficient B0 of traditional tillage implements;

[0027] Obtain the operation quality improvement coefficient δB: δB = B1-B0;

[0028] Step 4.2: Determine abnormal status and issue an early warning by setting the qualified working status threshold:

[0029] Obtain a set of maximum tillage depth uniformity values ​​b1 from the tillage effect pictures taken in each round max , minimum tillage depth uniformity b1 min , maximum qualified rate of tillage depth b2 max, minimum qualified rate of tillage depth b2 min , a total of Z groups of data are obtained, then the maximum uniformity parameter of the system System minimum uniformity parameter System maximum pass rate parameters System minimum pass rate parameters Then calculate the minimum qualified working state index Bmin = b1 min * ·X1+b2 min * X2, calculate the maximum qualified working state index Bmax = b1 max * ·X1+b2 max * X2;

[0030] When δB is in the interval [Bmin, Bmax], the system is judged to be in a normal working state; when δB<Bmin or δB>Bmax, the system is judged to be in an abnormal working state, and the control unit generates an abnormal indication signal, and controls the abnormal indicator light to flash an alarm through the abnormal indication signal to remind the operator.

[0031] The present invention has the following beneficial effects:

[0032] The present invention designs a rear suspension leveling system model based on adaptive tillage depth adjustment, collects real-time working condition data of tillage implements through an information collection module, sends the data to a central processing module for analysis and calculation, and then outputs instructions to a control output module to perform a leveling operation of a rear suspension hydraulic device. The rear suspension hydraulic leveling device can be accurately controlled according to the real-time workload and field conditions, so that the posture adjustment of the tillage implements under different terrains and working conditions is more stable and accurate;

[0033] Compared with the traditional inclination sensor, the present invention can provide higher accuracy and stability, faster response speed, wider application range and stronger anti-interference ability when measuring the soil conditions of the rotary tiller in real time.

[0034] The present invention designs a real-time monitoring feedback system for tillage quality, which can monitor the working quality of tillage implements in real time, and adjust the hydraulic leveling device according to the monitoring results, thereby ensuring higher tillage quality and improving the production efficiency and quality of crops.

[0035] The present invention designs a fuzzy PID controller to make the tillage depth control have strong adaptability, and can automatically adjust the control parameters according to different working conditions and environmental changes, so that the system has better adaptability and stability to external interference and changes;

[0036] The overall design of the present invention can reduce the energy consumption of tillage tools during operation, improve energy utilization efficiency, and reduce production costs through precise adaptive tillage depth adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the working process of the rear suspension leveling system based on adaptive tillage depth adjustment according to the present invention;

[0038] Figure 2 It is a schematic structural diagram of the rear suspension leveling device of the present invention;

[0039] Figure 3 It is a working schematic diagram of the rear suspension leveling system based on adaptive tillage depth adjustment according to the present invention;

[0040] In the figure: 101-upper supporting beam; 102-left supporting rod; 103-right supporting rod; 104-left lower supporting beam; 105-right lower supporting beam; 201-left rotating arm; 202-right rotating arm; 203-left long hydraulic rod; 204-right long hydraulic rod; 301-leveling platform; 401-universal joint; 501-hydraulic pump; 502-hydraulic cylinder; 503-hydraulic valve. DETAILED DESCRIPTION

[0041] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0042] The present invention discloses a rear suspension leveling system based on adaptive tillage depth adjustment, comprising an information acquisition module, a central processing module, a control output module, a tillage detection module, and a rear suspension leveling device; the information acquisition module, the central processing module, the control output module, and the tillage detection module are signal-connected.

[0043] The information collection module includes an inclination sensor and a gyroscope sensor; the inclination sensor and the gyroscope sensor are used to collect real-time working condition data of the farming machinery and send the collected data to the central processing module in real time. The real-time working condition data includes angle parameters and posture parameters; the angle parameters include the inclination angle index of the four wheels at the bottom of the tractor, and the posture parameters include the real-time posture angle value of the farming implements hung behind the tractor.

[0044] The control output module hardware is integrated in a control box and installed at the control panel position in the tractor cab to ensure that the operator can easily control and monitor the leveling operation; the control output module receives the tillage depth difference adjustment instruction output by the central processing module, and parses it into a specific target position state, the telescopic length of the hydraulic rod, and the inclination angle of the leveling platform 301, and calculates the required control signal according to the current position of the mechanical component and the target position, and uses the fuzzy PID control algorithm to ensure that the mechanical component reaches the target position smoothly and accurately; the calculated control signal is sent to the specific actuator hydraulic rod and drive circuit, and the current position and state of the mechanical component are obtained by real-time monitoring of sensor data, and the real-time data is compared with the target position, and the control signal is continuously adjusted to ensure that the mechanical component moves as expected, that is, the leveling operation of the rear suspension leveling device is controlled.

[0045] The tillage detection module includes a camera, a depth sensor, a position sensor, and a control unit; the camera is installed at the tail of the tillage implement to obtain image data; the depth sensor can be an ultrasonic sensor or a laser sensor, installed under the tillage implement to accurately measure the tillage depth; the position sensor is installed on the tractor chassis to determine the tractor's driving speed and position and correct the image data; the control unit is located at the control panel of the tractor's cockpit to achieve comprehensive analysis and control of tillage detection. The tillage detection module is used to monitor and evaluate the current actual operation quality in real time, generate operation quality evaluation data and feed it back to the central processing module.

[0046] The central processing module is installed at the control panel of the tillage machinery cockpit; the central processing module is used to receive real-time field operation condition data sent by the information acquisition module, real-time tillage quality detection data collected by the tillage detection module, and operation quality assessment data, and is also used to send operation status adjustment instructions to the control output module.

[0047] like Figure 2 As shown, the rear suspension leveling device includes a three-point support mechanism, a four-rod hydraulic actuator, a leveling suspension mechanism, a transmission connection mechanism and a hydraulic system.

[0048] like Figure 2As shown, the three-point support mechanism includes an upper support beam 101, a left support rod 102, a right support rod 103, a left lower support beam 104, and a right lower support beam 105. The upper support beam 101 is located at the top of the three-point support mechanism and is the main support beam of the entire structure. It is firmly installed on the body of the tractor by bolting. The main function of the upper support beam 101 is to provide a stable support platform and provide a basis for the connection and support of other components. One end of the left support rod 102 is connected to the left rotating arm 201, which is connected and supported by the tractor body through its hinge point, allowing the left support rod 102 to have a certain range of motion in the vertical and horizontal planes. The other end of the left support rod 102 is connected to the left lower support beam 104, forming a stable triangular support structure. One end of the right support rod 103 is connected to the right rotating arm 202, which is connected and supported by the tractor body through its hinge point, allowing the right support rod 103 to move in the vertical and horizontal planes. The other end of the right support rod 103 is connected to the right lower support beam 105, which is symmetrically arranged with the left support rod 102 to form a balanced support structure. The left lower support beam 104 is fixed to the lower left side of the tractor body and connected to the tractor body by bolts to provide lateral support and enhance stability; the right lower support beam 105 is fixed to the lower right side of the tractor body and connected to the tractor body by bolts to provide lateral support and enhance stability together with the left lower support beam 104.

[0049] like Figure 2 As shown, the four-bar hydraulic actuator includes a left rotating arm 201, a right rotating arm 202, a left long hydraulic rod 203, and a right long hydraulic rod 204. One end of the left rotating arm 201 is connected to the left support rod 102, and the other end is connected to the tractor body. It is fixed to the tractor body through hinges and bearings, allowing it to rotate within a certain range; one end of the right rotating arm 202 is connected to the right support rod 103, and the other end is connected to the tractor body. It is fixed to the tractor body through hinges and bearings, allowing it to rotate within a certain range. One end of the left long hydraulic rod 203 is connected to the end of the upper supporting beam 101, and the other end is connected to the leveling platform 301. It is driven by the hydraulic system (hydraulic cylinder 502) to control the height and angle of the leveling platform 301; one end of the right long hydraulic rod 204 is connected to the end of the upper supporting beam 101, and the other end is connected to the leveling platform 301. It is driven by the hydraulic system (hydraulic cylinder 502) to cooperate with the left long hydraulic rod 203 to control the height and angle of the leveling platform 301.

[0050] Specifically, one end of the left rotating arm 201 is connected to the vehicle body through a hinge and a bearing to provide a rotating fulcrum, and the other end is connected to the left support rod 102 through a hinge and a bearing, so that the left support rod 102 can move with the movement of the left rotating arm 201; one end of the left long hydraulic rod 203 is connected to the end of the upper supporting beam 101 to provide a driving force, one end of the right rotating arm 202 is connected to the vehicle body through a hinge and a bearing to provide a rotating fulcrum, and the other end is connected to the right support rod 103 through a hinge or a bearing, so that the right support rod 103 can move with the movement of the right rotating arm 202, and one end of the right long hydraulic rod 204 is connected to the end of the upper supporting beam 101 to provide a driving force. One end of the left long hydraulic rod 203 is connected to the end of the upper supporting beam 101 and is fixed by a hinge so that it can remain connected when the rotating arm moves. The other end is connected to the leveling platform 301, and the height and angle adjustment of the leveling platform is achieved through the power provided by the hydraulic system; one end of the right long hydraulic rod 204 is connected to the end of the upper supporting beam 101 and is fixed by a hinge so that it can remain connected when the rotating arm moves. The other end is connected to the leveling platform 301, and the height and angle adjustment of the leveling platform is achieved in cooperation with the left long hydraulic rod 203 through the power provided by the hydraulic system.

[0051] like Figure 2 As shown, the leveling suspension mechanism includes a leveling platform 301, and the left long hydraulic rod 203 and the right long hydraulic rod 204 are connected to the two sides of the leveling platform 301 through the universal joint 401, providing driving force to adjust the height and angle of the leveling platform 301; the leveling platform 301 is connected to the universal joint 401: the universal joint 401 is connected to the top surface of the leveling platform 301, allowing the leveling platform 301 to move and adjust at multiple angles, ensuring the stability and flexibility of the leveling platform 301.

[0052] The transmission connection mechanism includes a universal joint 401, which is connected to the leveling platform 301 to allow the leveling platform 301 to be adjusted and moved at different angles. It is connected to the left long hydraulic rod 203 and the right long hydraulic rod 204 to ensure that the leveling platform 301 can run smoothly under the drive of the hydraulic system.

[0053] like Figure 2As shown, the hydraulic system includes a hydraulic pump 501, a hydraulic cylinder 502, and a hydraulic valve 503. The hydraulic pump 501 provides hydraulic power, which is connected to the hydraulic cylinder 502 to provide the required hydraulic fluid for the hydraulic cylinder 502. The hydraulic pump 501 is connected to the hydraulic cylinder 502 and the hydraulic valve 503 through a hydraulic pipeline to ensure the normal operation of the hydraulic system; the hydraulic cylinder 502 is the actuator of the hydraulic system. The hydraulic cylinders 502 on both sides are respectively connected to the left long hydraulic rod 203 and the right long hydraulic rod 204. They are driven by the hydraulic fluid provided by the hydraulic pump 501 to achieve the height and angle adjustment of the leveling platform 301; the hydraulic valve 503 controls the flow of the hydraulic fluid. It is connected between the hydraulic pump 501 and the hydraulic cylinder 502. By controlling the flow direction and pressure of the hydraulic fluid, the hydraulic cylinder 502 is precisely controlled. The hydraulic valve 503 is also connected to other parts of the hydraulic system, such as hydraulic pipelines, to ensure the coordinated operation of the entire hydraulic system.

[0054] Reference Figure 1 , 3 The rear suspension leveling method based on adaptive tillage depth adjustment of the rear suspension leveling system of the present invention comprises the following process:

[0055] Step 1: The tilt sensor collects the tilt angle index of the four wheels at the bottom of the tractor and transmits it to the central processing module. The central processing module marks the tilt angle index of the four wheels at the bottom of the tractor as Q1, Q2, Q3, and Q4 respectively, and calculates the tilt angle value A1 of the tractor body through the tilt angle index of the four wheels at the bottom of the tractor. With the horizontal line as the reference, when the wheel rotates counterclockwise upward, the obtained A1 value is positive, and when the wheel rotates clockwise downward, the obtained A1 value is negative; wherein, through the change trend of the tilt sensor output, the central processing module can determine whether the wheel rotates clockwise or counterclockwise;

[0056] The central processing module obtains field working condition information through Q1, Q2, Q3, Q4 and A1 calculations, including soil slope index q1, Soil flatness index q2, Soil softness index q3, q3 = β0 + β1 (q1-A1) + d, soil slope fill height index h, slope bottom width index b, where Q i represents the inclination angle index of the four wheels at the bottom of the tractor, i represents the number of each wheel, and the values ​​are 1, 2, 3, and 4. β0 and β1 are the model parameters estimated by minimizing the loss function, d is the error, and the maximum value among Q1, Q2, Q3, and Q4 Then the angle influence coefficient μ1 is generated by simulation within unit time t0: α1 is a preset weight factor of the angle influence coefficient μ1, and α1>0.

[0057] Step 2: The gyroscope sensor collects the real-time attitude angle value A2 of the rear-mounted tillage implement of the tractor and transmits it to the central processing module. After receiving the real-time attitude angle value A2, the central processing module uses the horizontal line as a reference. When the wheel rotates counterclockwise upward, the obtained A2 value is determined to be positive. When the wheel rotates clockwise downward, the obtained A2 value is determined to be negative. Then, within the unit time t0, the attitude influence coefficient μ2 is generated according to the A2 simulation: α2 is a preset weight factor of the attitude influence coefficient μ2, and α2>0; wherein, the gyroscope sensor performs measurement based on the inertia principle, and by detecting changes in rotation speed and acceleration, the tilt angle can be accurately measured with a faster response speed, and the gyroscope sensor can reduce the influence of vibration, vibration and other environmental factors on the measurement results through filtering and algorithm processing; the gyroscope sensor detects the rotation and tilt of the object, and through the changing trend of the sensor output, the central processing module can determine whether the wheel rotates clockwise or counterclockwise.

[0058] Step 3: The central processing module combines the tractor body tilt angle value A1 with the angle influence coefficient μ1, and combines the real-time posture angle value A2 of the tractor rear suspension tillage implement with the posture influence coefficient μ2, and jointly calculates and analyzes to obtain the adaptive posture adjustment deviation angle δkA: δkA=μ1·A1-μ2·A2;

[0059] Then, according to the changes in soil slope index q1, soil flatness index q2, soil softness index q3, soil fill height index h, and slope bottom width index b in unit time, the function of soil slope, flatness and softness changing with time qi(t), the function of fill height changing with time h(t), the function of slope bottom width changing with time b(t), the function of angle influence coefficient changing with time δkA(t) and the rate of change of flatness are obtained. The theoretical mechanical tillage depth difference δH that needs to be adjusted is predicted through information fusion and data analysis algorithms. j represents the index of the soil parameter considered (flatness, compaction, softness, etc.), which ranges from 1 to n, n represents the total number of soil parameters considered, θ represents the angle parameter used for soil and tractor attitude adjustment calculation, x represents the spatial variable along the width of the soil bed, q3(θ) represents the soil flatness as a function of the angle θ, and t represents time;

[0060] Then, the actual tillage depth δh is fed back in real time by the depth sensor in the tillage quality detection module. The central processing module uses the fuzzy PID algorithm to repeatedly correct the tillage depth adjustment instruction ZL1, and adjusts the parameters (including the proportional coefficient Kp, the integral coefficient Ki, and the differential coefficient Kd) within the design range of the PID controller. Finally, the optimal plan ZL1 is generated, and the target tillage machine rear suspension platform adjustment position instruction ZL1 is sent to the controller output module to adjust the real-time working posture.

[0061] Step 4: The tillage quality detection module analyzes and evaluates the operation quality in real time and issues early warnings. The specific process is as follows:

[0062] Step 4.1: Obtain the operation quality assessment coefficient by testing the tillage depth qualification rate and tillage depth uniformity:

[0063] For the self-adaptive tillage depth adjustment rear suspension leveling system of the present invention, the control unit of the tillage quality detection module takes m pixel locations from the tillage effect picture taken by the current camera, and calculates the tillage depth uniformity. nm max 、nm min They represent the tillage depth of the pixel with the maximum tillage depth and the pixel with the minimum tillage depth in the current tillage effect picture. In the m pixels of the current tillage effect picture, the number of qualified tillage depth points is set to p, then the tillage depth qualified rate is

[0064] After the output from the adaptive electronically controlled hydraulic rear suspension leveling device, the new tillage depth uniformity b1* and tillage depth qualified rate b2* are obtained again through the camera image feedback, and the tillage depth uniformity improvement value △b1 and tillage depth qualified rate improvement value △b2 are obtained by subtracting them from the b1 and b2 calculated last time respectively; the tillage depth uniformity influence coefficient is further calculated Tillage depth qualification coefficient The operation quality evaluation coefficient B1 of the rear suspension leveling system with adaptive tillage depth adjustment of the present invention is obtained by combining X1 and X2, B1=b1X1+b2X2;

[0065] Finally, the same method as above was used to test and obtain the operation quality evaluation coefficient B0 of the traditional tillage implement (that is, B0 is the data obtained by installing a camera behind the traditional tillage implement to take its operation picture and calculating it according to the above analysis process);

[0066] By comparing the operation quality evaluation coefficient B0 of the conventional tillage implement under the above operation and the operation quality evaluation coefficient B1 of the adaptive tillage depth adjustment rear suspension leveling system of the present invention, the operation quality improvement coefficient δB is obtained: δB=B1-B0.

[0067] Step 4.2: Determine abnormal status and issue an early warning by setting the qualified working status threshold:

[0068] Obtain a set of maximum tillage depth uniformity values ​​b1 from the tillage effect pictures taken in each round max , minimum tillage depth uniformity b1 min , maximum qualified rate of tillage depth b2 max , minimum qualified rate of tillage depth b2 min , a total of Z groups of data are obtained, then the maximum uniformity parameter of the system System minimum uniformity parameter System maximum pass rate parameters System minimum pass rate parameters Then calculate the minimum qualified working state index Bmin = b1 min * X1+b2 min * X2, calculate the maximum qualified working state index Bmax = b1 max * X1+b2 max * X2;

[0069] When δB is in the interval [Bmin, Bmax], the system is judged to be in normal working condition; when δB<Bmin or δB>Bmax, the system is judged to be in abnormal working condition, an abnormal indication signal is generated, and the abnormal indicator light is controlled to flash an alarm through the abnormal indication signal, thereby reminding the operator to monitor and repair.

[0070] In summary, the present invention can collect real-time working condition data of the tillage implement through the information acquisition module and send it to the central processing module for analysis and calculation, and then output instructions to the control output module to perform leveling operations of the rear suspension hydraulic device, and finally perform image recognition detection on the tillage quality after adaptive adjustment, so as to achieve stable and accurate tillage depth control effect.

[0071] The interval and threshold values ​​in this embodiment are set for the convenience of comparison. The size of the threshold depends on the amount of sample data and the number of bases set by technicians in this field for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantized value. The formulas in this embodiment are all dimensionless and calculated by taking their numerical values. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0072] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A rear suspension leveling method using a rear suspension leveling system based on adaptive tillage depth adjustment, It is characterized in that The rear suspension leveling system based on adaptive tillage depth adjustment includes an information acquisition module, a central processing module, a control output module, a tillage detection module, and a rear suspension leveling device. The information acquisition module, the tillage detection module, and the control output module are all connected to the central processing module by signal, and the rear suspension leveling device is connected to the control output module by signal; the information acquisition module is used to collect the inclination angle index of the four wheels at the bottom of the tractor and the real-time attitude angle value of the tillage implement of the rear suspension of the tractor and transmit them to the central processing module; the tillage detection module is used to collect tillage image data and tillage depth data and transmit them to the central processing module, and is also used to evaluate the tillage quality and provide real-time warning; the central processing module analyzes and processes the received data based on the fuzzy PID algorithm and generates the best plan, and sends the adjustment command to the control output module; the control output module is used to receive and analyze the command, send the control signal to the actuator of the rear suspension leveling device, control the rear suspension leveling device to perform the leveling operation, and realize the tillage depth adjustment; The information acquisition module includes an inclination sensor and a gyroscope sensor; the tillage detection module includes a camera, a depth sensor, a position sensor, and a control unit. The camera is installed at the tail of the tillage implement, the depth sensor is installed under the tillage implement, the position sensor is installed on the tractor chassis, and the control unit is located at the control panel position of the tractor cockpit; the control output module hardware is integrated in a control box and installed at the control panel position in the tractor cockpit; the central processing module is installed at the control panel position of the tillage machinery cockpit; The rear suspension leveling method includes the following steps: Step 1: The inclination sensor collects the inclination angle index of the four wheels at the bottom of the tractor and transmits it to the central processing module. The central processing module first calculates the inclination angle value of the tractor body, then calculates the field working condition information, and then simulates and generates the angle influence coefficient in unit time; Step 2: The gyroscope sensor collects the real-time attitude angle value of the rear-hung tillage implement of the tractor and transmits it to the central processing module, which simulates and generates the attitude influence coefficient; Step 3: The central processing module combines the tractor body tilt angle value, angle influence coefficient, the real-time attitude angle value of the tractor rear suspension tillage implement, and attitude influence coefficient to analyze and obtain the adaptive attitude adjustment deviation angle; Then, according to the change of field working condition information per unit time, the theoretical mechanical tillage depth difference that needs to be adjusted is predicted; Then, the actual tillage depth fed back in real time by the depth sensor in the tillage quality detection module is used to repeatedly correct the tillage depth adjustment command ZL1 using the fuzzy PID algorithm, and the parameters are adjusted within the design range of the PID controller to generate the optimal plan ZL1, and the target tillage implement rear suspension platform adjustment position command ZL1 is sent to the controller output module to adjust the working posture; Step 4: The tillage quality detection module analyzes and evaluates the quality of tractor tillage equipment operation in real time and issues early warning; The specific process of step 4 is as follows: Step 4.1: Obtain the operation quality assessment coefficient by testing the tillage depth qualification rate and tillage depth uniformity: For the rear suspension leveling system based on adaptive tillage depth adjustment, the control unit of the tillage quality detection module takes m pixel locations from the tillage effect picture taken by the current camera and calculates the tillage depth uniformity. nm max 、nm min They represent the tillage depth of the pixel with the maximum tillage depth and the pixel with the minimum tillage depth in the current tillage effect picture. If there are p qualified tillage depth points among the m pixels in the current tillage effect picture, then the qualified tillage depth rate is The new tillage depth uniformity b1* and tillage depth qualified rate b2* are obtained again through the camera image feedback, and the tillage depth uniformity improvement value △b1 and tillage depth qualified rate improvement value △b2 are obtained by subtracting them from the b1 and b2 calculated last time respectively; the tillage depth uniformity influence coefficient is further calculated. Tillage depth qualification coefficient The operation quality evaluation coefficient B1 of the rear suspension leveling system based on adaptive tillage depth adjustment is obtained by combining X1 and X2, B1=b1X1+b2X2; Then the same method was used to test and obtain the operation quality evaluation coefficient B0 of the traditional tillage implements; Further calculation is performed to obtain the operation quality improvement coefficient δB: δB = B1-B0; Step 4.2: Determine abnormal status and issue an early warning by setting the qualified working status threshold: Obtain a set of maximum tillage depth uniformity values ​​b1 from the tillage effect pictures taken in each round max , minimum tillage depth uniformity b1 min , maximum qualified rate of tillage depth b2 max , minimum qualified rate of tillage depth b2 min , a total of Z groups of data are obtained, then the maximum uniformity parameter of the system System minimum uniformity parameter System maximum pass rate parameters System minimum pass rate parameters Then calculate the minimum qualified working state index Bmin = b1 min * ·X1+b2 min * X2, calculate the maximum qualified working state index Bmax = b1 max * ·X1+b2 max * X2; When δB is in the interval [Bmin, Bmax], the system is judged to be in a normal working state; when δB<Bmin or δB>Bmax, the system is judged to be in an abnormal working state, and the control unit generates an abnormal indication signal, and controls the abnormal indicator light to flash an alarm through the abnormal indication signal to remind the operator.

2. The rear suspension leveling method according to claim 1, It is characterized in that The rear suspension leveling device comprises an upper support crossbeam (101), one end of the upper support crossbeam (101) is fixed to the tractor body by bolts, and the other end is respectively hinged to a left long hydraulic rod (203) and a right long hydraulic rod (204), and the other ends of the left long hydraulic rod (203) and the right long hydraulic rod (204) are respectively connected to two universal joints (401) on the leveling platform (301); the left long hydraulic rod (203) and the right long hydraulic rod (204) are both driven by a hydraulic system; The rear suspension leveling device also includes a left lower support beam (104) and a right lower support beam (105) whose one ends are fixed to the left and right sides of the tractor body by bolts; the other ends of the left lower support beam (104) and the right lower support beam (105) are respectively hinged to the left support rod (102) and the right support rod (103), and are also connected to the leveling platform (301) through a connecting piece; the other ends of the left support rod (102) and the right support rod (103) are respectively hinged to the left rotating arm (201) and the right rotating arm (202); the other ends of the left rotating arm (201) and the right rotating arm (202) are respectively hinged to the left and right sides of the tractor body.

3. The rear suspension leveling method according to claim 1, It is characterized in that In the step 1, The central processing module obtains the field working condition information by calculating the four tilt angle indices Q1, Q2, Q3, Q4 and the tilt angle value A1 of the tractor body, including the soil slope index q1, Soil flatness index q2, Soil softness index q3, q3 = β 0 +β 1 (q 1 -A1)+d, soil slope fill height index h, slope bottom width index b, where Q i Indicates the inclination angle index of the four wheels at the bottom of the tractor, i represents the number of each wheel, and the values ​​are 1, 2, 3, 4, β 0 and β 1 is the model parameter estimated by minimizing the loss function, d is the error, and the maximum value among Q1, Q2, Q3, and Q4 Then in unit time t 0 Internal simulation generates the angle influence coefficient μ1: α1 is a preset weight factor of the angle influence coefficient, and α1>

0.

4. The rear suspension leveling method according to claim 1, It is characterized in that In step 2, the attitude influence coefficient μ2 is: α2 is the preset weight factor of the attitude influence coefficient, and α2>0, t 0 It represents unit time, and A2 is the real-time attitude angle value of the tillage implements mounted behind the tractor.

5. The rear suspension leveling method according to claim 1, It is characterized in that In step 3, the adaptive posture adjustment deviation angle δkA is: δkA=μ1·A1-μ2·A2, μ1 is the angle influence coefficient, μ2 is the posture influence coefficient, A1 is the tractor body tilt angle value, and A2 is the real-time posture angle value of the tractor rear suspension tillage implement.

6. The rear suspension leveling method according to claim 1, It is characterized in that In step 3, the specific process of predicting the theoretical mechanical tillage depth difference that needs to be adjusted according to the change amount of the field working condition information within a unit time is as follows: According to the change of field working condition information per unit time, including the change of soil slope index q1, soil flatness index q2, soil softness index q3, soil slope fill height index h, and slope bottom width index b, the function of soil slope, flatness and softness changing with time qi(t), the function of fill height changing with time h(t), the function of slope bottom width changing with time b(t), the function of angle influence coefficient changing with time δkA(t) and the change rate of flatness are obtained. Then, the theoretical mechanical tillage depth difference δH that needs to be adjusted is predicted through information fusion and data analysis algorithms. j represents the index of the soil parameter considered, which ranges from 1 to n, n represents the total number of soil parameters considered, θ represents the angle parameter used for soil and tractor posture adjustment calculation, x represents the spatial variable along the width of the soil bed, and q 3 (θ) represents soil flatness as a function of angle θ, and t represents time.

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