Inclined control system, control method and tillage device

Abstract

This invention provides a tilt control system, control method, and tillage device, belonging to the field of agricultural machinery and equipment technology. The system is used to determine whether the target machine body is tilted, and includes a light generating device, a light receiving device, and a tilt judgment device. The light generating device emits light diffused outwards from the light generating device via several light generators arranged on a circumferentially rotating light distribution disk. The light receiving device includes a light receiver, which responds to the light generated by the light generator through an array of light-response elements arranged on a cylindrical surface, generating an electrical signal. When the target machine body is tilted, one and only one light-response element will receive the strongest light, thus providing the largest response electrical signal. Based on the coordinates of the first row of the light-response element corresponding to the actual largest response electrical signal and the standard row coordinates of the light-response element corresponding to the expected largest response electrical signal, the tilt status of the target machine body can be quickly and accurately determined.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery and equipment technology, and specifically relates to a tilt control system, control method and tillage device. Background Technology

[0002] The continuous advancement of agricultural technology has placed higher demands on precision farming / sowing. Among these, sowing depth affects seed germination, emergence, and subsequent growth and development. Inconsistent sowing depths can affect the uniformity of emergence, resulting in seedlings of varying sizes. Studies have shown that inconsistent emergence can lead to reduced crop yields.

[0003] To facilitate precise control of sowing depth, various solutions have been proposed. For example, Chinese utility model patent CN202122686449.6 discloses an electric-driven sowing monitoring and control device, comprising a main control unit and an execution unit. The main control unit includes a main controller; the execution unit includes a sowing depth measurement unit, a seeder travel speed measurement unit, and a seed metering device speed measurement unit. The sowing depth measurement unit is mounted on the seeder implement linkage; the seeder travel speed measurement unit includes a satellite + inertial navigation module and / or a speed sensor. The satellite + inertial navigation module is mounted on the seeder frame, and the speed sensor is mounted on the seeder ground wheel. The seed metering device speed measurement unit includes a fixed collar and a moving collar. The fixed collar is equipped with a Hall sensor, and the moving collar is equipped with a socket and a magnetic pole. The socket can be nested on the shaft of a DC motor. The main controller receives the speed signals collected by the Hall sensor and the seeder travel speed measurement unit and generates control commands to adjust the DC motor speed. This device can improve the sowing accuracy of the seeder.

[0004] While the aforementioned equipment can improve the sowing accuracy of seeders, on the one hand, the control mechanism of such equipment is complex due to the reliance on multiple sensors; on the other hand, the satellite + inertial navigation module is limited by factors such as signal transmission interference and shielding. Once the signal is lost, the agricultural machinery will be out of control. Thus, in places with signal shielding, such as greenhouses, the satellite + inertial navigation module cannot reliably function.

[0005] Furthermore, during actual sowing operations, although the ground has been leveled beforehand, the vehicle body used to drive the sowing mechanism may be tilted due to terrain and soil conditions (e.g., residual bricks and stones in the soil). At this time, the depth to which the seeder is inserted into the ground changes, resulting in inconsistent sowing depth and reduced crop yield. Summary of the Invention

[0006] Based on this, the present invention provides a tilt control system to solve the technical problem in the prior art where vehicle body tilting leads to inconsistent sowing depth.

[0007] The present invention also provides a tilt control method.

[0008] The present invention also provides a tillage device.

[0009] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0010] In one embodiment, a tilt control system is provided for determining whether the target fuselage is tilting, characterized in that it includes:

[0011] A light generating device; the light generating device includes a frame, a light distribution disk, and at least one light generator. The light distribution disk is disposed on the frame and is parallel to the horizontal plane. The light distribution disk is rotatable in the circumferential direction. The light generator is disposed on the light distribution disk, and a plurality of the light generators are distributed on the same horizontal circumference. The light generator is used to emit light rays parallel to the horizontal plane.

[0012] A light receiving device; the light receiving device can be disposed on the side of the target fuselage, including a light receiver, the light receiver having at least one cylindrical surface perpendicular to the horizontal plane, the cylindrical surface having an array of several light responders, the light responders being able to respond to light emitted by the light generator perpendicular to the light responders and generate electrical signals; and

[0013] A tilt detection device, comprising a position identification module and a tilt detection module, wherein the position identification module is electrically connected to the optical receiving device and is used to identify the first row coordinates of the optical responder with the strongest actual electrical signal and the standard row coordinates of the optical responder with the strongest expected electrical signal; the tilt detection module is used to determine whether the target fuselage is tilted based on the first row coordinates and the standard row coordinates.

[0014] Preferably, at least five light generators are provided on the light distribution disk.

[0015] Preferably, the cylindrical surface is arrayed with N rows and M columns of photoresponse elements, where N is an integer ≥ 5 and M is an integer ≥ 1.

[0016] Preferably, the distribution density of the photoresponse element on the cylindrical surface is ≥1 element / cm². 2 .

[0017] Preferably, the photoresponse device is selected from a phototransistor or a photodiode.

[0018] Preferably, the light generating device further includes a leveling component disposed on the light distribution disk for adjusting the level of the light distribution disk.

[0019] Preferably, the light generating device further includes a reference adjustment component disposed on the frame for adjusting the reference position of the light distribution disk.

[0020] In one embodiment, a tilt control method is provided, based on the tilt control system described above, comprising the following steps:

[0021] Obtain the standard row coordinates of the photoresponse device that provides the strongest expected electrical signal;

[0022] Obtain the first row of coordinates of the photoresponse device with the strongest actual electrical signal;

[0023] Based on the first row coordinates and the standard row coordinates, determine whether the target fuselage has tilted.

[0024] In one embodiment, a tillage apparatus is provided, including the tilt control system described above.

[0025] Compared with the prior art, the present invention has at least the following advantages:

[0026] This invention provides a tilt control system, including a light generating device, a light receiving device, and a tilt determination device. The light generating device emits light diffused outwards from the light generating device via several light generators arranged on a circumferentially rotatable light distribution disk. The light receiving device includes a light receiver, which responds to the light generated by the light generators through an array of light-response elements arranged on a cylindrical surface, generating an electrical signal. When the target aircraft tilts, only one light-response element will receive the strongest light, thus providing the largest response electrical signal. Based on the first row coordinates of the light-response element corresponding to the actual largest response electrical signal and the standard row coordinates of the light-response element corresponding to the expected largest response electrical signal, the tilt status of the target aircraft can be quickly and accurately determined. The tilt control system provided by this invention has a reasonable and reliable structural design. It only requires obtaining the first row coordinates; by analyzing the height deviation between the first row coordinates and the standard row coordinates, it can determine whether the target aircraft has tilted and calculate the tilt angle.

[0027] The tilt control system can be applied to agricultural machinery, such as precision seeders or fertilizer applicators, and, in conjunction with matching seeding or fertilizing components, can achieve precise control of seeding depth and fertilizing depth.

[0028] It should be noted that, since the light generating device emits light that diffuses outwards from the light generating device as the center, the light response element arranged in a cylindrical array can receive the vertically incident light at any angle. Therefore, after the target body completes one reciprocating motion, there is no need to move the light generating device to achieve the goal of monitoring the tilt of the target body, which simplifies the operation process and improves work efficiency. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a light generating device according to one embodiment.

[0030] Figure 2 This is a schematic diagram of the structure of a light generating device according to another embodiment.

[0031] Figure 3 This is a schematic diagram of the structure of an optical receiving device according to another embodiment.

[0032] Figure 4 This is a schematic diagram of the structure of a light generator according to one embodiment.

[0033] Figure 5 This is a schematic diagram of the structure of a light generator according to another embodiment.

[0034] Figure 6 This is a schematic diagram of the tilt control system of one embodiment.

[0035] Figure 7 This is a schematic diagram of the working state of a tilt control system according to an embodiment.

[0036] Figure 8 This is a schematic diagram of the structure of a tillage component in one embodiment.

[0037] Figure 9 This is a schematic diagram of the structure of a tillage component according to another embodiment.

[0038] In the figure: light generating device 100, frame 110, light distribution disk 120, drive mechanism 121, light generator 130, horizontal adjustment component 140, reference adjustment component 150, light receiving device 200, target body 20, light receiver 220, light response component 230, tilt judgment device 300, position recognition module 310, tilt judgment module 320, tilt control system 10, tillage component 21, seeding head 500, fixing part 510, telescopic part 520, first drive cylinder 530, crossbeam 610, tillage part 620, adjustment component 630. Detailed Implementation

[0039] It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other. The technical solutions of the present invention will be further described below with reference to the accompanying drawings of the embodiments of the present invention. The present invention is not limited to the following specific embodiments.

[0040] It should be understood that the same or similar reference numerals in the accompanying drawings of the embodiments correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "front," "rear," "left," "right," "top," and "bottom" indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, they are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0041] In one specific embodiment of the present invention, a tilt control system 10 is used to determine whether the target fuselage 20 is tilted, including a light generating device 100, a light receiving device 200 and a tilt determining device 300.

[0042] Please see Figure 1 and Figure 2 The light generating device 100 includes a frame 110, a light distribution disk 120, and at least one light generator 130. The light distribution disk 120 is mounted on the frame 110 and is parallel to the horizontal plane. The light distribution disk 120 is rotatable in the circumferential direction. The light generator 130 is mounted on the light distribution disk 120, and a plurality of the light generators 130 are distributed on the same horizontal circumference. The light generator 130 is used to emit light parallel to the horizontal plane.

[0043] The light generating device 100 is used to emit light rays radiating outwards from the center of the light generating device 100. For example, the cross-section of the light distribution disk 120 parallel to the horizontal plane is circular, and a drive mechanism 121, such as a motor, is provided on the light distribution disk 120 to drive its rotation. At least one light generator 130 is arranged along the circumference of the light distribution disk 120. The light generator 130 can be any light source capable of emitting a focused beam, such as a laser generator, an infrared generator, etc.

[0044] The light distribution disk 120 is not limited to a circular shape. For example, it can be a triangle, square, polygon, or irregular shape, etc., so that the light generators 130 are distributed on the same circumference and do not block the light emitted by the light generators 130 parallel to the horizontal plane.

[0045] One or more light generators 130 can be provided. To increase the light density, the number of light generators 130 can be increased. For example, the number of light generators 130 is ≥5, preferably 6, 10 or 12. The rotation speed of the light distribution disk 120 can also be increased. For example, the light distribution disk 120 can be made to rotate at a speed of 2000 rpm to 8000 rpm.

[0046] Preferably, the light generating device 100 further includes a horizontal adjustment component 140 disposed on the light distribution disk 120 for adjusting the level of the light distribution disk 120. When the light generating device 100 is set up, the horizontal adjustment component 140 adjusts the level of the light distribution disk 120, thereby making the plane in which the light emitted by the plurality of light generators 130 lies parallel to the horizontal plane.

[0047] Preferably, the light generating device 100 further includes a reference adjustment component 150 disposed on the frame 110 for adjusting the reference position of the light distribution disk 120. Before operation, the position of the light distribution disk 120 is adjusted by the reference adjustment component 150 so that the light emitted by the light generator 130 can be perpendicularly incident on the predetermined reference light receiver of the light receiving device 200. The reference adjustment component 150 includes one or more of the following: a Z-axis adjustment component for adjusting the height of the light distribution disk 120; an X-axis adjustment component for adjusting the left and right position of the light distribution disk 120; a Y-axis adjustment component for adjusting the front and rear position of the light distribution disk 120; and an angle adjustment component for adjusting the angle of the light distribution disk 120.

[0048] Please continue reading Figures 3 to 5 The light receiving device 200 is installed on the side of the target body 20 and is used to respond to the light emitted by the light generating device 100 as described above. It includes a light receiver 220, which has at least one cylindrical surface that is perpendicular to the horizontal plane. A plurality of light responders 230 are arrayed on the cylindrical surface. The light responders 230 can respond to light incident perpendicular to the light responders 230 and generate electrical signals.

[0049] The light receiving device 200 is used to respond to the light emitted by the light generator 130 and generate an electrical signal. In this invention, the light receiving device 200 is installed on the side of the target fuselage 20 and includes a light receiver 220. Based on the electrical signal fed back by the light receiver 220, it can be determined whether the target fuselage 20 is tilted.

[0050] It should be noted that the tilt in this invention refers to the phenomenon that the target fuselage 20 is lower on one side and higher on the other side due to external interference (such as uneven ground or foreign objects), or the phenomenon that the front is higher than the back or the front is lower than the back.

[0051] Specifically, the light receiver 220 has at least one cylindrical surface perpendicular to the horizontal plane; for example, the light receiver 220 is semi-cylindrical or cylindrical. A plurality of photoresponse elements 230 are arrayed on the cylindrical surface. When the light receiver 220 is semi-cylindrical, preferably, the light receiver 220 is rotatable along its axis.

[0052] In some cases, the photoresponse element 230 may consist of only one column (i.e., photoresponse elements 230 located in the same row are equivalent). In this case, the vertical displacement of the target fuselage 20 can be determined based on the response of the photoresponse elements 230 at different positions to light, thereby assisting the target fuselage 20 in maintaining balance. The specific working principle is similar to that described below and will not be repeated.

[0053] Preferably, the photoresponse element 230 is arrayed in N rows and M columns on the cylindrical surface, where N and M are integers ≥ 5. Preferably, the distribution density of the photoresponse element 230 on the cylindrical surface is not less than 1 element / cm². 2 For example, in one specific embodiment, the cylindrical surface is distributed with 35-50 rows and 40-60 columns of photoresponsible elements 230. For example, the cylindrical surface may have an array of 41 rows and 48 columns, totaling 1968 photoresponsible elements 230. In principle, to improve the photoresponse sensitivity of the light receiving device 200, the photoresponsible elements 230 should be arranged as densely as possible on the cylindrical surface.

[0054] It should be noted that the photoresponse element 230 is selected and matched according to the type of light source emitted by the light generator 130. For example, the photoresponse element 230 may correspond to a laser receiver or an infrared receiver. Preferably, in this invention, the photoresponse element 230 is selected from a photodiode or a phototransistor.

[0055] In principle, the photoresponse element 230 can respond to light sources illuminating from different directions, and the direction and intensity of the light affect the magnitude of the final response electrical signal of the photoresponse element 230. Preferably, in this invention, the maximum value of the response electrical signal is selected as the acceptable signal, that is, an acceptable response electrical signal is generated only when the light emitted by the light generator 130 is perpendicularly illuminating the photoresponse element 230.

[0056] Please see Figure 6The tilt determination device 300 includes a position recognition module 310 and a tilt determination module 320. The position recognition module 310 is used to identify the first row coordinates of the photoresponse element 230 with the strongest actual electrical signal and the standard row coordinates of the photoresponse element 230 with the strongest expected electrical signal. The tilt determination module 320 is used to calculate the tilt degree based on the first column coordinates and the standard column coordinates, and determine whether the target fuselage is tilted.

[0057] In another specific embodiment of the present invention, a tilt control method, based on the tilt control system described above, includes the following steps:

[0058] S01. Obtain the standard row coordinates of the photoresponse device that has the strongest expected electrical signal.

[0059] S02. Obtain the first row coordinates of the photoresponse device with the strongest actual electrical signal;

[0060] S03. Determine whether the target fuselage has tilted based on the first row coordinates and the standard row coordinates.

[0061] For details, please refer to Figure 7 The coordinates of the photoresponse element 230 are defined as A(M). i N j The image shows that the photoresponse element 230 is located in the i-th row and j-th column on the cylindrical surface of the light receiver 220. In the initial state, at least one of the photoresponse elements 230 is capable of receiving light emitted by the light generator 130 and responding accordingly. For example, in the initial state, B(M) i0 N j0 It can receive the light emitted by the light generator 130 and respond accordingly. As the target fuselage 20 moves forward, if the vehicle body does not tilt, then B(M) i0 N j0 The coordinate system is considered the standard coordinate system for the photoresponse device with the strongest expected electrical signal, and its coordinate system is... <i0>This refers to the standard coordinate system. If the target fuselage 20 tilts, the height of the light receiving device 200 will change. Consequently, the coordinates of the light responder 230, which receives the light emitted by the light generator 130, will change, for example, becoming C(M). i1 N j1 ), then at this time, B(M) i0 N j0 ) and C(M i1 N j The height difference between 1) is the tilt height difference of the target fuselage 20.

[0062] It should be emphasized that the tilt control system and method proposed in this invention are suitable for short-distance straight-line travel, generally not exceeding 300m. Longer distances will lead to a decrease in system accuracy, and may even cause failure due to the inability to receive optical signals properly.

[0063] In one specific embodiment, a tillage device is provided, which includes the tilt control system described above. For example, the tillage device is a seeding device for sowing or a fertilizing device for fertilizing. The tillage device has an actuator for adjusting the sowing depth and the fertilizing depth, and the tilt control system is electrically connected to the actuator. When the body of the tillage device (i.e., the target body 20) tilts, the actuator actuates to adjust the sowing depth and the fertilizing depth.

[0064] For example, the tillage device includes a tillage component 21, the height of which can be adjusted either entirely or partially. Preferably, the tillage component 21 has several tillage end faces (e.g., the tillage component 21 has at least one seeding inlet, or at least one fertilizer inlet, or at least one rotary tiller blade), and the height of each tillage end face can be controlled independently. For example, please refer to... Figure 8 When the tillage component 21 is selected from the seeding component, the seeding component has a plurality of seeding heads 500, and the height of each seeding head 500 can be independently controlled. For example, each seeding head 500 has a fixed part 510, a telescopic part 520 and a first drive cylinder 530. The first drive cylinder 530 drives the fixed part 510 to rise and fall, thereby independently controlling and changing the height of the fixed part 510.

[0065] In some other cases, please refer to Figure 9 The tillage assembly 21 can be adjusted as a whole. For example, the tillage assembly 21 includes a crossbeam 610, a tillage section 620 disposed under the crossbeam 610 for tillage, and an adjustment assembly 630 for adjusting the height and inclination of the crossbeam. The adjustment assembly 630 is disposed at both ends of the crossbeam 610 and includes a second drive cylinder, which drives one or both ends of the crossbeam to rise or fall.

[0066] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A tilt detection system for determining whether a target aircraft fuselage is tilted, characterized in that, include: A light generating device; the light generating device includes a frame, a light distribution disk, and at least one light generator. The light distribution disk is disposed on the frame and is parallel to the horizontal plane. The light distribution disk is rotatable in the circumferential direction. The light generator is disposed on the light distribution disk, and a plurality of the light generators are distributed on the same horizontal circumference. The light generator is used to emit light rays parallel to the horizontal plane. Optical receiving device; The light receiving device is disposed on the side of the target body and includes a light receiver. The light receiver has at least one cylindrical surface that is perpendicular to the horizontal plane. A plurality of light responders are arrayed on the cylindrical surface. The light responders can respond at any angle to light emitted by the light generator that is perpendicular to the light responders and generate an electrical signal. as well as A tilt detection device, comprising a position identification module and a tilt detection module, wherein the position identification module is electrically connected to the optical receiving device and is used to identify the first row coordinates of the optical responder with the strongest actual electrical signal and the standard row coordinates of the optical responder with the strongest expected electrical signal; the tilt detection module is used to determine whether the target fuselage is tilted based on the first row coordinates and the standard row coordinates.

2. The tilt detection system as described in claim 1, characterized in that, At least five light generators are installed on the light distribution disk.

3. The tilt detection system as described in claim 1, characterized in that, The cylindrical surface is arrayed with N rows and M columns of photoresponsors, where N is an integer ≥ 5 and M is an integer ≥ 1.

4. The tilt detection system as described in claim 3, characterized in that, The distribution density of the photoresponsible elements on the cylindrical surface is ≥1 element / cm². 2 .

5. The tilt detection system as described in any one of claims 1-4, characterized in that, The photoresponse device is selected from a phototransistor or a photodiode.

6. The tilt detection system as described in claim 1, characterized in that, The light generating device also includes a leveling component disposed on the light distribution disk for adjusting the level of the light distribution disk.

7. The tilt detection system as described in claim 1, characterized in that, The light generating device also includes a reference adjustment component disposed on the frame for adjusting the reference position of the light distribution disk.

8. A method for determining tilt, characterized in that, Based on the tilt detection system as described in any one of claims 1-7, the system includes the following steps: Obtain the standard row coordinates of the photoresponse device that provides the strongest expected electrical signal; Obtain the first row of coordinates of the photoresponse device with the strongest actual electrical signal; Based on the first row coordinates and the standard row coordinates, determine whether the target fuselage has tilted.

9. A tillage device, characterized in that, Including the tilt detection system as described in any one of claims 1-7.

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