Hydraulic control method for agricultural machinery

Abstract

The invention belongs to the technical field of agricultural machinery, and discloses an agricultural machinery hydraulic control method which comprises a walking state hydraulic control method, and in the walking state hydraulic control method, it is determined that the agricultural machinery is in a walking state; acquiring ground resistance, and comparing the ground resistance with preset resistance; if the ground resistance is not smaller than the preset resistance, it is indicated that the ground resistance is large at the moment and possibly due to the fact that the farm tool touches stones or other obstacles, the motor is controlled to enter the high-rotating-speed mode, the hydraulic lifter is controlled to lift the farm tool, and therefore the farm machine can run normally; due to the fact that the pump is used for only providing hydraulic oil for the steering gear and the hydraulic lifter or only providing hydraulic oil for the steering gear and the hydraulic output module, in the process of controlling the hydraulic lifter to lift the farm tool, the pump does not supply oil to the hydraulic output module any more, oil flow division can be prevented, and it is guaranteed that sufficient oil enters the hydraulic lifter.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a hydraulic control method of agricultural machinery. Background Art

[0002] Tractors are essential tools for agricultural production. With the advancement of new energy, different types of electric tractors have been introduced in the agricultural machinery field at home and abroad. Among them, the steering of the tractor and the lifting of agricultural implements need to be realized through the hydraulic system. Specifically, the motor drives the hydraulic pump to work, and the hydraulic oil drives the relevant structural movements to achieve the above operations. During the movement of the tractor, agricultural implements such as plows and rotary tillers may touch stones, tree roots, compacted soil or other obstacles, resulting in greater driving resistance. Summary of the invention

[0003] The present invention provides a hydraulic control method for agricultural machinery to solve the problem in the prior art that agricultural implements such as plows and rotary tillers may touch stones, tree roots, compacted soil or other obstacles during the travel of a tractor, resulting in greater travel resistance.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The hydraulic control method of agricultural machinery is implemented by an agricultural machinery hydraulic system, wherein the agricultural machinery hydraulic system comprises a pump, wherein the pump is driven by a motor, and the pump is used to provide hydraulic oil only to a steering gear and a hydraulic lifter, or only to a steering gear and a hydraulic output module;

[0006] The hydraulic control method for agricultural machinery includes a walking state hydraulic control method, and the walking state hydraulic control method includes:

[0007] S100: Determine that the agricultural machinery is in a moving state;

[0008] S110: Obtaining ground resistance, and comparing the ground resistance with a preset resistance;

[0009] If the ground resistance is not less than the preset resistance, executing step S120;

[0010] S120: Control the motor to enter a high speed mode, and control the hydraulic lifter to lift the farm implement.

[0011] As a preferred solution of the hydraulic control method for agricultural machinery, in step S120, the height to which the agricultural implement is lifted is a preset height;

[0012] The walking state hydraulic control method further includes, after step S120:

[0013] S130: reacquiring the ground resistance, and comparing the ground resistance with the preset resistance;

[0014] If the ground resistance is not less than the preset resistance, executing step S140;

[0015] S140: Control the hydraulic lifter to lift the agricultural implement to the preset height, and return to step S130.

[0016] As a preferred solution of the hydraulic control method for agricultural machinery, if the ground resistance is less than the preset resistance, step S150 is executed;

[0017] S150: confirming that the duration that the ground resistance is less than the preset resistance is not less than a time threshold;

[0018] S160: Control the motor to enter a low speed mode, wherein the speed of the motor in the low speed mode is lower than the speed of the motor in the high speed mode.

[0019] As a preferred solution of the hydraulic control method for agricultural machinery, a lifting valve is provided between the pump and the hydraulic lifter;

[0020] The agricultural machinery hydraulic control method further includes a lifting state hydraulic control method, and the lifting state hydraulic control method includes:

[0021] S200: confirming that the lifting knob is turned on;

[0022] S210: Control the motor to enter a high speed mode, and control the opening of the lift valve based on the opening of the lift knob to control the hydraulic lifter to lift the agricultural implement.

[0023] As a preferred solution of the hydraulic control method for agricultural machinery, the lifting state hydraulic control method further includes the following steps after step S210:

[0024] S220: Determine that the opening of the lifting knob does not change and the duration is not less than a preset time;

[0025] S230: reducing the rotation speed of the motor, wherein the rotation speed of the motor in the low rotation speed mode is lower than the rotation speed of the motor in the high rotation speed mode.

[0026] As a preferred solution of the hydraulic control method for agricultural machinery, the lifting state hydraulic control method further includes the following steps after step S210:

[0027] S240: Determine that the lifting height of the agricultural implement is not less than a height threshold;

[0028] S250: Close the lift valve.

[0029] As a preferred solution of the hydraulic control method for agricultural machinery, the hydraulic control method for agricultural machinery further includes a hydraulic output control method, and the hydraulic output control method includes:

[0030] S300: Confirm that the hydraulic output knob is turned on;

[0031] S310: Controlling the rotation speed of the motor based on the opening of the hydraulic output knob.

[0032] As a preferred solution of the agricultural machinery hydraulic control method, step S310 includes:

[0033] S3101: Acquire the opening of the hydraulic output knob, and compare the opening of the hydraulic output knob with a first preset opening;

[0034] If the opening of the hydraulic output knob is less than the first preset opening, step S3102 is executed; if the opening of the hydraulic output knob is not less than the first preset opening, step S3103 is executed;

[0035] S3102: Control the motor to enter a low speed mode;

[0036] S3103: Comparing the opening of the hydraulic output knob with a second preset opening;

[0037] If the opening of the hydraulic output knob is less than the second preset opening, step S3104 is executed; if the opening of the hydraulic output knob is not less than the second preset opening, step S3105 is executed;

[0038] S3104: Control the motor to enter a medium speed mode, and control the speed of the motor based on the opening of the hydraulic output knob; the speed of the motor in the medium speed mode is higher than the speed of the motor in the low speed mode;

[0039] S3105: Control the motor to enter a high speed mode; the speed of the motor in the high speed mode is higher than the speed of the motor in the medium speed mode.

[0040] As a preferred solution of the hydraulic control method for agricultural machinery, in step S3104, the rotation speed of the motor is linearly related to the opening of the hydraulic output knob.

[0041] As a preferred solution of the hydraulic control method for agricultural machinery, the agricultural machinery further comprises a cooling system, and the cooling system is used to cool the hydraulic system of the agricultural machinery;

[0042] The agricultural machinery hydraulic control method further includes a hydraulic system temperature control method, and the hydraulic system temperature control method includes:

[0043] S400: Acquire the hydraulic oil temperature of the hydraulic system of the agricultural machinery, and determine whether the hydraulic oil temperature meets a temperature control condition; meeting the temperature control condition includes meeting any one of a first control condition and a second control condition;

[0044] The first control condition is that the hydraulic oil temperature is not less than a first preset temperature;

[0045] The second control condition is that the hydraulic oil temperature is lower than the first preset temperature, the hydraulic oil temperature is not lower than the second preset temperature, and the increase in the hydraulic oil temperature within the preset time interval is not lower than the preset temperature rise value; the second preset temperature is lower than the first preset temperature;

[0046] If the temperature control condition is met, step S410 is executed; if the temperature control condition is not met, step S420 is executed;

[0047] S410: Control the cooling device to start in a low power mode;

[0048] S420: Control the cooling device to start in a high power mode.

[0049] The beneficial effects of the present invention are:

[0050] The present invention provides a hydraulic control method for agricultural machinery, which is implemented through an agricultural machinery hydraulic system. The agricultural machinery hydraulic system includes a pump, which is driven by a motor and is used to provide hydraulic oil only for a steering gear and a hydraulic lifter, or only for a steering gear and a hydraulic output module; the agricultural machinery hydraulic control method includes a walking state hydraulic control method, in which it is determined that the agricultural machinery is in a walking state; the ground resistance is obtained, and the ground resistance is compared with the preset resistance; if the ground resistance is not less than the preset resistance, it indicates that the ground resistance is large at this time, which is probably because the agricultural implement touches a stone or other obstacle, so the motor is controlled to enter a high speed mode, and the hydraulic lifter is controlled to lift the agricultural implement to reduce the load, so that the agricultural machinery can travel normally. In addition, since the pump is used to provide hydraulic oil only for the steering gear and the hydraulic lifter, or only for the steering gear and the hydraulic output module, in the process of controlling the hydraulic lifter to lift the agricultural implement, the pump no longer supplies oil to the hydraulic output module, thereby preventing oil diversion to ensure that sufficient oil enters the hydraulic lifter. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a schematic structural diagram of a hydraulic system for agricultural machinery in an embodiment of the present invention;

[0052] Figure 2 is a partial structural schematic diagram of a hydraulic system of an agricultural machinery in an embodiment of the present invention;

[0053] Figure 3 is a flow chart of a hydraulic control method for a walking state in an embodiment of the present invention;

[0054] Figure 4 is a flow chart of a hydraulic control method for a lifting state in an embodiment of the present invention;

[0055] Figure 5 is a flow chart of a hydraulic output control method in an embodiment of the present invention;

[0056] Figure 6 4 is a flow chart of a hydraulic system temperature control method in an embodiment of the present invention.

[0057] In the figure:

[0058] 100, steering gear; 101, control port; 110, steering cylinder; 200, hydraulic lifter;

[0059] 1. Fuel tank;

[0060] 2. Pump; 21. Pump input end; 22. Pump output end; 23. Oil supply line filter;

[0061] 3. First priority valve; 31. First inlet port; 32. First outlet port; 33. Second outlet port; 34. First regulating port; 35. Second regulating port; 36. First elastic member;

[0062] 4. first control valve; 41. first input end; 42. first output end; 43. second output end; 44. first oil return end; 45. third elastic member;

[0063] 5. second control valve; 51. second input end; 52. third output end; 53. fourth output end; 54. second oil return end; 55. fourth elastic member;

[0064] 8. Oil return pipeline; 81. Oil return line filter; 82. Oil return cooling device;

[0065] 9. Overflow valve. DETAILED DESCRIPTION

[0066] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0067] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0069] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0070] The steering of the tractor and the lifting of farm implements are all achieved through the hydraulic system. Specifically, the motor drives the hydraulic pump to work, and the hydraulic oil drives the relevant structural movements to achieve the above operations. During the movement of the tractor, farm implements such as plows and rotary tillers may touch stones, tree roots, compacted soil or other obstacles, resulting in greater driving resistance.

[0071] In view of the above problems, this embodiment provides a hydraulic control method for agricultural machinery to solve the problem in the prior art that agricultural implements such as plows and rotary tillers may touch stones, tree roots, compacted soil or other obstacles during the travel of a tractor, resulting in greater travel resistance, and can be used in the field of agricultural machinery technology. In this embodiment, the agricultural machinery is a tillage machine, while in other embodiments, the agricultural machinery may also be a planting machine such as a seed drill or a planter, or a harvesting machine such as an ear picker, or a machine such as a weeder.

[0072] Among them, the agricultural machinery hydraulic control method is implemented through the agricultural machinery hydraulic system, referring to Figure 1-Figure 2 The agricultural machinery hydraulic system includes a pump 2, which is driven by a motor and is used to provide hydraulic oil only to the steering gear 100 and the hydraulic lifter 200, or only to the steering gear 100 and the hydraulic output module.

[0073] Since the agricultural machinery is a tilling machinery, the hydraulic output module is specifically a structure such as a speed change mechanism. For a rotary tiller, the hydraulic output module can also be a driving mechanism for driving the plough to rotate. For other types of agricultural machinery, the hydraulic output module is a corresponding working module.

[0074] Continue to refer to Figure 1-Figure 2 The specific structure of the hydraulic system of the agricultural machinery is as follows: the hydraulic system of the agricultural machinery also includes an oil tank 1 and a first priority valve 3; the pump 2 has a pump input end 21 and a pump output end 22; the pump input end 21 is connected to the oil tank 1; the first priority valve 3 has a first inlet end 31, a first outlet end 32 and a second outlet end 33; the first inlet end 31 is connected to the pump output end 22; the first outlet end 32 is used to connect the steering gear 100; wherein the steering gear 100 is used to connect the steering cylinder 110; the steering cylinder 110 is used to drive the agricultural machinery to complete the steering. The first priority valve 3 has a first position and a second position. When the first priority valve 3 is in the first position, the first inlet port 31 is connected only to the first outlet port 32. When the first priority valve 3 is in the second position, the first inlet port 31 is connected to both the first outlet port 32 and the second outlet port 33. Therefore, no matter the first priority valve 3 is in the first position or the second position, the pump 2 can always supply oil to the steering gear 100 to ensure that hydraulic oil is always supplied to the steering gear 100, thereby ensuring that the steering gear 100 can work and avoiding dangerous situations. In addition, when the first priority valve 3 is in the second position, the pump 2 supplies oil to the steering gear 100 and other functional modules at the same time.

[0075] Optionally, the first priority valve 3 is configured to preferentially move to the first position, so that the first priority valve 3 preferentially supplies oil only to the steering gear 100 .

[0076] Specifically, the first priority valve 3 also has a first regulating end 34 and a second regulating end 35. The oil at the first regulating end 34 can drive the first priority valve 3 to move toward the second position, and the oil at the second regulating end 35 can drive the first priority valve 3 to move toward the first position. The first regulating end 34 is connected to the first outlet end 32, and the second regulating end 35 is connected to the control port 101 of the steering gear 100. The first priority valve 3 is connected to the first elastic member 36, and the first elastic member 36 is used to provide an elastic force to move the first priority valve 3 to the first position. When the steering gear 100 is not working, there is no oil output from the control port 101, and when the steering gear 100 is working, a certain amount of oil is output from the control port 101. In the initial state, the first priority valve 3 is located in the first position under the action of the first elastic member 36.

[0077] Reference Figure 1 , the adjustment process of the first priority valve 3 is as follows: when the steering gear 100 is not working, the oil pressure of the control port 101 is zero, and the oil pressure of the second regulating end 35 is zero, the oil enters the first outlet end 32 through the first inlet end 31, and enters the first regulating end 34 at the same time. As long as the oil pressure of the first regulating end 34 can overcome the elastic force of the first elastic member 36, the first priority valve 3 can be pushed to move toward the second position. When the steering gear 100 is working, part of the oil enters the second regulating end 35, and the first regulating end 34 needs to have a larger oil pressure to simultaneously overcome the oil pressure of the second regulating end 35 and the elastic force of the first elastic member 36 to push the first priority valve 3 toward the second position. If the power of the pump 2 is low, the oil enters the first outlet end 32 through the first inlet end 31, and enters the first regulating end 34 at the same time. However, the oil pressure is low and cannot overcome the oil pressure of the second regulating end 35 and the elastic force of the first elastic member 36 to push the first priority valve 3 to move, so at this time the first priority valve 3 is always in the first position. If the power of the pump 2 is high, the oil first enters the first outlet port 32 through the first inlet port 31, and enters the first regulating port 34 at the same time. In addition, after another part of the oil enters the steering gear 100, it enters the second regulating port 35 through the control port 101. After the oil pressure provided by the pump 2 can meet the needs of the steering gear 100, the oil pressure of the first regulating port 34 gradually increases, overcoming the oil pressure of the second regulating port 35 and the elastic force of the first elastic member 36, and pushing the first priority valve 3 toward the second position. At this time, the first inlet port 31 is connected with the first outlet port 32 and the second outlet port 33 at the same time, and the pump 2 supplies oil to the steering gear 100 and other functional modules at the same time. When the first priority valve 3 is in the second position, if the power of the pump 2 drops again, and the oil pressure of the first regulating end 34 cannot overcome the oil pressure of the second regulating end 35 and the elastic force of the first elastic member 36, the oil pressure of the second regulating end 35 and the elastic force of the first elastic member 36 push the first priority valve 3 to move toward the first position. At this time, the first inlet end 31 is only connected to the first outlet end 32, and the pump 2 only supplies oil to the steering gear 100. Through the above process, the first priority valve 3 can automatically adapt to the flow required by the steering gear 100. When the flow cannot meet the needs of the steering gear 100, the first priority valve 3 is in the first position and only supplies oil to the steering gear 100; when the flow can meet the needs of the steering gear 100, the first priority valve 3 is in the second position and starts to supply oil to the steering gear 100 and other functional modules.

[0078] Continue to refer to Figure 1-Figure 2The hydraulic system of agricultural machinery also includes a first control valve 4 and a second control valve 5. The first control valve 4 has a first input end 41, a first output end 42 and a second output end 43. The first input end 41 can be connected to the first output end 42 or the second output end 43. The first input end 41 is connected to the second output end 33, and the first output end 42 is used to connect the first functional module; the second control valve 5 has a second input end 51, a third output end 52 and a fourth output end 53. The second input end 51 can be connected to the third output end 52 or the fourth output end 53. The second input end 51 is connected to the second output end 43, the third output end 52 is used to connect the second functional module, and the fourth output end 53 is used to connect the third functional module. In other words, the oil supply lines of the three functional modules are independent of each other, and the pump 2 can only supply oil to one of the functional modules, and there will be no diversion of multiple functional modules, so that when the pump 2 supplies oil to one of the functional modules, the flow rate entering the functional module is large, ensuring that it can work normally. One of the functional modules may be set as the lifter 200 of the agricultural machinery, so that the pump 2 can only supply oil to the steering gear 100 and the lifter 200, ensuring that the oil flow of the two can meet the demand.

[0079] The agricultural machinery hydraulic system is only provided with one motor and one pump, which can realize the supply of hydraulic oil to the steering gear 100 and other functional modules. By setting the first priority valve 3, the pump 2 can always supply oil to the steering gear 100. By setting the first control valve 4 and the second control valve 5, the hydraulic oil can be supplied only to the first functional module, only to the second functional module or only to the third functional module. Different functional modules can be set according to actual needs.

[0080] In this embodiment, since the agricultural machinery is a tillage machine, the hydraulic output module is specifically a structure such as a speed change mechanism. For a rotary tiller, the hydraulic output module can also be a driving mechanism for driving the plow to rotate. For other types of agricultural machinery, the hydraulic output module is a corresponding working module.

[0081] Optionally, the third functional module is a hydraulic lifter 200 , so that when the first input end 41 is connected to the second output end 43 , and the second input end 51 is connected to the fourth output end 53 , the pump 2 only supplies oil to the steering gear 100 and the lifter 200 .

[0082] Continue to refer to Figure 1-Figure 2 The first control valve 4 has a first output position and a first connecting position. When the first control valve 4 is located at the first output position, the first input end 41 is connected to the first output end 42; when the first control valve 4 is located at the first connecting position, the first input end 41 is connected to the second output end 43. The first input end 41 can be connected to the first output end 42 or to the second output end 43 by controlling the position of the first control valve 4. Figure 2In the figure, the A1 connection terminal and the B1 connection terminal are the connection terminals of the first functional module, the A2 connection terminal and the B2 connection terminal are the connection terminals of the second functional module, and the A3 connection terminal and the B3 connection terminal are the connection terminals of the third functional module.

[0083] Optionally, the first control valve 4 also has a first oil return port 44, which is used for oil to return to the oil tank 1. The first output position includes a first positive output position and a first reverse output position. When the first control valve 4 is located at the first positive output position, the first input port 41 is connected to the B1 connection port for supplying oil to the first functional module, and the A1 connection port is connected to the first oil return port 44 for oil return. When the first control valve 4 is located at the first reverse output position, the first input port 41 is connected to the A1 connection port for supplying oil to the first functional module, and the B1 connection port is connected to the first oil return port 44 for oil return. Figure 2 The first control valve 4 is in the left position, and the first communication position is Figure 2 The first control valve 4 is in the middle position, and the first reverse output position is Figure 2 The first control valve 4 is in the right position.

[0084] Optionally, the first control valve 4 is further connected to a third elastic member 45 , and the third elastic member 45 is used to provide an elastic force to move the first control valve 4 toward the first communication position, that is, toward the middle position of the first control valve 4 .

[0085] Continue to refer to Figure 1-Figure 2 The second control valve 5 has a second output position and a second connecting position. When the second control valve 5 is located at the second output position, the second input end 51 is connected to the third output end 52; when the second control valve 5 is located at the second connecting position, the second input end 51 is connected to the fourth output end 53. The second input end 51 can be connected to the third output end 52 or to the fourth output end 53 by controlling the position of the second control valve 5.

[0086] Optionally, the second control valve 5 also has a second oil return end 54, and the second oil return end 54 is used for oil to return to the oil tank 1. The second output position includes a second positive output position and a second reverse output position. When the second control valve 5 is located at the second positive output position, the second input end 51 is connected to the B2 connection end for supplying oil to the second functional module, and the A2 connection end is connected to the second oil return end 54 for oil return. When the second control valve 5 is located at the second reverse output position, the second input end 51 is connected to the A2 connection end for supplying oil to the second functional module, and the B2 connection end is connected to the second oil return end 54 for oil return. Figure 2 The left position of the second control valve 5, the second communication position is Figure 2 The middle position of the second control valve 5, the second reverse output position is Figure 2 The second control valve 5 is in the right position.

[0087] Optionally, the second control valve 5 is further connected to a fourth elastic member 55 , and the fourth elastic member 55 is used to provide an elastic force to move the second control valve 5 toward the second communication position, that is, toward the middle position of the second control valve 5 .

[0088] Continue to refer to Figure 1-Figure 2 An oil supply line filter 23 is also provided between the pump output end 22 and the first inlet end 31, so that when the oil is supplied to the first priority valve 3, the oil can be filtered by the oil supply line filter 23 to remove impurities in the oil. Figure 1-Figure 2 The agricultural machinery hydraulic system also includes an oil return pipeline 8, which is connected to the oil tank 1. The oil return pipeline 8 is provided with an oil return oil circuit filter 81. In this embodiment, the first oil return end 44 and the second oil return end 54 are both connected to the oil return pipeline 8, so that when the oil flows back from the first oil return end 44 or the second oil return end 54, the oil is filtered by the oil return oil circuit filter 81 to remove impurities in the oil.

[0089] Since the steering gear 100 and each functional module will generate a certain amount of heat during operation, and heat will also be generated during the flow of the oil, causing the temperature of the oil to gradually increase, in order to cool the oil, the return oil pipeline 8 is also provided with an oil return cooling device 82 to play a cooling role and prevent the oil temperature from being too high.

[0090] Optionally, a relief valve 9 is further provided between the second outlet port 33 and the oil return pipeline 8 for relieving pressure when the oil pressure at the second outlet port 33 is too high.

[0091] Reference Figure 3 The hydraulic control method of the agricultural machinery includes a walking state hydraulic control method, and the walking state hydraulic control method includes the following steps.

[0092] S100: Determine that the agricultural machinery is in a moving state.

[0093] Specifically, whether the agricultural machinery is in the moving state can be determined by detecting whether the wheels used to drive the agricultural machinery are rotating.

[0094] S110: Obtain ground resistance, and compare the ground resistance with a preset resistance.

[0095] If the ground resistance is not less than the preset resistance, it indicates that the ground resistance of the agricultural machinery is relatively large, which is probably because the agricultural implement touches a stone or other obstacle, so step S120 is executed. If the ground resistance is less than the preset resistance, the process returns to step S110, i.e., the ground resistance is acquired again, and the ground resistance is compared with the preset resistance again. The value of the preset resistance can be determined according to actual needs.

[0096] S120: Controls the motor to enter a high speed mode and controls the hydraulic lifter to lift the implement.

[0097] The motor entering the high speed mode means that the motor rotates at a rated speed. In this embodiment, the rated speed of the motor is 1500 r / min.

[0098] In the walking state hydraulic control method provided in this embodiment, it is determined that the agricultural machinery is in the walking state; the ground resistance is obtained, and the ground resistance is compared with the preset resistance; if the ground resistance is not less than the preset resistance, it indicates that the ground resistance is large at this time, which is likely because the agricultural implement touches a stone or other obstacle, so the motor is controlled to enter the high-speed mode, and the hydraulic lifter is controlled to lift the agricultural implement and reduce the load, so that the agricultural machinery can travel normally. In addition, since the pump is used to provide hydraulic oil only to the steering gear and the hydraulic lifter, or only to the steering gear and the hydraulic output module, in the process of controlling the hydraulic lifter to lift the agricultural implement, the pump no longer supplies oil to the hydraulic output module, thereby preventing oil diversion to ensure that sufficient oil enters the hydraulic lifter.

[0099] Optionally, in step S120, the height to which the agricultural implement is lifted is a preset height. Specifically, after the agricultural implement is lifted to the preset height, the power can be cut off by cutting off the connection path between the pump and the hydraulic lifter, so that the agricultural implement is only lifted to the preset height. The numerical value of the preset height can be determined according to actual needs.

[0100] The walking state hydraulic control method further includes steps S130 to S160 after step S120.

[0101] S130: Re-acquire the ground resistance, and compare the ground resistance with the preset resistance.

[0102] After the farm implement is lifted to the preset height, the ground resistance and the preset resistance are detected again. If the ground resistance is not less than the preset resistance, step S140 is executed; if the ground resistance is less than the preset resistance, step S150 is executed.

[0103] S140: Control the hydraulic lifter to lift the farm implement to a preset height, and return to step S130.

[0104] If the ground resistance is not less than the preset resistance, it indicates that the ground resistance is still relatively large, indicating that the implement is still blocked by obstacles and its lifting height is insufficient. Therefore, the hydraulic lifter is continuously controlled to lift the implement and the implement is lifted to the preset height again.

[0105] S150: Confirm that the duration that the ground resistance is less than the preset resistance is not less than a time threshold.

[0106] S160: Control the motor to enter low speed mode.

[0107] The speed of the motor in the low speed mode is lower than that in the high speed mode. In this embodiment, the speed of the motor in the low speed mode is 500 r / min.

[0108] If the ground resistance is less than the preset resistance, it indicates that the ground resistance is small at this time, indicating that the lifting height of the farm implement is able to avoid obstacles. At the same time, in order to prevent the farm implement from contacting obstacles again in a short time, the motor will not immediately enter the low speed mode at this time, but after the ground resistance is less than the preset resistance for a duration of not less than a time threshold, the motor will be controlled to enter the low speed mode to avoid frequent switching of the motor mode. Among them, the time threshold can be determined according to actual needs, and in this embodiment, it is 5s.

[0109] Optionally, a lift valve is provided between the pump and the hydraulic lifter, and the flow of oil between the pump and the hydraulic lifter can be controlled by adjusting the opening of the lift valve.

[0110] Reference Figure 4 The agricultural machinery hydraulic control method also includes a lifting state hydraulic control method, and the lifting state hydraulic control method includes the following steps.

[0111] S200: Confirm that the lift knob is turned on.

[0112] The lift knob is controlled by the driver.

[0113] S210: Control the motor to enter a high speed mode, and control the opening of the lift valve based on the opening of the lift knob to control the hydraulic lifter to lift the farm implement.

[0114] Specifically, a first mapping relationship between the opening of the lifting knob and the opening of the lifting valve is pre-set in the controller, and the opening of the lifting valve is obtained according to the opening of the lifting knob and the first mapping relationship. Therefore, different openings of the lifting valve can be set according to different openings of the lifting knob to adjust the flow of oil between the pump and the hydraulic lifter, and then adjust the lifting speed. The opening of the lifting knob reflects the driver's operating intention. For example, when the driver wants to quickly lift the agricultural implement, the rotation angle of the lifting knob is generally increased, that is, the opening of the lifting knob is increased, so that the lifting speed of the agricultural implement can be controlled according to the driver's operating intention.

[0115] Optionally, the lifting state hydraulic control method further includes steps S220 to S230 after step S210.

[0116] S220: Determine that the opening of the lifting knob does not change and the duration is not less than a preset time.

[0117] S230: reducing the rotation speed of the motor; the rotation speed of the motor in the low rotation speed mode is lower than the rotation speed of the motor in the high rotation speed mode.

[0118] If it is determined that the opening of the lifting knob has not changed and the duration is not less than the preset time, it means that the driver may have forgotten to operate it, or the lifting height is still not enough, so the motor speed is reduced to slow down the lifting speed of the agricultural implement.

[0119] Optionally, the lifting state hydraulic control method further includes steps S240 to S250 after step S210. In this embodiment, step S240 is executed synchronously with step S220.

[0120] S240: Determine whether the lifting height of the agricultural implement is not less than a height threshold.

[0121] S250: Close the lifting valve.

[0122] The height threshold can be determined by detecting surrounding obstacles through a distance sensor, and can also be pre-set by the driver according to the use environment. If the lifting height of the implement is not less than the height threshold, it means that the implement exceeds the limit and should not be lifted any further, so the lifting valve is closed to cut off the hydraulic transmission between the pump and the hydraulic lifter.

[0123] Thus, during the process of the hydraulic lifter lifting the implement, two exit conditions are set, one of which is that the opening of the lifting knob does not change and the duration is not less than the preset time, and the other is that the lifting height of the implement is not less than the height threshold. For the former, the opening of the lifting knob does not change and the duration is not less than the preset time, which indicates that the driver may have forgotten to operate it at this time, or the lifting height is still not enough. At this time, the speed of the motor is reduced so that the hydraulic lifter still retains a certain ability to lift the implement. For the latter, the lifting height of the implement is not less than the height threshold, which indicates that the implement exceeds the limit and should not be lifted any further. Therefore, the lifting valve is directly closed at this time to prevent the hydraulic lifter from continuing to lift the implement.

[0124] Reference Figure 5 The agricultural machinery hydraulic control method also includes a hydraulic output control method, and the hydraulic output control method includes the following steps.

[0125] S300: Confirm that the hydraulic output knob is turned on.

[0126] The hydraulic output knob is controlled by the driver.

[0127] S310: Controlling the speed of the motor based on the opening of the hydraulic output knob.

[0128] The opening of the hydraulic output knob reflects the driver's operating intention. For example, when the driver wants the hydraulic output module to work at a higher power, the driver will generally increase the turning angle of the hydraulic output knob, that is, increase the opening of the hydraulic output knob. In this way, the power of the hydraulic output module can be controlled according to the driver's operating intention.

[0129] Specifically, step S310 includes the following steps.

[0130] S3101: Obtain the opening of the hydraulic output knob, and compare the opening of the hydraulic output knob with a first preset opening.

[0131] If the opening of the hydraulic output knob is less than the first preset opening, it indicates that the opening of the hydraulic output knob is small at this time, and step S3102 is executed; if the opening of the hydraulic output knob is not less than the first preset opening, it indicates that the opening of the hydraulic output knob is slightly larger at this time, and it is necessary to continue to determine whether it is not less than the second preset opening, and step S3103 is executed.

[0132] Optionally, in some embodiments, a hydraulic valve is provided between the pump and the hydraulic output module, and before executing step S3101, the hydraulic valve is first controlled to open.

[0133] S3102: Control the motor to enter low speed mode.

[0134] Generally speaking, in the initial state, the motor operates at a relatively low speed, and is already in a low speed mode. Therefore, in step S3102, the speed of the motor can be kept unchanged.

[0135] S3103: Compare the opening of the hydraulic output knob with the second preset opening.

[0136] If the opening of the hydraulic output knob is less than the second preset opening, it indicates that the opening of the hydraulic output knob is at an intermediate level at this time, and step S3104 is executed; if the opening of the hydraulic output knob is not less than the second preset opening, it indicates that the opening of the hydraulic output knob is larger at this time, and step S3105 is executed.

[0137] S3104: Control the motor to enter the medium speed mode, and control the speed of the motor based on the opening of the hydraulic output knob; the speed of the motor in the medium speed mode is higher than the speed of the motor in the low speed mode.

[0138] Specifically, a second mapping relationship between the opening of the hydraulic output knob and the target speed of the motor can be pre-set in the controller, and the target speed of the motor can be obtained according to the opening of the hydraulic output knob and the above-mentioned second mapping relationship, so as to control the motor to rotate at the target speed.

[0139] Optionally, in step S3104, the rotation speed of the motor is linearly related to the opening of the hydraulic output knob.

[0140] S3105: Control the motor to enter a high speed mode; the speed of the motor in the high speed mode is higher than the speed of the motor in the medium speed mode.

[0141] Optionally, the agricultural machinery further comprises a cooling system, which is used to cool the hydraulic system of the agricultural machinery. Specifically, the cooling system is an oil return cooling device arranged in the oil return pipeline, which is used to cool the hydraulic oil in the oil return pipeline.

[0142] Reference Figure 6 The agricultural machinery hydraulic control method also includes a hydraulic system temperature control method, and the hydraulic system temperature control method includes the following steps.

[0143] S400: Obtain the hydraulic oil temperature of the hydraulic system of the agricultural machinery, and determine whether the hydraulic oil temperature meets the temperature control conditions; meeting the temperature control conditions includes meeting any one of the first control conditions and the second control conditions; the first control condition is that the hydraulic oil temperature is not less than the first preset temperature; the second control condition is that the hydraulic oil temperature is less than the first preset temperature, the hydraulic oil temperature is not less than the second preset temperature, and the increase in the hydraulic oil temperature within the preset time interval is not less than the preset temperature rise value; the second preset temperature is lower than the first preset temperature.

[0144] If the temperature control condition is met, step S410 is executed; if the temperature control condition is not met, step S420 is executed.

[0145] That is to say, when the hydraulic oil temperature is not less than the first preset temperature, that is, when the temperature is extremely high, it is determined that the temperature control condition is met; or, when the hydraulic oil temperature is less than the first preset temperature but not less than the second preset temperature, and the increase in the hydraulic oil temperature within the preset time interval is not less than the preset temperature rise value, that is, the temperature is high and the temperature tends to rise further, it is determined that the temperature control condition is met.

[0146] S410: Control the cooling device to start in a low power mode.

[0147] S420: Control the cooling device to start in a high power mode.

[0148] Compared with the low power mode, the operating power of the cooling device in the high power mode is higher and the cooling effect is higher. In some embodiments, the cooling device includes a fan, and the speed of the fan in the low power mode is lower than the speed of the fan in the high power mode.

[0149] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A hydraulic control method for agricultural machinery, characterized in that: The method is implemented by an agricultural machinery hydraulic system, wherein the agricultural machinery hydraulic system comprises a pump, wherein the pump is driven by a motor and is used to provide hydraulic oil only to a steering gear and a hydraulic lifter, or only to a steering gear and a hydraulic output module; The hydraulic control method for agricultural machinery includes a walking state hydraulic control method, and the walking state hydraulic control method includes: S100: Determine that the agricultural machinery is in a moving state; S110: Obtaining ground resistance, and comparing the ground resistance with a preset resistance; If the ground resistance is not less than the preset resistance, executing step S120; S120: Control the motor to enter a high speed mode, and control the hydraulic lifter to lift the farm implement.

2. The agricultural machinery hydraulic control method according to claim 1, characterized in that: In step S120, the height of the agricultural implement is lifted to a preset height; The walking state hydraulic control method further includes, after step S120: S130: reacquiring the ground resistance, and comparing the ground resistance with the preset resistance; If the ground resistance is not less than the preset resistance, executing step S140; S140: Control the hydraulic lifter to lift the agricultural implement to the preset height, and return to step S130.

3. The agricultural machinery hydraulic control method according to claim 1, characterized in that: If the ground resistance is less than the preset resistance, executing step S150; S150: confirming that the duration that the ground resistance is less than the preset resistance is not less than a time threshold; S160: Control the motor to enter a low speed mode, wherein the speed of the motor in the low speed mode is lower than the speed of the motor in the high speed mode.

4. The agricultural machinery hydraulic control method according to any one of claims 1 to 3, characterized in that: A lifting valve is provided between the pump and the hydraulic lifter; The agricultural machinery hydraulic control method further includes a lifting state hydraulic control method, and the lifting state hydraulic control method includes: S200: confirming that the lifting knob is turned on; S210: Control the motor to enter a high speed mode, and control the opening of the lift valve based on the opening of the lift knob to control the hydraulic lifter to lift the agricultural implement.

5. The agricultural machinery hydraulic control method according to claim 4, characterized in that: The lifting state hydraulic control method further includes, after step S210: S220: Determine that the opening of the lifting knob does not change and the duration is not less than a preset time; S230: reducing the rotation speed of the motor, wherein the rotation speed of the motor in the low rotation speed mode is lower than the rotation speed of the motor in the high rotation speed mode.

6. The agricultural machinery hydraulic control method according to claim 4, characterized in that: The lifting state hydraulic control method further includes, after step S210: S240: Determine that the lifting height of the agricultural implement is not less than a height threshold; S250: Close the lift valve.

7. The agricultural machinery hydraulic control method according to any one of claims 1 to 3, characterized in that: The agricultural machinery hydraulic control method further includes a hydraulic output control method, and the hydraulic output control method includes: S300: Confirm that the hydraulic output knob is turned on; S310: Controlling the rotation speed of the motor based on the opening of the hydraulic output knob.

8. The agricultural machinery hydraulic control method according to claim 7, characterized in that: Step S310 includes: S3101: Acquire the opening of the hydraulic output knob, and compare the opening of the hydraulic output knob with a first preset opening; If the opening of the hydraulic output knob is less than the first preset opening, step S3102 is executed; if the opening of the hydraulic output knob is not less than the first preset opening, step S3103 is executed; S3102: Control the motor to enter a low speed mode; S3103: Comparing the opening of the hydraulic output knob with a second preset opening; If the opening of the hydraulic output knob is less than the second preset opening, step S3104 is executed; if the opening of the hydraulic output knob is not less than the second preset opening, step S3105 is executed; S3104: Control the motor to enter a medium speed mode, and control the speed of the motor based on the opening of the hydraulic output knob; the speed of the motor in the medium speed mode is higher than the speed of the motor in the low speed mode; S3105: Control the motor to enter a high speed mode; the speed of the motor in the high speed mode is higher than the speed of the motor in the medium speed mode.

9. The agricultural machinery hydraulic control method according to claim 8, characterized in that: In step S3104, the rotation speed of the motor is linearly related to the opening of the hydraulic output knob.

10. The agricultural machinery hydraulic control method according to any one of claims 1 to 3, characterized in that: The agricultural machine further comprises a cooling system, wherein the cooling system is used to cool the hydraulic system of the agricultural machine; The agricultural machinery hydraulic control method further includes a hydraulic system temperature control method, and the hydraulic system temperature control method includes: S400: Acquire the hydraulic oil temperature of the hydraulic system of the agricultural machinery, and determine whether the hydraulic oil temperature meets a temperature control condition; meeting the temperature control condition includes meeting any one of a first control condition and a second control condition; The first control condition is that the hydraulic oil temperature is not less than a first preset temperature; The second control condition is that the hydraulic oil temperature is lower than the first preset temperature, the hydraulic oil temperature is not lower than the second preset temperature, and the increase in the hydraulic oil temperature within the preset time interval is not lower than the preset temperature rise value; the second preset temperature is lower than the first preset temperature; If the temperature control condition is met, step S410 is executed; if the temperature control condition is not met, step S420 is executed; S410: Control the cooling device to start in a low power mode; S420: Control the cooling device to start in a high power mode.

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