Tractor tool posture detection and adjustment method and system

Abstract

The invention discloses a method and system for detecting and adjusting the posture of a tractor tool, and belongs to the technical field of agricultural equipment. Comprising the following steps: acquiring acceleration data and angular velocity data generated during operation of a tractor tool; processing the acceleration data and the angular velocity data through an attitude fusion algorithm to obtain machine and tool attitude information; generating a control signal based on a comparison result of the machine posture information and a preset horizontal standard value, and sending the control signal to an execution mechanism, so that the execution mechanism adjusts the machine posture; the executing mechanism comprises a multi-way proportional electromagnetic valve, a hydraulic oil cylinder and a suspension device, the hydraulic oil cylinder is arranged on the suspension device, and the multi-way proportional electromagnetic valve is communicated with the hydraulic oil cylinder. Electro-hydraulic proportional control and sensor control are combined, agricultural implements hung on a tractor running on a fluctuating land parcel are controlled to be kept horizontal, and stable operation after control is achieved. The problem that actual operation conditions of agricultural machinery are not considered in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to a method and system for detecting and adjusting the posture of a tractor implement. Background Art

[0002] The statements in this section merely mention background art related to the present invention and do not necessarily constitute prior art.

[0003] The soil structure and terrain conditions of different farmlands are highly variable and unpredictable. Under these conditions, the tractor body is prone to frequent tilting, which degrades driving stability and significantly impacts the tractor's performance and efficiency. This is especially true when tractors are performing operations such as rotary tillage, seeding, plant protection, and field management on undulating land. Agricultural implements are typically attached to the rear of the tractor body via a three-point linkage. Once the tractor body is leveled, the attached implements shift position with the body's movement, preventing them from maintaining close contact with the ground.

[0004] To ensure the contour-following operation of agricultural machinery, the vehicle body needs to be leveled, and the suspended machinery also needs to be adaptively adjusted according to the slope of the cultivated land to contour the machinery close to the ground, so that the machinery and the ground always maintain horizontal contact to achieve ideal operation quality. This requires real-time detection and adjustment of the posture of the tractor unit.

[0005] At present, in the posture detection and adjustment of agricultural machinery, high-precision posture sensors that are widely used in automobiles, robots, aerospace, military and other fields are directly used. The cost is high. At the same time, due to the lack of consideration of the actual operation conditions of agricultural machinery, many practical application problems arise, such as the need to improve adaptability and stability.

[0006] Furthermore, existing tractor implement posture detection systems often rely on a single posture sensor to collect the implement's tilt angle, then determine whether the implement's posture adjustment is necessary based on the collected angle. However, posture detection using only a single data point is inaccurate and easily affected by environmental factors, leaving room for improvement in the accuracy and reliability of tractor implement posture detection. Summary of the Invention

[0007] In order to address the deficiencies of the prior art, the present invention provides a tractor implement posture detection and adjustment method, system, electronic equipment, computer-readable storage medium and computer program product, which can accurately detect the implement posture during high-speed operation and adjust the implement posture in real time to improve the operation quality.

[0008] In a first aspect, the present invention provides a method for detecting and adjusting the posture of a tractor implement;

[0009] A tractor implement posture detection and adjustment method, comprising:

[0010] Acquire acceleration data and angular velocity data generated when the tractor implement is operating;

[0011] Processing the acceleration data and the angular velocity data through a posture fusion algorithm to obtain tool posture information;

[0012] Based on the comparison result of the tool posture information and the preset horizontal standard value, a control signal is generated and sent to the actuator to enable the actuator to adjust the tool posture;

[0013] Wherein, the actuator includes a multi-way proportional solenoid valve, a hydraulic cylinder and a suspension device, the hydraulic cylinder is arranged on the suspension device, and the multi-way proportional solenoid valve is connected to the hydraulic cylinder.

[0014] In some embodiments, the processing of the acceleration data and the angular velocity data by a posture fusion algorithm to obtain the tool posture information is: processing the acceleration data and the angular velocity data by a Kalman filter algorithm to obtain a tool angle value.

[0015] In some embodiments, the control signal generated based on the comparison result of the machine posture information and the preset horizontal standard value is: if the machine posture information is not equal to the preset horizontal standard value, the difference between the machine posture information and the preset horizontal standard value is calculated, and a control signal is generated according to the difference and sent to the multi-way proportional solenoid valve to control the hydraulic cylinder to adjust the machine.

[0016] In some embodiments, the method further includes: obtaining the operating speed and the operating type of the tractor, and determining the type of implement according to the operating speed and the operating type of the tractor.

[0017] In some embodiments, the horizontal standard value is generated by reading the acceleration value and the angular velocity value corresponding to the horizontal position of the tractor implement and filtering the acceleration value and the angular velocity value.

[0018] In some embodiments, the acceleration data is collected by an accelerometer, and the angular velocity data is collected by a gyroscope.

[0019] In a second aspect, the present invention provides a tractor implement posture detection and adjustment system;

[0020] A tractor implement posture detection and adjustment system, comprising:

[0021] An information collection module is used to collect acceleration data and angular velocity data generated when the tractor implement is operating;

[0022] A controller configured to obtain acceleration data and angular velocity data generated when the tractor implement is operating; process the acceleration data and angular velocity data using a posture fusion algorithm to obtain implement posture information; and generate a control signal based on a comparison result of the implement posture information with a preset horizontal standard value;

[0023] An actuator, used to adjust the posture of the implement according to the control signal;

[0024] Wherein, the actuator includes a multi-way proportional solenoid valve, a hydraulic cylinder and a suspension device, the hydraulic cylinder is arranged on the suspension device, and the multi-way proportional solenoid valve is connected to the hydraulic cylinder.

[0025] In a third aspect, the present invention provides an electronic device;

[0026] An electronic device includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above-mentioned tractor implement posture detection and adjustment method.

[0027] In a fourth aspect, the present invention provides a computer-readable storage medium;

[0028] A computer-readable storage medium stores a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned tractor implement posture detection and adjustment method.

[0029] In a fifth aspect, the present invention provides a computer program product;

[0030] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned tractor implement posture detection and adjustment method.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The technical solution provided by the present invention combines electro-hydraulic proportional control technology with sensor technology to control the agricultural machinery suspended by a tractor traveling on undulating land to maintain levelness, achieving stable operation after control, with low cost, strong adaptability and high stability.

[0033] 2. The technical solution provided by the present invention integrates the acceleration data and angular velocity data generated during the operation of the tractor implement to detect the implement posture, thereby improving the accuracy and stability of posture detection.

[0034] 3. The technical solution provided by the present invention can be applied to agricultural machinery such as seeders, rotary tillers, cultivators, hydraulic plows, etc. that use tractors as power for traction operations and have farming as their main operating purpose. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0036] Figure 1 A schematic flow chart of a method for detecting and adjusting the posture of a tractor implement provided in an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a calculation process for a horizontal standard value provided in an embodiment of the present invention;

[0038] Figure 3 A schematic structural diagram of a tractor provided in an embodiment of the present invention;

[0039] Figure 4 A schematic diagram of the system framework of a tractor implement posture detection and adjustment system provided by an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the installation position of the hydraulic cylinder provided in an embodiment of the present invention.

[0041] In the figure: 1. Machine tool; 2. Upper pull rod; 3. Hydraulic cylinder; 4. Complete tractor; 5. Information collection module; 6. Lower pull rod. DETAILED DESCRIPTION

[0042] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0043] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0044] Example 1

[0045] Next, combine Figure 1-Figure 5 , a tractor implement posture detection and adjustment method disclosed in this embodiment is described in detail. The tractor implement posture detection and adjustment method is applied to a controller and includes the following steps:

[0046] S1. Acquire acceleration data and angular velocity data generated when the tractor implement 1 is operating.

[0047] When the tractor is operating on undulating land, data is collected through the information collection module 5. Specifically, the information collection module 5 includes an accelerometer and a gyroscope. The accelerometer collects the acceleration data of the machine 1, and the gyroscope collects the acceleration data of the machine 1.

[0048] Before executing S1, it also includes: hanging the agricultural machinery 1 on the actuator of the tractor, and the machinery 1 that needs the PTO power output shaft to provide power connects the PTO power output shaft to the machinery 1; installing the information collection module 5 on the lower link 6 of the tractor's three-point suspension; and installing the controller inside the compartment of the tractor 4 to reduce the impact of dust, water and vibration on it.

[0049] S2. Process the acceleration data and angular velocity data through the attitude fusion algorithm to obtain the equipment attitude information.

[0050] In this embodiment, the acceleration data and the angular velocity data are processed by a Kalman filter algorithm to obtain the angle value of the tool 1 .

[0051] Specifically, the obtained acceleration data and angular velocity data are used as the state input of the Kalman filter algorithm, and the system Kalman filter state equation and measurement equation including the state vector and observation vector are established. After analysis and calculation, the angle of the tool 1 can be obtained.

[0052] Exemplarily, the state equation and measurement equation of the Kalman filter algorithm are expressed as:

[0053]

[0054] Where x k 、u k 、z k represents the state vector, input vector, and measurement vector of the system at time K; A, B, and H represent the state matrix, input matrix, and output matrix of the system respectively; w k and v k Represent the state noise of the system at time (k-1) and the measurement noise at time k. The state noise and measurement noise of the system are independent of each other and are defined as zero-mean Gaussian white noise that conforms to the normal distribution. Its covariance matrix Q k and R k They are defined as:

[0055]

[0056] The Kalman filter algorithm mainly consists of two parts: time update and measurement update, also known as the "prediction-correction" method. The specific execution process is as follows:

[0057] (1) Initialize the algorithm by inputting the initial values ​​of the state vector and error covariance matrix x0 and P0.

[0058] (2) Time update, i.e., estimation method, specifically including:

[0059] (201) Calculate the prior state estimate, expressed as:

[0060]

[0061] Where, are the estimated values ​​of the state vector at time k and time (k-1), is the input vector at time (k-1), A and B represent the state matrix and input matrix respectively.

[0062] (202) Calculate the prior error covariance, expressed as:

[0063]

[0064] Where, are the estimated value and true value of the error covariance matrix at time k and (k-1) respectively, and Q is the state noise covariance matrix.

[0065] (3) Measurement update, including:

[0066] (301) Calculate the Kalman return, including:

[0067]

[0068] Where K k is the Kalman k-time gain, and H is the state output matrix.

[0069] (302) Update the state estimate with the measured value, expressed as:

[0070]

[0071] Where z k-1 is the measurement vector at time (k-1).

[0072] (303) Update the state covariance, expressed as:

[0073]

[0074] Using acceleration data and angular velocity data as state inputs, repeat the above “estimation-correction” process until the algorithm ends and outputs the angle of tool 1.

[0075] S3. Based on the comparison result between the tool posture information and the preset horizontal standard value, a control signal is generated and sent to the actuator, so that the actuator adjusts the tool posture.

[0076] Before the tractor operates, as an implementation method, the following is also included:

[0077] Adjust the vehicle body and the agricultural implement 1 to a horizontal position, obtain the corresponding acceleration and angular velocity values ​​when the tractor and the agricultural implement 1 are horizontal, and perform Kalman filtering on the acceleration and angular velocity values ​​to generate and store a horizontal standard value. The specific processing flow is the same as S2 and will not be repeated here.

[0078] In this embodiment, the actuator includes a multi-way proportional solenoid valve, a hydraulic cylinder 3 and a suspension device. The suspension device is also called a tractor three-point suspension. The hydraulic cylinder 3 is installed on the suspension device. The multi-way proportional solenoid valve is connected to the hydraulic cylinder 3. The hydraulic cylinder 3 extends and retracts to drive the upper pull rod 2 and the lower pull rod 6 of the tractor three-point suspension to extend and retract, thereby adjusting the posture of the machine.

[0079] As an implementation method, S3 specifically includes:

[0080] S301. Compare the angle value of tool 1 with the preset horizontal standard value. If the angle value of tool 1 is not equal to the preset horizontal standard value, execute S302; otherwise, execute S1.

[0081] S302. Calculate the difference between the angle value of the implement 1 and the horizontal standard value, generate a control signal based on the difference, and send the corresponding control signal to the multi-way proportional solenoid valve. The solenoid valve controls the valve-controlled hydraulic cylinder 3 to perform telescopic movement. The telescopic movement of the hydraulic cylinder 3 drives the height of the tractor's three-point suspension, adjusts the tilt angle of the agricultural implement 1, and finally makes it horizontal, thereby ensuring the stable operation performance of the implement 1.

[0082] In addition, different operation types and operation speeds correspond to different machines 1, such as plowing, rotary tillage, sowing, etc., and the angle difference and the speed at which the hydraulic cylinder 3 outputs oil are also different. Therefore, in some embodiments, before executing S3, the correspondence between different operation types and operation speeds and different machines 1, as well as the correspondence between the angle difference of different machines 1 and the speed at which the hydraulic cylinder 3 outputs oil can be stored in the controller based on the experience of the operator.

[0083] Before executing the operation, the tractor operation speed and the tractor operation type are input into the controller to determine the corresponding machine 1; during the execution of S302, the speed at which the corresponding hydraulic cylinder 3 outputs oil is screened according to the angle difference.

[0084] To sum up, this embodiment combines electro-hydraulic proportional control with sensor control, which can control the agricultural machinery 1 suspended by the tractor traveling on undulating land to remain level, achieve stable operation after control, low cost, strong adaptability, high stability, and combine electro-hydraulic proportional control with sensor control.

[0085] Example 2

[0086] Combine Figure 4This embodiment discloses a tractor implement posture detection and adjustment system, including an information acquisition module 5, a controller, and an actuator. The information acquisition module 5 is used to collect acceleration data and angular velocity data generated by the tractor implement 1 during operation. The controller is used to obtain the acceleration data and angular velocity data generated by the tractor implement 1 during operation; the acceleration data and the angular velocity data are processed by a posture fusion algorithm to obtain implement posture information; a control signal is generated based on a comparison result of the implement posture information with a preset horizontal standard value; and the actuator is used to adjust the implement posture according to the control signal.

[0087] Furthermore, the information acquisition module 5 includes an accelerometer for collecting acceleration data and an angular velocity meter for collecting angular velocity data. The controller is installed inside the tractor 4 to reduce the effects of dust, water, and vibration. The actuator includes a multi-way proportional solenoid valve, a hydraulic cylinder 3, and a suspension device. The hydraulic cylinder 3 is mounted on the suspension device, and the multi-way proportional solenoid valve is connected to the hydraulic cylinder 3.

[0088] Combine Figure 4-Figure 5 In this embodiment, the suspension device and the multi-way proportional solenoid valve are built into the tractor 4. The suspension device is a three-point tractor suspension system, comprising an upper tie rod 2 and two lower tie rods 6. Both the upper tie rod 2 and the lower tie rods 6 are mounted on the rear of the tractor 4. The upper tie rod 2 is located in the middle above the rear, and the two lower tie rods 6 are located on either side of the rear and below the upper tie rod 2. The information collection module 5 is mounted on one of the lower tie rods 6.

[0089] Each implement 1 has three corresponding suspension points, located in the center above the implement 1 and on either side below. Before operation, the implement 1 is suspended from the three-point hitch. A hydraulic cylinder 3 is installed between a lower tie rod 6 and the tractor 4. The lower tie rod 6 is rotatably connected to the tractor 4, and the telescopic end of the hydraulic cylinder 3 is connected to the lower tie rod 6. During adjustment, the hydraulic cylinder 3 extends and retracts, driving the lower tie rod 6 to rotate, allowing the implement 1 to be adjusted.

[0090] Example 3

[0091] A third embodiment of the present invention provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, the steps of the above-mentioned tractor implement posture detection and adjustment method are completed.

[0092] Example 4

[0093] A fourth embodiment of the present invention provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the steps of the above-mentioned tractor implement posture detection and adjustment method are completed.

[0094] Example 5

[0095] A fifth embodiment of the present invention provides a computer program product, including a computer program / instruction, which implements the steps of the above-mentioned tractor implement posture detection and adjustment method when executed by a processor.

[0096] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device, and a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide the functions for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0099] The descriptions of the various embodiments in the above embodiments have different focuses. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0100] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for detecting and adjusting the posture of a tractor implement, characterized in that: include: Acquire acceleration data and angular velocity data generated when the tractor implement is operating; Processing the acceleration data and the angular velocity data through a posture fusion algorithm to obtain the tool posture information; Based on the comparison result between the tool posture information and the preset horizontal standard value, a control signal is generated and sent to the actuator so that the actuator adjusts the tool posture; Wherein, the actuator includes a multi-way proportional solenoid valve, a hydraulic cylinder and a suspension device, the hydraulic cylinder is arranged on the suspension device, and the multi-way proportional solenoid valve is connected to the hydraulic cylinder.

2. The tractor implement posture detection and adjustment method according to claim 1, characterized in that: The step of processing the acceleration data and the angular velocity data by using a posture fusion algorithm to obtain the tool posture information is as follows: processing the acceleration data and the angular velocity data by using a Kalman filter algorithm to obtain a tool angle value.

3. The tractor implement posture detection and adjustment method according to claim 1, characterized in that: The control signal generated based on the comparison result between the machine posture information and the preset horizontal standard value is: if the machine posture information is not equal to the preset horizontal standard value, the difference between the machine posture information and the preset horizontal standard value is calculated, and the amount of hydraulic oil that the hydraulic cylinder needs to output is calculated according to the difference to generate a control signal.

4. The tractor implement posture detection and adjustment method according to claim 1, characterized in that: Also includes: The operating speed and the operating type of the tractor are obtained, and the type of implement is determined according to the operating speed and the operating type of the tractor.

5. The tractor implement posture detection and adjustment method according to claim 1, characterized in that: The horizontal standard value is generated by reading the acceleration value and the angular velocity value corresponding to the horizontal position of the tractor implement and filtering the acceleration value and the angular velocity value.

6. The tractor implement posture detection and adjustment method according to claim 1, characterized in that: The acceleration data is collected by an accelerometer, and the angular velocity data is collected by a gyroscope.

7. A tractor implement posture detection and adjustment system, characterized in that: include: An information collection module is used to collect acceleration data and angular velocity data generated when the tractor implement is operating; The controller is used to obtain acceleration data and angular velocity data generated when the tractor implement is operating; the acceleration data and the angular velocity data are processed by a posture fusion algorithm to obtain the posture information of the implement; generating a control signal based on a comparison result between the tool posture information and a preset horizontal standard value; An actuator, used to adjust the posture of the implement according to the control signal; Wherein, the actuator includes a multi-way proportional solenoid valve, a hydraulic cylinder and a suspension device, the hydraulic cylinder is arranged on the suspension device, and the multi-way proportional solenoid valve is connected to the hydraulic cylinder.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the tractor implement posture detection and adjustment method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the tractor implement posture detection and adjustment method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the tractor implement posture detection and adjustment method according to any one of claims 1 to 6 are implemented.

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