Machine tool overturning control method and operation machine

Abstract

The invention provides a machine tool turning control method and a working machine. The control method comprises the following steps: step 1, setting an overturning height; 2, a lifting working gear of the tractor is activated, and the machine tool is controlled to be lifted to the set overturning height through a lifter; 3, activating an overturning working gear of the tractor, detecting whether an obstacle exists in a preset range where a machine tool is located or not, and if yes, obtaining the position of the obstacle relative to the tractor and the height of the obstacle relative to the ground; and 4, obtaining the pose of the machine tool relative to the tractor, predicting the overturning activity range of the machine tool, judging whether the obstacle affects overturning of the machine tool at the set overturning height or not, and if yes, pausing the overturning action. By detecting whether obstacles exist in the preset range where the machine tool is located or not, the states of the tractor and the machine tool are displayed in real time, and the safe operation level of the operation machine is improved.

Description

Technical Field

[0001] The invention relates to an agricultural machinery control method, in particular to a machine flip control method and a working machine. Background Art

[0002] In the related art, when a tractor with a hydraulic flip plow turns around in the field, the agricultural implement (hydraulic flip plow) needs to be flipped, and the operator uses a joystick to lift, flip and lower the implement, and the entire operation process is relatively complicated. Moreover, since the flipping operation is generally performed in the field ridge area, the situation at the head of the field is more complicated. When there are obstacles in the flipping area of ​​the agricultural implement, it is not only easy to cause damage to the tractor or implement, but also poses a threat to people or objects working around. Therefore, it is necessary to provide a flipping control method and an operating machine to overcome the above-mentioned defects. Summary of the invention

[0003] The object of the present invention is to provide a tool flipping control method and a working machine.

[0004] According to one aspect of the present invention, a method for controlling the flipping of an implement is provided, wherein the implement is mounted on a lifter of a tractor; the control method comprises: S1: setting a flip height and selecting a manual flip mode / automatic flip mode; S2: activating the lifting working gear of the tractor in the manual flip mode / automatic flip mode, and controlling the implement to be lifted to the set flip height through the lifter; S3: activating the flip working gear of the tractor in the manual flip mode / automatic flip mode, detecting whether there is an obstacle within a predetermined range where the implement is located, and if so, obtaining the position of the obstacle relative to the tractor and the height relative to the ground, and if not, executing a flipping action; S4: obtaining the position of the implement relative to the tractor and predicting the flipping activity range of the implement, and determining whether the obstacle affects the flipping of the implement at the set flip height, and if so, pausing the flipping action, and if not, executing the flipping action.

[0005] Preferably, the control method further includes: step 5, adjusting the posture of the implement and / or the tractor, and continuing the flipping action when the obstacle no longer affects the flipping of the implement; step 6, activating the descending working gear / fast descending working gear of the tractor, and the lifter controls the implement to descend at a predetermined speed.

[0006] Preferably, in the manual flipping mode, the lifting working gear, the stopping working gear, the flipping working gear, and the lowering working gear / quickly lowering working gear of the tractor are activated step by step; in the automatic flipping mode, the lifting working gear of the tractor is activated and after the machine is lifted to the set flipping height, the flipping working gear of the tractor is automatically activated.

[0007] Preferably, in the manual flipping mode, the control method further comprises: step 51, pausing the flipping action and displaying an alarm prompt on the display screen, and continuing the flipping action after the tractor leaves the obstacle.

[0008] Preferably, in the automatic flip mode, the control method also includes: step 51, continue to lift the implement until the height difference between the lowest point of the agricultural machinery and the obstacle is greater than the set safety height; step 52, shorten the length of the upper pull rod so that the implement is tilted upward to the position where the obstacle is located, and the height difference between the lowest point of the agricultural machinery and the obstacle is greater than the set height; step 53, the display screen alarm prompts, and after the tractor leaves the obstacle, the automatic flip mode operation continues.

[0009] Preferably, the tractor is also provided with an operation panel and a display screen, and the operation panel and the display screen are connected to the terminal control module signal, and the operation panel comprises: a first control unit, which is used to activate the tractor's four gears of lifting working gear, stopping working gear, descending working gear, and fast descending working gear in steps; a second control unit, which can set the flipping height of the machine; a third control unit, which can set the descent speed of the machine in the fast descent working gear; and a fourth control unit, which can control the terminal control module to switch between manual flipping mode and automatic flipping mode.

[0010] Preferably, an obstacle detection module is provided on the rear side of the tractor, which can detect the position of the obstacle relative to the tractor and the height relative to the ground. The obstacle detection module includes a laser radar and / or a millimeter-wave radar and / or a camera, and the laser radar and / or the millimeter-wave radar can set the minimum distance for the obstacle detection module to detect the obstacle.

[0011] Preferably, the lifter is provided with a first sensor and a second sensor capable of detecting the movement state of the lifter; the first sensor is a displacement sensor for measuring the relative angle of the lift arm relative to the lifter housing, and the second sensor is a force sensor for measuring the magnitude of the pulling force between the lower pull rod and the rear axle housing.

[0012] Preferably, the implement is equipped with a tilting cylinder, and the tilting cylinder is connected to the hydraulic output joint on the tractor. The tractor is also equipped with a first solenoid valve for controlling the lower pull rod to make a command action, a second solenoid valve for controlling the tilting cylinder to make a command action, and a third solenoid valve for controlling the extension and retraction of the upper pull rod.

[0013] Preferably, the tractor is equipped with a terminal control module, a gateway is integrated in the terminal control module, the gateway is connected to the obstacle detection module via an Ethernet bus communication, and the terminal control module is connected to the operation panel, the display screen, the first sensor, the second sensor, the first solenoid valve, the second solenoid valve and the third solenoid valve via a CAN bus communication.

[0014] According to another aspect of the present invention, there is provided a working machine including a tractor and an implement mounted on a lifter of the tractor, wherein the tractor is configured to execute the control method.

[0015] Compared with the prior art, the machine tipping control method and the working machine provided by the present invention have the following beneficial effects: On the one hand, the present invention detects whether there are obstacles within the predetermined range of the machine, displays the status of the tractor and the machine in real time, and improves the safe operation level of the working machine. On the other hand, the high-speed Ethernet bus of the present invention realizes high-speed transmission and rapid processing of obstacle-related data, displays the status of the whole machine and the machine in real time, and the CAN bus realizes precise control of the tractor's electric control lifting system, improving the safe operation level of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0017] Figure 1 It is a structural schematic diagram of the working machine in the present invention;

[0018] Figure 2 It is a schematic diagram of the control system connection of the working machine in the present invention;

[0019] Figure 3 It is a schematic diagram of signal transmission connection of the control system of the working machine in the present invention;

[0020] Figure 4 It is a structural schematic diagram of the operation panel in the present invention.

[0021] Explanation of the accompanying drawings: 100, tractor; 200, implement; 1, state detection module; 11, first sensor; 12, second sensor; 2, obstacle detection module; 21, laser radar; 22, millimeter-wave radar; 23, camera; 3, terminal control module; 4, multi-way valve; 41, first solenoid valve; 42, second solenoid valve; 43, third solenoid valve; 5, display screen; 6, operation panel; 61, first control unit; 62, second control unit; 63, third control unit; 64, fourth control unit; 7, Ethernet bus; 8, CAN bus. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0024] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0025] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0028]

Overall structure of the operating machine

[0029] See also Figure 1 , Figure 2This embodiment provides a working machine, which includes a tractor 100 and an implement 200 mounted on the tractor 100. In this embodiment, a reversing plow is used as an example for description, and the forward direction of the tractor 100 is taken as the front. The tractor 100 is equipped with a lifter, a hydraulic output connector, a state detection module 1, an obstacle detection module 2, and a terminal control module 3. The implement 200 is detachably mounted on the lifter, and the implement 200 is equipped with a reversing cylinder, which is connected to a set of hydraulic output connectors.

[0030] The lifter includes a lifter housing, a lift arm, a lower tie rod and a lift cylinder. The lifter housing is mounted on the rear axle, the lift arm is rotatably mounted on the lifter housing, the lift cylinder is mounted on the rear axle, the lift cylinder can drive the lift arm to rotate, two lower tie rods are arranged at the bottom of the rear axle, the lower tie rods are connected to the lift arm through a connecting rod, the lift arm is driven to rotate through the lift cylinder, and the motion control of the lower tie rod is realized.

[0031] The lifter also includes an upper pull rod and a telescopic cylinder. The upper pull rod is arranged on the rear end face of the rear axle, and forms a three-point suspension mechanism with two lower pull rods. A telescopic cylinder is also arranged on the upper pull rod to adjust the length of the upper pull rod, so as to adjust the posture of the machine 200. The tilting cylinder is connected to another set of hydraulic output joints.

[0032] The tractor 100 is equipped with a multi-way valve 4, on which multiple groups of electromagnetic reversing valves are integrated, namely the first electromagnetic valve 41, the second electromagnetic valve 42 and the third electromagnetic valve 43. The first electromagnetic valve 41 is connected to the lifting cylinder and can control the lower pull rod to make a specified action to achieve the lifting and lowering of the machine 200. The second electromagnetic valve 42 is connected to the flip cylinder through a hydraulic output joint to control the machine 200 to flip a predetermined angle. When performing the flipping action, the machine 200 flips 180°. The third electromagnetic valve 43 is connected to the telescopic cylinder through a hydraulic output structure to control the telescopic extension of the upper pull rod to achieve the adjustment of the angle of the machine 200.

[0033] The lifter is provided with a first sensor 11 and a second sensor 12 which can detect the movement state of the lifter; the first sensor 11 is a displacement sensor for measuring the relative angle of the lift arm relative to the lifter housing, and the second sensor 12 is a force sensor for measuring the pulling force between the lower pull rod and the rear axle housing. The relative position of the three-point suspension mechanism can be determined according to the positions of the first sensor 11 and the second sensor 12, and then the posture of the machine 200 can be calculated.

[0034] The obstacle detection module 2 is arranged at the rear side of the tractor 100, and can detect the position of the obstacle relative to the tractor 100 and the height relative to the ground. The obstacle detection module 2 includes a laser radar 21 and / or a millimeter wave radar 22 and / or a camera 23. The laser radar 21 and / or the millimeter wave radar 22 measure the position, shape and size of the obstacle according to the reflected signal returned by the obstacle. The camera 23 uses the image obtained by preprocessing the captured image as the obstacle detection unit of the input image, and uses the existing image recognition unit to distinguish the types of obstacles (people, animals and objects, etc.), and obtains all-round environmental information. The position and height of the obstacle are measured by using the laser radar 21, the millimeter wave radar 22 and the camera 23 alone or in combination.

[0035] The laser radar 21 and / or millimeter wave radar 22 can set the minimum distance for the obstacle detection module 2 to detect obstacles, and can adjust the minimum distance for the laser radar 21 and / or millimeter wave radar 22 to detect obstacles according to the specifications of the machine 200.

[0036] In this embodiment, since the obstruction of the implement 200 will form a certain blind spot of vision, the obstacle detection module 2 includes a camera 23 arranged on the ceiling, a first radar and a second radar distributed on the rear side of the tractor 100 and along the vertical height. The first radar includes two laser radars 21 arranged on both sides of the rear end surface of the ceiling, and the second radar includes two laser radars 21 arranged on the rear axle and located on both sides of the lifter, which can monitor the full shape of the implement 200 and the shape of the obstacles behind it, and realize the measurement of the position and height of the obstacles.

[0037] When the lift is in the lowered state, the second radar is blocked by the implement 200 and has difficulty detecting obstacles at the rear. In a more preferred embodiment, the setting height of the first radar is greater than the setting height of the second radar and greater than the maximum lifting height of the lift. The first radar can detect obstacles located far behind the implement 200. Combined with the environmental information obtained by the camera 23 and the movement trajectory of the tractor 100, it can be determined whether the obstacles at the far position have entered the flipping operation area of ​​the implement 200 and their position relative to the tractor 100.

[0038] In a more preferred embodiment, the second radar is set at a height lower than the minimum set flip height, which is the height required for most machines 200 to complete the flipping action. When the lifter is in the lifted state, it is difficult for the first radar to detect obstacles near the machine 200. If the second radar is set at a height lower than the set flip height, the second radar can detect obstacles near and below the machine 200. At the same time, a scraper is also set behind the second radar, which is lifted and lowered integrally with the machine 200. As the lifter rises and falls, the soil and other attachments remaining on the surface of the second radar are scraped off to avoid false alarms by the second radar.

[0039] See also Figure 3 The tractor 100 is equipped with a terminal control module 3, in which a gateway is integrated. The gateway is connected to the obstacle detection module 2 through the Ethernet bus 7, and the terminal control module 3 is connected to the operation panel 6, the first sensor 11, the second sensor 12, the first solenoid valve 41, the second solenoid valve 42 and the third solenoid valve 43 through the CAN bus 8. The high-speed Ethernet bus 7 realizes high-speed transmission and rapid processing of obstacle-related data, and the CAN bus 8 realizes precise control of the electric control lifting system of the tractor 100, thereby improving the safe operation level of the system.

[0040] See also Figure 4 The cab of the tractor 100 is also provided with an operation panel 6 and a display screen 5, which are signal-connected to the terminal control module 3, and the operation panel 6 integrates a first control unit 61, a second control unit 62, a third control unit 63 and a fourth control unit 64.

[0041] In this embodiment, the first control part 61 is a knob button, and the pointer part of the second control part 62 corresponds to four areas respectively, which are used to step by step activate the four gears of the tractor 100: the lifting working gear, the stopping working gear, the lowering working gear, and the fast lowering working gear.

[0042] The second control part 62 is a rotary button, the starting end of the pointer part of the second control part 62 is the minimum flip height, and the end end is the maximum lifting height of the lifter. The operator can set the flip height of the tool 200 according to the height of the tool 200 to achieve higher flip efficiency.

[0043] The third control part 63 is a rotary button. The starting end of the pointer part of the third control part 63 can be designed according to actual conditions. The other end is the maximum descending speed of the lifter under strong pressure. The operator can set the descending speed of the machine 200 in the fast descending working gear. It can be understood that the third control part 63 only works in the fast descending working gear, and increases the descending speed of the machine 200 in the fast descending working gear through hydraulic pressure. For the descending working gear, the descending speed of the machine 200 is in a natural descending state, which depends on the load of the machine 200.

[0044] The fourth control unit 64 is a key button, and the fourth control unit 64 can control the switching between the manual flip mode and the automatic flip mode of the terminal control module 3. In the manual flip mode, when the tractor 100 is in the stop working gear, the fourth control unit 64 can activate the flip working gear of the tractor 100. In the automatic flip mode, the fourth control unit 64 can realize one-key flipping without the intervention of the first control unit 61. The operator starts the fourth control unit 64 under appropriate working conditions, which can automatically activate the lifting working gear of the tractor 100 and automatically activate the flip working gear of the tractor 100 after the implement 200 is lifted to the set flip height.

[0045] It is understandable that in other embodiments, the first control unit 61 , the second control unit 62 , and the third control unit 63 are not limited to the above-mentioned rotary buttons, but may also be sliding buttons or even touch-type virtual buttons on the display screen 5 .

[0046]

Machine control method

[0047] The present embodiment provides a method for controlling the flipping of an implement 200, wherein the implement 200 is mounted on a lifter of a tractor 100; the control method comprises: step 1, setting a flipping height; step 2, activating the lifting working gear of the tractor 100, and controlling the implement 200 to be lifted to the set flipping height through the lifter; step 3, activating the flipping working gear of the tractor 100, detecting whether there is an obstacle within a predetermined range where the implement 200 is located, and if so, obtaining the position of the obstacle relative to the tractor 100 and the height relative to the ground; step 4, obtaining the position of the implement 200 relative to the tractor 100 and predicting the flipping range of the implement 200, and determining whether the obstacle affects the flipping of the implement 200 at the set flipping height, and if so, pausing the flipping action; step 5, adjusting the position of the implement 200 and / or the tractor 100, and continuing to perform the flipping action when the obstacle no longer affects the flipping of the implement 200; step 6, activating the descending working gear / fast descending working gear of the tractor 100, and the lifter controls the implement 200 to descend at a predetermined speed.

[0048] Among them, the control method has a manual flip mode and an automatic flip mode; in the manual flip mode, the operator activates the lifting working gear, the stopping working gear, the flipping working gear, and the lowering working gear / quickly lowering working gear of the tractor 100 step by step by controlling the first control unit 61 and the fourth control unit 64; in the automatic flip mode, the operator activates the lifting working gear of the tractor 100 by controlling the fourth control unit 64 and automatically activates the flipping working gear of the tractor 100 after the implement 200 is lifted to the set flipping height.

[0049] In other embodiments, the automatic flip mode also includes automatically activating the fast-down working gear. In the automatic flip mode, after the implement 200 completes the automatic flip working gear and reconfirms that there is no obstacle within the predetermined range of the implement 200, the fast-down working gear of the tractor 100 is automatically activated.

[0050] In the manual flipping mode, the control method further includes: step 51, pausing the flipping action and displaying an alarm on the display screen 5, and continuing the flipping action after the tractor 100 leaves the obstacle to ensure the safety of the flipping of the entire machine 200.

[0051] In the automatic flipping mode, the control method also includes: step 51, continue to lift the implement 200 until the height difference between the lowest point of the agricultural machinery and the obstacle is greater than the set safety height; step 52, shorten the length of the upper pull rod so that the implement 200 is tilted upward to the position of the obstacle, and the height difference between the lowest point of the agricultural machinery and the obstacle is greater than the set height; step 53, the display screen 5 alarms and prompts, and after the tractor 100 leaves the obstacle, the automatic flipping mode operation continues. It can be understood that steps 51 and 52 are to adjust the posture of the implement 200, and step 53 is to adjust the position of the tractor 100. At the same time, after steps 51 and 52, it is necessary to determine again whether the location of the obstacle affects the flipping of the implement 200 at the set flipping height. If it does not affect the flipping, the flipping action can be directly executed without executing the next step. Otherwise, the next step is executed. Under the premise of ensuring the flipping safety of the implement 200, the work efficiency of the entire flipping operation is improved.

[0052] It will be apparent to those skilled in the art that various modifications and variations may be made to the above exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention covers modifications and variations of the present invention that fall within the scope of the appended claims and their equivalent technical solutions.

Claims

1. A machine tool flip control method, characterized in that: The implement is mounted on a lifter of a tractor; the control method comprises: S1: Set the flip height and select manual flip mode / automatic flip mode; S2: In manual flip mode / automatic flip mode, the lifting working gear of the tractor is activated, and the implement is lifted to the set flip height through the lifter; S3: activating the flip working gear of the tractor in the manual flip mode / automatic flip mode, detecting whether there is an obstacle within the predetermined range of the implement, if yes, obtaining the position of the obstacle relative to the tractor and the height relative to the ground, if no, performing the flipping action; S4: Obtain the position of the implement relative to the tractor and predict the flipping range of the implement, and determine whether the obstacle affects the flipping of the implement at the set flipping height. If so, suspend the flipping action; if not, execute the flipping action.

2. The tool flip control method according to claim 1, characterized in that: The control method further comprises: Step 5: Adjust the position of the implement and / or tractor, and continue to perform the flipping action when the obstacle no longer affects the flipping of the implement; Step 6: Activate the tractor's descending working gear / fast descending working gear, and the lifter controls the implement to descend at a predetermined speed.

3. The tool flip control method according to claim 2, characterized in that: In manual reversing mode, the tractor's lifting working gear, stopping working gear, reversing working gear, lowering working gear / fast lowering working gear are activated step by step; In the automatic flip mode, the lifting working gear of the tractor is activated and the flip working gear of the tractor is automatically activated after the machine is raised to the set flip height.

4. The tool flip control method according to claim 2, characterized in that: In the manual flipping mode, the control method further includes: Step 51, suspend the flipping action and display an alarm prompt, and continue the flipping action after the tractor drives away from the obstacle.

5. The tool flipping control method according to claim 3, characterized in that: In the automatic flipping mode, the control method further includes: Step 51, continue to lift the implement until the height difference between the lowest point of the agricultural machinery and the obstacle is greater than the set safety height; Step 52, shorten the length of the upper pull rod so that the height difference between the lowest point of the agricultural machinery at the location of the obstacle and the obstacle is greater than the set height; Step 53: The display screen gives an alarm prompt, and after the tractor leaves the obstacle, the automatic flip mode operation continues.

6. The tool flipping control method according to claim 5, characterized in that: The tractor is also provided with an operation panel and a display screen, which are connected to the terminal control module by signal. The operation panel includes: A first control unit, the first control unit is used to activate the four gears of the tractor in steps: a lifting working gear, a stopping working gear, a lowering working gear, and a fast lowering working gear; a second control unit capable of setting a flip height of the implement; A third control unit, the third control unit being capable of setting a descent speed of the implement in a fast descent working gear; The fourth control unit is capable of controlling the terminal control module to switch between a manual flip mode and an automatic flip mode.

7. The tool flipping control method according to claim 6, characterized in that: An obstacle detection module is arranged on the rear side of the tractor, which can detect the position of the obstacle relative to the tractor and the height relative to the ground. The obstacle detection module includes a laser radar and / or a millimeter-wave radar and / or a camera, and the laser radar and / or the millimeter-wave radar can set the minimum distance for the obstacle detection module to detect the obstacle.

8. The tool flipping control method according to claim 7, characterized in that: The lifter is provided with a first sensor and a second sensor capable of detecting the movement state of the lifter; the first sensor is a displacement sensor for measuring the relative angle of the lift arm relative to the lifter housing, and the second sensor is a force sensor for measuring the magnitude of the pulling force between the lower pull rod and the rear axle housing.

9. The tool flipping control method according to claim 8, characterized in that: The implement is equipped with a tilting cylinder, and the tilting cylinder is connected to the hydraulic output joint on the tractor. The tractor is also equipped with a first solenoid valve for controlling the lower pull rod to perform a command action, a second solenoid valve for controlling the tilting cylinder to perform a command action, and a third solenoid valve for controlling the extension and retraction of the upper pull rod.

10. The tool flip control method according to claim 9, characterized in that: The tractor is equipped with a terminal control module, in which a gateway is integrated. The gateway is connected to the obstacle detection module via an Ethernet bus communication, and the terminal control module is connected to the operation panel, the display screen, the first sensor, the second sensor, the first solenoid valve, the second solenoid valve and the third solenoid valve via a CAN bus communication.

11. A working machine, characterized in that: The invention comprises a tractor and an implement mounted on a lifter of the tractor, and the tractor is configured to execute the control method according to any one of claims 1 to 10.

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