An implement roll control method and work machine

Abstract

This invention provides a method for controlling the tilting of implements and a work machine. The control method includes: Step 1, setting the tilting height; Step 2, activating the tractor's lifting mode and controlling the implement to lift to the set tilting height via a lifting device; Step 3, activating the tractor's tilting mode and detecting whether there are obstacles within a predetermined range of the implement; if so, obtaining the position of the obstacle relative to the tractor and its height relative to the ground; Step 4, acquiring the implement's posture relative to the tractor and predicting the implement's tilting range, determining whether the presence of obstacles affects the implement's tilting at the set tilting height; if so, pausing the tilting action. This invention improves the safe operation level of the work machine by detecting whether there are obstacles within a predetermined range of the implement and displaying the status of the tractor and implement in real time.

Description

Technical Field

[0001] This invention relates to an agricultural machinery control method, and more particularly to a implement tilting control method and a work machine. Background Technology

[0002] In related technologies, when a tractor equipped with a hydraulic reversible plow turns over in the field, the implement (hydraulic reversible plow) needs to be flipped. The operator uses a joystick to raise, flip, and lower the implement, making the entire operation quite complex. Furthermore, since flipping operations typically occur on field edges, the conditions are even more complex. Obstacles in the flipping area can easily damage the tractor or implement, and may even pose a threat to people or objects working nearby. Therefore, it is necessary to provide a method for controlling implement flipping and a working machine to overcome the aforementioned shortcomings. Summary of the Invention

[0003] The purpose of this invention is to provide a machine tilting control method and a working machine.

[0004] According to one aspect of the present invention, a method for controlling the tilting of a implement is provided, wherein the implement is mounted on a tractor's lift; the control method includes: S1: setting a tilting height and selecting a manual tilting mode / automatic tilting mode; S2: activating the tractor's lifting gear in the manual tilting mode / automatic tilting mode, and controlling the implement to be lifted to the set tilting height via the lift; S3: activating the tractor's tilting gear in the manual tilting mode / automatic tilting mode, detecting whether there is an obstacle within a predetermined range where the implement is located; if so, obtaining the position of the obstacle relative to the tractor and its height relative to the ground; if not, performing a tilting action; S4: acquiring the position and orientation of the implement relative to the tractor and predicting the tilting range of the implement, determining whether the obstacle affects the implement's tilting at the set tilting height; if so, pausing the tilting action; if not, performing the tilting action.

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

[0006] Preferably, in manual tilting mode, the tractor's lifting working gear, stopping working gear, tilting working gear, and lowering working gear / rapid lowering working gear are activated step by step; in automatic tilting mode, the tractor's lifting working gear is activated and the tractor's tilting working gear is automatically activated after the implement is raised to the set tilting height.

[0007] Preferably, in manual flipping mode, the control method further includes: step 51, pausing the flipping action and displaying an alarm prompt on the screen, and continuing the flipping action after the tractor has moved away from the obstacle.

[0008] Preferably, in the automatic tilting mode, the control method further includes: step 51, continuing to raise the implement until the height difference between the lowest point of the implement and the obstacle is greater than the set safe height; step 52, shortening the length of the upper pull rod so that the implement tilts upward until the height difference between the lowest point of the implement and the obstacle is greater than the set height; step 53, the display screen alarms, and after the tractor moves away from the obstacle, the automatic tilting mode operation continues.

[0009] Preferably, the tractor is further provided with an operation panel and a display screen, which are signal-connected to the terminal control module. The operation panel includes: a first control unit, which is used to activate four gears of the tractor in stages: lifting working gear, stopping working gear, lowering working gear, and rapid lowering working gear; a second control unit, which can set the tilting height of the implement; a third control unit, which can set the lowering speed of the implement in the rapid lowering working gear; and a fourth control unit, which can control the terminal control module to switch between manual tilting mode and automatic tilting 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 its height relative to the ground. The obstacle detection module includes a lidar and / or a millimeter-wave radar and / or a camera, and the lidar and / or millimeter-wave radar can be set to a minimum distance for the obstacle detection module to detect obstacles.

[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 between the lifting arm and the lifter housing, and the second sensor is a force sensor for measuring the magnitude of the tension between the pull rod and the rear axle housing.

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

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

[0014] According to another aspect of the invention, a work machine is provided, comprising a tractor and a implement mounted on a hoist of the tractor, wherein the tractor is configured to perform the control method.

[0015] Compared with existing technologies, the implement tilting control method and working machine provided by this invention have the following beneficial effects: On the one hand, this invention improves the safe operation level of the working machine by detecting whether there are obstacles within a predetermined range of the implement and displaying the status of the tractor and implement in real time. On the other hand, this invention achieves high-speed transmission and rapid processing of obstacle-related data through a high-speed Ethernet bus, displays the status of the whole machine and implement in real time, and enables precise control of the tractor's electronic lifting system through a CAN bus, thereby improving the system's safe operation level. Attached Figure Description

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0017] Figure 1 This is a schematic diagram of the structure of the work machine in this invention;

[0018] Figure 2 This is a schematic diagram of the control system connection of the work machine in this invention;

[0019] Figure 3 This is a schematic diagram of the signal transmission connection of the control system of the work machine in this invention;

[0020] Figure 4 This is a schematic diagram of the operation panel in this invention.

[0021] Explanation of reference numerals in the attached drawings: 100, Tractor; 200, Implement; 1, Status detection module; 11, First sensor; 12, Second sensor; 2, Obstacle detection module; 21, LiDAR; 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 Implementation

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0024] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0025] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0028] [Overall Structure of the Machine]

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

[0030] The lifter includes a lifter housing, a lifting arm, pull rods, and a lifting cylinder. The lifter housing is mounted on the rear axle, the lifting arm is rotatably mounted on the lifter housing, and the lifting cylinder is mounted on the rear axle, driving the lifting arm to rotate. Two pull rods are located at the bottom of the rear axle, connected to the lifting arm by connecting rods. The lifting arm is rotated by the lifting cylinder, thereby controlling the movement of the pull rods.

[0031] The lifter also includes an upper pull rod and a telescopic cylinder. The upper pull rod is located on the rear end face of the rear axle and forms a three-point suspension mechanism with the two lower pull rods. The upper pull rod is also equipped with a telescopic cylinder for adjusting the length of the upper pull rod, which can achieve 200° position adjustment of the machine. The telescopic cylinder is connected to another set of hydraulic output joints.

[0032] The tractor 100 is equipped with a multi-way valve 4, which integrates multiple sets of solenoid directional valves, namely a first solenoid valve 41, a second solenoid valve 42, and a third solenoid valve 43. The first solenoid valve 41 is connected to the lifting cylinder and can control the lowering rod to perform a specified action, realizing the lifting and lowering of the implement 200. The second solenoid valve 42 is connected to the tilting cylinder through a hydraulic output connector, controlling the tilting of the implement 200 to a predetermined angle. When performing the tilting action, the implement 200 tilts 180°. The third solenoid valve 43 is connected to the telescopic cylinder through a hydraulic output structure, controlling the extension and retraction of the upper rod to adjust the angle of the implement 200.

[0033] The lifter is equipped with a first sensor 11 and a second sensor 12 that can detect the movement state of the lifter. The first sensor 11 is a displacement sensor used to measure the relative angle between the lifting arm and the lifter housing, and the second sensor 12 is a force sensor used to measure the tension between the pull rod and the rear axle housing. The relative position of the three-point suspension mechanism can be determined based on the position of the first sensor 11 and the second sensor 12, and then the position and posture of the machine 200 can be calculated.

[0034] The obstacle detection module 2 is located at the rear of the tractor 100 and is capable of detecting the position of obstacles relative to the tractor 100 and their height relative to the ground. The obstacle detection module 2 includes a lidar 21 and / or a millimeter-wave radar 22 and / or a camera 23. The lidar 21 and / or the millimeter-wave radar 22 measure the position, shape, and size of obstacles based on reflected signals from the obstacles. The camera 23 uses pre-processed images as input images for the obstacle detection unit. It uses existing image recognition units to distinguish the types of obstacles (people, animals, and objects, etc.) and acquires comprehensive environmental information. The obstacle position and height can be measured by using the lidar 21, millimeter-wave radar 22, and camera 23 individually or in combination.

[0035] The lidar 21 and / or millimeter-wave radar 22 can be set to the minimum distance at which the obstacle detection module 2 can detect obstacles. The minimum distance at which the lidar 21 and / or millimeter-wave radar 22 can detect obstacles can be adjusted according to the specifications and dimensions of the machine 200.

[0036] In this embodiment, since the obstruction of the implement 200 will create a certain blind spot, the obstacle detection module 2 includes a camera 23 installed on the roof, a first radar and a second radar distributed on the rear side of the tractor 100 and distributed along the vertical height. The first radar includes two lidars 21 installed on both sides of the rear end face of the roof, and the second radar includes two lidars 21 installed on the rear axle and located on both sides of the lifter. It 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 descending state, the second radar has difficulty detecting obstacles behind it due to the obstruction of the implement 200. In a preferred embodiment, the first radar is set at a height greater than the second radar and greater than the maximum lifting height of the lift. The first radar can detect obstacles located at a relatively far position 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 obstacle at a relatively far position has entered the overturning operation area of ​​the implement 200 and its position relative to the tractor 100.

[0038] In a 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 lifting state, the first radar has difficulty detecting obstacles near the machine 200. Since the second radar is set at a height lower than the set flip height, it can detect obstacles near and below the machine 200. Simultaneously, a scraper is also provided behind the second radar, moving integrally with the machine 200. As the lifter rises and falls, it scrapes away residual dirt and other deposits on the surface of the second radar, preventing false alarms.

[0039] See Figure 3 The tractor 100 is equipped with a terminal control module 3, which integrates a gateway. The gateway communicates with the obstacle detection module 2 via an Ethernet bus 7. The terminal control module 3 communicates with 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 via a CAN bus 8. The high-speed Ethernet bus 7 enables high-speed transmission and rapid processing of obstacle-related data, while the CAN bus 8 enables precise control of the tractor 100's electronic lifting system, improving the system's safe operation level.

[0040] See Figure 4 The tractor 100 is also equipped with an operation panel 6 and a display screen 5 in the cab. The operation panel 6 and the display screen 5 are connected to the terminal control module 3. 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 unit 61 is a rotary button, and the pointer part of the second control unit 62 corresponds to four areas, which are used to activate the four gears of the tractor 100 in steps: the lifting working gear, the stopping working gear, the lowering working gear, and the rapid lowering working gear.

[0042] The second control unit 62 is a rotary button. The starting point of the pointer part of the second control unit 62 is the minimum flipping height, and the ending point is the maximum lifting height of the elevator. The operator can set the flipping height of the machine 200 according to the height of the machine 200 to achieve higher flipping efficiency.

[0043] The third control unit 63 is a rotary button. The starting end of the pointer section of the third control unit 63 can be designed according to actual conditions, while the other end represents the maximum descent speed of the lifter under high pressure. The operator can set the descent speed of the machine 200 in the rapid descent working position. It is understood that the third control unit 63 only functions in the rapid descent working position, using hydraulic pressure to increase the descent speed of the machine 200 in this position. In the descent working position, the descent speed of the machine 200 is a natural descent, depending on the load on the machine 200.

[0044] The fourth control unit 64 is a button that controls the switching between manual and automatic tilting modes of the terminal control module 3. In manual tilting mode, when the tractor 100 is in the stop working position, the fourth control unit 64 can activate the tilting working position of the tractor 100. In automatic tilting mode, the fourth control unit 64 can achieve one-button tilting without the intervention of the first control unit 61. When the operator starts the fourth control unit 64 under suitable working conditions, it can automatically activate the lifting working position of the tractor 100 and automatically activate the tilting working position of the tractor 100 after the implement 200 is raised to the set tilting height.

[0045] It is understood 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 rotary button described above, but can also be a sliding button, or even a touch-sensitive virtual button on the display screen 5.

[0046] [Machinery Control Methods]

[0047] This embodiment provides a method for controlling the tilting of a implement 200, which is mounted on the lift of a tractor 100. The control method includes: Step 1, setting the tilting height; Step 2, activating the lifting mode of the tractor 100, and controlling the implement 200 to be lifted to the set tilting height via the lift; Step 3, activating the tilting mode 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 its height relative to the ground; Step 4, acquiring the pose of the implement 200 relative to the tractor 100 and predicting the tilting range of the implement 200, determining whether the presence of the obstacle affects the implement 200 from tilting at the set tilting height, and if so, pausing the tilting action; Step 5, adjusting the pose of the implement 200 and / or the tractor 100, and continuing the tilting action when the obstacle no longer affects the implementation of the tilting of the implement 200; Step 6, activating the descent mode / rapid descent mode of the tractor 100, and controlling the implement 200 to descend at a predetermined speed via the lift.

[0048] The control method includes a manual tilting mode and an automatic tilting mode. In the manual tilting mode, the operator activates the lifting working gear, stopping working gear, tilting working gear, and lowering working gear / rapid 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 tilting mode, the operator activates the lifting working gear of the tractor 100 by controlling the fourth control unit 64 and automatically activates the tilting working gear of the tractor 100 after the implement 200 is raised to the set tilting height.

[0049] In other embodiments, the automatic tilting mode also includes automatically activating the rapid descent working gear. In the automatic tilting mode, after the implement 200 completes the automatic tilting working gear and it is confirmed that there are no obstacles within the predetermined range where the implement 200 is located, the rapid descent working gear of the tractor 100 is automatically activated.

[0050] In manual overturning mode, the control method also includes: step 51, pausing the overturning action and displaying an alarm on the screen 5, and continuing the overturning action after the tractor 100 moves away from the obstacle to ensure the safety of the entire implement 200 overturning.

[0051] In automatic tilting mode, the control method further includes: Step 51, continuing to raise implement 200 until the height difference between the lowest point of implement 200 and the obstacle is greater than the set safe height; Step 52, shortening the length of the upper pull rod so that implement 200 tilts upward until the height difference between the lowest point of implement 200 and the obstacle is greater than the set height; Step 53, the display screen 5 issues an alarm, and after the tractor 100 moves away from the obstacle, the automatic tilting mode operation continues. It can be understood that steps 51 and 52 adjust the position of implement 200, and step 53 adjusts the position of the tractor 100. Simultaneously, after steps 51 and 52, it is necessary to re-determine whether the obstacle affects implement 200's tilting at the set tilting height. If it does not affect tilting, the tilting action can be executed directly without proceeding to the next step; otherwise, the next step is executed. This improves the overall efficiency of the tilting operation while ensuring the safety of implement 200's tilting.

[0052] It will be apparent to those skilled in the art that various modifications and variations can be made to the exemplary embodiments described above without departing from the spirit and scope of the invention. Therefore, it is intended that this invention cover modifications and variations falling within the scope of the appended claims and their equivalents.

Claims

1. A method for controlling the tilting of machinery, characterized in that, The implement is mounted on the tractor's hoist; the control method includes: S1: Set the flip height and select manual flip mode / automatic flip mode; S2: In manual / automatic tilting mode, activate the tractor's lifting gear and control the implement to be lifted to the set tilting height via the lifting device; S3: In manual / automatic tilt mode, activate the tilt working gear of the tractor, detect whether there is an obstacle within the predetermined range of the implement. If so, obtain the position of the obstacle relative to the tractor and its height relative to the ground. If not, perform the tilting action. S4: Obtain the position of the implement relative to the tractor and predict the overturning range of the implement. Determine whether the obstacle will affect the implement from overturning at the set overturning height. If yes, pause the overturning action; otherwise, execute the overturning action. S5. Adjust the position of the implement and / or tractor, and continue the overturning action when the obstacle no longer affects the implementation of the overturning action; In manual flipping mode, the control method further includes: step 51, pausing the flipping action and displaying an alarm prompt on the screen, and continuing the flipping action after the tractor has moved away from the obstacle; In automatic tilting mode, the control method further includes: step 51, continuing to raise the implement until the height difference between the lowest point of the implement and the obstacle is greater than the set safe height; step 52, shortening the length of the upper pull rod so that the implement tilts upward until the height difference between the lowest point of the implement and the obstacle is greater than the set height; step 53, the display screen alarms, and after the tractor moves away from the obstacle, the automatic tilting mode continues to be executed. S6. Activate the tractor's descent working gear / rapid descent working gear, and the lifter controls the implement to descend at a predetermined speed.

2. The machine tilting control method as described in claim 1, characterized in that, In manual tilt mode, the tractor's lifting working gear, stopping working gear, tilt working gear, and lowering working gear / rapid lowering working gear are activated step by step.

3. The machine tilting control method as described in claim 1, characterized in that, In automatic tilting mode, the tractor's lifting working gear is activated, and the tilting working gear is automatically activated after the implement is lifted to the set tilting height.

4. The machine tilting control method as described in claim 1, characterized in that, The tractor is also equipped with an operation panel and a display screen, which are connected to the terminal control module.

5. The machine tilting control method as described in claim 4, characterized in that, The operation panel includes: The first control unit is used to activate the four gears of the tractor in stages: the lifting working gear, the stopping working gear, the lowering working gear, and the rapid lowering working gear. The second control unit is capable of setting the tilting height of the machine; The third control unit is capable of setting the descent speed of the machine in the rapid descent working gear; The fourth control unit is capable of controlling the switching between manual and automatic flip modes of the terminal control module.

6. The machine tilting control method as described in claim 5, characterized in that, The tractor is equipped with an obstacle detection module at its rear, which can detect the position of obstacles relative to the tractor and their height relative to the ground. The obstacle detection module includes a lidar and / or a millimeter-wave radar and / or a camera, and the lidar and / or millimeter-wave radar can be set to a minimum distance for the obstacle detection module to detect obstacles.

7. The machine tilting control method as described in claim 6, characterized in that, The lifter is equipped with a first sensor and a second sensor capable of detecting the movement state of the lifter; the first sensor is a displacement sensor used to measure the relative angle between the lifting arm and the lifter housing, and the second sensor is a force sensor used to measure the magnitude of the tension between the pull rod and the rear axle housing.

8. The machine tilting control method as described in claim 7, characterized in that, The implement is equipped with a tilting cylinder, which is connected to a hydraulic output connector on the tractor. The tractor is also equipped with a first solenoid valve that controls the lower lever to make command actions, a second solenoid valve that controls the tilting cylinder to make command actions, and a third solenoid valve that controls the extension and retraction of the upper lever.

9. The machine tilting control method as described in claim 8, characterized in that, The tractor is equipped with a terminal control module, which integrates a gateway. The gateway is connected to the obstacle detection module via an Ethernet bus. The terminal control module is also connected to the operation panel, display screen, first sensor, second sensor, first solenoid valve, second solenoid valve, and third solenoid valve via a CAN bus.

10. A work machine, characterized in that, The device includes a tractor and an implement mounted on a lift on the tractor, and the tractor is configured to perform the control method according to any one of claims 1 to 9.

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