Agricultural machine automatic leveling control system and control method thereof

Abstract

The invention provides an agricultural machine automatic leveling control system and a control method thereof.The agricultural machine automatic leveling control system comprises a mode switcher, a controller, a machine body tilt angle sensor, an electromagnetic reversing valve, a leveling hydraulic cylinder, a stay wire sensor and an angular displacement sensor, the mode switcher is used for switching agricultural machine leveling control modes, the controller is connected with the mode switcher, and the machine body tilt angle sensor is connected with the controller. The machine body tilt angle sensor is connected with the controller, the electromagnetic directional valve is connected with the controller, the leveling hydraulic cylinder is connected with the electromagnetic directional valve, the pull wire sensor is connected with the leveling hydraulic cylinder, and the angular displacement sensor is connected with the pull wire sensor and the controller. And the inclined angle calculating module is used for calculating inclined angle data of the rotary cultivator according to the data acquired by the stay wire sensor and sending the calculated data to the controller. The angle of the cultivator can be controlled, so that the cultivator can be parallel to the machine body or the ground, and even if the machine body is inclined, the cultivator can cultivate and harrow the cultivator to the ground in parallel.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery equipment, and in particular to an automatic leveling control system for agricultural machinery and a control method thereof. Background Art

[0002] In modern agricultural production, the efficient operation of agricultural machinery is of great significance to the development of agricultural mechanization. However, the complex and changeable terrain environment poses severe challenges to agricultural machinery operations. During the operation process, traditional agricultural machinery often faces uneven terrain, which often leads to unstable working conditions due to terrain changes, affecting the quality and efficiency of operation. Therefore, it is of great practical significance and application prospects to develop an agricultural machinery leveling control system that can automatically adapt to terrain changes and improve the operation stability and farming quality of agricultural machinery.

[0003] First, agricultural machinery faces complex and diverse terrain during operation, including hills, mountains, plains and other terrain types, and the terrain within the plot varies, such as gullies, bumps, slopes, etc. These terrain changes make agricultural machinery prone to instability such as tilting and bumping during operation, leading to problems such as inconsistent tillage depth and uneven planting row spacing, affecting the growth and yield of crops. Traditional agricultural machinery leveling methods are mostly manual adjustments, which are imprecise and inefficient, and cannot meet the needs of modern agricultural production.

[0004] Secondly, with the advancement of science and technology, the application of automation and intelligent technology in agricultural machinery is becoming more and more extensive. As an automated and intelligent agricultural machinery control technology, the automatic leveling control system can monitor the posture changes of agricultural machinery in real time through sensors, and automatically adjust the working state of agricultural machinery through the control system to keep it in a stable working posture on complex terrain. Such systems can not only improve the operating efficiency of agricultural machinery, but also significantly improve the operating quality and reduce the errors and labor intensity of human operation.

[0005] Thirdly, the core technologies of the automatic leveling control system for agricultural machinery include posture monitoring, data processing and automatic control. The posture monitoring part mainly obtains the posture information of agricultural machinery in real time through various sensors installed on agricultural machinery, such as gyroscopes and inclination sensors. The data processing part uses a high-performance data processing unit to analyze and process the data obtained by the sensor in real time to determine the posture change trend of the agricultural machinery. The automatic control part uses the control system to adjust the operating status of the agricultural machinery in real time according to the analysis results of the data processing unit to ensure that it maintains a stable working posture on complex terrain.

[0006] In summary, the development and application of the automatic leveling control system for agricultural machinery and its control method have important background significance. It can not only improve the operating efficiency and quality of agricultural machinery, reduce labor intensity and resource waste, but also promote the development of agricultural mechanization and intelligence, which is in line with the green environmental protection and sustainable development concept of modern agriculture. With the continuous advancement and application of related technologies, the automatic leveling control system for agricultural machinery will play an increasingly important role in future agricultural production and provide strong technical support for the development of agricultural modernization. Summary of the invention

[0007] The invention provides an automatic leveling control system for agricultural machinery and a control method thereof, which control the angle of a tillage implement so that the tillage implement can be parallel to a machine body or the ground, and the tillage implement can plow and harrow parallel to the ground even when the machine body is tilted.

[0008] To achieve the above object, the present invention adopts the following technical solution:

[0009] A control system for automatic leveling of agricultural machinery comprises a mode switcher, a controller, a body inclination sensor, an electromagnetic reversing valve, a leveling hydraulic cylinder, a wire sensor and an angular displacement sensor. The mode switcher is used to switch the control mode of leveling of the agricultural machinery. The controller is connected to the mode switcher and is used to receive data and issue control instructions. The body inclination sensor is connected to the controller and is used to sense the absolute inclination angle of the agricultural machinery body relative to the ground and transmit relevant data to the controller. The electromagnetic reversing valve is connected to the controller and is used to execute the instructions of the controller and control the operation of the leveling hydraulic cylinder. The leveling hydraulic cylinder is connected to the electromagnetic reversing valve and is used to drive and control the inclination angle of a rotary tiller so that the rotary tiller is parallel to the body or the ground. The wire sensor is connected to the leveling hydraulic cylinder and is used to calculate the telescopic data of the leveling hydraulic cylinder and send it to the angular displacement sensor. The angular displacement sensor is respectively connected to the wire sensor and the controller and is used to calculate the inclination angle data of the rotary tiller according to the data sensed by the wire sensor and send the calculated data to the controller.

[0010] Preferably, the mode switch includes a manual mode, a parallel mode and an automatic mode. The manual mode is used to manually adjust the inclination angle of the rotary tiller through the lever of the agricultural machinery. The parallel mode is used to control the rotary tiller to remain parallel to the tractor body. The automatic mode is used to control the rotary tiller to remain parallel to the ground.

[0011] Preferably, the length of the pull rod of the pull wire sensor is the same as the length of the piston rod of the leveling hydraulic cylinder.

[0012] A control method of an automatic leveling control system for agricultural machinery is also disclosed. Based on the automatic leveling control system for agricultural machinery according to any one of claims 1 to 3, the control method steps are as follows:

[0013] A. Initialize and set the leveling threshold;

[0014] B. Select the desired control mode through the mode switch;

[0015] C. Calculate the body inclination angle data through the body inclination sensor installed on the tractor body;

[0016] D. The controller sends a control command to the electromagnetic reversing valve according to the fuselage tilt angle data, and controls the hydraulic oil in and out through the electromagnetic reversing valve to control the extension and retraction of the leveling hydraulic cylinder;

[0017] E. The wire sensor and the leveling hydraulic cylinder are extended and retracted synchronously, thereby calculating the extension and retraction amount of the leveling hydraulic cylinder;

[0018] F. The angular displacement sensor calculates the tilt angle data of the rotary tiller according to the extension and contraction data obtained by the pull-wire sensor, and feeds this data back to the controller to control the parallelism of the rotary tiller with the tractor body or the ground.

[0019] Preferably, there are three control modes in step B, namely manual mode, parallel mode and automatic mode.

[0020] Preferably, the manual mode controls the extension and retraction of the hydraulic cylinder by pushing the lever to achieve left and right tilting of the rotary tiller.

[0021] Preferably, the parallel mode sets the leveling error threshold according to the fluctuation of the rotary tiller at the target angle, then reads the data of the pull-wire sensor to calculate the inclination angle between the rotary tiller and the tractor body in real time, and finally controls the electromagnetic reversing valve in real time according to the inclination angle to control the leveling hydraulic cylinder, thereby completing the parallel control of the rotary tiller and the tractor body in real time.

[0022] Preferably, the automatic mode sets the leveling error threshold according to the fluctuation of the rotary tiller at the target angle, then reads the data of the pull-wire sensor and the body inclination sensor to calculate the inclination of the rotary tiller and the horizontal plane of the earth in real time, and finally controls the electromagnetic reversing valve in real time according to the inclination to control the leveling hydraulic cylinder, thereby completing the absolute parallel control of the rotary tiller and the earth in real time.

[0023] Compared with the prior art, the beneficial effects of the present invention are that it has three control modes, each mode can correspond to different situations, so that it can cope with most agricultural machinery tillage problems; the angle of the tillage implement is manually or automatically controlled so that it can be parallel to the fuselage or the ground, and even when the fuselage is tilted, the tillage implement can be plowed parallel to the ground, which greatly improves the efficiency and applicability of tillage; the controller and all related sensors are installed on the tractor body, so that the operating equipment can be replaced very quickly and conveniently without changing the position of the controller, sensor and leveling hydraulic cylinder, which significantly shortens the machine replacement cycle and improves the efficiency of "one machine for multiple uses". BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the control system structure of the present invention;

[0025] Figure 2 It is a control method flow chart of the present invention. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0027] It should be noted that when a component / part is referred to as being "set on" another component / part, it may be directly set on the other component / part or there may also be an intermediate component / part. When a component / part is referred to as being "connected / coupled" to another component / part, it may be directly connected / coupled to the other component / part or there may be an intermediate component / part at the same time. The term "connection / coupling" as used herein may include electrical and / or mechanical physical connections / couplings. The term "includes / comprising" as used herein refers to the presence of a feature, step or component / part, but does not exclude the presence or addition of one or more other features, steps or components / parts. The term "and / or" as used herein includes any and all combinations of one or more relevant listed items.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0029] See also Figure 1As shown, an automatic leveling control system for agricultural machinery includes a mode switcher, a controller, a body inclination sensor, an electromagnetic reversing valve, a leveling hydraulic cylinder, a wire sensor and an angular displacement sensor. The mode switcher is used to switch the control mode of agricultural machinery leveling. The controller is connected to the mode switcher for receiving data and issuing control instructions. The body inclination sensor is connected to the controller for sensing the absolute inclination angle of the agricultural machinery body relative to the ground and transmitting relevant data to the controller. The electromagnetic reversing valve is connected to the controller for executing the instructions of the controller and controlling the operation of the leveling hydraulic cylinder. The leveling hydraulic cylinder is connected to the electromagnetic reversing valve for driving and controlling the inclination angle of the rotary tiller so that the rotary tiller 4 is parallel to the body or the ground. The wire sensor is connected to the leveling hydraulic cylinder for calculating the extension and retraction data of the leveling hydraulic cylinder and sending it to the angular displacement sensor. The angular displacement sensor is respectively connected to the wire sensor and the controller for calculating the inclination angle data of the rotary tiller according to the data sensed by the wire sensor and sending the calculated data to the controller.

[0030] The mode switch includes manual mode, parallel mode and automatic mode. The manual mode is used to manually adjust the tilt angle of the rotary tiller through the lever of the agricultural machine. The parallel mode is used to control the rotary tiller to be parallel to the tractor body. The automatic mode is used to control the rotary tiller to be parallel to the ground. The pull rod length of the pull wire sensor is the same as the piston rod length of the leveling hydraulic cylinder. The lever on the tractor can control the electromagnetic reversing valve, which has three gears. The left and right gears can adjust the tilt angle of the machine, and the electromagnetic reversing valve in the middle gear does not work.

[0031] See also Figure 2 As shown, a control method of an automatic leveling control system for agricultural machinery is also disclosed. Based on the automatic leveling control system for agricultural machinery, the control method steps are as follows:

[0032] A. Initialize and set the leveling threshold;

[0033] B. Select the desired control mode through the mode switch;

[0034] C. Calculate the body inclination angle data through the body inclination sensor installed on the tractor body;

[0035] D. The controller sends a control command to the electromagnetic reversing valve according to the fuselage tilt angle data, and controls the hydraulic oil in and out through the electromagnetic reversing valve to control the extension and retraction of the leveling hydraulic cylinder;

[0036] E. The wire sensor and the leveling hydraulic cylinder are extended and retracted synchronously, thereby calculating the extension and retraction amount of the leveling hydraulic cylinder;

[0037] F. The angular displacement sensor calculates the tilt angle data of the rotary tiller according to the extension and contraction data obtained by the pull-wire sensor, and feeds this data back to the controller to control the parallelism of the rotary tiller with the tractor body or the ground.

[0038] There are three control modes in step B, namely manual mode, parallel mode and automatic mode. In the manual mode, the hydraulic cylinder is controlled to extend and retract by pushing the lever to achieve left and right tilting of the rotary tiller.

[0039] The parallel mode sets the leveling error threshold according to the fluctuation of the rotary tiller at the target angle, then reads the data of the cable sensor to calculate the inclination angle between the rotary tiller and the tractor body in real time, and finally controls the electromagnetic reversing valve in real time according to the inclination angle to control the leveling hydraulic cylinder, thus completing the parallel control of the rotary tiller and the tractor body in real time. The parallel mode is the default mode.

[0040] The automatic mode sets the leveling error threshold based on the fluctuation of the rotary tiller at the target angle, then reads the data from the pull-wire sensor and the body inclination sensor to calculate the inclination of the rotary tiller and the horizontal plane of the earth in real time. Finally, the electromagnetic reversing valve is controlled in real time according to the inclination to control the leveling hydraulic cylinder, thereby achieving absolute parallel control of the rotary tiller and the earth in real time.

[0041] Calculation method of the tilt angle of the rotary tiller relative to the machine body: β = f (L)

[0042] In the above formula: L is the length of the pull rod (it corresponds to the length of the piston rod of the leveling hydraulic cylinder).

[0043] Note: If the absolute inclination angle of the fuselage can also be measured as α, then the absolute inclination angle of the machine is:

[0044] θ=α+β.

[0045] The automatic leveling control system of agricultural machinery is a unilateral adjustment structure of the rotary tiller. One end of the leveling hydraulic cylinder is connected to the fuselage, and the other end is connected to the rotary tiller. The pull-wire sensor is arranged in parallel with the leveling hydraulic cylinder, and the remaining structures are arranged in the fuselage of the tractor. The inclination of the rotary tiller is driven by the leveling hydraulic cylinder, and the other end of the rotary tiller is fixed on the fuselage of the tractor. In addition to satisfying the above three mode functions, the automatic leveling control system of agricultural machinery must also meet the following functions: Alarm function: by reading the data information of the pull-wire sensor in real time, it is determined whether the leveling hydraulic cylinder has reached the limit position. When it reaches the limit position, the red LED is controlled to be always on to realize the alarm prompt function; Power-on self-test function: self-test each external sensor when the machine is turned on. When an error occurs in the sensor, the red LED is controlled to flash to realize the alarm reminder, etc.; Display function: real-time calculation of the relative inclination angle between the rotary tiller and the tractor fuselage, and the DA is converted into an analog quantity, and finally the pointer dial is used to realize real-time display.

[0046] The present invention has three control modes, each mode can correspond to different situations, so that it can cope with most agricultural machinery tillage problems; the angle of the tillage implement can be manually or automatically controlled to make it parallel to the fuselage or the ground, and even when the fuselage is tilted, the tillage implement can be plowed and harrowed parallel to the ground, which greatly improves the efficiency and applicability of tillage; the controller and all related sensors are installed on the tractor body, so that the operating implement can be replaced very quickly and conveniently without changing the position of the controller, sensor and leveling hydraulic cylinder, which significantly shortens the machine replacement cycle and improves the efficiency of "one machine for multiple uses".

[0047] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic leveling control system for agricultural machinery, characterized in that: It includes a mode switcher, a controller, a body inclination sensor, an electromagnetic reversing valve, a leveling hydraulic cylinder, a wire sensor and an angular displacement sensor. The mode switcher is used to switch the control mode of agricultural machinery leveling. The controller is connected to the mode switcher for receiving data and issuing control instructions. The body inclination sensor is connected to the controller for sensing the absolute inclination angle of the agricultural machinery body relative to the ground and transmitting relevant data to the controller. The electromagnetic reversing valve is connected to the controller for executing the instructions of the controller and controlling the operation of the leveling hydraulic cylinder. The leveling hydraulic cylinder is connected to the electromagnetic reversing valve for driving and controlling the inclination angle of the rotary tiller so that the rotary tiller is parallel to the body or the ground. The wire sensor is connected to the leveling hydraulic cylinder for calculating the extension and retraction data of the leveling hydraulic cylinder and sending it to the angular displacement sensor. The angular displacement sensor is respectively connected to the wire sensor and the controller for calculating the inclination angle data of the rotary tiller according to the data sensed by the wire sensor and sending the calculated data to the controller.

2. The automatic leveling control system for agricultural machinery according to claim 1, characterized in that: The mode switch includes a manual mode, a parallel mode and an automatic mode. The manual mode is used to manually adjust the inclination angle of the rotary tiller through the lever of the agricultural machine. The parallel mode is used to control the rotary tiller to remain parallel to the tractor body. The automatic mode is used to control the rotary tiller to remain parallel to the ground.

3. The automatic leveling control system for agricultural machinery according to claim 1, characterized in that: The length of the pull rod of the pull wire sensor is the same as the length of the piston rod of the leveling hydraulic cylinder.

4. A control method for an automatic leveling control system for agricultural machinery, characterized in that: Based on the agricultural machinery automatic leveling control system according to any one of claims 1 to 3, the control method steps are as follows: A. Initialize and set the leveling threshold; B. Select the desired control mode through the mode switch; C. Calculate the body inclination angle data through the body inclination sensor installed on the tractor body; D. The controller sends a control command to the electromagnetic reversing valve according to the fuselage tilt angle data, and controls the hydraulic oil in and out through the electromagnetic reversing valve to control the extension and retraction of the leveling hydraulic cylinder; E. The wire sensor and the leveling hydraulic cylinder are extended and retracted synchronously, thereby calculating the extension and retraction amount of the leveling hydraulic cylinder; F. The angular displacement sensor calculates the tilt angle data of the rotary tiller according to the extension and contraction data obtained by the pull-wire sensor, and feeds this data back to the controller to control the parallelism of the rotary tiller with the tractor body or the ground.

5. The control method of the automatic leveling control system of agricultural machinery according to claim 4, characterized in that: There are three control modes in step B, namely manual mode, parallel mode and automatic mode.

6. The control method of the automatic leveling control system for agricultural machinery according to claim 5, characterized in that: The manual mode controls the extension and retraction of the hydraulic cylinder by pushing the lever, thereby achieving left and right tilting of the rotary tiller.

7. The control method of the automatic leveling control system of agricultural machinery according to claim 5, characterized in that: The parallel mode sets the leveling error threshold according to the fluctuation of the rotary tiller at the target angle, then reads the data of the pull-wire sensor to calculate the inclination angle between the rotary tiller and the tractor body in real time, and finally controls the electromagnetic reversing valve in real time according to the inclination angle to control the leveling hydraulic cylinder, thereby completing the parallel control of the rotary tiller and the tractor body in real time.

8. The control method of the automatic leveling control system for agricultural machinery according to claim 5, characterized in that: The automatic mode sets the leveling error threshold according to the fluctuation of the rotary tiller at the target angle, then reads the data of the pull-wire sensor and the body inclination sensor to calculate the inclination of the rotary tiller and the horizontal plane of the earth in real time, and finally controls the electromagnetic reversing valve in real time according to the inclination to control the leveling hydraulic cylinder, thereby completing the absolute parallel control of the rotary tiller and the earth in real time.

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