Self-adaptive ridge-following electro-hydraulic control system, control method and transplanter

Abstract

The invention provides a self-adaptive ridge-following electro-hydraulic control system, a control method and a transplanter. The self-adaptive ridge-following electro-hydraulic control system comprises a hydraulic power unit, a leveling module, a height adjusting module, a probe rod, an angle sensor, a tilt angle sensor and a controller, the feeler lever is arranged in front of the vehicle body and assists in detecting the height of the seedling planting duckbill from the ground; the angle sensor detects the angle between the probe rod and the ground; the tilt angle sensor is used for detecting the tilt angle of the vehicle body; the controller is used for outputting a control signal according to the angle between the probe rod and the ground and the inclination angle of the vehicle body; the hydraulic power unit is used for providing hydraulic power for the leveling module and / or the height adjusting module; the leveling module and / or the height adjusting module are / is used for leveling and / or height adjusting the frame according to the control signal, leveling and height adjusting are / is achieved by adjusting the frame, the field working conditions of large ridge surface fluctuation and inclination in the crop seedling planting process can be dealt with, it is guaranteed that the planting depth and upright degree are consistent, the automation degree is high, and the planting quality and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electro-hydraulic control, and in particular to an adaptive ridge-following electro-hydraulic control system, a control method and a transplanter. Background Art

[0002] The main function of the transplanter is to transplant the crop seedlings cultivated in the nursery to the farmland. In order to adapt to the undulating and inclined ridge surface changes in mountainous and hilly areas, the transplanter needs to have automatic height adjustment and leveling functions to ensure that the planting depth and uprightness of the crop seedlings are consistent. When adjusting the height and leveling, the traditional transplanter only adjusts the planting parts, and cannot cope with the tilt of the frame caused by large changes in terrain. If working on the hilly ridges in Yunnan and Guizhou, the terrain is undulating, and the large angle tilt of the body can easily cause the body to roll over. Therefore, the existing transplanter cannot adapt to the working scene with large terrain fluctuations. Summary of the invention

[0003] The present invention provides an adaptive ridge-following electro-hydraulic control system, a control method and a transplanter, which are used to solve the defect that a traditional transplanter cannot automatically adapt to a working scene with large terrain fluctuations.

[0004] The present invention provides an adaptive ridge-following electro-hydraulic control system, comprising: Hydraulic power unit, leveling module, height adjustment module, probe rod, angle sensor, inclination sensor and controller; The probe rod is arranged in front of the vehicle body and is used to assist in detecting the height of the duckbill of the seedling planting from the ground; The angle sensor is used to detect the angle between the probe rod and the ground; The inclination sensor is used to detect the inclination angle of the vehicle body; The controller is used to output a control signal according to the angle between the probe rod and the ground and the inclination angle of the vehicle body; The hydraulic power unit is used to provide hydraulic power for the leveling module and / or the height adjustment module; The leveling module and / or the height adjustment module are used to level and / or height-adjust the frame according to the control signal.

[0005] According to the adaptive ridge-following electro-hydraulic control system provided by the present invention, the leveling module comprises: Leveling proportional solenoid valve, leveling cylinder and leveling proportional amplifier; The leveling proportional amplifier is used to drive the valve core opening of the leveling proportional solenoid valve; The valve core opening of the leveling proportional solenoid valve is used to control the extension and retraction speed ratio of the leveling oil cylinder; The leveling cylinder is used to level the frame according to the telescopic speed ratio.

[0006] According to the adaptive ridge-following electro-hydraulic control system provided by the present invention, the height adjustment module comprises: Increase the proportional solenoid valve, increase the oil cylinder and increase the proportional amplifier; The height adjustment proportional amplifier is used to drive the valve core opening of the height adjustment proportional solenoid valve; The valve core opening of the height adjustment proportional solenoid valve is used to control the extension and retraction speed ratio of the height adjustment oil cylinder; The height adjustment cylinder is used to adjust the height of the frame according to the telescopic speed ratio so that the height change of the seedling planting duckbill from the ground is less than a preset threshold.

[0007] The adaptive ridge-following electro-hydraulic control system provided by the present invention further includes a control valve group, wherein the control valve group includes a hydraulic element with a locking function, and the hydraulic element with a locking function includes a hydraulically controlled one-way valve and a balancing valve; The hydraulically controlled one-way valve and the balancing valve are used to keep the leveling cylinder or the height-adjusting cylinder at a preset position.

[0008] According to the adaptive ridge-following electro-hydraulic control system provided by the present invention, the control valve group further includes: a three-position four-way reversing valve and two two-position three-way throttle valves; The three-position four-way reversing valve and the two two-position three-way throttle valves are used to control the extension or retraction of the oil cylinder.

[0009] The present invention also provides an adaptive ridge-following electro-hydraulic control method, which is applicable to any of the adaptive ridge-following electro-hydraulic control systems described above, comprising: Obtain the angle between the probe rod and the ground and the tilt angle of the vehicle body for assisting in detecting the height of the duckbill from the ground; A control signal is output to the hydraulic power unit according to the angle between the probe rod and the ground and the tilt angle of the vehicle body, so that the hydraulic power unit drives the leveling module to level the frame and / or the height adjustment module to heighten the frame.

[0010] According to the adaptive ridge-following electro-hydraulic control method provided by the present invention, the control signal is output to the leveling module and / or the height adjustment module according to the angle between the probe rod and the ground and the inclination angle of the vehicle body, so that the hydraulic power unit drives the leveling module to level the frame and / or the height adjustment module to heighten the frame, including: According to the preset mapping relationship between sensor angle, oil cylinder extension, and height of the duckbill from the ground, the required extension amount of the oil cylinder is calculated by PID algorithm, and the required extension amount of the oil cylinder is transmitted as a control signal to the height adjustment proportional amplifier; The extension and retraction speed ratio of the height-adjusting oil cylinder is controlled by the height-adjusting ratio amplifier, so that the height-adjusting oil cylinder can heighten the frame according to the extension and retraction speed ratio.

[0011] According to the adaptive ridge-following electro-hydraulic control method provided by the present invention, the controlling of the extension and retraction speed ratio of the height adjustment cylinder by the height adjustment ratio amplifier comprises: By adjusting the proportional amplifier to adjust the control current value according to the preset target and the sensor detection value, the control current value is transmitted to the electromagnet of the proportional solenoid valve so that the electromagnet generates a corresponding electromagnetic force; The electromagnetic force acts on the valve core of the height-adjusting proportional solenoid valve, causing the valve core to move and change the opening of the valve core; When the valve core opening increases, the hydraulic oil flow entering the height adjustment cylinder through the valve port increases, which speeds up the extension and retraction speed of the height adjustment cylinder; when the valve core opening decreases, the hydraulic oil flow through the valve port decreases, which slows down the extension and retraction speed of the height adjustment cylinder.

[0012] According to the adaptive ridge-following electro-hydraulic control method provided by the present invention, the outputting of control signals to the leveling module and / or the height adjustment module according to the angle between the probe rod and the ground and the inclination angle of the vehicle body comprises: According to the change of the tilt angle, the required extension and retraction amount of the leveling cylinder is calculated through the PID algorithm, and the required extension and retraction amount of the leveling cylinder is transmitted to the leveling proportional amplifier as a control signal.

[0013] The present invention also provides a transplanter, comprising the adaptive ridge-following electro-hydraulic control system as described above.

[0014] The present invention provides an adaptive ridge-following electro-hydraulic control system, a control method and a transplanter, wherein the adaptive ridge-following electro-hydraulic control system comprises a hydraulic power unit, a leveling module, a height adjustment module, a probe rod, an angle sensor, an inclination sensor and a controller; the probe rod is arranged in front of the vehicle body and is used to assist in detecting the height of the duckbill for planting seedlings from the ground; the angle sensor is used to detect the angle between the probe rod and the ground; the inclination sensor is used to detect the inclination angle of the vehicle body; the controller is used to output a control signal according to the angle between the probe rod and the ground and the inclination angle of the vehicle body; the hydraulic power unit is used to provide hydraulic power for the leveling module and / or the height adjustment module; the leveling module and / or the height adjustment module are used to level and / or heighten the frame according to the control signal, and the leveling and height adjustment are achieved by adjusting the frame, so as to cope with the field conditions with large undulations and inclinations of the ridge surface during the planting of crop seedlings, ensure the consistency of planting depth and uprightness, have a high degree of automation, and improve the quality and efficiency of planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0016] Figure 1 Schematic diagram of the structure of an adaptive ridge-following electro-hydraulic control system provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the height adjustment principle provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the leveling principle provided by an embodiment of the present invention; Figure 4 is a schematic diagram of a hydraulic system provided by an embodiment of the present invention; Figure 5 It is a flow chart of the adaptive ridge-following electro-hydraulic control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Figure 1 The structure diagram of the adaptive ridge-following electro-hydraulic control system provided by an embodiment of the present invention, the adaptive ridge-following electro-hydraulic control system includes: Hydraulic power unit, leveling module, height adjustment module, probe rod, angle sensor, inclination sensor and controller; The probe rod is arranged in front of the vehicle body and is used to assist in detecting the height of the duckbill of the seedling planting from the ground; The angle sensor is used to detect the angle between the probe rod and the ground; The inclination sensor is used to detect the inclination angle of the vehicle body; In the embodiment of the present invention, a variety of sensors are used to detect different parameters. For example, the angle sensor is used to detect the angle between the probe rod and the ground, and the inclination sensor is used to detect the inclination angle of the vehicle body. The data of these sensors are transmitted to the PLC controller. After the PID algorithm is calculated, the controller outputs a control signal to the proportional amplifier, which then controls the action of the oil cylinder to achieve the height adjustment and leveling functions.

[0019] The controller is used to output a control signal according to the angle between the probe rod and the ground and the inclination angle of the vehicle body; The hydraulic power unit is used to provide hydraulic power for the leveling module and / or the height adjustment module; The leveling module and / or the height adjustment module are used to level and / or height-adjust the frame according to the control signal.

[0020] When traditional transplanters are heightened or leveled, they only adjust the planting parts and cannot cope with the tilt of the frame caused by large changes in terrain. If working on hilly ridges in Yunnan and Guizhou regions, where the terrain is undulating, a large angle of tilt in the body can easily cause the body to roll over. Therefore, existing transplanters cannot adapt to working scenarios with undulating terrain.

[0021] The adaptive ridge-following electro-hydraulic control system provided in an embodiment of the present invention includes a hydraulic power unit, a leveling module, a height adjustment module, a probe rod, an angle sensor, an inclination sensor and a controller; the probe rod is arranged in front of the vehicle body to assist in detecting the height of the duckbill for planting seedlings from the ground; the angle sensor is used to detect the angle between the probe rod and the ground; the inclination sensor is used to detect the inclination angle of the vehicle body; the controller is used to output a control signal according to the angle between the probe rod and the ground and the inclination angle of the vehicle body; the hydraulic power unit is used to provide hydraulic power for the leveling module and / or the height adjustment module; the leveling module and / or the height adjustment module are used to level and / or heighten the frame according to the control signal, and the leveling and height adjustment are achieved by adjusting the frame, which can cope with the field conditions with large undulations and inclinations of the ridge surface during the planting of crop seedlings, ensure the consistency of planting depth and uprightness, and have a high degree of automation, thereby improving the quality and efficiency of planting.

[0022] Based on any of the above embodiments, the leveling module includes: Leveling proportional solenoid valve, leveling cylinder and leveling proportional amplifier; The leveling proportional amplifier is used to drive the valve core opening of the leveling proportional solenoid valve; The valve core opening of the leveling proportional solenoid valve is used to control the extension and retraction speed ratio of the leveling oil cylinder; The leveling cylinder is used to level the frame according to the telescopic speed ratio.

[0023] like Figure 2As shown, a leveling cylinder 3.1 and a height adjustment cylinder 3.2 are arranged on the left and right sides of the vehicle body, respectively, and an inclination sensor 4.1 is arranged between the two cylinders. When the height adjustment cylinder 3.2 is in motion or the ridge surface is tilted, the inclination sensor 4.1 detects the tilt of the vehicle body, and the PLC controller 5 controls the extension and contraction of the leveling cylinder 3.1 through calculation, so that the vehicle body is always kept horizontal, thereby realizing the leveling function. During the height adjustment process, the leveling cylinder 4.1 always follows the leveling cylinder 4.2. Since the hydraulic system has a fast response speed, it can be quickly adjusted to the set height and level when the ridge surface changes.

[0024] The leveling function ensures that the vehicle body remains level in any terrain conditions.

[0025] Based on any of the above embodiments, the height adjustment module includes: Increase the proportional solenoid valve, increase the oil cylinder and increase the proportional amplifier; The height adjustment proportional amplifier is used to drive the valve core opening of the height adjustment proportional solenoid valve; The valve core opening of the height adjustment proportional solenoid valve is used to control the extension and retraction speed ratio of the height adjustment oil cylinder; The height adjustment cylinder is used to adjust the height of the frame according to the telescopic speed ratio so that the height change of the seedling planting duckbill from the ground is less than a preset threshold.

[0026] In the embodiment of the present invention, the frame is raised according to the telescopic speed ratio to ease the adjustment process and avoid the impact caused by the sudden movement of the oil cylinder.

[0027] like Figure 3 As shown, an angle sensor 4.2 is installed near the position of the planting duckbill 8, which is used to detect the angle between the probe rod 8 and the vehicle body. The mapping relationship of "sensor angle-cylinder extension amount-planting duckbill height from the ground" is written into the PLC controller, and the height measurement function of the angle sensor can be realized. When the ridge surface height changes, the angle between the probe rod 7 and the vehicle body changes, and the angle sensor transmits the angle signal to the PLC controller. The PLC controller, after PID algorithm calculation, transmits the control signal to the proportional amplifier to drive the solenoid valve to operate, thereby driving the height adjustment cylinder 3.2 to extend and retract, so that the vehicle body rises and falls, and the angle between the probe rod 7 and the ground is maintained at the set value, thereby keeping the height of the planting duckbill 8 from the ground unchanged. The probe rod 7 is arranged in front of the vehicle body to sense the changes in the ridge surface in advance. When the height adjustment is completed, the planting duckbill 8 will just move to the detection position for the next planting.

[0028] The purpose of height adjustment is to keep the height of the duckbill of the seedling planting machine relatively stable from the ground. When the height of the ridge surface changes, the angle between the probe rod and the ground changes. The angle sensor detects this change and transmits the signal to the PLC controller. After calculation, the PLC controller sends a command to the height adjustment cylinder to raise or lower the body, thereby keeping the height of the duckbill of the seedling planting machine unchanged from the ground.

[0029] Based on any of the above embodiments, the adaptive ridge-following electro-hydraulic control system also includes a control valve group, which includes a hydraulic element with a locking function. The hydraulic element with a locking function includes but is not limited to a hydraulically controlled one-way valve and a balancing valve. The hydraulic elements with a locking function such as a hydraulically controlled one-way valve and a balancing valve are used to keep the leveling cylinder or the height adjustment cylinder in a preset position.

[0030] In the embodiment of the present invention, the hydraulically controlled one-way valve, the balancing valve and the hydraulic element with a locking function can prevent the oil cylinder from falling back due to its own weight when maintaining the height.

[0031] According to the adaptive ridge-following electro-hydraulic control system provided by the present invention, the control valve group also includes but is not limited to: a three-position four-way reversing valve and two two-position three-way throttle valves, etc.; The three-position four-way reversing valve and the two two-position three-way throttle valves are used to control the extension or retraction of the oil cylinder.

[0032] In the embodiment of the present invention, a three-position four-way reversing valve, two two-position three-way throttle valves, etc. can replace the three-position four-way reversing valve to control the extension and retraction of the oil cylinder.

[0033] like Figure 4 As shown, the hydraulic power unit 1 is integrated with a control valve group 2, which is composed of a leveling control valve group 2.1 and a height control valve group 2.2, which respectively control the extension and contraction of the leveling oil cylinder 3.1 and the height adjustment oil cylinder 3.2. The oil cylinder 3 is installed on the frame and is used to adjust the height and level of the frame, including but not limited to actuators such as plunger cylinders and piston cylinders. The control valve group 2 is a proportional solenoid valve, which realizes the proportional control of the extension and contraction speed of the oil cylinder 3 through the electro-hydraulic conversion relationship of "current-electromagnetic force-valve core opening-flow". The working part of the transplanter is the seedling planting duckbill 8. The purpose of height adjustment is to keep the height of the seedling planting duckbill 8 from the ground relatively stable. The proportional amplifier 6 provides driving current for the control valve group 2, which can prompt abnormal conditions such as power supply undervoltage, coil short circuit / open circuit, etc., so as to protect the system. The PLC controller 5 is equipped with a host computer software, which can set the target height of the seedling planting duckbill 8 by touch, and monitor the current height and vehicle body angle. The program is configured with an automatic adjustment mode. After setting the target height, it can adaptively adjust along with the ridges. You can also turn off this mode and manually input the adjustment of the duckbill height and body angle for system performance debugging.

[0034] The electrical components are powered by batteries, and the transplanter's internal combustion engine drives the generator to supply power to the battery to ensure that the system can operate outdoors for a long time. The program is configured with an energy-saving mode. When the sensor detects that the height and angle have not changed for a long time, the power supply to the hydraulic power unit motor is cut off to improve endurance. The entire system consists of a hydraulic power unit, a cylinder, an electric control box, a battery, a generator, and several cables and oil pipes. It is compact and can be flexibly arranged on the existing conventional transplanter body, facilitating the modification of different models.

[0035] In the embodiment of the present invention, the PLC controller is equipped with a host computer software, and the user can set the target height of the planting duckbill through the touch screen and monitor the current height and body angle. In addition, the system also provides automatic adjustment mode and manual adjustment mode, which is convenient for users to choose the operation mode according to actual conditions.

[0036] In the embodiment of the present invention, the components used in the system are small in size, easy to flexibly arrange on the existing conventional transplanting locomotive body, do not occupy too much space, do not cause weight burden, and can be applied to various models. The components used are all low-power components. During the stage of maintaining the position of the body, the power unit automatically shuts down to achieve energy-saving control.

[0037] The adaptive ridge-following electro-hydraulic control system provided by the embodiment of the present invention detects the height of the planting duckbill from the ground and the angle of the vehicle body to perform high-precision height adjustment and leveling control, and can be applied to a variety of complex field conditions. It has a simple structure, occupies a small space, has complete functions, can be applied to the modification of various machine models, and has a compact size: all components are designed to be very compact, which is convenient for installation on existing transplanters and does not take up too much space. By designing an energy-saving mode, when the sensor detects that the height and angle have not changed for a long time, it will automatically cut off the power supply to the hydraulic power unit motor to save energy. It also has functions such as hydraulic pressure limiting protection, sensor over-limit detection, and solenoid valve power supply abnormality detection to ensure the safe operation of the system, and realize the automatic adjustment of the height and level of the transplanter in complex field operations, thereby improving the planting quality and working efficiency.

[0038] Figure 5 A flowchart of an adaptive ridge-following electro-hydraulic control method provided in an embodiment of the present invention, wherein the adaptive ridge-following electro-hydraulic control method is applicable to any of the adaptive ridge-following electro-hydraulic control systems described above, including: Step 501, obtaining the angle between the probe rod and the ground and the tilt angle of the vehicle body for assisting in detecting the height of the duckbill of the seedling planting vehicle from the ground; Step 502: output a control signal to the leveling module and / or the height adjustment module according to the angle between the probe rod and the ground and the tilt angle of the vehicle body, so that the hydraulic power unit drives the leveling module to level the frame and / or the height adjustment module to heighten the frame.

[0039] In an embodiment of the present invention, the outputting of a control signal to the leveling module and / or the height adjustment module according to the angle between the probe rod and the ground and the inclination angle of the vehicle body so that the hydraulic power unit drives the leveling module to level the frame and / or the height adjustment module to heighten the frame includes: According to the preset mapping relationship between sensor angle, oil cylinder extension, and height of the duckbill from the ground, the required extension amount of the oil cylinder is calculated by PID algorithm, and the required extension amount of the oil cylinder is transmitted as a control signal to the height adjustment proportional amplifier; The extension and retraction speed ratio of the height-adjusting oil cylinder is controlled by the height-adjusting ratio amplifier, so that the height-adjusting oil cylinder can heighten the frame according to the extension and retraction speed ratio.

[0040] In an embodiment of the present invention, controlling the extension and retraction speed ratio of the height adjustment cylinder by the height adjustment ratio amplifier includes: By adjusting the proportional amplifier to adjust the control current value according to the preset target and the sensor detection value, the control current value is transmitted to the electromagnet of the proportional solenoid valve so that the electromagnet generates a corresponding electromagnetic force; The electromagnetic force acts on the valve core of the height-adjusting proportional solenoid valve, causing the valve core to move and change the opening of the valve core; When the valve core opening increases, the hydraulic oil flow entering the height adjustment cylinder through the valve port increases, which speeds up the extension and retraction speed of the height adjustment cylinder; when the valve core opening decreases, the hydraulic oil flow through the valve port decreases, which slows down the extension and retraction speed of the height adjustment cylinder.

[0041] In the embodiment of the present invention, the proportional control of the extension and retraction speed of the oil cylinder is achieved through the electro-hydraulic conversion relationship of "current-electromagnetic force-valve core opening-flow rate", ensuring fast response speed and high control accuracy.

[0042] In an embodiment of the present invention, the outputting of a control signal to the leveling module and / or the height adjustment module according to the angle between the probe rod and the ground and the tilt angle of the vehicle body further includes: According to the change of the tilt angle, the required extension and retraction amount of the leveling cylinder is calculated through the PID algorithm, and the required extension and retraction amount of the leveling cylinder is transmitted to the leveling proportional amplifier as a control signal.

[0043] The adaptive ridge-following electro-hydraulic control method provided by the present invention is used to cope with the field conditions of undulating and tilted ridge surfaces during the planting of crop seedlings, so as to ensure the consistency of planting depth and verticality, with a high degree of automation, and can improve the quality and efficiency of planting. The high-precision closed-loop control algorithm can be used to achieve fast and accurate leveling and leveling control, and the system safety during operation is guaranteed by performing pressure limiting protection, sensor over-limit detection, and electromagnetic valve power supply abnormality detection.

[0044] An embodiment of the present invention further provides a transplanter, comprising the adaptive ridge-following electro-hydraulic control system as described in the above embodiment.

[0045] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0046] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive ridge-following electro-hydraulic control system, characterized in that: include: Hydraulic power unit, leveling module, height adjustment module, probe rod, angle sensor, inclination sensor and controller; The probe rod is arranged in front of the vehicle body and is used to assist in detecting the height of the duckbill of the seedling planting from the ground; The angle sensor is used to detect the angle between the probe rod and the ground; The inclination sensor is used to detect the inclination angle of the vehicle body; The controller is used to output a control signal according to the angle between the probe rod and the ground and the inclination angle of the vehicle body; The hydraulic power unit is used to provide hydraulic power for the leveling module and / or the height adjustment module; The leveling module and / or the height adjustment module are used to level and / or height-adjust the frame according to the control signal.

2. The adaptive ridge-following electro-hydraulic control system according to claim 1, characterized in that: The leveling module comprises: Leveling proportional solenoid valve, leveling cylinder and leveling proportional amplifier; The leveling proportional amplifier is used to drive the valve core opening of the leveling proportional solenoid valve; The valve core opening of the leveling proportional solenoid valve is used to control the extension and retraction speed ratio of the leveling oil cylinder; The leveling cylinder is used to level the frame according to the telescopic speed ratio.

3. The adaptive ridge-following electro-hydraulic control system according to claim 1, characterized in that: The height adjustment module comprises: Increase the proportional solenoid valve, increase the oil cylinder and increase the proportional amplifier; The height adjustment proportional amplifier is used to drive the valve core opening of the height adjustment proportional solenoid valve; The valve core opening of the height adjustment proportional solenoid valve is used to control the extension and retraction speed ratio of the height adjustment oil cylinder; The height adjustment cylinder is used to adjust the height of the frame according to the telescopic speed ratio so that the height change of the seedling planting duckbill from the ground is less than a preset threshold.

4. The adaptive ridge-following electro-hydraulic control system according to claim 1, characterized in that: It also includes a control valve group, the control valve group includes a hydraulic element with a locking function, and the hydraulic element with a locking function includes a hydraulically controlled one-way valve and a balancing valve; The hydraulically controlled one-way valve and the balancing valve are used to keep the leveling cylinder or the height-adjusting cylinder at a preset position.

5. The adaptive ridge-following electro-hydraulic control system according to claim 4, characterized in that: The control valve group also includes: a three-position four-way reversing valve and two two-position three-way throttle valves; The three-position four-way reversing valve and the two two-position three-way throttle valves are used to control the extension or retraction of the oil cylinder.

6. An adaptive ridge-following electro-hydraulic control method, characterized in that: The adaptive ridge-following electro-hydraulic control system according to any one of claims 1 to 5 comprises: Obtaining the angle between the probe rod and the ground for assisting in detecting the height of the vehicle body from the ground and the tilt angle of the vehicle body; A control signal is output to the leveling module and / or the height adjustment module according to the angle between the probe rod and the ground and the tilt angle of the vehicle body, so that the hydraulic power unit drives the leveling module to level the frame and / or the height adjustment module to heighten the frame.

7. The adaptive following electro-hydraulic control method according to claim 6, characterized in that: Outputting a control signal to the leveling module and / or the height adjustment module according to the angle between the probe rod and the ground and the inclination angle of the vehicle body, so that the hydraulic power unit drives the leveling module to level the frame and / or the height adjustment module to heighten the frame, comprises: According to the preset mapping relationship between sensor angle, oil cylinder extension, and height of the duckbill from the ground, the required extension amount of the oil cylinder is calculated by PID algorithm, and the required extension amount of the oil cylinder is transmitted as a control signal to the height adjustment proportional amplifier; The extension and retraction speed ratio of the height-adjusting oil cylinder is controlled by the height-adjusting ratio amplifier, so that the height-adjusting oil cylinder can heighten the frame according to the extension and retraction speed ratio.

8. The adaptive following electro-hydraulic control method according to claim 7, characterized in that: The controlling of the extension and retraction speed ratio of the height adjustment cylinder by the height adjustment ratio amplifier comprises: By adjusting the proportional amplifier to adjust the control current value according to the preset target and the sensor detection value, the control current value is transmitted to the electromagnet of the proportional solenoid valve so that the electromagnet generates a corresponding electromagnetic force; The electromagnetic force acts on the valve core of the height-adjusting proportional solenoid valve, causing the valve core to move and change the opening of the valve core; When the valve core opening increases, the hydraulic oil flow entering the height adjustment cylinder through the valve port increases, which speeds up the extension and retraction speed of the height adjustment cylinder; when the valve core opening decreases, the hydraulic oil flow through the valve port decreases, which slows down the extension and retraction speed of the height adjustment cylinder.

9. The adaptive following electro-hydraulic control method according to claim 6, characterized in that: Outputting a control signal to the leveling module and / or the height adjustment module according to the angle between the probe rod and the ground and the inclination angle of the vehicle body includes: According to the change of the tilt angle, the required extension and retraction amount of the leveling cylinder is calculated through the PID algorithm, and the required extension and retraction amount of the leveling cylinder is transmitted to the leveling proportional amplifier as a control signal.

10. A transplanter, characterized in that: It comprises the adaptive ridge-following electro-hydraulic control system as described in any one of claims 1 to 5.

Images