Paddy field tractor operation leveling control method and device, storage medium and tractor

Abstract

The invention relates to the technical field of tractor control, and discloses a paddy field tractor operation leveling control method and device, a storage medium and a tractor.The paddy field tractor operation leveling control method comprises the steps that the first action amount of a machine tool leveling oil cylinder of a paddy field tractor is determined based on the current vehicle body roll angle of the paddy field tractor, and the second action amount of the machine tool leveling oil cylinder is determined based on the current vehicle body pitch angle of the paddy field tractor; determining a second action quantity of a lifting oil cylinder of the lifter of the paddy field tractor; when the first action amount is larger than a first threshold value, horizontal leveling control is conducted on the machine tool leveling oil cylinder till the first action amount is smaller than the first threshold value, control over the machine tool leveling oil cylinder is stopped, and when the second action amount is larger than a second threshold value, height leveling control is conducted on the lifter lifting oil cylinder till the second action amount is smaller than the second threshold value, control over the machine tool leveling oil cylinder is stopped; and the control on the lifting oil cylinder of the lifter is stopped. Leveling control is carried out on the machine tool of the paddy field tractor and the lifter at the same time, so that the all-directional leveling effect is achieved, a user does not need to manually and frequently adjust the height of the lifter during operation, and the operation difficulty is reduced.

Description

Background Art

[0002] At present, the leveling technology of machine tools in the domestic market is developing rapidly, but most of them only have left and right leveling functions, which can improve the flatness of the field surface after operation. However, when working in paddy fields, the tractor often pitches due to uneven ground, resulting in pits or unreached areas on the field surface after operation. Therefore, for paddy field models, the leveling control of the tractor when pitching is particularly important. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a paddy field tractor operation leveling control method, device, storage medium and tractor.

[0004] In a first aspect, the present invention provides a paddy field tractor operation leveling control method, the technical solution of the method is as follows:

[0005] Based on the body roll angle of the paddy field tractor at the current moment, determine a first movement amount of the implement leveling cylinder of the paddy field tractor, and based on the body pitch angle of the paddy field tractor at the current moment, determine a second movement amount of the lift cylinder of the lifter of the paddy field tractor;

[0006] When the first movement amount at the current moment is greater than the first threshold value, the machine leveling cylinder is controlled for horizontal leveling until the first movement amount at a first preset moment after the current moment is less than the first threshold value, then the control of the machine leveling cylinder is stopped, and when the second movement amount at the current moment is greater than the second threshold value, the lift cylinder is controlled for height leveling until the second movement amount at a second preset moment after the current moment is less than the second threshold value, then the control of the lift cylinder is stopped.

[0007] The beneficial effects of the paddy field tractor operation leveling control method of the present invention are as follows:

[0008] The method of the present invention achieves an all-round leveling effect by simultaneously performing leveling control on the implement and the lifter of the paddy field tractor, so that the user does not need to manually frequently adjust the height of the lifter during operation, thereby reducing the difficulty of operation.

[0009] On the basis of the above scheme, the paddy field tractor operation leveling control method of the present invention can also be improved as follows.

[0010] In an optional manner, the step of performing horizontal leveling control on the machine leveling cylinder includes:

[0011] The machine leveling cylinder is controlled to be leveled by a first solenoid valve corresponding to the machine leveling cylinder.

[0012] In an optional manner, the step of performing height leveling control on the lift cylinder of the lifter includes:

[0013] The height leveling control of the lift cylinder is performed through the second solenoid valve corresponding to the lift cylinder.

[0014] In an optional manner, the method further includes:

[0015] The body roll angle and body pitch angle of the paddy field tractor at any time are collected by using a gyroscope or a laser rangefinder.

[0016] In an optional manner, the step of using a gyroscope or a laser rangefinder to collect the body roll angle and body pitch angle of the paddy field tractor at any time includes:

[0017] When a signal for starting the automatic leveling control function of the paddy field tractor is received, the step of using a gyroscope or a laser rangefinder to collect the body roll angle and body pitch angle of the paddy field tractor at any time is performed.

[0018] In a second aspect, the present invention provides a paddy field tractor operation leveling control device, the technical solution of the device is as follows:

[0019] It includes: a processing module and a control module;

[0020] The processing module is used to: determine a first movement amount of the implement leveling cylinder of the paddy field tractor based on the body roll angle of the paddy field tractor at the current moment, and determine a second movement amount of the lift cylinder of the paddy field tractor based on the body pitch angle of the paddy field tractor at the current moment;

[0021] The control module is used to: when the first action amount at the current moment is greater than the first threshold value, perform horizontal leveling control on the machine leveling cylinder, until the first action amount at a first preset moment after the current moment is less than the first threshold value, then stop controlling the machine leveling cylinder; and when the second action amount at the current moment is greater than the second threshold value, perform height leveling control on the lift cylinder of the lifter, until the second action amount at a second preset moment after the current moment is less than the second threshold value, then stop controlling the lift cylinder of the lifter.

[0022] The beneficial effects of the paddy field tractor operation leveling control device of the present invention are as follows:

[0023] The device of the present invention achieves an all-round leveling effect by simultaneously performing leveling control on the implement and the lifter of the paddy field tractor, so that the user does not need to manually frequently adjust the height of the lifter during operation, thereby reducing the difficulty of operation.

[0024] On the basis of the above scheme, the paddy field tractor operation leveling control device of the present invention can also be improved as follows.

[0025] In an optional manner, the step of performing horizontal leveling control on the machine leveling cylinder in the control module includes:

[0026] The machine leveling cylinder is controlled to be leveled by a first solenoid valve corresponding to the machine leveling cylinder.

[0027] In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0028] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the paddy field tractor operation leveling control method of the invention are realized.

[0029] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0030] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the paddy field tractor operation leveling control method of the present invention.

[0031] In a fifth aspect, the present invention provides a tractor, which adopts the following technical solution:

[0032] A tractor comprises the electronic device described in the third aspect.

[0033] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0035] Figure 1 A schematic flow chart of an embodiment of a paddy field tractor operation leveling control method of the present invention;

[0036] Figure 2 The schematic diagram of the principle of the leveling control method for paddy field tractor operation;

[0037] Figure 3 This is a hardware diagram of a paddy field tractor;

[0038] Figure 4It is a structural schematic diagram of an embodiment of a paddy field tractor operation leveling control device of the present invention;

[0039] Figure 5 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0040] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0041] Figure 1 A flow chart of an embodiment of a paddy field tractor operation leveling control method provided by the present invention is shown. The paddy field tractor operation leveling control method can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the paddy field tractor operation leveling control method by means of a processor calling computer-readable instructions stored in a memory. Figure 1 As shown, the following steps are included:

[0042] S1. Based on the body roll angle of the paddy field tractor at the current moment, determine the first movement amount of the implement leveling cylinder of the paddy field tractor, and based on the body pitch angle of the paddy field tractor at the current moment, determine the second movement amount of the lift cylinder of the lifter of the paddy field tractor.

[0043] Among them, the paddy field tractor is a tractor suitable for working in paddy fields, which can efficiently complete various agricultural tasks such as tillage, transplanting, fertilizing, and harvesting in a muddy and humid environment. The specific model of the paddy field tractor in this embodiment is not limited here. The body roll angle refers to the angle at which the paddy field tractor rotates around its longitudinal axis (i.e., the front and rear direction of the body), and the body pitch angle refers to the angle at which the paddy field tractor rotates around its transverse axis (i.e., the left and right direction of the body). The machine leveling cylinder is used to adjust the horizontality of the machine (such as a plow, a rake, a seed drill, etc.) mounted on the tractor to ensure that the machine can maintain a stable posture during the operation, thereby improving the quality and efficiency of the operation. The machine leveling cylinder keeps the machine horizontal relative to the tractor by adjusting the length of the piston rod. The lifter lifting cylinder is used to adjust the posture of the tractor lifter to ensure that the tractor can maintain a stable posture when lifting and hanging the machine. The lifter lifting cylinder changes the posture of the lifter by adjusting the length of the piston rod.

[0044] In S1, based on the body roll angle of the paddy field tractor at the current moment, the step of determining a first movement amount of the implement leveling cylinder of the paddy field tractor comprises:

[0045] 1) The rotation center point of the paddy field tractor's implement connected to the tractor is determined as the hinge point O, and the horizontal distance a from the installation point A of the implement leveling cylinder on the paddy field tractor side to the hinge point O, the horizontal distance b from the installation point B of the implement leveling cylinder on the implement side to the hinge point O, and the initial length L of the implement leveling cylinder when the implement is level 0 And the initial angle α 0 (The angle between the machine leveling cylinder and the horizontal plane, or the initial angle of ∠AOB).

[0046] 2) Based on the real-time obtained body roll angle of the paddy field tractor at the current moment, combined with the first preset formula, a new cylinder length value is calculated; the first preset formula is: I h is the new cylinder length value, θ 1 is the rolling angle of the vehicle body. When the tractor tilts to the right (rotates clockwise): α 0 +θ 1 ; When the tractor tilts to the left (rotates counterclockwise): α 0 -θ 1 .

[0047] 3) According to the new cylinder length value (actual position) I h and initial length (target position) I tgt The difference between the first action amount I ′ . When I ′ >0, indicating that the machine leveling cylinder needs to be extended I ′ ; when I ′<0, indicating that the machine leveling cylinder needs to be shortened I ′ .

[0048] It should be noted that the second movement amount P of the lifting cylinder of the lifter of the paddy field tractor is determined based on the body pitch angle of the paddy field tractor at the current moment. ′ The specific principle is the same as the process of determining the first action amount of the machine leveling cylinder, which will not be elaborated here.

[0049] S2, when the first action amount I at the current moment ′ Greater than the first threshold I 0 When the machine leveling cylinder is horizontally leveled, the machine leveling cylinder is controlled until the first action amount I at the first preset time after the current time is reached. ′ Less than the first threshold I 0 When the control of the machine leveling cylinder is stopped, and when the second action amount P at the current moment is ′ Greater than the second threshold P 0 When the lift cylinder of the lifter is height-leveled, the lift cylinder is height-leveled until the second action amount P at the second preset time after the current time is reached. ′ is less than the second threshold value P 0 When the lifting cylinder of the lifter is stopped, the control of the lifter lifting cylinder is stopped.

[0050] The first threshold and the second threshold can be adjusted according to actual conditions (such as 5 cm), and the first preset time and the second preset time are determined according to the duration of the actual leveling process.

[0051] In an optional manner, the step of performing horizontal leveling control on the machine leveling cylinder includes:

[0052] The machine leveling cylinder is controlled to be leveled by a first solenoid valve corresponding to the machine leveling cylinder.

[0053] Among them, the first solenoid valve is a solenoid valve corresponding to the machine leveling cylinder, and the solenoid valve is used to control the machine leveling cylinder to perform corresponding actions (extension or shortening).

[0054] In an optional manner, the step of performing height leveling control on the lift cylinder of the lifter includes:

[0055] The height leveling control of the lift cylinder is performed through the second solenoid valve corresponding to the lift cylinder.

[0056] Among them, the second solenoid valve is a solenoid valve corresponding to the lift cylinder of the lifter, and the solenoid valve is used to control the lift cylinder of the lifter to perform corresponding actions (extension or shortening).

[0057] In an optional manner, the method further includes:

[0058] The body roll angle and body pitch angle of the paddy field tractor at any time are collected by using a gyroscope or a laser rangefinder.

[0059] Among them, the gyroscope and laser rangefinder are both installed on the rear axle housing of the paddy field tractor to collect the body roll angle and body pitch angle of the paddy field tractor in real time.

[0060] It should be noted that if Figure 2 As shown in the figure, when the paddy field tractor is in rotary tillage or paddy field beating operation, the uneven field surface will cause the vehicle to tilt and pitch, resulting in a low flatness of the field surface after the operation. The gyroscope installed on the rear axle housing of the vehicle collects the posture (roll angle and pitch angle) of the vehicle body. When the vehicle passes through the uneven field surface, the posture of the whole vehicle changes accordingly. According to the roll angle and pitch angle of the vehicle body output by the gyroscope, when the set threshold is exceeded, the controller controls the corresponding solenoid valve to open, and the lifting cylinder of the lifter and the leveling cylinder of the implement perform corresponding actions, controlling the implement and the lifter to move in the opposite direction to compensate for the change in the posture of the vehicle body.

[0061] In an optional manner, the step of using a gyroscope or a laser rangefinder to collect the body roll angle and body pitch angle of the paddy field tractor at any time includes:

[0062] When a signal for starting the automatic leveling control function of the paddy field tractor is received, the step of using a gyroscope or a laser rangefinder to collect the body roll angle and body pitch angle of the paddy field tractor at any time is performed.

[0063] Among them, the paddy field tractor is provided with a mode switch of the automatic leveling control function, which is used to control whether to start the automatic leveling control function. When the automatic leveling control function is turned on, the indicator light is always on; when the automatic leveling control function is turned off, the indicator light is off. Figure 3 As shown, the paddy field tractor is equipped with an electric control lifter. When the automatic height control is turned off, the lifter can be manually controlled. When the automatic height control is on, the automatic height control function can also be turned off by manually controlling the lifter. The implement leveling cylinder and the lifter lifting cylinder can be controlled simultaneously to automatically control the suspension system (implement and lifter) of the paddy field tractor.

[0064] The technical solution of this embodiment achieves an all-round leveling effect by simultaneously controlling the leveling of the implements and the lifter of the paddy field tractor, so that the user does not need to manually adjust the height of the lifter frequently during operation, thereby reducing the difficulty of operation.

[0065] Figure 4FIG. 2 is a schematic diagram showing a structure of an embodiment of a paddy field tractor leveling control device 200 provided by the present invention. Figure 4 As shown, the device 200 includes: a processing module 210 and a control module 220;

[0066] The processing module 210 is used to: determine a first movement amount of the implement leveling cylinder of the paddy field tractor based on the body roll angle of the paddy field tractor at the current moment, and determine a second movement amount of the lift cylinder of the paddy field tractor based on the body pitch angle of the paddy field tractor at the current moment;

[0067] The control module 220 is used to: when the first action amount at the current moment is greater than the first threshold value, perform horizontal leveling control on the machine leveling cylinder, until the first action amount at a first preset moment after the current moment is less than the first threshold value, then stop controlling the machine leveling cylinder; and when the second action amount at the current moment is greater than the second threshold value, perform height leveling control on the lift cylinder of the lifter, until the second action amount at a second preset moment after the current moment is less than the second threshold value, then stop controlling the lift cylinder of the lifter.

[0068] In an optional manner, the step of performing horizontal leveling control on the machine leveling cylinder in the control module 220 includes:

[0069] The machine leveling cylinder is controlled to be leveled by a first solenoid valve corresponding to the machine leveling cylinder.

[0070] In an optional manner, the step of performing height leveling control on the lift cylinder of the lifter in the control module 220 includes:

[0071] The height leveling control of the lift cylinder is performed through the second solenoid valve corresponding to the lift cylinder.

[0072] In an optional manner, the device further includes: a collection module; the collection module is used to:

[0073] The body roll angle and body pitch angle of the paddy field tractor at any time are collected by using a gyroscope or a laser rangefinder.

[0074] In an optional manner, the acquisition module is specifically used to:

[0075] When a signal for starting the automatic leveling control function of the paddy field tractor is received, the acquisition module is called.

[0076] It should be noted that the beneficial effects of the paddy field tractor operation leveling control device provided in the above embodiment are the same as the beneficial effects of the paddy field tractor operation leveling control method, which will not be described in detail here. In addition, when the device provided in the above embodiment realizes its functions, it only takes the division of the above functional modules as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the device can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the device provided in the above embodiment belongs to the same concept as the method embodiment, and its specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0077] Among them, the paddy field tractor operation leveling control device of the present invention can be a computer program (including program code) running in a computer device. For example, the paddy field tractor operation leveling control device of the present invention is an application software that can be used to execute the corresponding steps in the paddy field tractor operation leveling control method of the present invention.

[0078] In some embodiments, the paddy field tractor operation leveling control device of the present invention can be implemented by a combination of software and hardware. As an example, the paddy field tractor operation leveling control device of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the paddy field tractor operation leveling control method of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application specific integrated circuits (ASIC, Application Specific Integrated Circuit), DSP, programmable logic device (PLD, Programmable Logic Device), complex programmable logic device (CPLD, Complex Programmable Logic Device), field programmable gate array (FPGA, Field-Programmable Gate Array) or other electronic components.

[0079] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The name of a module does not limit the module itself in some cases.

[0080] An electronic device according to an embodiment of the present invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any one of the above-mentioned paddy field tractor operation leveling control methods is implemented. That is to say, an electronic device according to an embodiment of the present invention may include but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the paddy field tractor operation leveling control method shown in any embodiment of the present invention by calling the computer program.

[0081] In an alternative embodiment, an electronic device is provided, such as Figure 5 As shown, Figure 5 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0082] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0083] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5In the figure, only one thick line is used to represent the bus 4002, but this does not mean that there is only one bus or one type of bus.

[0084] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0085] The memory 4003 is used to store the application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0086] Among them, the electronic device can also be a terminal device, and the terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart car device.

[0087] It should be noted that Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0088] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned paddy field tractor operation leveling control methods is implemented.

[0089] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0090] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the above-mentioned paddy field tractor operation leveling control method.

[0091] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0092] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0093] The computer-readable storage medium provided by the embodiment of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or component.

[0094] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0095] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

[0096] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0097] Those skilled in the art know that the present invention can be implemented as an apparatus, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "apparatus" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0098] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A paddy field tractor operation leveling control method, characterized in that: include: Based on the body roll angle of the paddy field tractor at the current moment, determine a first movement amount of the implement leveling cylinder of the paddy field tractor, and based on the body pitch angle of the paddy field tractor at the current moment, determine a second movement amount of the lift cylinder of the lifter of the paddy field tractor; When the first movement amount at the current moment is greater than the first threshold value, the machine leveling cylinder is controlled for horizontal leveling until the first movement amount at a first preset moment after the current moment is less than the first threshold value, then the control of the machine leveling cylinder is stopped, and when the second movement amount at the current moment is greater than the second threshold value, the lift cylinder is controlled for height leveling until the second movement amount at a second preset moment after the current moment is less than the second threshold value, then the control of the lift cylinder is stopped.

2. The paddy field tractor operation leveling control method according to claim 1, characterized in that: The step of performing horizontal leveling control on the machine leveling cylinder comprises: The machine leveling cylinder is controlled to be leveled by a first solenoid valve corresponding to the machine leveling cylinder.

3. The paddy field tractor operation leveling control method according to claim 2, characterized in that: The step of performing height leveling control on the lift cylinder of the lifter comprises: The height leveling control of the lift cylinder is performed through the second solenoid valve corresponding to the lift cylinder.

4. The paddy field tractor operation leveling control method according to any one of claims 1 to 3, characterized in that: Also includes: The body roll angle and body pitch angle of the paddy field tractor at any time are collected by using a gyroscope or a laser rangefinder.

5. The paddy field tractor operation leveling control method according to claim 4, characterized in that: The step of collecting the body roll angle and body pitch angle of the paddy field tractor at any time by using a gyroscope or a laser rangefinder comprises: When a signal for starting the automatic leveling control function of the paddy field tractor is received, the step of using a gyroscope or a laser rangefinder to collect the body roll angle and body pitch angle of the paddy field tractor at any time is performed.

6. A paddy field tractor operation leveling control device, characterized in that: include: Processing module and control module; The processing module is used to: determine a first movement amount of the implement leveling cylinder of the paddy field tractor based on the body roll angle of the paddy field tractor at the current moment, and determine a second movement amount of the lift cylinder of the paddy field tractor based on the body pitch angle of the paddy field tractor at the current moment; The control module is used to: when the first action amount at the current moment is greater than the first threshold value, perform horizontal leveling control on the machine leveling cylinder, until the first action amount at a first preset moment after the current moment is less than the first threshold value, then stop controlling the machine leveling cylinder; and when the second action amount at the current moment is greater than the second threshold value, perform height leveling control on the lift cylinder of the lifter, until the second action amount at a second preset moment after the current moment is less than the second threshold value, then stop controlling the lift cylinder of the lifter.

7. The paddy field tractor operation leveling control device according to claim 6, characterized in that: The step of performing horizontal leveling control on the machine leveling cylinder in the control module includes: The machine leveling cylinder is controlled to be leveled by a first solenoid valve corresponding to the machine leveling cylinder.

8. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the paddy field tractor operation leveling control method as described in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the paddy field tractor operation leveling control method as described in any one of claims 1 to 5.

10. A tractor, characterized in that: Comprising the electronic device as claimed in claim 8.

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