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

Abstract

This invention relates to the field of tractor control technology, and discloses a method, device, storage medium, and tractor for leveling control of a paddy field tractor. The method includes: determining a first actuation amount of the implement leveling cylinder based on the current roll angle of the tractor, and determining a second actuation amount of the elevator lifting cylinder based on the current pitch angle of the tractor; when the first actuation amount is greater than a first threshold, horizontal leveling control is applied to the implement leveling cylinder until it falls below the first threshold, at which point control of the implement leveling cylinder is stopped; and when the second actuation amount is greater than a second threshold, height leveling control is applied to the elevator lifting cylinder until it falls below the second threshold, at which point control of the elevator lifting cylinder is stopped. This invention achieves all-around leveling by simultaneously controlling the leveling of the implements and elevator of the paddy field tractor, eliminating the need for frequent manual adjustments of the elevator height during operation and reducing operational difficulty.

Description

Technical Field

[0001] This invention relates to the field of tractor control technology, and in particular to a leveling control method, device, storage medium, and tractor for paddy field tractor operation. Background Technology

[0002] Currently, the leveling technology for implements is developing rapidly in the domestic market, but most only have left and right leveling functions, which can improve the flatness of the field surface after operation. However, when operating in paddy fields, uneven ground often causes the tractor to pitch up, resulting in pits or unreached areas on the field surface after operation. Therefore, for paddy field implements, leveling control during tractor pitching is particularly important. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention provides a leveling control method, device, storage medium and tractor for paddy field tractor operation.

[0004] Firstly, the present invention provides a leveling control method for paddy field tractors, the technical solution of which is as follows:

[0005] Based on the roll angle of the tractor body at the current moment, the first action amount of the implement leveling cylinder of the tractor is determined, and based on the pitch angle of the tractor body at the current moment, the second action amount of the lift cylinder of the tractor is determined.

[0006] When the first action amount at the current moment is greater than the first threshold, the leveling cylinder of the machine is controlled to be leveled horizontally until the first action amount at a first preset moment after the current moment is less than the first threshold, at which point the control of the leveling cylinder of the machine is stopped. And when the second action amount at the current moment is greater than the second threshold, the lifting cylinder of the elevator is controlled to be leveled vertically until the second action amount at a second preset moment after the current moment is less than the second threshold, at which point the control of the lifting cylinder of the elevator is stopped.

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

[0008] The method of the present invention achieves a comprehensive leveling effect by simultaneously controlling the leveling of the implements and the hoist of the paddy field tractor, so that users do not need to manually adjust the height of the hoist frequently during operation, thus reducing the difficulty of operation.

[0009] Based on the above scheme, the leveling control method for paddy field tractor operation of the present invention can be further improved as follows.

[0010] In one alternative approach, the step of controlling the horizontal leveling of the machine's leveling cylinder includes:

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

[0012] In one alternative approach, the step of controlling the height leveling of the lifting cylinder of the elevator includes:

[0013] The height of the lifting cylinder is adjusted and leveled by the second solenoid valve corresponding to the lifting cylinder of the lifting device.

[0014] In one alternative approach, it also includes:

[0015] Using a gyroscope or laser rangefinder, the roll angle and pitch angle of the tractor at any given moment are collected.

[0016] In one alternative approach, the step of using a gyroscope or laser rangefinder to collect the roll angle and pitch angle of the paddy field tractor at any given time includes:

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

[0018] Secondly, the present invention provides a leveling control device for paddy field tractors, the technical solution of which is as follows:

[0019] Includes: a processing module and a control module;

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

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

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

[0023] The device of the present invention achieves a comprehensive leveling effect by simultaneously controlling the leveling of the implements and the hoist of the paddy field tractor, thereby eliminating the need for users to manually adjust the height of the hoist frequently during operation and reducing the difficulty of operation.

[0024] Based on the above solution, the paddy field tractor leveling control device of the present invention can be further improved as follows.

[0025] In one alternative approach, the step of controlling the horizontal leveling of the machine's leveling cylinder in the control module includes:

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

[0027] Thirdly, the technical solution of an electronic device according to the present invention is as follows:

[0028] It includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of the paddy field tractor operation leveling control method of the present invention.

[0029] Fourthly, the technical solution of a computer-readable storage medium provided by the present invention is as follows:

[0030] The computer-readable storage medium stores instructions that, when read, cause the computer-readable storage medium to perform the steps of the paddy field tractor leveling control method of the present invention.

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

[0032] A tractor that includes the electronic equipment 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 in accordance with 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 specifically listed below. Attached Figure Description

[0034] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0035] Figure 1 This is a schematic flowchart of an embodiment of a leveling control method for paddy field tractors according to the present invention;

[0036] Figure 2A schematic diagram illustrating the principle of the leveling control method for tractors operating in paddy fields;

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

[0038] Figure 4 This is a schematic diagram of an embodiment of the leveling control device for paddy field tractors according to the present invention;

[0039] Figure 5 This is a schematic diagram of an embodiment of an electronic device according to the present invention. Detailed Implementation

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

[0041] Figure 1 This diagram illustrates a flowchart of an embodiment of a paddy field tractor leveling control method provided by the present invention. This method can be executed by electronic devices such as terminal devices or servers. The terminal device can be any fixed or mobile terminal, such as user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, vehicle-mounted device, or wearable device. The server can be a single server or a server cluster consisting of multiple servers. Any electronic device can implement the paddy field tractor leveling control method by having its processor call computer-readable instructions stored in its memory. Figure 1 As shown, it includes the following steps:

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

[0043] Among them, the paddy field tractor is a tractor suitable for operation in paddy fields, capable of efficiently completing various agricultural tasks such as plowing, transplanting, fertilizing, and harvesting in muddy and wet environments. The specific model of the paddy field tractor in this embodiment is not limited. The roll angle refers to the angle of rotation of the paddy field tractor around its longitudinal axis (i.e., the front-to-back direction of the tractor body), and the pitch angle refers to the angle of rotation of the paddy field tractor around its lateral axis (i.e., the left-to-right direction of the tractor body). The implement leveling cylinder is used to adjust the levelness of the implements (such as plows, harrows, seeders, etc.) attached to the tractor, ensuring that the implements maintain a stable posture during operation, thereby improving work quality and efficiency. The implement leveling cylinder adjusts the length of the piston rod to keep the implements level relative to the tractor. The lifter cylinder is used to adjust the posture of the tractor lifter to ensure that the tractor maintains a stable posture when lifting and suspending implements. The lifter cylinder changes the posture of the lifter by adjusting the length of the piston rod.

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

[0045] 1) Determine the rotation center point connecting the implement of the paddy field tractor to the tractor as the hinge point O. Determine the horizontal distance a from the mounting point A of the implement leveling cylinder on the side of the paddy field tractor to the hinge point O, the horizontal distance b from the mounting point B of the implement leveling cylinder on the side of the implement to the hinge point O, the initial length L0 of the implement leveling cylinder when the implement is level, and the initial included angle α0 (the angle between the implement leveling cylinder and the horizontal plane, or the initial angle of ∠AOB).

[0046] 2) Based on the real-time roll angle of the paddy field tractor at the current moment, and combined with the first preset formula, the new cylinder length value is calculated; the first preset formula is: I h Here is the new cylinder length value, and θ1 is the vehicle roll angle. When the tractor tilts to the right (rotates clockwise): α0 + θ1; when the tractor tilts to the left (rotates counterclockwise): α0 - θ1.

[0047] 3) Based on the new cylinder length value (actual position) I h With initial length (target position) I tgt The difference between them yields the first motion quantity I. ′ . When I ′ When >0, it indicates that the leveling cylinder of the instrument needs to extend by I. ′ ; when I ′ When <0, it indicates that the leveling cylinder of the instrument needs to be shortened by I. ′ .

[0048] It should be noted that the second actuation amount P of the lifting cylinder of the paddy field tractor is determined based on the vehicle pitch angle of the tractor at the current moment. ′ The specific principle is the same as the process of determining the first action amount of the leveling cylinder of the machine, so I will not go into details here.

[0049] S2, when the first action quantity I at the current moment ′ When the value is greater than the first threshold I0, the leveling cylinder of the machine is controlled to perform horizontal leveling until the first action amount I at the first preset time after the current time. ′ When the value is less than the first threshold I0, control of the leveling cylinder of the machine is stopped, and when the second action amount P at the current moment... ′ When the height exceeds the second threshold P0, the lifting cylinder of the elevator is height-leveled until the second action amount P at a second preset time after the current time is reached. ′ When the value is less than the second threshold P0, control of the lifting cylinder of the lifting device is stopped.

[0050] The first threshold and the second threshold can be adjusted according to the actual situation (e.g., 5cm), and the first preset time and the second preset time are determined according to the actual time spent in the leveling process.

[0051] In one alternative approach, the step of controlling the horizontal leveling of the machine's leveling cylinder includes:

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

[0053] Among them, the first solenoid valve is the solenoid valve corresponding to the machine leveling cylinder. The solenoid valve is used to control the machine leveling cylinder to perform corresponding actions (extend or shorten).

[0054] In one alternative approach, the step of controlling the height leveling of the lifting cylinder of the elevator includes:

[0055] The height of the lifting cylinder is adjusted and leveled by the second solenoid valve corresponding to the lifting cylinder of the lifting device.

[0056] The second solenoid valve is the solenoid valve corresponding to the lifting cylinder of the elevator. The solenoid valve is used to control the lifting cylinder of the elevator to perform corresponding actions (extend or shorten).

[0057] In one alternative approach, it also includes:

[0058] Using a gyroscope or laser rangefinder, the roll angle and pitch angle of the tractor at any given moment are collected.

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

[0060] It should be noted that, as Figure 2 As shown, when a paddy field tractor is performing rotary tillage or paddy field slurry operations, the unevenness of the field surface can cause the vehicle to tilt and pitch, resulting in a lower flatness of the field surface after the operation. A gyroscope mounted on the rear axle housing collects the vehicle's attitude (roll and pitch angles). When the vehicle passes over an uneven field surface, its attitude changes accordingly. Based on the roll and pitch angles output by the gyroscope, when they exceed a set threshold, the controller activates the corresponding solenoid valves. This causes the lifting cylinder of the elevator and the leveling cylinder of the implement to perform corresponding actions, controlling the implement and elevator to move in opposite directions to compensate for the changes in the vehicle's attitude.

[0061] In one alternative approach, the step of using a gyroscope or laser rangefinder to collect the roll angle and pitch angle of the paddy field tractor at any given time includes:

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

[0063] The paddy field tractor is equipped with a mode switch for the automatic leveling control function, used to control whether the automatic leveling control function is activated. When the automatic leveling control function is activated, the indicator light is constantly on; when the automatic leveling control function is deactivated, the indicator light is off. Figure 3 As shown, the paddy field tractor is equipped with an electronically controlled lifter. When automatic height control is off, the lifter can be manually controlled; conversely, when automatic height control is on, the automatic height control function can be disabled by manually controlling the lifter. The implement leveling cylinder and the lifter cylinder can be controlled simultaneously to automatically control the paddy field tractor's suspension system (implements and lifter).

[0064] The technical solution of this embodiment achieves a comprehensive leveling effect by simultaneously controlling the leveling of the implements and the lifting device of the paddy field tractor, so that users do not need to manually adjust the height of the lifting device frequently during operation, thus reducing the difficulty of operation.

[0065] Figure 4 A schematic diagram of an embodiment of a paddy field tractor leveling control device 200 provided by the present invention is shown. 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 the first action amount of the implement leveling cylinder of the paddy field tractor based on the roll angle of the tractor body at the current moment, and determine the second action amount of the lifter cylinder of the paddy field tractor based on the pitch angle of the tractor body at the current moment.

[0067] The control module 220 is configured to: when the first action amount at the current moment is greater than the first threshold, 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, and stop controlling the machine leveling cylinder; and when the second action amount at the current moment is greater than the second threshold, perform height leveling control on the elevator lifting cylinder until the second action amount at a second preset moment after the current moment is less than the second threshold, and stop controlling the elevator lifting cylinder.

[0068] In one alternative embodiment, the step of controlling the horizontal leveling of the machine leveling cylinder in the control module 220 includes:

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

[0070] In one alternative embodiment, the step of height leveling control of the lifting cylinder of the lifting device in the control module 220 includes:

[0071] The height of the lifting cylinder is adjusted and leveled by the second solenoid valve corresponding to the lifting cylinder of the lifting device.

[0072] In an alternative embodiment, the system further includes: a data acquisition module; the data acquisition module is used for:

[0073] Using a gyroscope or laser rangefinder, the roll angle and pitch angle of the tractor at any given moment are collected.

[0074] In one alternative approach, the acquisition module is specifically used for:

[0075] When a signal is received to activate the automatic leveling control function of the paddy field tractor, the acquisition module is invoked.

[0076] It should be noted that the beneficial effects of the paddy field tractor leveling control device provided in the above embodiments are the same as those of the above-described paddy field tractor leveling control method, and will not be repeated here. Furthermore, the device provided in the above embodiments is only illustrated by the division of the above functional modules. In practical 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 the actual situation to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0077] The paddy field tractor leveling control device of the present invention can be a computer program (including program code) running on a computer device. For example, the paddy field tractor 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 leveling control method of the present invention.

[0078] In some embodiments, the paddy field tractor leveling control device of the present invention can be implemented in a combination of hardware and software. As an example, the paddy field tractor 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 leveling control method of the present invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0079] The modules described in the embodiments of this invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0080] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned paddy field tractor operation leveling control methods. That is, 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 one alternative embodiment, an electronic device is provided, such as Figure 5 As shown, Figure 5 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, 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 can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0083] Bus 4002 may include a path for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5The bus 4002 is represented by only one thick line, but this does not mean that there is only one bus or one type of bus.

[0084] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0085] The memory 4003 stores the application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0086] Among them, electronic devices can also be terminal devices. A terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart TVs, and smart in-vehicle devices.

[0087] It should be noted that, Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0088] An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described paddy field tractor operation leveling control methods.

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

[0090] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. The processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the aforementioned paddy field tractor leveling control method.

[0091] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0092] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using dedicated hardware-based means to perform the specified function or operation, or using a combination of dedicated hardware and computer instructions.

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

[0094] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0095] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

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

[0097] Those skilled in the art will recognize that this invention can be implemented as an apparatus, method, or computer program product. Therefore, this invention can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "apparatus." Furthermore, in some embodiments, this invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0098] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for leveling control during paddy field tractor operation, characterized in that, include: Based on the roll angle of the tractor body at the current moment, the first action amount of the implement leveling cylinder of the tractor is determined, and based on the pitch angle of the tractor body at the current moment, the second action amount of the lift cylinder of the tractor is determined. When the first action amount at the current moment is greater than the first threshold, the leveling cylinder of the machine is controlled to be leveled horizontally until the first action amount at the first preset moment after the current moment is less than the first threshold, then the control of the leveling cylinder of the machine is stopped. When the second action amount at the current moment is greater than the second threshold, the lifting cylinder of the elevator is controlled to be leveled vertically until the second action amount at the second preset moment after the current moment is less than the second threshold, then the control of the lifting cylinder of the elevator is stopped. The steps for determining the first actuation amount of the implement leveling cylinder of the paddy field tractor based on the tractor's roll angle at the current moment include: The rotation center point connecting the implement to the tractor is defined as hinge point O. The horizontal distance a from the mounting point A of the implement leveling cylinder on the tractor side to hinge point O, the horizontal distance b from the mounting point B of the implement leveling cylinder on the implement side to hinge point O, the initial length L0 of the implement leveling cylinder when the implement is level, and the initial included angle α0 are also defined. The initial included angle α0 is the angle between the implement leveling cylinder and the horizontal plane, or the initial angle of ∠AOB. Based on the real-time roll angle of the paddy field tractor at the current moment, and combined with the first preset formula, the new cylinder length value is calculated; the first preset formula is: I h Here is the new cylinder length value, and θ1 is the vehicle roll angle; when the tractor tilts to the right: α0 + θ1; when the tractor tilts to the left: α0 - θ1; ​​where tilting the tractor to the right is clockwise rotation, and tilting the tractor to the left is counterclockwise rotation; Based on the new cylinder length value I h With initial length I tgt The difference between the values ​​is used to obtain the first action amount I'; when I'>0, it indicates that the leveling cylinder of the machine needs to extend I'; when I'<0, it indicates that the leveling cylinder of the machine needs to shorten I'.

2. The leveling control method for paddy field tractor operation according to claim 1, characterized in that, The steps for controlling the horizontal leveling of the machine's leveling cylinder include: The leveling cylinder of the machine is controlled to be leveled by the first solenoid valve corresponding to the leveling cylinder of the machine.

3. The paddy field tractor leveling control method according to claim 2, characterized in that, The steps for controlling the height leveling of the lifting cylinder of the lifting device include: The height of the lifting cylinder is adjusted and leveled by the second solenoid valve corresponding to the lifting cylinder of the lifting device.

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

5. The paddy field tractor leveling control method according to claim 4, characterized in that, The steps for collecting the roll angle and pitch angle of the paddy field tractor at any given time using a gyroscope or laser rangefinder include: When a signal is received to activate the automatic leveling control function of the paddy field tractor, the step of using a gyroscope or laser rangefinder to collect the roll angle and pitch angle of the paddy field tractor at any given time is executed.

6. A leveling control device for paddy field tractors, characterized in that, include: Processing module and control module; The processing module is used to: determine the first action amount of the implement leveling cylinder of the paddy field tractor based on the roll angle of the tractor body at the current moment, and determine the second action amount of the lifter cylinder of the paddy field tractor based on the pitch angle of the tractor body 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, 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, and stop controlling the machine leveling cylinder; and when the second action amount at the current moment is greater than the second threshold, perform height leveling control on the elevator lifting cylinder until the second action amount at a second preset moment after the current moment is less than the second threshold, and stop controlling the elevator lifting cylinder. The processing module is specifically used for: The rotation center point connecting the implement to the tractor is defined as hinge point O. The horizontal distance a from the mounting point A of the implement leveling cylinder on the tractor side to hinge point O, the horizontal distance b from the mounting point B of the implement leveling cylinder on the implement side to hinge point O, the initial length L0 of the implement leveling cylinder when the implement is level, and the initial included angle α0 are also defined. The initial included angle α0 is the angle between the implement leveling cylinder and the horizontal plane, or the initial angle of ∠AOB. Based on the real-time roll angle of the paddy field tractor at the current moment, and combined with the first preset formula, the new cylinder length value is calculated; the first preset formula is: I h Here is the new cylinder length value, and θ1 is the vehicle roll angle; when the tractor tilts to the right: α0 + θ1; when the tractor tilts to the left: α0 - θ1; ​​where tilting the tractor to the right is clockwise rotation, and tilting the tractor to the left is counterclockwise rotation; Based on the new cylinder length value I h With initial length I tgt The difference between the values ​​is used to obtain the first action amount I'; when I'>0, it indicates that the leveling cylinder of the machine needs to extend I'; when I'<0, it indicates that the leveling cylinder of the machine needs to shorten I'.

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

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

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer-readable storage medium to implement the paddy field tractor operation leveling control method as described in any one of claims 1 to 5.

10. A tractor, characterized in that, Including the electronic device as described in claim 8.

Images