Power control device and method suitable for operation of agricultural implements in hills and mountains

Abstract

The invention relates to a power control device and method suitable for operation of an agricultural implement in hills and mountains. The power control device comprises a power redistribution module installed in a tractor and an upper preview device arranged on the agricultural implement. The power redistribution module is electrically connected with the upper preview device and the agricultural implement. A certain angle is formed between a prediction light pillar of the upper preview device and a vehicle body of the agricultural implement, so that the real-time road condition in front of the agricultural implement can be predicted; the slope and slope distance data of the road surface on which the agricultural implement is about to run can be accurately obtained, meanwhile, the data are reflected to the energy management strategy module of the hybrid power tractor, the energy management module can redistribute energy output for the agricultural implement, and it is guaranteed that the carried agricultural implement works on hills and mountains at the uniform speed. Compared with a traditional electric agricultural implement, the device can be suitable for hills, mountains and road conditions with large gradient changes, and has the advantages of being high in operation precision, high in economic benefit and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of power control, and in particular relates to a power control device and method suitable for agricultural machinery operation in hilly and mountainous areas. Background Art

[0002] China vigorously advocates the development of "green agricultural machinery" and promotes the process of agricultural mechanization and intelligence. In the national agricultural mechanization development plan, it is clearly proposed to accelerate the integration of agricultural mechanization and intelligence to promote high-quality agricultural development.

[0003] In order to respond to my country's environmental protection policies, domestic tractor companies have begun to shift their focus to hybrid tractors. Through the advantages of combining diesel engines with electric motors, they have effectively solved the problems of low transmission efficiency, poor fuel economy, and serious environmental pollution in traditional oil drilling machine drive systems, as well as insufficient power, short battery life, and unstable power output in pure electric drive systems.

[0004] As the core power source of modern agricultural production, the various agricultural machinery and implements carried by tractors play a vital role in improving work efficiency, saving labor costs and improving farming quality. Whether it is plowing, sowing, fertilizing, spraying and other operations, the close cooperation between tractors and agricultural machinery and implements makes every agricultural link more precise and efficient. However, the agricultural machinery and implements carried on tractors also face complex working conditions. The existing electric agricultural machinery and implements simply provide a certain power output, but on sloping roads and bumpy roads, the running speed of agricultural machinery and implements will change. This speed instability leads to large errors in the accuracy of operations such as plowing, sowing, fertilizing, and spraying, which greatly affects the growth and yield of crops, and even damages the soil structure and production capacity of farmland, making it difficult to meet the stringent requirements of intelligent agricultural mechanization.

[0005] The upper preview device can rely on its high precision, advance perception, intelligent control and other characteristics. Compared with traditional sensors, it can realize the forward aiming through multiple technologies such as laser radar, infrared sensor, ultrasonic wave, etc.

[0006] Accurate measurement of the environment helps the system respond in real time, perceive obstacles or complex environments in advance, and provide more efficient path planning. It provides the equipment with predictive capabilities that go beyond traditional sensors, greatly improving operational accuracy and efficiency, especially in complex environments.

[0007] In summary, obtaining real-time power distribution of mounted agricultural machinery is a key technology to improve operation accuracy. To address this issue, there is an urgent need to find a device that can achieve real-time power distribution for mounted agricultural machinery. Summary of the invention

[0008] In order to solve the problems of the prior art, the present invention proposes a power control device and method suitable for agricultural machinery operations in hilly and mountainous areas. For agricultural machinery operating in the field, it not only provides driving power for the agricultural machinery mounted on the tractor, but also redistributes the driving power according to road conditions, thereby improving the stability of the agricultural machinery's driving speed and the accuracy of farmland operations.

[0009] The purpose of the present invention and the technical problem to be solved are achieved by adopting the following technical solutions. According to the present invention, a power control device suitable for the operation of agricultural machinery in hilly and mountainous areas comprises a power redistribution module installed in a tractor and an upper previewer arranged on the agricultural machinery; the power redistribution module is electrically connected to the upper previewer and the agricultural machinery respectively; the angle between the prediction light beam of the upper previewer and the body of the agricultural machinery is an acute angle, so as to predict the real-time road conditions in front of the agricultural machinery.

[0010] Furthermore, the power redistribution module includes a VCU, a battery management system (BMS), a power battery pack, a power controller HCU, and a drive motor controller which are electrically connected in sequence, and the upper previewer is communicatively connected to the VCU.

[0011] Furthermore, the agricultural machinery includes a frame, wheels are arranged on the frame, a transverse rod is arranged on the front side of the frame, a suspension frame is arranged between the frame and the transverse rod, a three-point suspension system connected to the suspension frame is arranged on the transverse rod, and a connecting piece is also arranged on the transverse rod, and the agricultural machinery is connected to the tractor via the connecting piece and the three-point suspension system; the upper previewer is installed at the lower end of the transverse rod, and the power redistribution module is wirelessly connected to the driving motor of the wheel.

[0012] A power control method suitable for operation of agricultural machinery in hilly and mountainous areas, characterized in that it comprises the following steps:

[0013] S1, the upper preview device is installed horizontally at the lower end of the front of the agricultural machinery, and the angle between the light beam of the upper preview device and the body of the agricultural machinery is an acute angle. The calculation of the preview distance needs to take into account the dynamic change of the driving speed. The upper preview device detects the real-time road conditions ahead as the data of the power redistribution module;

[0014] S2, setting a reasonable preview time for the upper preview device, the upper preview device takes the real-time road conditions captured at a certain moment as the working road conditions that the agricultural machinery is about to pass, and the upper preview device performs image analysis to obtain the real-time slope change (uphill or downhill) and the length of the slope in the picture;

[0015] S3, the upper-level preview device collects the real-time road condition information in front of the agricultural machinery and transmits it to the VCU of the tractor. The VCU identifies whether the slope of the road ahead has changed, and the battery management system (BMS) will issue a power redistribution instruction. The drive motor controller redistributes the power provided to the agricultural machinery according to the instruction.

[0016] Furthermore, the upper-level preview device obtains the dynamic preview distance l at time t1 based on the real-time road conditions in front of the agricultural machinery collected, through the current operating speed v1 of the agricultural machinery and the preview time t set by the upper-level preview device, and the relationship between the dynamic preview distance l and v1, t is l=v1·t.

[0017] Furthermore, the upper previewer calibrates the current coordinates of the agricultural machinery as A (X1, Y1) according to the position coordinates under the transverse Mercator grid system, and the position of the preview point is marked as the coordinate B (X2, Y2). α is the yaw angle, and the coordinates of the position B of the preview point are:

[0018] X2=X1+l·sinα,

[0019] Y2=Y1+l·cosα;

[0020] The upper previewer obtains the elevation h2 of the preview point according to the digital elevation model (DEM) of the existing area, and inputs the position coordinates B (X2, Y2) of the preview point into the existing digital elevation model (DEM) of the area to obtain the elevation h2 of the preview point;

[0021] The elevation h2 of the preview point is obtained by the following formula:

[0022] h2=DEM(X2,Y2);

[0023] Let the current elevation of the agricultural implement be h1, then the slope value θ of the preview path can be obtained;

[0024] The slope value θ of the preview path is obtained by the following formula:

[0025]

[0026] In summary, the present invention transmits the road condition data ahead predicted by the upper-level preview device to the tractor power redistribution module, and controls the power output distributed to the mounted agricultural machinery through the power redistribution module, so that the mounted agricultural machinery can operate at a uniform speed whether it is uphill or downhill, thereby improving the operation accuracy of the agricultural machinery. Compared with electric agricultural machinery that simply provides forward power to the mounted agricultural machinery, the present invention can distribute the power output provided to the agricultural machinery in real time according to the changes in the road condition ahead (uphill or downhill). The method can be used according to the actual operating conditions of the tractor and the mounted agricultural machinery. Real-time speed control of agricultural machinery ensures that it can operate stably and efficiently under various terrain conditions. It not only improves the accuracy of operations, but also improves the economy of tractors and mounted agricultural machinery. It can ensure that agricultural machinery can maintain a stable operating speed in complex terrain environments, especially in complex road conditions such as hilly and mountainous areas in my country. It can greatly improve the accuracy of agricultural machinery operations, reduce the labor intensity of operators, and improve the level of automation and intelligence in the entire agricultural production process. It plays a positive role in promoting the development of modern agriculture and is of great significance to ensuring grain production.

[0027] 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 following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The present invention is a flowchart of a power control device and method for implementing the power control device suitable for agricultural machinery operations in hilly and mountainous areas.

[0029] Figure 2 The present invention is a structural diagram of a plowing agricultural implement used in a power control device suitable for agricultural implement operations in hilly and mountainous areas.

[0030] Figure 3 Schematic diagram of the changing road conditions for a tractor and the agricultural machinery it carries in hilly and mountainous areas.

[0031] Figure 4 The upper preview device collects real-time road condition imagesⅠ.

[0032] Figure 5 A reference schematic diagram of power distribution between the tractor and the agricultural implements carried thereon according to the present invention.

[0033] Figure 6 The present invention is a reference flow chart for power redistribution suitable for agricultural machinery operations in hilly and mountainous areas. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and preferred embodiments.

[0035] See also Figure 2 , Figure 3 A power control device suitable for the operation of agricultural machinery in hilly and mountainous areas comprises a power redistribution module installed in a hybrid tractor and an upper predictor arranged in front of the agricultural machinery (taking plowing agricultural machinery as an example in this embodiment). The upper predictor is used to predict the real-time road condition in front of the agricultural machinery when the tractor is equipped with agricultural machinery working in hilly and mountainous areas, and the road surface angle change and ramp length of the real-time road condition in front are obtained. The predicted data is transmitted to the energy management module on the tractor, and the power provided to the agricultural machinery is redistributed to achieve stable operation of the agricultural machinery.

[0036] The power redistribution module includes a VCU, a battery management system (BMS), a power battery pack, a power controller HCU, and a drive motor controller which are electrically connected in sequence, and the upper previewer is communicatively connected with the VCU;

[0037] The agricultural implement comprises a frame 4, a wheel 6 is arranged on the frame 4, a transverse rod 2 is arranged at the front end of the frame 4, a suspension frame 5 is arranged between the frame 4 and the transverse rod 2, a three-point suspension system 1 connected to the suspension frame 5 is arranged on the transverse rod 2, and a connecting piece 3 is also arranged on the transverse rod 2. The agricultural implement is connected to the tractor through the connecting piece 3 and the three-point suspension system 1, and the driving motor controller of the power redistribution module is wirelessly connected to the driving motor of the wheel 6;

[0038] According to the actual working conditions of the tractor, the road surface on which the tractor and the agricultural machinery are traveling will change greatly. If the upper preview device is directly installed on the tractor, the error generated during data transmission can be reduced, but the accuracy of the preview device for real-time road condition detection of the agricultural machinery carried behind is greatly increased. Therefore, the device is installed at the lower end of the front side of the agricultural machinery, that is, the upper preview device is installed at the lower end of the transverse rod 2;

[0039] According to the actual operating conditions of the tractor, when the tractor is operating, the body vibrates violently. Therefore, the upper preview device is horizontally installed on the agricultural machinery mounted on the rear of the tractor to reduce the measurement error caused by the tractor's own structure. At the same time, when the tractor is operating, due to the complexity of the field roads, if the light beam of the upper preview device is vertical to the ground or horizontal with the body, it will cause the preview distance to be too short, insufficient road information collection, and large errors in road condition detection. The data transmitted to the tractor energy control module changes frequently, which increases the complexity and difficulty of the control algorithm. Therefore, the angle between the predicted light beam of the upper preview device and the body of the agricultural machinery is an acute angle (that is, there is a certain angle between the predicted light beam of the preview device and the body of the agricultural machinery). The upper preview device can clearly detect the real-time road conditions that are long enough ahead, which is convenient for obtaining the road surface that has undergone minor changes after the tractor has traveled. The accuracy of the upper preview device's prediction can be greatly improved to obtain accurate road condition data.

[0040] See also Figure 1 , Figure 4 , Figure 5 , Figure 6 A power control method for agricultural machinery operation in hilly and mountainous areas comprises the following steps:

[0041] S1, the upper preview device is installed horizontally at the lower end of the front of the agricultural machinery, and the angle between the light beam of the upper preview device and the body of the agricultural machinery is an acute angle. The calculation of the preview distance needs to take into account the dynamic change of the driving speed, that is, as the vehicle speed increases or decreases, the preview distance is correspondingly extended or shortened, so as to obtain more appropriate preview information. When the tractor is working in the field, the upper preview device can clearly detect the real-time road conditions ahead that are long enough, and obtain accurate real-time road condition information as the data of power redistribution of the power redistribution module of the hybrid tractor, and transmit it to the power redistribution module, and distribute the power of the hybrid tractor in real time through the VCU controller;

[0042] S2, set a reasonable preview time for the upper preview device. If the time is too long, the real-time data collection will be affected. If the time is too short, the data collection will be frequent, which increases the complexity of the power control module. Therefore, the preview time needs to be set within a reasonable range. The upper preview device takes the real-time road conditions captured at a certain moment as the working road conditions that the agricultural machinery will pass through. The upper preview device performs image analysis to obtain the real-time slope change (uphill or downhill) and the length of the ramp in the picture.

[0043] S3, according to the working principle of the upper-level previewer, accurate real-time road condition information in front of the agricultural machinery is obtained, including the slope angle and slope length. The upper-level previewer collects the real-time road condition information in front of the agricultural machinery and transmits it to the VCU of the tractor. The VCU identifies whether the slope of the road ahead changes, and the battery management system (BMS) will make a power redistribution instruction. The drive motor controller redistributes the power provided to the agricultural machinery according to the instruction, so that the agricultural machinery can travel at a stable speed when operating in hilly and mountainous areas, improving the uniformity of sowing and the accuracy of operations.

[0044] At the same time, the upper preview device collects the real-time road conditions in front of the agricultural machinery (such as Figure 4 ), at time t1, the dynamic preview distance l is obtained through the current operating speed v1 of the agricultural machinery and the preview time t set by the upper preview device, and the relationship between the dynamic preview distance l and v1 and t is l=v1·t.

[0045] The upper previewer calibrates the current coordinates of the agricultural machinery as A (X1, Y1) according to the position coordinates under the transverse Mercator grid system, and the position of the preview point is marked as the coordinate B (X2, Y2). α is the yaw angle, and the coordinates of the preview point position B are:

[0046] X2=X1+l·sinα,

[0047] Y2=Y1+l·cosα;

[0048] The upper previewer obtains the elevation h2 of the preview point according to the digital elevation model (DEM) of the existing area, and inputs the position coordinates B (X2, Y2) of the preview point into the existing digital elevation model (DEM) of the area to obtain the elevation h2 of the preview point;

[0049] The elevation h2 of the preview point is obtained by the following formula:

[0050] h2=DEM(X2,Y2);

[0051] Let the current elevation of the agricultural implement be h1, then the slope value θ of the preview path can be obtained;

[0052] The slope value θ of the preview path is obtained by the following formula:

[0053]

[0054] The power control method of the present invention is summarized as follows: when the present invention redistributes the power of the agricultural implement carried by the tractor, firstly, the real-time road condition in front of the agricultural implement carried by the tractor is predicted at a certain moment by the upper-level preview device; secondly, data collection of the real-time road condition is obtained according to the upper-level preview device, including the length of the slope and the angle of the slope; finally, the power provided to the agricultural implement carried by the tractor is redistributed by the power redistribution module of the hybrid tractor;

[0055] Compared with the existing method of only providing power to the agricultural machinery carried by the tractor and controlling the power to act on the tractor, the present method can distribute power to the agricultural machinery carried by the tractor according to the actual operating conditions of the tractor. It has the advantages of high precision and good real-time performance. It can realize real-time power distribution to the agricultural machinery carried by the tractor when operating in hilly and mountainous areas, ensure that it operates at a stable speed, and achieve the demand for increasing crop yields.

[0056] The above is only a preferred embodiment of the present invention. Any technician familiar with the profession, without departing from the scope of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention, still falls within the scope of the technical solution of the present invention.

Claims

1. A power control device suitable for agricultural machinery operation in hilly and mountainous areas, characterized in that: It includes a power redistribution module installed in a tractor and an upper previewer arranged at the front side of the agricultural machinery; the power redistribution module is electrically connected to the upper previewer and the agricultural machinery respectively; the angle between the predicted light beam of the upper previewer and the body of the agricultural machinery is an acute angle, so as to predict the real-time road conditions in front of the agricultural machinery.

2. A power control device suitable for hilly and mountainous agricultural machinery operations according to claim 1, characterized in that: The power redistribution module includes a VCU, a battery management system, a power battery pack, a power controller HCU, and a drive motor controller which are electrically connected in sequence, and the upper previewer is communicatively connected with the VCU.

3. A power control device suitable for hilly and mountainous agricultural machinery operations according to claim 1, characterized in that: The agricultural implement comprises a frame (4), a wheel (6) is arranged on the frame (4), a transverse rod (2) is arranged on the front side of the frame (4), a suspension frame (5) is arranged between the frame (4) and the transverse rod (2), a three-point suspension system (1) connected to the suspension frame (5) is arranged on the transverse rod (2), and a connecting piece (3) is also arranged on the transverse rod (2), and the agricultural implement is connected to the tractor via the connecting piece (3) and the three-point suspension system (1); the upper preview device is installed at the lower end of the transverse rod (2), and the power redistribution module is wirelessly connected to the drive motor of the wheel (6).

4. A power control method suitable for agricultural machinery operation in hilly and mountainous areas, characterized in that: The following steps are involved: S1, the upper preview device is installed horizontally at the lower end of the front side of the agricultural machinery, and the angle between the light beam of the upper preview device and the body of the agricultural machinery is an acute angle. The calculation of the preview distance needs to take into account the dynamic change of the driving speed. The upper preview device detects the real-time road conditions ahead as the data of the power redistribution module; S2, setting a reasonable preview time for the upper preview device, the upper preview device uses the real-time road conditions captured at a certain moment as the working road conditions that the agricultural machinery is about to pass, and the upper preview device performs image analysis to obtain the real-time slope change and ramp length of the picture; S3, the upper-level preview device collects real-time road condition information in front of the agricultural machinery and transmits it to the VCU of the tractor. The VCU identifies whether the slope of the road ahead has changed, and the battery management system will issue a power redistribution instruction. The drive motor controller redistributes the power provided to the drive motor of the agricultural machinery wheel (6) according to the above instruction.

5. A power control method suitable for agricultural machinery operation in hilly and mountainous areas according to claim 4, characterized in that: Based on the real-time road conditions in front of the agricultural machinery, the upper preview device obtains the dynamic preview distance l at time t1 through the current operating speed v1 of the agricultural machinery and the preview time t set by the upper preview device. The relationship between the dynamic preview distance l and v1 and t is l=v1·t.

6. A power control method suitable for hilly and mountainous agricultural machinery operations according to claim 4, characterized in that: The upper previewer calibrates the current coordinates of the agricultural machinery as A (X1, Y1) according to the position coordinates under the transverse Mercator grid system, and the position of the preview point is marked as the coordinate B (X2, Y2). α is the yaw angle, and the coordinates of the preview point position B are: X2=X1+l·sinα, Y2=Y1+l·cosα; The upper previewer obtains the elevation h2 of the preview point according to the digital elevation model of the existing area, and inputs the position coordinates B(X2, Y2) of the preview point into the existing digital elevation model of the area to obtain the elevation h2 of the preview point; The elevation h2 of the preview point is obtained by the following formula: h2=DEM(X2,Y2); Let the current elevation of the agricultural implement be h1, then the slope value θ of the preview path can be obtained; The slope value θ of the preview path is obtained by the following formula:

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