Control method and device for leveling rice harvester chassis to overcome centrifugal inclination

Abstract

The invention provides a control method and device for leveling a rice harvester chassis to overcome centrifugal inclination. A control method for leveling a rice harvester chassis to overcome centrifugal inclination comprises the steps that S1, when a whole vehicle turns, the whole vehicle mass, the turning angular speed, the turning radius, the whole vehicle gravity center height and the rolling inclination angle are obtained; s2, according to the mass of the whole vehicle, the turning angular velocity, the turning radius, the height of the gravity center of the whole vehicle and the roll inclination angle, calculating the lateral deviation of the gravity center; s3, according to the gravity center transverse offset, determining an adjustment strategy of chassis leveling to overcome centrifugal inclination; and S4, a left hydraulic oil cylinder and a right hydraulic oil cylinder are adjusted according to the adjusting strategy of leveling the chassis to overcome centrifugal inclination.

Description

Technical Field

[0001] The invention relates to the technical field of harvester steering, and in particular to a control method and device for leveling a rice harvester chassis to overcome centrifugal tilt. Background Art

[0002] When harvesting crops or driving normally, crawler rice harvesters are different from wheeled harvesters in structure, stability, and turning methods. Crawler harvesters are usually used in complex wet field terrains such as hills or terraces, and have better grip and stability. When turning on slopes or uneven terrain, the influence of centrifugal force may be more complicated than that of wheeled machines.

[0003] When the rice harvester is leveling and turning, the hydraulic leveling system is involved. The machine body is kept level while turning. In this case, although the machine body is level, the centrifugal force still exists, which affects the distribution of the ground pressure of the track, causing the load on one side of the track to increase, affecting the steering efficiency, and causing the vehicle body to slip or understeer. In addition, centrifugal force also affects the operating efficiency and equipment loss. For example, it is more likely to cause material spillage during turning, and uneven pressure will also cause increased wear of the track and transmission system.

[0004] At present, the control of rice harvester turning and leveling to eliminate the influence of centrifugal force is mainly based on the subjective manual operation of the driver. When the rice harvester passes through complex terrain, on the one hand, the automatic leveling function of the harvester itself is used to keep the body level, and on the other hand, the driver will actively intervene to reduce the driving speed or reduce the turning radius to prevent the high speed or large turning radius from generating large centrifugal force, which will cause the above-mentioned harm to the machine body. There is a singleness of relying on manual intervention to reduce the speed and then reduce the turning radius of the machine body.

[0005] Another domestic intelligent technology that may be related is the slope adaptive leveling technology based on Beidou navigation, which integrates high-precision maps to predict the turning action of the rice harvester, and then automatically intervenes to reduce the speed to prevent excessive centrifugal force. There is a disadvantage that the navigation map prediction function cannot be used or the application effect is reduced in complex terrain and other environments where the navigation signal is poor. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a control method and device for leveling a rice harvester chassis to overcome centrifugal tilt in view of the deficiencies in the prior art.

[0007] The technical solution of the present invention to solve the above technical problems is as follows: A control method for leveling the chassis of a rice harvester to overcome centrifugal inclination, including: S1. When the whole vehicle turns, obtain the vehicle mass, turning angular velocity, turning radius, the height of the center of gravity of the whole machine, and the roll inclination angle; S2. Calculate the lateral offset of the center of gravity according to the vehicle mass, the turning angular velocity, the turning radius, the height of the center of gravity of the whole machine, and the roll inclination angle; S3. Determine the adjustment strategy for the chassis to level and overcome centrifugal inclination according to the lateral offset of the center of gravity; S4. Adjust the left hydraulic cylinder and the right hydraulic cylinder according to the adjustment strategy for the chassis to level and overcome centrifugal inclination.

[0008] The beneficial effects of adopting the technical solution of the present invention are: It solves the singularity of relying on manual intervention to reduce the vehicle speed and then reduce the turning radius of the vehicle body, and also avoids the disadvantages that the navigation map prediction function cannot be applied or the application effect is reduced in complex terrains and other environments with poor navigation signal reception. It not only effectively curbs the influence of the centrifugal force on the vehicle body when the rice harvester is turning, but also improves the operation efficiency of the rice harvester.

[0009] Further, before step S1, it includes: S11. Within a preset scanning period, obtain the real-time acquisition value of the voltage signal of the angle sensor and the handle neutral position calibration value; S12. Calculate the voltage signal difference according to the real-time acquisition value and the handle neutral position calibration value; S13. Judge whether the voltage signal difference is greater than the threshold value; S14. When the voltage signal difference is greater than the threshold value, execute step S1.

[0010] The beneficial effects of adopting the above further technical solution are: The controller will collect the voltage signal difference △V = v1 - v2 (v1 is the real-time acquisition value, v2 is the handle neutral position calibration value) of the angle sensor that detects the swing angle of the steering handle in each scanning period. If the voltage signal difference △V is greater than a certain threshold value, then it is judged that the vehicle is about to perform a turning action. When the driver operates the handle, slightly correcting the traveling direction of the vehicle body and the change in the traveling direction of the vehicle body during turning will be reflected in different electrical signals, so that the controller can identify and judge.

[0011] Further, in step S11, the Kalman filter and the first-order low-pass filter algorithm are used to eliminate the vibration noise in the voltage signal of the angle sensor.

[0012] The beneficial effects of adopting the above further technical solution are: In order to increase the anti-interference ability and real-time performance of the sensor, the Kalman filter and the first-order low-pass filter algorithm are used to eliminate the vibration noise in the signal. Improve stability and reliability.

[0013] Further, in step S2, the lateral offset of the center of gravity is calculated by the following formula:

[0014] m*ω2*r*h1 = m*g*sinθ*h2,

[0015] Wherein, m is the vehicle mass, ω is the turning angular velocity, r is the turning radius, h1 is the height of the center of gravity of the whole machine, g is the proportionality coefficient, θ is the roll inclination angle, and h2 is the lateral offset of the center of gravity.

[0016] The beneficial effect of adopting the above further technical solution is: calculating the lateral offset of the center of gravity through a formula, improving the accuracy, and simplifying the calculation method.

[0017] Furthermore, the adjustment strategy for the chassis leveling to overcome the centrifugal inclination includes: when turning left, adjusting the left hydraulic cylinder to shorten and adjusting the right hydraulic cylinder to elongate; when turning right, adjusting the left hydraulic cylinder to elongate and adjusting the right hydraulic cylinder to shorten.

[0018] The beneficial effect of adopting the above further technical solution is: when the crawler-type rice harvester turns left, the stroke of the left and right hydraulic cylinders is adjusted according to the direction of the centrifugal force. When turning left, during this process, the VCU outputs a descending current to control the left proportional solenoid valve to adjust the hydraulic pressure, accurately controlling the shortening stroke of the left hydraulic cylinder, and outputs an ascending current to control the right proportional solenoid valve to adjust the hydraulic pressure, accurately controlling the elongation stroke of the right hydraulic cylinder, so that the whole body tilts to the left, offsetting the influence of the centrifugal force, and the crawler does not slip.

[0019] Furthermore, it further includes: judging whether the roll inclination angle is greater than a preset angle; when the roll inclination angle is greater than the preset angle, adjusting the left hydraulic cylinder and the right hydraulic cylinder to the lowest stroke state and reducing the driving speed.

[0020] The beneficial effect of adopting the above further technical solution is: designing an emergency return mechanism. When the controller detects through the gyroscope that the inclination is greater than 10°, the vehicle body is overly inclined at this time. Or when a fault occurs in the system sensor, the left and right hydraulic cylinders are overall controlled to automatically return to the lowest stroke state, and the driving speed is reduced, protecting personal safety to the greatest extent. Adding a safety redundancy mechanism makes the vehicle drive more safely when turning or leveling the chassis.

[0021] Furthermore, it further includes: obtaining the upper limit, lower limit and lower limit of the stroke of the left hydraulic cylinder and the right hydraulic cylinder; judging whether the actual stroke of the left hydraulic cylinder and the right hydraulic cylinder exceeds the upper limit, lower limit and lower limit; when the actual stroke of the left hydraulic cylinder and the right hydraulic cylinder exceeds the upper limit, lower limit and lower limit, stopping the adjustment work of the left hydraulic cylinder and the right hydraulic cylinder.

[0022] The beneficial effects of adopting the above further technical solutions are as follows: A mechanical limit protection mechanism is designed, and upper limits and lower limits are set for the strokes of the left and right hydraulic cylinders in the control system to prevent the controller from continuously outputting the proportional valve control current, which may cause structural damage due to overshoot. A safety redundancy mechanism is added to make the vehicle drive more safely when turning or leveling the chassis.

[0023] In addition, the present invention further provides a control device for leveling the chassis of a rice harvester to overcome centrifugal tilt, which is used to implement the control method for leveling the chassis of a rice harvester to overcome centrifugal tilt described in any one of the above. The control device for leveling the chassis of a rice harvester to overcome centrifugal tilt includes: a steering handle, an angle sensor for detecting a turning signal, a gyroscope, a GPS device, a controller, a proportional solenoid valve for the left cylinder, a proportional solenoid valve for the right cylinder, a left hydraulic cylinder, and a right hydraulic cylinder. The angle sensor is connected to the steering handle, and the controller is respectively connected to the angle sensor, the gyroscope, the GPS device, the proportional solenoid valve for the left cylinder, and the proportional solenoid valve for the right cylinder. The proportional solenoid valve for the left cylinder is connected to the left hydraulic cylinder, and the proportional solenoid valve for the right cylinder is connected to the right hydraulic cylinder. The gyroscope is used to obtain the turning angular velocity and the roll tilt angle. The GPS device is used to obtain the turning radius. The controller is used to calculate the lateral offset of the center of gravity according to the vehicle mass, turning angular velocity, turning radius, overall center of gravity height of the whole machine, and roll tilt angle. The controller is further used to determine an adjustment strategy for leveling the chassis to overcome centrifugal tilt according to the lateral offset of the center of gravity. The controller is further used to adjust the left hydraulic cylinder and the right hydraulic cylinder according to the adjustment strategy for leveling the chassis to overcome centrifugal tilt.

[0024] The beneficial effects of adopting the technical solution of the present invention are as follows: By adding the detection of the steering signal of the rice harvester's steering handle, it can anticipate the turning action of the vehicle body in advance compared to relying on navigation and outputting the steering terminal valve. The main functions of the controller include collecting various signals, making corresponding judgments after comprehensive analysis, and monitoring the actions of the component controllers at the lower layer to ensure the normal and stable operation of the whole vehicle under good power performance, high economy and reliability. The electromagnetic proportional valve is responsible for receiving the controller signal from the VCU, accurately adjusting the flow rate and pressure of the hydraulic cylinder, and achieving millimeter-level stroke control. Based on the function configuration that the body itself has chassis leveling, with the help of the gyroscope in the configuration, inclination signals and speed signals are provided, and active adjustment is carried out by its own hydraulic suspension, which greatly improves the defect that the influence of centrifugal force is not eliminated in the leveling function configuration. It also solves the problem of frequent manual intervention to reduce speed or reduce the turning radius, reducing the energy consumption of the harvester. It solves the singularity of relying on manual intervention to reduce the vehicle speed and then reduce the turning radius of the vehicle body, and also avoids the disadvantage that the navigation map prediction function cannot be applied or the application effect is reduced in complex terrains and other environments with poor navigation signal reception. It can not only effectively curb the influence of the centrifugal force on the vehicle body when the rice harvester turns, but also improve the operation efficiency of the rice harvester.

[0025] Further, the gyroscope is a gyroscope that integrally detects the driving angular velocity and the inclination angles, pitch angles and yaw angles in three axial directions of the fuselage; the left hydraulic cylinder is connected with a left cylinder stroke position sensor, and the right hydraulic cylinder is connected with a right cylinder stroke position sensor.

[0026] The beneficial effects of adopting the above further technical solution are as follows: When the harvester turns, the roll tilt angle θ based on the Y-axis is calculated by the gyroscope, and the angle signal is transmitted to the controller through CAN communication for logical judgment of the horizontal attitude of the harvester.

[0027] Further, the steering handle is located in the cab, and rotating rocker arms are installed on both the steering handle and the angle sensor, and the rotating rocker arm of the steering handle is connected to the rotating rocker arm of the angle sensor.

[0028] The beneficial effects of adopting the above further technical solution are as follows: Regarding the angle sensor for detecting the turning signal, it is installed under the steering handle in the cab. As the handle swings left and right, the angle sensor connected to the handle outputs a changing electrical signal to the controller. The controller judges the degree to which the harvester is about to turn according to the change of the electrical signal. The angle sensor is equipped with a rotating rocker arm. By combining with the left and right rotating rocker arms under the steering handle, when the position of the steering handle changes left and right, it drives the rocker arm of this angle sensor to rotate within an angle range of 120° between the initial position and the end position, and then outputs a changing voltage detection signal.

[0029] Advantages of additional aspects of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned by practice of the present invention. Brief Description of the Drawings

[0030] Figure 1 It is a schematic flow block diagram of a control method for leveling the chassis of a rice harvester to overcome centrifugal tilt provided by an embodiment of the present invention.

[0031] Figure 2 It is a schematic structural diagram of a steering handle provided by an embodiment of the present invention.

[0032] Figure 3 It is a schematic structural diagram of a gyroscope provided by an embodiment of the present invention.

[0033] Figure 4 It is a schematic diagram of the centrifugal force principle provided by an embodiment of the present invention.

[0034] Figure 5 It is one of the schematic structural diagrams of an angle sensor provided by an embodiment of the present invention.

[0035] Figure 6 It is the second schematic structural diagram of an angle sensor provided by an embodiment of the present invention.

[0036] Figure 7 It is a schematic structural diagram of a control device for leveling the chassis of a rice harvester to overcome centrifugal tilt provided by an embodiment of the present invention.

[0037] Description of the reference numerals in the drawings: 1. Steering handle; 2. Angle sensor; 3. Gyroscope; 4. GPS device; 5. Controller; 6. Proportional solenoid valve for the left oil cylinder; 7. Proportional solenoid valve for the right oil cylinder; 8. Stroke position sensor for the left oil cylinder; 9. Stroke position sensor for the right oil cylinder. Detailed Embodiments

[0038] The principles and features of the present invention will be described below with reference to the accompanying drawings. The illustrated embodiments are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0039] As Figure 1 shown, an embodiment of the present invention provides a control method for leveling the chassis of a rice harvester to overcome centrifugal tilt, including: S1. When the whole vehicle turns, obtain the vehicle mass, turning angular velocity, turning radius, height of the center of gravity of the whole machine, and roll tilt angle; S2. Calculate the lateral offset of the center of gravity according to the vehicle mass, the turning angular velocity, the turning radius, the height of the center of gravity of the whole machine, and the roll tilt angle; S3. Determine an adjustment strategy for leveling the chassis to overcome centrifugal tilt according to the lateral offset of the center of gravity; S4. Adjust the left hydraulic cylinder and the right hydraulic cylinder according to the adjustment strategy for leveling the chassis to overcome centrifugal tilt.

[0040] The beneficial effects of adopting the technical solution of the present invention are as follows: It solves the singularity of relying on manual intervention to reduce the vehicle speed and then decrease the turning radius of the vehicle body, and also avoids the disadvantages that the pre-judgment function of the navigation map cannot be applied or the application effect is reduced in complex terrains and other environments with poor navigation signal reception. It can not only effectively contain the influence of the centrifugal force on the vehicle body during the turning of the rice transplanter, but also improve the operation efficiency of the rice transplanter.

[0041] Further, before step S1, it includes: S11. Within a preset scanning period, obtain the real-time acquisition value of the voltage signal of the angle sensor and the handle neutral calibration value; S12. Calculate the voltage signal difference according to the real-time acquisition value and the handle neutral calibration value; S13. Determine whether the voltage signal difference is greater than a threshold value; S14. When the voltage signal difference is greater than the threshold value, execute step S1.

[0042] The beneficial effects of adopting the above further technical solution are as follows: The controller will, within each scanning period, collect the voltage signal difference △V = v1 - v2 (v1 is the real-time acquisition value, v2 is the handle neutral calibration value) of the angle sensor that detects the swing angle of the steering handle. If the voltage signal difference △V is greater than a certain threshold value, then it is determined that the vehicle is about to perform a turning action. When the driver operates the handle, slightly correcting the traveling direction of the vehicle body and the change in the traveling direction of the vehicle body during turning will be reflected in different electrical signals, so that the controller can identify and judge.

[0043] Further, in step S11, the Kalman filter and the first-order low-pass filter algorithm are used to eliminate the vibration noise in the voltage signal of the angle sensor.

[0044] The beneficial effects of adopting the above further technical solution are as follows: In order to increase the anti-interference ability and real-time performance of the sensor, the Kalman filter and the first-order low-pass filter algorithm are used to eliminate the vibration noise in the signal. The stability and reliability are improved.

[0045] As Figure 4 shown, further, in step S2, the lateral offset of the center of gravity is calculated by the following formula:

[0046] m * ω2 * r * h1 = m * g * sinθ * h2,

[0047] where m is the total vehicle mass, ω is the turning angular velocity, r is the turning radius, h1 is the height of the center of gravity of the whole machine, g is the proportionality coefficient, θ is the roll angle, and h2 is the lateral offset of the center of gravity.

[0048] The beneficial effects of adopting the above further technical solution are as follows: By calculating the lateral offset of the center of gravity through the formula, the accuracy is improved and the calculation method is simplified.

[0049] Furthermore, the adjustment strategy for the chassis leveling to overcome the centrifugal tilt includes: when turning left, adjusting the left hydraulic cylinder to shorten and the right hydraulic cylinder to extend; when turning right, adjusting the left hydraulic cylinder to extend and the right hydraulic cylinder to shorten.

[0050] The beneficial effects of adopting the above further technical solution are as follows: when the crawler rice harvester turns left, the strokes of the left and right hydraulic cylinders are adjusted according to the direction of the centrifugal force. When turning left, during this process, the VCU outputs a decreasing current to control the left proportional solenoid valve to adjust the hydraulic pressure, accurately controlling the shortening stroke of the left hydraulic cylinder, and outputs an increasing current to control the right proportional solenoid valve to adjust the hydraulic pressure, accurately controlling the extending stroke of the right hydraulic cylinder, so that the whole body tilts to the left, offsetting the influence of the centrifugal force and preventing the crawlers from slipping.

[0051] Furthermore, it also includes: judging whether the roll tilt angle is greater than a preset angle; when the roll tilt angle is greater than the preset angle, adjusting the left hydraulic cylinder and the right hydraulic cylinder to the lowest stroke state and reducing the driving speed.

[0052] The beneficial effects of adopting the above further technical solution are as follows: an emergency righting mechanism is designed. When the controller detects through the gyroscope that the tilt angle is greater than 10°, the vehicle body is overly tilted at this time. Or when a fault occurs in the system sensors, the left and right hydraulic cylinders are overall controlled to automatically return to the lowest stroke state, and the driving speed is reduced, protecting personal safety to the greatest extent. An additional safety redundancy mechanism is added to make the vehicle drive more safely when turning or leveling the chassis.

[0053] Furthermore, it also includes: obtaining the upper limit, lower limit and lower limit of the strokes of the left hydraulic cylinder and the right hydraulic cylinder; judging whether the actual strokes of the left hydraulic cylinder and the right hydraulic cylinder exceed the upper limit, lower limit and lower limit; when the actual strokes of the left hydraulic cylinder and the right hydraulic cylinder exceed the upper limit, lower limit and lower limit, stopping the adjustment work of the left hydraulic cylinder and the right hydraulic cylinder.

[0054] The beneficial effects of adopting the above further technical solution are as follows: a mechanical limit protection mechanism is designed. The upper limit and lower limit of the strokes of the left and right hydraulic cylinders are set in the control system to prevent the controller from continuously outputting the proportional valve control current, which may cause structural damage due to overshoot. An additional safety redundancy mechanism is added to make the vehicle drive more safely when turning or leveling the chassis.

[0055] Starting from the overall control system of the present invention itself, a systematic control method and mode are newly developed, solving the singularity of relying on manual intervention to reduce the vehicle speed and then reduce the turning radius of the machine body, and also avoiding the disadvantages that the navigation map prediction function cannot be applied or the application effect is reduced in complex terrains and other environments with poor navigation signal reception. It not only effectively curbs the influence of the centrifugal force on the vehicle body when the rice harvester is turning during operation, but also improves the operation efficiency of the rice harvester.

[0056] Control method (taking left turn as an example)

[0057] When the rice harvester needs to turn left during operation, the driver first operates the steering handle. For example, when the vehicle needs to turn left, the handle will move to position A at this time. Then, within each scanning cycle, the vehicle controller collects the voltage signal difference of the angle sensor that detects the swing angle of the steering handle: △V = v1 - v2 (v1 is the real-time acquisition value, and v2 is the calibration value of the handle in the middle position). If △V is greater than a certain threshold, it is determined that the vehicle is about to perform a turning action.

[0058] When the rice harvester turns left, an outward centrifugal force will be generated. Assume the total vehicle mass is m, the turning angular velocity is detected and output by the gyroscope in real time as ω, and the turning radius is r (this radius is calculated by GPS positioning assistance). To increase the anti-interference ability and real-time performance of the sensor, the Kalman filter and first-order low-pass filter algorithms are used to eliminate the vibration noise in the signal. The theoretical centrifugal force F = m * ω² * r (N) is calculated.

[0059] When the tracked rice harvester turns left, the stroke of the hydraulic cylinders on the left and right sides is adjusted according to the direction of the centrifugal force: The vehicle controller calculates the target balance moment F * h1 = m * g * sinθ * h2 in real time according to the steering signal and the body tilt angle. Substituting F into the above calculation gives m * ω² * r * h1 = m * g * sinθ * h2, where h1 is the height of the center of gravity of the whole machine, and h2 is the lateral offset of the center of gravity. During this process, the VCU outputs a decreasing current to control the left proportional solenoid valve to adjust the hydraulic pressure, accurately controlling the left hydraulic cylinder to shorten the stroke, and outputs an increasing current to control the right proportional solenoid valve to adjust the hydraulic pressure, accurately controlling the right hydraulic cylinder to extend the stroke, so that the body tilts to the left as a whole to offset the influence of the centrifugal force and prevent the crawler from slipping.

[0060] In addition, this control method also sets two safety redundancy mechanisms:

[0061] On the one hand, there is an emergency return-to-normal mechanism. When the controller detects through the gyroscope that the tilt angle is greater than 10°, the vehicle body is overly tilted at this time. Or when the sensors of the system fail, the hydraulic cylinders on the left and right sides are automatically restored to the lowest stroke state as a whole, and the driving speed is reduced to protect personal safety to the greatest extent.

[0062] On the one hand, there is a mechanical limit protection mechanism. The upper limit and lower limit of the stroke of the hydraulic cylinders on the left and right sides are set in the control system to prevent the controller from continuously outputting the proportional valve control current, resulting in structural damage due to overshoot.

[0063] 1. Add the detection of the steering signal of the rice harvester's steering handle to predict the turning action of the vehicle body in advance relative to relying on navigation and outputting the steering terminal valve.

[0064] 2. Most importantly, the control method is improved. Based on the function configuration of the chassis leveling of the machine body itself, with the help of the gyroscope in the configuration, inclination signals and speed signals are provided, and active adjustment is carried out by the self hydraulic suspension, which greatly improves the defect that the influence of centrifugal force is not eliminated in the leveling function configuration. It also solves the problem of frequent manual intervention to reduce speed or reduce the turning radius caused by the influence, and reduces the energy consumption of the harvester.

[0065] 3. Add a safety redundancy mechanism to make the vehicle drive more safely when turning or the chassis is leveling.

[0066] Through the above technical integration, the modern crawler rice harvester can complete the dynamic compensation of centrifugal force within 0.3 - 1 second, reduce the risk of rollover by more than 70%, while reducing the loss of field crops by 15% - 20%, and improving the operation quality and efficiency.

[0067] As Figures 2 to 7 shown, in addition, the present invention also provides a control device for the chassis leveling of a rice harvester to overcome centrifugal tilt, which is used to implement the control method for the chassis leveling of a rice harvester to overcome centrifugal tilt described in any one of the above. The control device for the chassis leveling of a rice harvester to overcome centrifugal tilt includes: a steering handle 1, an angle sensor 2 for detecting a turning signal, a gyroscope 3, a GPS device 4, a controller 5, a proportional solenoid valve 6 for the left cylinder, a proportional solenoid valve 7 for the right cylinder, a left hydraulic cylinder and a right hydraulic cylinder. The angle sensor 2 is connected to the steering handle 1, and the controller 5 is respectively connected to the angle sensor 2, the gyroscope 3, the GPS device 4, the proportional solenoid valve 6 for the left cylinder and the proportional solenoid valve 7 for the right cylinder. The proportional solenoid valve 6 for the left cylinder is connected to the left hydraulic cylinder, and the proportional solenoid valve 7 for the right cylinder is connected to the right hydraulic cylinder; the gyroscope is used to obtain the turning angular velocity and the roll tilt angle; the GPS device is used to obtain the turning radius; the controller is used to calculate the lateral offset of the center of gravity according to the vehicle mass, turning angular velocity, turning radius, height of the center of gravity of the whole machine and roll tilt angle; the controller is also used to determine the adjustment strategy for the chassis leveling to overcome centrifugal tilt according to the lateral offset of the center of gravity; the controller is also used to adjust the left hydraulic cylinder and the right hydraulic cylinder according to the adjustment strategy for the chassis leveling to overcome centrifugal tilt.

[0068] The beneficial effects of adopting the technical solution of the present invention are as follows: By adding the detection of the steering signal of the rice harvester's steering handle, it is possible to anticipate the turning action of the vehicle body in advance relative to relying on navigation and outputting the steering terminal valve. The main functions of the controller include collecting various signals, making corresponding judgments after comprehensive analysis, and monitoring the actions of the component controllers at the lower layer to ensure the normal and stable operation of the whole vehicle under good power performance, high economy and reliability. The electromagnetic proportional valve is responsible for receiving the controller signal from the VCU, accurately adjusting the flow rate and pressure of the hydraulic cylinder, and achieving millimeter-level stroke control. In line with the function configuration that the body itself has chassis leveling, with the help of the gyroscope in the configuration, inclination signals and speed signals are provided, and active adjustment is carried out by its own hydraulic suspension, which greatly improves the defect that the influence of centrifugal force is not eliminated in the leveling function configuration. It also solves the problem of frequent manual intervention to reduce speed or reduce the turning radius, reducing the energy consumption of the harvester. It solves the monotony of relying on manual intervention to reduce the vehicle speed and then reduce the turning radius of the vehicle body, and also avoids the disadvantages that the navigation map prediction function cannot be applied or the application effect is reduced in complex terrains and other environments with poor navigation signal reception. It not only effectively curbs the influence of the centrifugal force on the vehicle body when the rice harvester is turning during operation, but also improves the operation efficiency of the rice harvester.

[0069] Figure 2 In it, A is the angle range for turning left, B is the angle range for turning right, C is the angle range for correcting left, and D is the angle range for correcting right.

[0070] Figure 3 In it, the rotation arrows on the XYZ axes represent the rotation directions and trajectories of the XYZ axes, + and - represent the rotation directions, such as clockwise rotation and counterclockwise rotation. The X axis is parallel to the left-right direction of the vehicle body and is the pitch angle, and the Y axis is parallel to the front-rear direction of the vehicle body and is the roll angle. The gyroscope also has an acceleration measurement function, and the arrow on one side of the gyroscope represents the acceleration.

[0071] Figure 4 In it, the horizontal line is set horizontally. When the whole vehicle turns left, the direction of the centrifugal force is towards the right front. The included angle between the centrifugal force and the horizontal line is θ. mg is m*g, representing gravity, and the direction of gravity is vertically downward.

[0072] Figure 5 In it, the angle sensor is provided with a termination position and an initial position.

[0073] Figure 6 In it, the angle sensor is provided with a power supply, a signal, and a ground port. The power supply port can be red, the power supply port can be green, and the ground port can be black.

[0074] Figure 7Among them, the angle sensor connected to the steering handle, the gyroscope, the GPS wireless signal emitted by the GPS device, the left oil cylinder stroke position sensor, the right oil cylinder stroke position sensor, the left oil cylinder proportional solenoid valve, and the right oil cylinder proportional solenoid valve are all connected to the vehicle controller VCU.

[0075] The angle sensor connected to the steering handle is connected to the VCU through a hard wire signal, providing signals such as the vehicle entering a turning state.

[0076] The gyroscope is connected to the VCU through a CAN signal, providing signals such as the vehicle tilt angle and the vehicle turning angular velocity.

[0077] The GPS wireless signal is connected to the VCU through a wireless signal, providing signals such as the vehicle turning radius.

[0078] Both the left oil cylinder stroke position sensor and the right oil cylinder stroke position sensor are connected to the VCU through hard wire signals, providing signals for vehicle safety redundancy control, etc.

[0079] Both the left oil cylinder proportional solenoid valve and the right oil cylinder proportional solenoid valve are connected to the VCU through hard wire signals, providing the current signals required for vehicle left and right leveling.

[0080] As Figures 2 to 7 shown, further, the gyroscope 3 is a gyroscope that integrally detects the traveling angular velocity and the inclination angles of the fuselage in the three axial directions of the pitch angle and the yaw angle; the left hydraulic cylinder is connected with a left oil cylinder stroke position sensor 8, and the right hydraulic cylinder is connected with a right oil cylinder stroke position sensor 9.

[0081] The beneficial effect of adopting the above further technical solution is that when the harvester turns, the roll tilt angle θ based on the Y axis is calculated by the gyroscope, and the angle signal is transmitted to the controller through CAN communication for logical judgment of the horizontal attitude of the harvester.

[0082] Further, the steering handle 1 is located in the cab, and both the steering handle 1 and the angle sensor 2 are equipped with rotating rocker arms, and the rotating rocker arm of the steering handle 1 is connected to the rotating rocker arm of the angle sensor 2.

[0083] The beneficial effect of adopting the above further technical solution is that for the angle sensor that detects the turning signal, it is installed under the steering handle in the cab. As the handle swings left and right, the angle sensor linked to the handle outputs a changing electrical signal to the controller. The controller judges the degree to which the harvester is about to turn according to the change of the electrical signal. The angle sensor is equipped with a rotating rocker arm. By combining with the left and right rotating rocker arms under the steering handle, when the position of the steering handle changes left and right, it drives the rocker arm of this angle sensor to rotate within an angle range of 120° between the initial position and the end position, and then outputs a changing voltage detection signal.

[0084] The system of the present invention (the control device for leveling the chassis of a rice harvester to overcome centrifugal tilt) combines the steering angle of the harvester and the angular velocity of the vehicle body's movement, anticipates the change in centrifugal force within a short period in the future, and activates the leveling action in advance. Its design framework is divided into a hardware system and a control method:

[0085] Hardware system

[0086] The hardware system of the present invention includes an angle sensor for detecting the turning signal, a gyroscope integrated to detect the tilt angle, pitch angle, and yaw angle of the fuselage in three axial directions, a vehicle controller VCU, a proportional solenoid valve, etc.

[0087] ①Regarding the angle sensor for detecting the turning signal, it is installed under the steering handle in the cab. As the handle swings left and right, the angle sensor connected to the handle outputs a changing electrical signal to the vehicle controller. The controller determines the degree to which the harvester is about to turn based on the change in the electrical signal.

[0088] This angle sensor comes with a rotating rocker arm. By combining with the left and right rotating rocker arms under the steering handle, when the position of the steering handle changes left and right, it drives the rocker arm of this angle sensor to rotate within an angular range of 120° between the initial position and the end position, thereby outputting a changing voltage detection signal.

[0089] When the driver operates the handle, slightly correcting the vehicle body's traveling direction and the change in the vehicle body's turning direction to change the traveling direction will be reflected in different electrical signals, enabling the vehicle controller (controller) to identify and judge.

[0090] ②When the harvester turns, the roll tilt angle θ (tilt angle) based on the Y-axis is calculated by the gyroscope, and the angle signal is transmitted to the vehicle controller VCU (controller) via CAN communication for logically judging the horizontal attitude of the harvester. In addition, this gyroscope also integrates the function of measuring the traveling angular velocity of the harvester and sends this parameter to the vehicle controller VCU via CAN.

[0091] ③The main functions of the vehicle controller VCU include collecting various signals, making corresponding judgments after comprehensive analysis, monitoring the actions of each component controller at the lower layer, and ensuring the normal and stable operation of the entire vehicle under good power performance, high economy, and reliability conditions.

[0092] ④The electromagnetic proportional valve is responsible for receiving the controller signal from the VCU, precisely adjusting the flow rate and pressure of the hydraulic cylinder, and achieving millimeter-level stroke control.

[0093] ⑤The CAN bus network used for communication realizes real-time closed-loop control above 500 kbps through the J1939 protocol.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control method for leveling the chassis of a rice harvester to overcome centrifugal tilt, characterized in that, Including: S1. When the whole vehicle turns, obtain the whole vehicle mass, turning angular velocity, turning radius, the height of the whole machine's center of gravity, and the roll tilt angle; S2. Calculate the lateral offset of the center of gravity according to the whole vehicle mass, the turning angular velocity, the turning radius, the height of the whole machine's center of gravity, and the roll tilt angle; S3. Determine the adjustment strategy for the chassis leveling to overcome the centrifugal tilt according to the lateral offset of the center of gravity; S4. Adjust the left hydraulic cylinder and the right hydraulic cylinder according to the adjustment strategy for the chassis leveling to overcome the centrifugal tilt.

2. The control method for leveling the chassis of a rice harvester to overcome centrifugal tilt according to claim 1, characterized in that, Before step S1, it includes: S11. During a preset scanning period, obtain the real-time acquisition value of the voltage signal of the angle sensor and the handle neutral calibration value; S12. Calculate the voltage signal difference according to the real-time acquisition value and the handle neutral calibration value; S13. Judge whether the voltage signal difference is greater than the threshold; S14. When the voltage signal difference is greater than the threshold, execute step S1.

3. A control method for leveling the chassis of a rice harvester to overcome centrifugal tilt according to claim 2, characterized in that, In step S11, the Kalman filter and the first-order low-pass filter algorithm are used to eliminate the vibration noise in the voltage signal of the angle sensor.

4. A control method for leveling the chassis of a rice harvester to overcome centrifugal tilt according to claim 1, characterized in that, In step S2, the lateral offset of the center of gravity is calculated by the following formula: m*ω2*r*h1 = m*g*sinθ*h2, where m is the whole vehicle mass, ω is the turning angular velocity, r is the turning radius, h1 is the height of the whole machine's center of gravity, g is the proportionality coefficient, θ is the roll tilt angle, and h2 is the lateral offset of the center of gravity.

5. A control method for leveling the chassis of a rice harvester to overcome centrifugal tilt according to claim 1, characterized in that, The adjustment strategy for the chassis leveling to overcome the centrifugal tilt includes: When turning left, adjust the left hydraulic cylinder to shorten and adjust the right hydraulic cylinder to extend; When turning right, adjust the left hydraulic cylinder to extend and adjust the right hydraulic cylinder to shorten.

6. The control method for leveling the chassis of a rice harvester to overcome centrifugal tilt according to claim 1, characterized in that, It also includes: Judge whether the roll tilt angle is greater than the preset angle; When the roll tilt angle is greater than the preset angle, adjust the left hydraulic cylinder and the right hydraulic cylinder to the lowest stroke state and reduce the driving speed.

7. A control method for leveling the chassis of a rice harvester to overcome centrifugal tilt according to claim 1, characterized in that, It also includes: Obtain the upper and lower limits and the lower limit of the stroke of the left hydraulic cylinder and the right hydraulic cylinder; Judge whether the actual strokes of the left hydraulic cylinder and the right hydraulic cylinder exceed the upper and lower limits and the lower limit; When the actual strokes of the left hydraulic cylinder and the right hydraulic cylinder exceed the upper and lower limits and the lower limit, stop the adjustment work of the left hydraulic cylinder and the right hydraulic cylinder.

8. A control device for leveling the chassis of a rice harvester to overcome centrifugal tilt, characterized in that, For implementing the control method for the chassis leveling of a rice harvester to overcome the centrifugal tilt described in any one of the above claims 1 to 7, the control device for the chassis leveling of a rice harvester to overcome the centrifugal tilt includes: a steering handle, an angle sensor for detecting a turning signal, a gyroscope, a GPS device, a controller, a left cylinder proportional solenoid valve, a right cylinder proportional solenoid valve, a left hydraulic cylinder, and a right hydraulic cylinder. The angle sensor is connected to the steering handle, the controller is respectively connected to the angle sensor, the gyroscope, the GPS device, the left cylinder proportional solenoid valve, and the right cylinder proportional solenoid valve. The left cylinder proportional solenoid valve is connected to the left hydraulic cylinder, and the right cylinder proportional solenoid valve is connected to the right hydraulic cylinder; The gyroscope is used to obtain the turning angular velocity and the roll tilt angle; The GPS device is used to obtain the turning radius; The controller is used to calculate the lateral offset of the center of gravity according to the vehicle mass, turning angular velocity, turning radius, height of the center of gravity of the whole machine, and roll inclination angle; The controller is further used to determine the adjustment strategy for the chassis leveling to overcome the centrifugal inclination according to the lateral offset of the center of gravity; The controller is further used to adjust the left hydraulic cylinder and the right hydraulic cylinder according to the adjustment strategy for the chassis leveling to overcome the centrifugal inclination.

9. The leveling control device for overcoming centrifugal tilt of a rice harvester chassis according to claim 8, characterized in that, The gyroscope is a gyroscope that integrally detects the traveling angular velocity and the inclination angles of the fuselage in the three axial directions of the roll angle, pitch angle, and yaw angle; the left hydraulic cylinder is connected with a left cylinder stroke position sensor, and the right hydraulic cylinder is connected with a right cylinder stroke position sensor.

10. A control device for leveling the chassis of a rice harvester to overcome centrifugal tilt according to claim 8, characterized in that, The steering handle is located in the cab, and both the steering handle and the angle sensor are equipped with rotating rocker arms, and the rotating rocker arm of the steering handle is connected to the rotating rocker arm of the angle sensor.

Images