Method and device for controlling one-key return system of spraying barrel of silage maize harvester

Abstract

The invention provides a method and a device for controlling a one-key return system of a spraying barrel of a silage maize harvester. A silage maize harvester spray cylinder one-key return system control method comprises the steps that S1, when a return instruction is received, the pitching angle of a spray cylinder is detected; s2, judging whether the pitching angle of the spray cylinder is smaller than the pitching lower limit value of the spray cylinder or not; s3, when the pitching angle of the spray cylinder is not smaller than the pitching lower limit value of the spray cylinder, the minimum obstacle distance on the motion path of the spray cylinder is obtained; s4, judging whether the minimum obstacle distance is smaller than a preset safety distance or not; s5, when the minimum obstacle distance is not smaller than the preset safety distance, the position of a spraying barrel is obtained; s6, according to the left-right position adjusting strategy of the spraying barrel and the material guide plate withdrawing strategy, the spraying barrel is adjusted to the middle position, and the material guide plate is withdrawn; and S7, when the spraying barrel reaches the middle position, the material guide plate is retracted, and the minimum obstacle distance is not smaller than the preset safety distance, the spraying barrel descends to the pitching zero position.

Description

Technical Field

[0001] The present invention relates to the technical field of silage machine spray barrel control, and in particular to a silage machine spray barrel one-key return system control method and device. Background Art

[0002] As a core piece of silage processing equipment in modern agriculture, the precise positioning and rapid resetting of the silage machine's sprayer directly impacts operational efficiency and equipment reliability. Currently, the industry's silage machine sprayer resetting control primarily relies on a traditional manual resetting mode, requiring operators to manually adjust the sprayer's angle using a joystick. This time-consuming resetting process impacts continuous operation, and frequent manual intervention increases operator fatigue, particularly when operating in complex terrain. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a one-key return system control method and device for a silage machine spray barrel in view of the deficiencies in the prior art.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A one-button return system control method for a silage machine spray gun, comprising: S1, upon receiving a return instruction, detecting the pitch angle of the spray gun; S2, judging whether the pitch angle of the spray gun is less than the pitch lower limit of the spray gun; S3, when the pitch angle of the spray gun is not less than the pitch lower limit of the spray gun, obtaining the minimum obstacle distance on the spray gun movement path; S4, judging whether the minimum obstacle distance is less than the preset safety distance; S5, when the minimum obstacle distance is not less than the preset safety distance, obtaining the spray gun position; S6, according to the spray gun left and right position adjustment strategy and the guide plate retraction strategy, adjusting the spray gun to the middle position and retracting the guide plate; S7, when the spray gun reaches the middle position, the guide plate is retracted and the minimum obstacle distance is not less than the preset safety distance, lowering the spray gun to the pitch zero position.

[0005] The technical solution of this invention offers the following benefits: Integrated collision avoidance detection ensures the nozzle automatically returns safely and avoids collisions during operation. By integrating angle sensing with multimodal collision avoidance technology, the control logic is optimized to ensure dynamic obstacle avoidance during the nozzle return process. This reduces the risk of collisions between the nozzle and personnel, vehicles, or fixed structures. It adapts to complex operating conditions and reduces the need for manual intervention.

[0006] Furthermore, after step S2, it includes: when the pitch angle of the nozzle is less than the pitch lower limit of the nozzle, locking the operation and returning an error code; after step S4, it includes: when the minimum obstacle distance is less than the preset safety distance, triggering an alarm and pausing to return to the position; step S7 includes: when the minimum obstacle distance is less than the preset safety distance, the nozzle hovers and an alarm is sounded.

[0007] The beneficial effects of adopting this further technical solution include: by integrating angle sensing and multi-modal collision avoidance detection technology, the control logic is optimized to ensure dynamic obstacle avoidance during the nozzle return process. The automated detection and response mechanism improves operational safety and equipment life.

[0008] Furthermore, in step S6, the strategy for adjusting the left and right positions of the nozzles includes: obtaining the output voltages of the left and right position angle sensors, the lower limit value of the nozzle median voltage, and the upper limit value of the nozzle median voltage; when the output voltages of the left and right position angle sensors are less than the lower limit value of the nozzle median voltage, starting the right-rotating solenoid valve to rotate the nozzle right to the median position; when the output voltages of the left and right position angle sensors are greater than the upper limit value of the nozzle median voltage, starting the left-rotating solenoid valve to rotate the nozzle left to the median position; when the output voltages of the left and right position angle sensors are between the lower limit value of the nozzle median voltage and the upper limit value of the nozzle median voltage, both the right-rotating solenoid valve and the left-rotating solenoid valve are closed.

[0009] The beneficial effect of adopting the above-mentioned further technical solution is: the left and right positions of the nozzle can be quickly judged by the output voltage of the left and right position angle sensors, thereby improving the judgment efficiency and accuracy.

[0010] Furthermore, the step of obtaining the lower limit value of the nozzle median voltage and the upper limit value of the nozzle median voltage includes: controlling the nozzle to rotate to the left extreme position and the right extreme position respectively; obtaining the nozzle left extreme voltage and the nozzle right extreme voltage corresponding to the left extreme position and the right extreme position respectively collected by the proximity sensor; calculating the nozzle median voltage based on the nozzle left extreme voltage and the nozzle right extreme voltage; calibrating the lower limit value and the upper limit value of the nozzle median voltage based on the nozzle median voltage.

[0011] The beneficial effect of adopting the above further technical solution is: the lower limit value and the upper limit value of the nozzle median voltage are calibrated according to actual conditions, thereby improving accuracy and user experience.

[0012] Furthermore, in step S6, the guide plate retraction strategy includes: when the spray barrel rotates, controlling the guide plate retraction speed to match the spray barrel rotation speed.

[0013] The beneficial effects of adopting the above-mentioned further technical solution are: automatically coordinating and controlling the retraction speed of the guide plate and the rotation speed of the spray barrel, improving the return efficiency, and improving the coordination between the rotation of the spray barrel and the recovery of the guide plate.

[0014] Furthermore, when the minimum obstacle distance is less than the preset safety distance during the execution of any step from step S1 to step S7, the right-hand solenoid valve and the left-hand solenoid valve are closed, the hydraulic cylinder is locked, and an audible and visual alarm is triggered for emergency stop.

[0015] The beneficial effects of this advanced technical solution include real-time monitoring of the minimum obstacle distance throughout the return process and determining whether it falls below the safe distance. This allows for safe and automatic return of the nozzle, avoiding collision risks during operation. By integrating angle sensing with multimodal collision avoidance detection technology, the control logic is optimized to ensure dynamic obstacle avoidance during the nozzle return process. This automated detection and response mechanism improves operational safety and equipment lifespan.

[0016] Furthermore, the preset safety distance is dynamically adjusted according to the movement speed of the nozzle.

[0017] The beneficial effects of adopting the above further technical solution are: dynamically adjusting the preset safety distance according to the movement speed of the nozzle, improving the accuracy of the preset safety distance, and improving the coordination between the movement speed of the nozzle and the preset safety distance.

[0018] Furthermore, in step S3, the sampling frequency of obtaining the minimum obstacle distance on the movement path of the nozzle is matched with the maximum angular velocity of the nozzle.

[0019] The beneficial effect of adopting the above further technical solution is that the sensor sampling frequency matches the maximum angular velocity of the nozzle, ensuring that there is no blind spot in obstacle detection when the nozzle rotates.

[0020] In addition, the present invention also provides a one-key return system control device for a silage machine spray barrel, which is used to implement any one of the above-mentioned one-key return system control methods for a silage machine spray barrel. The one-key return system control device for a silage machine spray barrel includes: a left and right position angle sensor for detecting the left and right positions of the spray barrel, a pitch angle sensor for detecting the pitch angle of the spray barrel, a controller, a right-hand solenoid valve for controlling the right turn of the spray barrel, a left-hand solenoid valve for controlling the left turn of the spray barrel, a lifting solenoid valve for controlling the lifting of the spray barrel, a guide plate solenoid valve for controlling the retraction and extension of the guide plate, and multiple solenoid valves for monitoring the spray barrel. The distance sensor of the distance between the barrel and the obstacle, the left and right rotation actuator of the spray barrel, the lifting actuator of the spray barrel and the material guide plate actuator, the left and right position angle sensors, the pitch angle sensor, the right-rotating solenoid valve, the left-rotating solenoid valve, the lifting solenoid valve, the material guide plate solenoid valve, and multiple distance sensors are all connected to the controller; the right-rotating solenoid valve and the left-rotating solenoid valve are both connected to the left and right rotation actuator of the spray barrel, the lifting solenoid valve is connected to the spray barrel lifting actuator, and the material guide plate solenoid valve is connected to the material guide plate actuator.

[0021] The beneficial effects of the technical solution of the present invention are as follows: right-hand and left-hand solenoid valves control the direction of the nozzle's rotation. A pitch angle sensor monitors the dynamic changes in the nozzle's pitch angle in real time and provides feedback to the controller. An integrated anti-collision detection function ensures the nozzle's safe and automatic return to its original position and avoids collision risks during operation. By integrating angle sensing and multimodal anti-collision detection technology, the control logic is optimized to ensure dynamic obstacle avoidance during the nozzle's return process. This reduces the risk of collision between the nozzle and personnel, vehicles, or fixed structures. It adapts to complex working conditions and reduces the need for manual intervention.

[0022] Furthermore, the two ends of the pitch angle sensor are respectively connected to the nozzle and the nozzle bracket; the left and right position angle sensors are installed on the nozzle bracket, and a helical gear is rotatably installed on the nozzle bracket through a tensioning mechanism, and a slide groove is provided on one side of the helical gear, and the left and right position angle sensors are connected to a swing arm, and a rotating shaft is provided at the free end of the swing arm, and the rotating shaft is slidably inserted in the slide groove, and the helical gear is connected to the nozzle rotating main gear; the distance sensor is an ultrasonic sensor and / or an infrared sensor, and multiple distance sensors are respectively installed on both sides and below the nozzle; the controller is connected to an alarm device and an emergency stop signal output interface; the material guide plate is installed at the free end of the nozzle; a proximity sensor is installed on the nozzle bracket, and a plate body for calibrating the center position of the nozzle is installed on the nozzle, and the proximity sensor is located on the rotation trajectory of the plate body.

[0023] The beneficial effect of adopting the above-mentioned further technical solution is: a pitch angle sensor is installed on the side of the nozzle to monitor the dynamic changes of the nozzle pitch angle in real time and feed back to the controller. The left and right position angle sensors are connected to the nozzle rotation main gear through a helical gear. When the nozzle rotation main gear drives the helical gear to rotate, the slide groove of the helical gear and the rotating shaft of the swing arm form a sliding fit, and the rotational displacement of the nozzle is converted into the swing angle of the swing arm rotating shaft through the linear relationship between the rotation angle of the helical gear and the center distance of the slide groove. The swing angle change of the rotating shaft of the swing arm triggers the internal voltage signal output of the left and right position angle sensors, thereby realizing accurate judgment of the left and right positions of the nozzle. The multi-directional distance sensor adopts an ultrasonic or infrared sensor array, which is installed on both sides and below the nozzle to monitor the distance to obstacles in real time.

[0024] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is one of the schematic flow charts of the one-key return system control method for the silage machine spray barrel provided by the embodiment of the present invention.

[0026] Figure 2This is the second schematic flow chart of the control method of the one-key return system of the silage machine spray barrel provided by the embodiment of the present invention.

[0027] Figure 3 This is one of the structural schematic diagrams of the one-key return system control device of the silage machine spray barrel provided by an embodiment of the present invention.

[0028] Figure 4 This is the second structural schematic diagram of the one-key return system control device for the silage machine spray barrel provided by an embodiment of the present invention.

[0029] Figure 5 This is the third structural schematic diagram of the one-key return system control device for the silage machine spray barrel provided by an embodiment of the present invention.

[0030] Figure 6 This is the fourth structural schematic diagram of the one-key return system control device for the silage machine spray barrel provided by an embodiment of the present invention.

[0031] Explanation of the accompanying figures: 1. Spray barrel; 2. Left and right position angle sensor; 3. Pitch angle sensor; 4. Material guide plate; 5. Helical gear; 6. Tensioning mechanism; 7. Slide; 8. Swing arm; 9. Rotating shaft; 10. Spray barrel rotation main gear; 11. Proximity sensor. DETAILED DESCRIPTION

[0032] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0033] like Figure 1 As shown, an embodiment of the present invention provides a one-key return system control method for a silage machine spray gun, including: S1, when receiving a return instruction, detecting the pitch angle of the spray gun; S2, judging whether the pitch angle of the spray gun is less than the pitch lower limit of the spray gun; S3, when the pitch angle of the spray gun is not less than the pitch lower limit of the spray gun, obtaining the minimum obstacle distance on the spray gun movement path; S4, judging whether the minimum obstacle distance is less than the preset safety distance; S5, when the minimum obstacle distance is not less than the preset safety distance, obtaining the spray gun position; S6, according to the spray gun left and right position adjustment strategy and the guide plate retraction strategy, adjusting the spray gun to the middle position and retracting the guide plate; S7, when the spray gun reaches the middle position, the guide plate is retracted and the minimum obstacle distance is not less than the preset safety distance, lowering the spray gun to the pitch zero position.

[0034] The technical solution of this invention offers the following benefits: Integrated collision avoidance detection ensures the nozzle automatically returns safely and avoids collisions during operation. By integrating angle sensing with multimodal collision avoidance technology, the control logic is optimized to ensure dynamic obstacle avoidance during the nozzle return process. This reduces the risk of collisions between the nozzle and personnel, vehicles, or fixed structures. It adapts to complex operating conditions and reduces the need for manual intervention.

[0035] Among them, the left and right position angle sensors can detect whether there is an obstacle in front of the nozzle rotation.

[0036] like Figure 2 As shown, the control method process of the one-key return system of the silage machine spray barrel can be as follows: start, 1. Press the one-key return switch of the spray barrel; (the display screen calibrates the left limit, right limit, upper limit, and lower limit positions of the spray barrel, and the retraction and extension limit positions of the guide plate); wherein, the one-key return switch of the spray barrel can be triggered through the display screen, or the one-key return operation of the spray barrel can be directly triggered through the display screen; the information such as the left limit, right limit, upper limit, and lower limit positions of the spray barrel, the retraction and extension limit positions of the guide plate, etc. calibrated on the display screen can be transmitted to the control system; 2. Determine whether the pitch angle of the nozzle is lower than the lower limit of the return height; 3. If not, determine the horizontal position of the nozzle; 4. When the nozzle is in the left position, the controller sends a right-rotation signal to the right-rotation solenoid valve; 5. The right-rotation solenoid valve of the nozzle works; 6. Determine whether the middle target value is reached; 7. If so, the right-rotation solenoid valve of the nozzle stops working; 8. The nozzle is in the horizontal middle position; 9. The controller sends a descending signal to the descending solenoid valve; 10. The descending solenoid valve of the nozzle works; 11. Determine whether the pitch zero position is reached; 12. If so, end.

[0037] The process after step 3 includes: when the nozzle is in the middle position, delaying for 0.5 seconds; and executing step 8.

[0038] The steps after step 3 include: when the nozzle is in the right position, 31. the controller sends a nozzle left rotation signal to the left rotation solenoid valve; 32. the nozzle left rotation solenoid valve works; 33. judging whether the middle target value is reached; 34. if so, the nozzle left rotation solenoid valve stops working; and executing step 8.

[0039] Step 33 includes: if not, executing step 31.

[0040] Step 6 includes: if not, executing step 4.

[0041] Step 11 includes: if not, executing step 9.

[0042] Step 2 includes: if yes, not executing the one-key return action of the spray gun.

[0043] After step 2, it includes: 21. If not, determine whether the material guide plate is in the retracted position; 22. If not, the controller sends a material guide plate retraction signal to the material guide plate retraction solenoid valve; 23. The material guide plate retraction solenoid valve works; 24. Determine whether the retraction calibration value is reached; 25. If so, execute step 9. 26. If not, execute step 22.

[0044] Furthermore, after step S2, it includes: when the pitch angle of the nozzle is less than the pitch lower limit of the nozzle, locking the operation and returning an error code; after step S4, it includes: when the minimum obstacle distance is less than the preset safety distance, triggering an alarm and pausing to return to the position; step S7 includes: when the minimum obstacle distance is less than the preset safety distance, the nozzle hovers and an alarm is sounded.

[0045] The beneficial effects of adopting this further technical solution include: by integrating angle sensing and multi-modal collision avoidance detection technology, the control logic is optimized to ensure dynamic obstacle avoidance during the nozzle return process. The automated detection and response mechanism improves operational safety and equipment life.

[0046] Furthermore, in step S6, the strategy for adjusting the left and right positions of the nozzles includes: obtaining the output voltages of the left and right position angle sensors, the lower limit value of the nozzle median voltage, and the upper limit value of the nozzle median voltage; when the output voltages of the left and right position angle sensors are less than the lower limit value of the nozzle median voltage, starting the right-rotating solenoid valve to rotate the nozzle right to the median position; when the output voltages of the left and right position angle sensors are greater than the upper limit value of the nozzle median voltage, starting the left-rotating solenoid valve to rotate the nozzle left to the median position; when the output voltages of the left and right position angle sensors are between the lower limit value of the nozzle median voltage and the upper limit value of the nozzle median voltage, both the right-rotating solenoid valve and the left-rotating solenoid valve are closed.

[0047] The beneficial effect of adopting the above-mentioned further technical solution is: the left and right positions of the nozzle can be quickly judged by the output voltage of the left and right position angle sensors, thereby improving the judgment efficiency and accuracy.

[0048] Furthermore, the step of obtaining the lower limit value of the nozzle median voltage and the upper limit value of the nozzle median voltage includes: controlling the nozzle to rotate to the left extreme position and the right extreme position respectively; obtaining the nozzle left extreme voltage and the nozzle right extreme voltage corresponding to the left extreme position and the right extreme position respectively collected by the proximity sensor; calculating the nozzle median voltage based on the nozzle left extreme voltage and the nozzle right extreme voltage; calibrating the lower limit value and the upper limit value of the nozzle median voltage based on the nozzle median voltage.

[0049] The beneficial effect of adopting the above further technical solution is: the lower limit value and the upper limit value of the nozzle median voltage are calibrated according to actual conditions, thereby improving accuracy and user experience.

[0050] The principle of calibrating the lower limit value and the upper limit value of the nozzle median voltage can be as follows: when the nozzle left limit voltage and the nozzle right limit voltage are 0.5V and 4.5V respectively, calculate the average value of the nozzle left limit voltage and the nozzle right limit voltage to obtain the nozzle median voltage of 2.5V. Subtract and add the allowable error value from the nozzle median voltage of 2.5V to obtain the lower limit value and the upper limit value of the nozzle median voltage. The purpose of this is to prevent the nozzle from being deformed or twisted during actual use. If the preset lower limit value and upper limit value of the nozzle median voltage before deformation are used, there will be a large error, resulting in inaccurate control. Therefore, by periodically calibrating the lower limit value and the upper limit value of the nozzle median voltage, accuracy is improved and the above situation can be avoided.

[0051] Furthermore, in step S6, the guide plate retraction strategy includes: when the spray barrel rotates, controlling the guide plate retraction speed to match the spray barrel rotation speed.

[0052] The beneficial effects of adopting the above-mentioned further technical solution are: automatically coordinating and controlling the retraction speed of the guide plate and the rotation speed of the spray barrel, improving the return efficiency, and improving the coordination between the rotation of the spray barrel and the recovery of the guide plate.

[0053] Furthermore, when the minimum obstacle distance is less than the preset safety distance during the execution of any step from step S1 to step S7, the right-hand solenoid valve and the left-hand solenoid valve are closed, the hydraulic cylinder is locked, and an audible and visual alarm is triggered for emergency stop.

[0054] The beneficial effects of this advanced technical solution include real-time monitoring of the minimum obstacle distance throughout the return process and determining whether it falls below the safe distance. This allows for safe and automatic return of the nozzle, avoiding collision risks during operation. By integrating angle sensing with multimodal collision avoidance detection technology, the control logic is optimized to ensure dynamic obstacle avoidance during the nozzle return process. This automated detection and response mechanism improves operational safety and equipment lifespan.

[0055] The relevant formula for estimating the nozzle descent time is:

[0056]

[0057] The relationship between the nozzle drop height H and the hydraulic cylinder flow rate Q. A is the cross-sectional area of the hydraulic cylinder.

[0058] Combined with real-time obstacle detection, if the nozzle descent time t down If an obstacle is detected within the range, the action is terminated early.

[0059] Furthermore, the preset safety distance is dynamically adjusted according to the movement speed of the nozzle.

[0060] The beneficial effects of adopting the above further technical solution are: dynamically adjusting the preset safety distance according to the movement speed of the nozzle, improving the accuracy of the preset safety distance, and improving the coordination between the movement speed of the nozzle and the preset safety distance.

[0061] The calculation formula for the adaptive safety distance is as follows:

[0062] d safe =d base +α·υ

[0063] Dynamically adjust the safety threshold (preset safety distance) d according to the nozzle movement speed v safe .

[0064] α is the speed compensation coefficient, unit: s.

[0065] d base : Basic safety distance (static threshold, such as 0.5m).

[0066] α·v: Compensates for the braking delay distance during high-speed movement.

[0067] Furthermore, in step S3, the sampling frequency of obtaining the minimum obstacle distance on the movement path of the nozzle is matched with the maximum angular velocity of the nozzle.

[0068] The beneficial effect of adopting the above further technical solution is that the sensor sampling frequency matches the maximum angular velocity of the nozzle, ensuring that there is no blind spot in obstacle detection when the nozzle rotates.

[0069] Among them, the relevant calculation formula for anti-collision sensitivity correction is:

[0070]

[0071] Sensor sampling frequency f and nozzle maximum angular velocity ω max Match. R is the radius of the nozzle.

[0072] Δd min is the minimum detection resolution.

[0073] Ensure that there are no blind spots in obstacle detection when the nozzle rotates.

[0074] The specific control process is as follows:

[0075] 1. Start condition detection

[0076] Press the return button → check the nozzle pitch angle θ.

[0077] Conditional judgment:

[0078] If θ<θ min (Lower limit) → Lock the operation and return an error code.

[0079] If θ≥θ min (Lower limit) → Enter the anti-collision scanning stage.

[0080] 2. Anti-collision scanning

[0081] Activate the multi-directional distance sensor to obtain the minimum obstacle distance d on the spray path obs .

[0082] Safety threshold determination:

[0083] If d obs <d safe (Preset safety distance) → trigger alarm, pause and return to the starting position.

[0084] If d obs ≥d safe (Preset safety distance) → Enter the position determination stage.

[0085] 3. Determine the nozzle position

[0086] Angle sensor (left and right position angle sensor) output voltage V angle →Switch to left / right position of the nozzle (left / center / right).

[0087] Position and solenoid valve control logic:

[0088] Left (V angle <V mid -ΔV): Start the right-hand solenoid valve (turn right to the middle position).

[0089] Right (V angle >V mid +ΔV): Start the left-hand solenoid valve (turn left to the middle position).

[0090] Median (V mid -ΔV≤V angle ≤V mid +ΔV): After a delay of 0.5 seconds, the guide plate is retracted.

[0091] V angle : Angle sensor (left and right position angle sensor) output voltage; V mid : Voltage value of the angle sensor (left and right position angle sensor) when in neutral position.

[0092] Among them, the formula for determining the left and right position of the nozzle - the voltage value of the angle sensor V angle The relevant calculation formula for the linear relationship with the number of nozzle teeth n is:

[0093]

[0094] (S is the voltage-to-tooth number conversion coefficient, unit: V / tooth).

[0095] When n <n left →The spray nozzle is on the left.

[0096] When n>n right →The spray nozzle is on the right.

[0097] Other cases → The nozzle is in the middle position.

[0098] V angle : Angle sensor (left and right position angle sensor) output voltage. V offset : Angle sensor (left and right position angle sensor) correction value.

[0099] 4. The guide plate is retracted synchronously

[0100] When the nozzle rotates, the guide plate retracts at a speed v guide and nozzle speed ω sprayer match.

[0101] v guide =k·ω sprayer (k is the transmission ratio constant).

[0102] 5. Spray gun descent control

[0103] After the spray barrel reaches the middle position and the guide plate is fully retracted.

[0104] Scan the area below again for obstacles at distance d down .

[0105] Conditional judgment:

[0106] If d down ≥d safe →Start the hydraulic cylinder, the nozzle moves at a speed of v down decline.

[0107] If d down <d safe →Hover and alarm.

[0108] 6. Dynamic anti-collision interruption

[0109] Real-time monitoring during movement: If d is detected at any time obs <d safe ,but:

[0110] Emergency stop: 1. Close the solenoid valve (cut off the rotation power).

[0111] 2. Lock the hydraulic cylinder (stop descending).

[0112] 3. Trigger the sound and light alarm for emergency stop.

[0113] 1. Significantly reduce the risk of collision between the nozzle and people, vehicles or fixed structures.

[0114] 2. Improve operational safety and equipment life through automated detection and response mechanisms.

[0115] 3. Adapt to complex working conditions (such as night operations and sites with multiple obstacles) and reduce the need for manual intervention.

[0116] like Figures 3 to 6 As shown, in addition, the present invention also provides a one-key return system control device for a silage machine spray barrel, which is used to implement any one of the above-mentioned one-key return system control methods for a silage machine spray barrel, and the one-key return system control device for a silage machine spray barrel includes: a left and right position angle sensor 2 for detecting the left and right positions of the spray barrel 1, a pitch angle sensor 3 for detecting the pitch angle of the spray barrel 1, a controller, a right-hand solenoid valve for controlling the right turn of the spray barrel 1, a left-hand solenoid valve for controlling the left turn of the spray barrel 1, a lifting solenoid valve for controlling the lifting of the spray barrel 1, a guide plate solenoid valve for controlling the retraction and extension of the guide plate 4, and multiple controllers for controlling the lifting and lowering of the spray barrel 1. The distance sensor for monitoring the distance between the nozzle 1 and the obstacle, the nozzle left and right rotation actuator, the nozzle lifting actuator and the guide plate actuator, the left and right position angle sensor 2, the pitch angle sensor 3, the right-rotating solenoid valve, the left-rotating solenoid valve, the lifting solenoid valve, the guide plate solenoid valve, and multiple distance sensors are all connected to the controller; the right-rotating solenoid valve and the left-rotating solenoid valve are both connected to the nozzle left and right rotation actuator, the lifting solenoid valve is connected to the nozzle lifting actuator, and the guide plate solenoid valve is connected to the guide plate actuator.

[0117] The beneficial effects of the technical solution of the present invention are as follows: right-hand and left-hand solenoid valves control the direction of the nozzle's rotation. A pitch angle sensor monitors the dynamic changes in the nozzle's pitch angle in real time and provides feedback to the controller. An integrated anti-collision detection function ensures the nozzle's safe and automatic return to its original position and avoids collision risks during operation. By integrating angle sensing and multimodal anti-collision detection technology, the control logic is optimized to ensure dynamic obstacle avoidance during the nozzle's return process. This reduces the risk of collision between the nozzle and personnel, vehicles, or fixed structures. It adapts to complex working conditions and reduces the need for manual intervention.

[0118] like Figures 3 to 6As shown, further, the two ends of the pitch angle sensor 3 are respectively connected to the nozzle 1 and the nozzle bracket; the left and right position angle sensors 2 are installed on the nozzle bracket, and the nozzle bracket is rotatably installed with a helical gear 5 through a tensioning mechanism 6, and a slide groove 7 is provided on one side of the helical gear 5, and the left and right position angle sensors 2 are connected with a swing arm 8, and the free end of the swing arm 8 is provided with a rotating shaft 9, and the rotating shaft 9 is slidably inserted in the slide groove 7, and the helical gear 5 is transmission-connected with the nozzle rotating main gear 10; the distance sensor is an ultrasonic sensor and / or an infrared sensor, and a plurality of the distance sensors are respectively installed on both sides and below the nozzle 1; the controller is connected with an alarm device and an emergency stop signal output interface; the guide plate 4 is installed at the free end of the nozzle 1; a proximity sensor 11 is installed on the nozzle bracket, and a plate body for calibrating the nozzle center position is installed on the nozzle 1, and the proximity sensor 11 is located on the rotation trajectory of the plate body.

[0119] The beneficial effect of adopting the above-mentioned further technical solution is: a pitch angle sensor is installed on the side of the nozzle to monitor the dynamic changes of the nozzle pitch angle in real time and feed back to the controller. The left and right position angle sensors are connected to the nozzle rotation main gear through a helical gear. When the nozzle rotation main gear drives the helical gear to rotate, the slide groove of the helical gear and the rotating shaft of the swing arm form a sliding fit, and the rotational displacement of the nozzle is converted into the swing angle of the swing arm rotating shaft through the linear relationship between the rotation angle of the helical gear and the center distance of the slide groove. The swing angle change of the rotating shaft of the swing arm triggers the internal voltage signal output of the left and right position angle sensors, thereby realizing accurate judgment of the left and right positions of the nozzle. The multi-directional distance sensor adopts an ultrasonic or infrared sensor array, which is installed on both sides and below the nozzle to monitor the distance to obstacles in real time.

[0120] By integrating angle sensing with multimodal anti-collision detection technology, this invention optimizes control logic to ensure dynamic obstacle avoidance during the return process of the sprayer. This invention relates to the field of agricultural machinery, specifically a one-touch return system (control device for a one-touch return system) for a silage machine sprayer. This system integrates anti-collision detection to achieve safe and automatic return of the sprayer and avoid collision risks during operation.

[0121] System (silage machine spray barrel one-button return system control device) composition:

[0122] 1. Angle sensor

[0123] Detect the pitch angle and left and right position of the nozzle, and calculate the number of rotating teeth through the change of voltage value.

[0124] Pitch angle monitoring: A pitch angle sensor is installed on the side of the nozzle to monitor the dynamic changes of the nozzle pitch angle in real time and feed back to the signal control system (controller).

[0125] Left-Right Position Detection Device: 1) Mechanical Linkage: The left-right position sensor (left-right position angle sensor) is connected to the main nozzle rotation gear via a helical gear. 2) Displacement-Angle Conversion Mechanism: When the nozzle rotation main gear drives the helical gear, the radial groove (slideway) of the helical gear forms a sliding fit with the sensor's swing arm shaft. Through the linear relationship between the helical gear's rotation angle and the slideway's center distance, the nozzle's rotational displacement is converted to the swing angle of the swing arm shaft. 3) Signal Output: Changes in the swing arm shaft's swing angle trigger the sensor (left-right position angle sensor) to output a voltage signal internally, enabling accurate determination of the nozzle's left-right position.

[0126] The pitch angle sensor is mounted on the side of the nozzle to detect the nozzle's pitch angle. The left-right position sensor (left-right position angle sensor) is connected to the nozzle's main rotating gear via a helical gear. As the helical gear rotates with the main gear (the nozzle's main rotating gear), the center distance changes accordingly. This change in angle causes the angle sensor's swing arm's axis (rotating shaft) to move within the helical gear's slideway (slot), causing the angle to change accordingly. This change in angle is used to determine the nozzle's position.

[0127] 2. Solenoid valve group

[0128] The left / right solenoid valve controls the direction of rotation of the spray barrel.

[0129] 3. Anti-collision detection module

[0130] Multi-directional distance sensor: uses ultrasonic or infrared sensor arrays, installed on both sides and below the nozzle, to monitor the distance between the nozzle and obstacles in real time.

[0131] Collision warning unit: includes sound and light alarm device and emergency stop signal output interface.

[0132] 4. Control unit (controller)

[0133] Integrates angle signal processing, anti-collision logic judgment and solenoid valve drive functions.

[0134] 5. Guide plate actuator

[0135] The guide plate retracting and lowering device operates simultaneously with the movement of the spray barrel.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, 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 embodiments of the present invention.

Claims

1. A control method for a one-key return system of a silage machine spray barrel, characterized in that: include: S1. When receiving the return command, detect the pitch angle of the nozzle; S2, determining whether the pitch angle of the nozzle is less than the lower limit of the nozzle pitch; S3. When the pitch angle of the nozzle is not less than the lower limit of the nozzle pitch, obtain the minimum obstacle distance on the nozzle movement path; S4. Determine whether the minimum obstacle distance is less than the preset safety distance; S5. When the minimum obstacle distance is not less than the preset safety distance, obtain the nozzle position; S6. According to the strategy for adjusting the left and right positions of the nozzle and the strategy for retracting the guide plate, the nozzle is adjusted to the middle position and the guide plate is retracted; S7. When the nozzle reaches the middle position, the guide plate is retracted and the minimum obstacle distance is not less than the preset safety distance, lower the nozzle to the zero pitch position.

2. A method for controlling a one-key return system of a silage machine spray barrel according to claim 1, characterized in that: After step S2, it includes: when the pitch angle of the nozzle is less than the pitch lower limit of the nozzle, locking the operation and returning an error code; after step S4, it includes: when the minimum obstacle distance is less than the preset safety distance, triggering an alarm, pausing and returning to the position; step S7 includes: when the minimum obstacle distance is less than the preset safety distance, the nozzle hovers and an alarm is sounded.

3. A method for controlling a one-key return system of a silage machine spray barrel according to claim 1, characterized in that: In step S6, the strategy for adjusting the left and right positions of the nozzle includes: Obtain the output voltage of the left and right position angle sensors, the lower limit value of the nozzle median voltage, and the upper limit value of the nozzle median voltage; When the output voltage of the left and right position angle sensors is less than the lower limit of the nozzle neutral voltage, the right rotation solenoid valve is activated to make the nozzle turn right to the neutral position; When the output voltage of the left and right position angle sensors is greater than the upper limit of the nozzle neutral voltage, the left rotation solenoid valve is activated, causing the nozzle to turn left to the neutral position; When the output voltage of the left and right position angle sensors is between the lower limit value of the nozzle center voltage and the upper limit value of the nozzle center voltage, both the right-rotating solenoid valve and the left-rotating solenoid valve are closed.

4. A method for controlling a one-key return system of a silage machine spray barrel according to claim 3, characterized in that: The steps of obtaining the lower limit value of the nozzle median voltage and the upper limit value of the nozzle median voltage include: controlling the nozzle to rotate to the left limit position and the right limit position respectively: Obtaining the nozzle left limit voltage and the nozzle right limit voltage corresponding to the left limit position and the right limit position respectively collected by the proximity sensor; Calculating the nozzle mid-position voltage according to the nozzle left limit voltage and the nozzle right limit voltage; According to the nozzle median voltage, the nozzle median voltage lower limit value and the nozzle median voltage upper limit value are calibrated.

5. The one-key return system control method for a silage machine spray barrel according to claim 1, characterized in that: In step S6, the guide plate retraction strategy includes: when the spray barrel rotates, controlling the guide plate retraction speed to match the spray barrel rotation speed.

6. A method for controlling a one-key return system of a silage machine spray barrel according to claim 1, characterized in that: When the minimum obstacle distance is less than the preset safety distance during the execution of any step from step S1 to step S7, the right-hand solenoid valve and the left-hand solenoid valve are closed, the hydraulic cylinder is locked, and an audible and visual alarm is triggered for emergency stop.

7. The one-key return system control method for a silage machine spray barrel according to claim 1, characterized in that: The preset safety distance is dynamically adjusted according to the movement speed of the spray barrel.

8. The one-key return system control method for a silage machine spray barrel according to claim 1, characterized in that: In step S3, the sampling frequency of obtaining the minimum obstacle distance on the movement path of the nozzle is matched with the maximum angular velocity of the nozzle.

9. A one-button return system control device for a silage machine spray barrel, characterized in that: A method for controlling a one-key return system for a silage machine spray barrel as described in any one of claims 1 to 8 above is provided, and the control device for the one-key return system for a silage machine spray barrel comprises: a left-right position angle sensor for detecting the left-right position of the spray barrel, a pitch angle sensor for detecting the pitch angle of the spray barrel, a controller, a clockwise solenoid valve for controlling the right rotation of the spray barrel, a left-hand solenoid valve for controlling the left rotation of the spray barrel, a lifting solenoid valve for controlling the lifting of the spray barrel, a guide plate solenoid valve for controlling the retraction and extension of the guide plate, a plurality of distance sensors for monitoring the distance between the spray barrel and an obstacle, a spray barrel left-right rotation actuator, a spray barrel lifting actuator, and a guide plate actuator, the left-right position angle sensor, the pitch angle sensor, the clockwise solenoid valve, the left-hand solenoid valve, the lifting solenoid valve, the guide plate solenoid valve, and the plurality of distance sensors are all connected to the controller; the clockwise solenoid valve and the left-hand solenoid valve are both connected to the spray barrel left-right rotation actuator, the lifting solenoid valve is connected to the spray barrel lifting actuator, and the guide plate solenoid valve is connected to the guide plate actuator.

10. A one-button return system control device for a silage machine spray barrel according to claim 9, characterized in that: The two ends of the pitch angle sensor are respectively connected to the nozzle and the nozzle bracket; the left and right position angle sensors are installed on the nozzle bracket, and a helical gear is rotatably installed on the nozzle bracket through a tensioning mechanism, and a slide groove is provided on one side of the helical gear. The left and right position angle sensors are connected to a swing arm, and a rotating shaft is provided at the free end of the swing arm. The rotating shaft is slidably inserted in the slide groove, and the helical gear is connected to the nozzle rotating main gear; the distance sensor is an ultrasonic sensor and / or an infrared sensor, and a plurality of the distance sensors are respectively installed on both sides and below the nozzle; the controller is connected to an alarm device and an emergency stop signal output interface; The material guide plate is installed at the free end of the spray barrel; a proximity sensor is installed on the spray barrel bracket, and a plate body for calibrating the center position of the spray barrel is installed on the spray barrel, and the proximity sensor is located on the rotation track of the plate body.

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