Tractor accessory control system and control method

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a tractor accessory control system and method, and the control system comprises an accessory execution mechanism, a control panel, an operation handle, a controller, a processing unit and a one-key start button. The control method comprises the following steps that the accessory is lifted to a lifting locking position; starting calibration; the processing unit establishes accessory operation data according to the operation type and the operation sequence of the accessory state and / or posture operation signal, and transmits the accessory operation data to the storage unit for storage; calibration is completed; and when the accessory is aligned with the operation land parcel, the processing unit receives the one-key operation starting signal, retrieves the accessory operation data from the storage unit, and controls the accessory execution mechanism to adjust the accessory to the corresponding state and / or posture according to the accessory operation data so as to start operation. According to the invention, one-key operation of the tractor accessory is realized, the complicated operation process is avoided, the field edge operation difficulty is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a tractor attachment control system and control method. Background Technology

[0002] With the technological advancements in agricultural machinery, the structure and function of tractor attachments have been significantly expanded, and attachment control technology is developing towards automation, intelligence, and convenience. Managing tractor attachments at the field edge is the most complex and demanding stage of tractor operation, requiring the highest level of operator skill. Typically, after the tractor reaches the field edge, the operator needs to perform the following operations: 1. Lift the attachment; 2. Verify attachment positioning; 3. Stop lifting the attachment; 4. Sequentially execute the outputs of the relevant multi-way valves; 5. Stop the multi-way valve outputs; 6. Turn the tractor around and realign it with the work area; 7. Lower the plow; 8. Verify the plow has reached the appropriate depth; 9. Stop lowering the plow; 10. Sequentially execute the outputs of the relevant multi-way valves; 11. Stop the multi-way valve outputs; 12. Start the tractor to operate the attachments.

[0003] The above series of operations requires a high level of skill from the tractor driver. In addition, since the attachment operation involves moving back and forth across the field, the attachment must be operated again each time the field ends. The operation is complicated, the probability of error is high, and it is easy to waste time and affect the efficiency of the operation. Summary of the Invention

[0004] The purpose of this invention is to provide a tractor attachment control system and control method to address the above problems. This system can solve the complex operation process in routine work by simply pressing a button, thereby reducing the difficulty of field management.

[0005] To achieve the above objectives, the tractor attachment control system of the present invention includes: The attachment actuator includes multiple hydraulic actuators for adjusting the attachment's state and / or attitude, the hydraulic actuators being connected to an oil pump via a multi-way valve; The control panel includes an operating handle with two positions: an up position and a neutral position. The operating handle is equipped with multiple sets of multi-way valve control buttons for controlling the multi-way valve. The controller includes a processing unit and a storage unit; the processing unit receives operation signals from the control panel, controls the attachment actuator, adjusts the attachment to the corresponding state and / or posture, and stores the operation data in the storage unit; The one-button start button is used to send a one-button start operation signal to the processing unit. After receiving the one-button start operation signal, the processing unit retrieves the operation data from the storage unit and automatically controls the attachment actuator based on the operation data.

[0006] The aforementioned control system utilizes two status positions on the operating handle, along with a multi-way valve control button and a one-button start button. A processing unit controls the actuators of the hydraulic system to adjust the attachment's status and / or attitude. To avoid cumbersome repetitive operations, the attachment is initially calibrated according to the type of work area. The processing unit records and stores a series of operations during this initial calibration as attachment operation data. Upon reaching the work area, simply pressing the one-button start button automatically retrieves the attachment operation data. Based on this data, the processing unit automatically adjusts the attachment's status and / or attitude to correspond to the work area type, allowing work to begin directly until the entire work area is completed. Therefore, this system enables one-button operation of tractor attachments, avoiding complex procedures, reducing the difficulty of work area operations, and improving work efficiency.

[0007] Common tractor attachments such as plows, seeders, and plant protection machines typically use hydraulic components as their core actuators. Therefore, this control system primarily targets the hydraulic system. The hydraulic actuator is a hydraulic cylinder, which is equipped with a displacement sensor. The signal output of the displacement sensor is electrically connected to the processing unit. The displacement sensor provides real-time feedback of the hydraulic cylinder piston rod's position information to the processing unit. Based on the target position, the processing unit, through a servo amplifier and a multi-way valve, precisely adjusts the position of the hydraulic cylinder piston rod, achieving closed-loop control of the hydraulic cylinder.

[0008] The operating handle is used to send an enable signal to the processing unit. The operating handle is electrically connected to the processing unit. The push-up and neutral positions of the operating handle control the attachment's raising and lowering locking positions, respectively, through the processing unit. For tractor attachments, raising and lowering the attachment as a whole is the most common operation. Therefore, by using the push-up and neutral positions of the operating handle to control the two states of the lifting hydraulic cylinder, corresponding to the attachment's raising and lowering locking positions, this setup makes operation more convenient.

[0009] To improve the electrification and intelligence of tractor attachments, preferably, the multi-way valve is an electro-hydraulic proportional multi-way valve, which is electrically connected to the processing unit through multiple drive amplifiers; the oil pump is a variable displacement pump, and the control terminal of the variable displacement pump is electrically connected to the processing unit. The hydraulic system utilizing the electro-hydraulic proportional multi-way valve and the variable displacement pump offers advantages such as precise control, energy saving, and high efficiency.

[0010] To enrich system functionality and enable more flexible adjustments to the attachment's states and / or postures, the control panel is equipped with a height adjustment knob, which is electrically connected to the processing unit and controls the attachment's lifting height via the processing unit. The control panel also features a depth adjustment knob, which is electrically connected to the processing unit and controls the attachment's working depth. Furthermore, the operating handle has a speed adjustment button, which is electrically connected to the processing unit and controls the attachment's lifting speed. Through flexible control of the hydraulic actuators, precise adjustment of the attachment's height, lifting speed, and working depth is achieved, enriching system functionality and further enhancing the system's intelligence.

[0011] Based on the above control system, the present invention also provides a tractor attachment control method, specifically including the following steps: Step S1: The processing unit receives the attachment lifting operation signal and controls the attachment actuator to lift the attachment to the rising lock position; Step S2: The processing unit receives the start calibration operation signal and enters the calibration state; Step S3: The processing unit receives the attachment status and / or attitude operation signal, establishes attachment operation data according to the operation type and operation sequence of the attachment status and / or attitude operation signal, and transmits the attachment operation data to the storage unit for storage. Step S4: The processing unit receives the end calibration operation signal, and the calibration is completed; Step S5: When the attachment is aligned with the work site, the processing unit receives a one-button start operation signal, retrieves the attachment operation data from the storage unit, and controls the attachment actuator to adjust the attachment to the corresponding state and / or posture according to the data operation data, and starts the operation.

[0012] In the above method, the attachment is first raised to the locked position, and then initial calibration is performed. During the initial calibration, the attachment is controlled sequentially according to the plot type to adjust its state and / or attitude to match the plot type. The processing unit stores the operation data in the storage unit, and the calibration is completed. When performing reciprocating operations on the plot, each time the beginning or end of the plot is reached, only the one-button start button needs to be pressed once to automatically adjust the attachment's state and / or attitude, and then the operation can begin until the entire plot operation is completed.

[0013] In step S2, the operating handle is pushed to the upper position, and the one-key start button is pressed and held for more than a set time to trigger the calibration operation signal; in step S4, the operating handle is pushed to the neutral position to end the calibration operation signal trigger.

[0014] In the control system and control method of the present invention, the attachment state and / or attitude includes at least one of attachment lifting height, flipping state, lifting speed, flipping speed, and working depth.

[0015] In summary, the beneficial effects of the present invention are as follows: According to the tractor attachment control system and control method of the present invention, when the tractor arrives at the field, only one button press is needed to solve the complicated operation process in conventional tractor attachment operations, reduce the difficulty of field management operations, greatly reduce labor intensity, and improve work efficiency; at the same time, with the help of the electro-hydraulic proportional hydraulic system, the hydraulic actuators can be precisely and efficiently controlled, and the high efficiency and energy saving of the hydraulic system can be guaranteed. Attached Figure Description

[0016] Figure 1 This is a schematic block diagram of one embodiment of the tractor attachment control system of the present invention; Figure 2 This is a schematic block diagram of another embodiment of the tractor attachment control system of the present invention; Figure 3 This is a flowchart of one embodiment of the tractor attachment control method of the present invention; Figure 4 This is an operation flowchart of the tractor attachment control method of the present invention applied to one type of reversible plow; Figure 5 This is an operation flowchart of the tractor attachment control method of the present invention applied to another type of reversible plow.

[0017] In the diagram: 1-Multi-way valve; 2-Oil pump; 3-Hydraulic motor; 4-Hydraulic cylinder; 5-Controller; 6-Displacement sensor; 7-Control panel; 8-Operating handle; 9-One-button start; 10-Speed ​​adjustment button; 11-Multi-way valve control button; 12-Height adjustment knob; 13-Depth adjustment knob; 14-Servo amplifier; 15-Indicator light; 16-Buzzer; 17-Rotary encoder. Detailed Implementation

[0018] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0019] like Figure 1 and Figure 2As shown, the tractor attachment control system of the present invention includes an attachment actuator, a control panel 7, a controller 5, and a one-button start button 9. The attachment actuator includes multiple hydraulic actuators for adjusting the attachment's state and / or posture, and these hydraulic actuators are connected to an oil pump 2 via a multi-way valve 1. The control panel 7 includes an operating handle 8 with two positions: an up position and a neutral position. The operating handle 8 is equipped with multiple sets of multi-way valve control buttons 11 for controlling the multi-way valve. The controller 5 includes a processing unit and a storage unit. The processing unit receives operation signals from the control panel 7, controls the attachment actuator to adjust the attachment to the corresponding state and / or posture, and stores the operation data in the storage unit. The one-button start button 9 sends a one-button start operation signal to the processing unit. Upon receiving the one-button start operation signal, the processing unit retrieves the operation data from the storage unit and automatically controls the attachment actuator based on the operation data.

[0020] In the aforementioned control system, the hydraulic system's actuators are controlled by a processing unit using the two status positions of the operating handle 8, the multi-way valve control button 11 on the operating handle 8, and the one-button start button 9, thereby adjusting the attachment's status and / or attitude. To avoid cumbersome repetitive operations, the attachment is first initially calibrated according to the type of work area. The processing unit records and stores a series of operations during the initial calibration process as attachment operation data. Each time the work area is reached, simply pressing the one-button start button 9 automatically retrieves the attachment operation data. Based on this data, the processing unit automatically adjusts the attachment's status and / or attitude to correspond to the work area type, and then work can begin directly until the entire work area is completed. Thus, this system achieves one-button operation of tractor attachments, avoiding cumbersome procedures, reducing the difficulty of work area operations, and improving work efficiency.

[0021] Common tractor attachments such as plows, seeders, harvesters, and plant protection machines typically use hydraulic components as their core actuators. Therefore, this control system primarily targets hydraulic systems. Figure 1 As shown, the hydraulic actuator is a hydraulic cylinder 4, and a displacement sensor 6 is installed on the hydraulic cylinder 4. The signal output terminal of the displacement sensor 6 is electrically connected to the processing unit. The displacement sensor 6 provides real-time feedback of the position information of the hydraulic cylinder piston rod to the processing unit. The processing unit, through a servo amplifier 14 and a multi-way valve 1, precisely adjusts the position of the hydraulic cylinder piston rod to achieve closed-loop control of the hydraulic cylinder. Preferably, the hydraulic system of this invention is an electro-hydraulic proportional control system, the multi-way valve 1 is an electro-hydraulic proportional multi-way valve, which is electrically connected to the processing unit through multiple drive amplifiers 14; the oil pump 2 is a variable pump, and the control terminal of the variable pump 2 is electrically connected to the processing unit. The hydraulic system using an electro-hydraulic proportional multi-way valve and a variable pump has the advantages of precise control, energy saving, and high efficiency.

[0022] In this invention, the attachment state and / or posture includes at least one of the following: attachment lifting height, tilting state, lifting speed, tilting speed, and working depth. These states and / or postures can be substantially achieved using hydraulic cylinders.

[0023] For attachments requiring precise control of rotational force, it is generally inconvenient to directly use the rotational power of the tractor's rear output shaft. For example, some tillage attachments are typically equipped with hydraulic motors that drive the cutter shaft for soil breaking and tillage; some seeding / fertilizing attachments are typically equipped with hydraulic motors that drive the seed metering and fertilizer applicator to ensure even and precise material distribution; and some harvesting attachments or attachments with material handling functions are typically equipped with hydraulic motors that drive the mixing rollers or conveyor belts for mixing feed or transporting crops. Therefore, common hydraulic actuators should also include hydraulic motors.

[0024] like Figure 2 As shown, the hydraulic actuators in the control system include a hydraulic motor 3 and three hydraulic cylinders 4. When the attachment has a hydraulic motor 3, the controller 5 uses the signal fed back by the rotary encoder 17 or speed sensor on the hydraulic motor 3 and performs closed-loop precise control of the rotation of the hydraulic motor 3 through the electro-hydraulic proportional multi-way valve.

[0025] The control panel 7 is located on the cab dashboard. The operating handle 8 is electrically connected to the processing unit. The upward and neutral positions of the operating handle 8 control the attachment's lifting and lowering locking positions, respectively, through the processing unit. For tractor attachments, raising and lowering the attachment as a whole is the most common operation. Therefore, by using the upward and neutral positions of the operating handle 8 to control the two states of the lifting hydraulic cylinder, corresponding to the attachment's lifting and lowering locking positions, this arrangement makes operation more convenient.

[0026] like Figure 1 and Figure 2 As shown, to facilitate operators in distinguishing between calibration and normal states and to indicate whether operation buttons have been properly operated, the control system also includes an alarm device. This alarm device includes a buzzer 16 and / or an indicator light 15 electrically connected to the processing unit. The indicator light 15 is preferably mounted on the operating handle 8, and the buzzer 16 can be integrated into the controller 5 or mounted on the operating handle 8. Alternatively, the entire controller 5 can be integrated into the control panel 7.

[0027] To enrich system functionality and enable more flexible adjustments to the states and / or attitudes of attachments, such as Figure 1 and Figure 2As shown, the control panel 7 also includes a height adjustment knob 12, which is electrically connected to the processing unit and controls the lifting height of the attachment through the processing unit. The control panel 7 also includes a depth adjustment knob 13, which is electrically connected to the processing unit and controls the working depth of the attachment. The operating handle 8 also includes a speed adjustment button 10, which is electrically connected to the processing unit and controls the lifting speed of the attachment. Through flexible control of the hydraulic actuators, precise adjustment of the attachment height, lifting speed, and working depth is achieved, enriching the system's functionality and further enhancing its intelligence.

[0028] like Figure 3 As shown, the tractor attachment control method of the present invention includes the following steps: Step S1: The processing unit receives the attachment lifting operation signal and controls the attachment actuator to lift the attachment to the rising lock position; Step S2: The processing unit receives the start calibration operation signal and enters the calibration state; Step S3: The processing unit receives the attachment status and / or attitude operation signal, establishes attachment operation data according to the operation type and operation sequence of the attachment status and / or attitude operation signal, and transmits the attachment operation data to the storage unit for storage. Step S4: The processing unit receives the end calibration operation signal, and the calibration is completed; Step S5: When the attachment is aligned with the work site, the processing unit receives a one-button start operation signal, retrieves the attachment operation data from the storage unit, and controls the attachment actuator to adjust the attachment to the corresponding state and / or posture according to the attachment operation data, and starts the operation.

[0029] In the above method, the attachment is first raised to the lifting lock position, and then initial calibration is performed. During the initial calibration process, the attachment is controlled sequentially according to the plot type to adjust its state and / or attitude to match the plot type. The processing unit stores the operation data in the storage unit, and the calibration is completed. When performing reciprocating operations on the plot, each time the beginning or end of the plot is reached, simply press the one-button start button 9 once to automatically adjust the attachment's state and / or attitude, and then proceed with the operation until the entire plot operation is completed.

[0030] In step S2, the operating handle 8 is pushed to the upper position, and the one-button start button 9 is pressed and held for more than a set time to trigger the calibration operation signal. The set time is generally 3-5 seconds. In step S4, the operating handle 8 is pushed to the neutral position to end the calibration operation signal triggering.

[0031] According to the tractor attachment control system and control method of the present invention, when the tractor arrives at the field, the complicated operation process in conventional tractor attachment operation can be solved by pressing a button once, which reduces the difficulty of field management, greatly reduces labor intensity, and improves work efficiency; at the same time, with the help of the electro-hydraulic proportional hydraulic system, the hydraulic actuators can be precisely and efficiently controlled, and the high efficiency and energy saving of the hydraulic system can be guaranteed.

[0032] For hydraulic actuators Figure 1 The image shows three hydraulic cylinders 4. Figure 2 The diagram shows three hydraulic cylinders 4 and one hydraulic motor 3. For complex, large tractor attachments, such as harvesters or seeders, more than three hydraulic cylinders 4 and multiple hydraulic motors 3 can be installed. For example, a medium-sized harvester generally includes at least one main lifting cylinder for controlling lifting, 1-2 folding cylinders for folding the side wings, 1-2 rowing cylinders, etc. For a large seeder, it generally also includes 1-2 cover opening and closing cylinders, multiple independent lifting cylinders for row units, multiple seed metering motors, etc.

[0033] The following section uses a reversible plow as an example to describe in detail the tractor attachment control system and method of the present invention. A reversible plow generally includes a main lifting cylinder for controlling lifting and lowering, and a reversing cylinder for controlling the reversing of the plow attachment. (Refer to...) Figure 1 ,like Figure 4 As shown, the control process of the automatic reversing function of the reversible plow is as follows: Push the operating handle 8 to the upper position, the main lifting cylinder is activated, the reversible plow is raised to the rising lock position, press and hold the one-key start button for more than 3 seconds, the buzzer 16 emits a "beep beep beep" prompt sound, and the calibration state is entered; press the multi-way valve channel control button A1 corresponding to the reversible cylinder, the prompt sound changes, the reversible cylinder is activated, the reversible plow reverses, then the operating handle 8 returns to the neutral position, the prompt sound stops, and the calibration is completed; press the one-key start button 9, the reversible plow first automatically raises to the rising lock position, then automatically reverses, and then automatically lowers, entering the tillage state.

[0034] For traditional reversible plows, tillage depth is typically adjusted by a main lifting cylinder in conjunction with a depth limiting wheel, while the height of the depth limiting wheel support is usually adjusted manually. Some highly automated reversible plows also have a separate tillage depth cylinder for controlling the height of the depth limiting wheel support. For reversible plows with a tillage depth cylinder, refer to... Figure 1 ,like Figure 5As shown, the control process of the automatic reversing and automatic tillage depth adjustment function of the reversible plow is as follows: Push the operating handle 8 to the upper position, the main lifting cylinder is activated, and the reversible plow is raised to the rising lock position. Press and hold the one-key start button for more than 3 seconds, and the buzzer 16 will emit a "beep beep beep" prompt sound, indicating that the calibration state has been entered. Press the multi-way valve channel control button A1 corresponding to the reversing cylinder, the prompt sound changes, the reversing cylinder is activated, and the reversible plow reverses. Then press the multi-way valve channel control button A2 corresponding to the tillage depth cylinder, the tillage depth cylinder is activated, and the depth limiting wheel bracket is adjusted to the set height. Then the operating handle 8 returns to the neutral position, the prompt sound stops, and the calibration is completed. Press the one-key start button 9, the reversible plow first automatically rises to the rising lock position, then automatically reverses, the depth limiting wheel bracket automatically extends and retracts to the set height, the reversible plow automatically descends, and enters the tillage state.

[0035] It should be noted that before starting the above steps, the attachment's lifting lock position must be set using the height adjustment knob 12, the hydraulic actuator's operating speed must be set using the speed adjustment button 10, and the target depth must be set using the tillage depth adjustment knob 13.

[0036] The above describes the control process for a relatively simple reversible plow. For attachments with complex postures and / or states, such as large harvesters or seeders, there are more hydraulic actuators. The difference between controlling such large and complex attachments and reversible plows is that the multi-way valve control button needs to be operated more frequently during the calibration process, although the control principle is the same.

[0037] It's important to note that since the attachment is in the upward lock position at the start of calibration, after pressing the start button nine times, the attachment's first action is to automatically raise to the upward lock position. Similarly, the attachment's last action is to automatically lower to the downward lock position.

[0038] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A tractor attachment control system, characterized in that, The control system includes: The attachment actuator includes multiple hydraulic actuators for adjusting the attachment state and / or attitude, the hydraulic actuators being connected to the oil pump (2) via a multi-way valve (1); The control panel (7) includes an operating handle (8), which has two states: an up position and a neutral position. The operating handle (8) is provided with multiple sets of multi-way valve control buttons (11) for controlling the multi-way valve. The controller (5) includes a processing unit and a storage unit; the processing unit receives the operation signal from the control panel (7), controls the attachment actuator, adjusts the attachment to the corresponding state and / or posture, and stores the operation data in the storage unit; A one-key start button (9) is used to send a one-key start operation signal to the processing unit. After receiving the one-key start operation signal, the processing unit retrieves the operation data from the storage unit and automatically controls the attachment actuator based on the operation data.

2. The tractor attachment control system as described in claim 1, characterized in that, The hydraulic actuator is a hydraulic cylinder (4), and a displacement sensor (6) is installed on the hydraulic cylinder (4). The signal output terminal of the displacement sensor (6) is electrically connected to the processing unit.

3. The tractor attachment control system as described in claim 1, characterized in that, The operating handle (8) is electrically connected to the processing unit. The push-up position and neutral position of the operating handle (8) respectively control the upward locking position and downward locking position of the attachment through the processing unit.

4. The tractor attachment control system as described in claim 1, characterized in that, The multi-way valve (1) is an electro-hydraulic proportional multi-way valve, which is electrically connected to the processing unit through multiple drive amplifiers (14); the oil pump (2) is a variable pump, and the control terminal of the variable pump (2) is electrically connected to the processing unit.

5. The tractor attachment control system as described in claim 1, characterized in that, The control panel (7) is also equipped with a height adjustment knob (12), which is electrically connected to the processing unit and controls the lifting height of the attachment through the processing unit.

6. The tractor attachment control system as described in claim 1, characterized in that, The control panel (7) is also equipped with a depth adjustment knob (13), which is electrically connected to the processing unit and controls the working depth of the attachment through the processing unit.

7. The tractor attachment control system as described in claim 1, characterized in that, The operating handle (8) is also equipped with a speed adjustment button (10), which is electrically connected to the processing unit and controls the lifting speed of the attachment through the processing unit.

8. A tractor attachment control method utilizing the control system of claim 1, characterized in that, Includes the following steps: Step S1: The processing unit receives the attachment lifting operation signal and controls the attachment actuator to lift the attachment to the rising lock position; Step S2: The processing unit receives the start calibration operation signal and enters the calibration state; Step S3: The processing unit receives the attachment status and / or attitude operation signal, establishes attachment operation data according to the operation type and operation sequence of the attachment status and / or attitude operation signal, and transmits the attachment operation data to the storage unit for storage. Step S4: The processing unit receives the end calibration operation signal, and the calibration is completed; Step S5: When the attachment is aligned with the work site, the processing unit receives a one-button start operation signal, retrieves the attachment operation data from the storage unit, and controls the attachment actuator to adjust the attachment to the corresponding state and / or posture according to the attachment operation data, and starts the operation.

9. The tractor attachment control method as described in claim 8, characterized in that, In step S2, the operating handle (8) is pushed to the upper position, and the one-key start button (9) is pressed and held for more than the set time to start the calibration operation signal trigger; in step S4, the operating handle (8) is pushed to the neutral position to end the calibration operation signal trigger.

10. The tractor attachment control method as described in claim 7, characterized in that, The attachment status and / or attitude includes at least one of the following: attachment lifting height, tilting status, lifting speed, tilting speed, and working depth.

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