Tomato harvester suspension device and leveling method

Abstract

The invention relates to the technical field of harvesters, in particular to a tomato harvester suspension device and a leveling method. The four electro-hydraulic actuators are mounted on a frame and correspond to a left front driving wheel, a right front driving wheel, a left rear driving wheel and a right rear driving wheel one by one; an inclination angle detector and a control module; the fixed end of the electro-hydraulic actuator is mounted on the frame, and the telescopic end of the electro-hydraulic actuator is correspondingly mounted on the axle close to the left front driving wheel, the right front driving wheel, the left rear driving wheel and the right rear driving wheel; and the electro-hydraulic actuators are used for adjusting the suspension heights of the corresponding driving wheels. The inclination condition of the tomato harvester is detected in real time through the inclination angle detector, after data are received and processed through the control module, the inclination condition of the harvester body is judged, the electro-hydraulic actuator is controlled to conduct precise leveling, the stability of the harvester body is guaranteed, the service life of internal parts is prolonged, and it is guaranteed that loaded objects cannot fall off due to bumping; tomato roots and seedlings cannot be damaged due to unstable stress caused by bumping, and the working efficiency of the tomato harvester is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harvesting machines, in particular to a tomato harvester suspension device and a leveling method. BACKGROUND

[0002] With the continuous development of modern agricultural technology, the performance and efficiency of tomato harvesters, as an important part of agricultural mechanization, have a significant impact on agricultural production.

[0003] A tomato harvester generally includes a vehicle frame, front axles, rear axles, and left and right front and rear drive wheels installed on the axles. Traditional tomato harvester suspension devices mostly use passive suspension, which passively pulls the tomato harvester for operation by a towing vehicle. This structure of the tomato harvester cannot adaptively adjust the inclination angle of the vehicle frame. If the working environment is a complex field with many pits and ditches, the existing tomato harvester cannot adaptively adjust the inclination angle of the vehicle frame according to the working environment, and thus cannot adaptively adjust the vehicle posture to adapt to the complex and variable ground conditions, which may cause the tomato harvester to bounce or even roll over, damaging not only the parts inside the tomato harvester but also the crops in the field, resulting in poor stability and affecting the overall harvesting efficiency of the tomato harvester. SUMMARY

[0004] In view of the problem that the existing tomato harvester cannot adaptively adjust the suspension height of the drive wheels according to the ground conditions, causing the tomato harvester to bounce or roll over, resulting in poor stability and affecting the working efficiency, the present application aims to provide a tomato harvester suspension device.

[0005] The present application provides a tomato harvester suspension device, comprising: four electro-hydraulic actuators installed on the vehicle frame and corresponding to the left and right front and rear drive wheels; an inclination detector installed at the center of mass of the vehicle frame for real-time detection of the inclination data of the vehicle frame; a control module installed on the vehicle frame for receiving the inclination data output by the inclination detector and controlling the extension and retraction of the electro-hydraulic actuators according to the received data; the fixed end of the electro-hydraulic actuator is installed on the vehicle frame, and the extension end is installed on the axle near the left and right front and rear drive wheels; the electro-hydraulic actuator is used to adjust the suspension height of the corresponding drive wheels.

[0006] Further, the electro-hydraulic actuator comprises: a bidirectional motor, a bidirectional hydraulic cylinder, a control valve group, and a displacement sensor; wherein the bidirectional motor is used to execute the output instruction of the control module and drive the bidirectional hydraulic cylinder to extend and retract; the bidirectional hydraulic cylinder controls the suspension height of the left front drive wheel / right front drive wheel / left rear drive wheel / right rear drive wheel; the control valve group is used to control the pressure balance and communication direction of the oil circuit of the bidirectional hydraulic cylinder; and the displacement sensor is used to detect the suspension height of the left front drive wheel / right front drive wheel / left rear drive wheel / right rear drive wheel in real time and transmit data to the control module.

[0007] Further, the electro-hydraulic actuator comprises: a bidirectional motor, a bidirectional hydraulic cylinder, a control valve group, and a displacement sensor; wherein the bidirectional motor is used to execute the output instruction of the control module and drive the bidirectional hydraulic cylinder to extend and retract; the bidirectional hydraulic cylinder controls the suspension height of the left front drive wheel / right front drive wheel / left rear drive wheel / right rear drive wheel; the control valve group is used to control the pressure balance and communication direction of the oil circuit of the bidirectional hydraulic cylinder; and the displacement sensor is used to detect the suspension height of the left front drive wheel / right front drive wheel / left rear drive wheel / right rear drive wheel in real time and transmit data to the control module.

[0008] The application also provides a leveling method of a tomato harvester suspension device, comprising:

[0009] S1. Setting a leveling angle limit value for the control module; the leveling angle limit value comprises: a roll angle limit value a min and a pitch angle limit value b min .

[0010] S2. Starting the inclination detector to detect the left and right inclination angle data and the pitch angle data of the vehicle frame in real time and transmitting the data to the control module.

[0011] S3. Inclination judgment; the control module compares the data detected in step S2 with the set leveling angle limit value, and when the detected data is greater than the set leveling angle limit value, it is determined that the vehicle frame is in an inclined state.

[0012] S4. The control module obtains the suspension height of the corresponding drive wheel through the displacement sensor according to the determination result of step S3.

[0013] S5. The control module calculates and outputs the leveling command to the electro-hydraulic actuator according to the suspension height obtained in step S4 to perform the inclination leveling operation of the right front drive wheel / left front drive wheel / right rear drive wheel / left rear drive wheel.

[0014] S6. Inclination side drive wheel alignment judgment; that is, the suspension heights of the two drive wheels on the inclined side are compared to determine whether the alignment operation is performed on the inclined side.

[0015] S7. The control module sends the alignment command to the electro-hydraulic actuator according to the alignment judgment result in step S6 to perform the same side alignment operation of the drive wheel.

[0016] Furthermore, the method for tilting and leveling the right front drive wheel / left front drive wheel / right rear drive wheel / left rear drive wheel includes the following steps:

[0017] Set the suspension height of the left front drive wheel to △1, the suspension height of the right front drive wheel to △2, the suspension height of the left rear drive wheel to △3, and the suspension height of the right rear drive wheel to △4.

[0018] When △1 > △2 and △3 > △4, the control module determines that the left side is tilted. The telescopic ends of the left front electro-hydraulic actuator and the left rear electro-hydraulic actuator are extended to adjust the left front drive wheel to be aligned with the right front drive wheel and the left rear drive wheel to be aligned with the right rear drive wheel. The leveling angle between the left front drive wheel and the right front drive wheel, and between the left rear drive wheel and the right rear drive wheel, is adjusted to be less than the leveling angle limit value.

[0019] When △1 < △2 and △3 < △4, the control module determines that the right side is tilted. The telescopic ends of the right front electro-hydraulic actuator and the right rear electro-hydraulic actuator are extended to adjust the right front drive wheel to be aligned with the left front drive wheel and the right rear drive wheel to be aligned with the left rear drive wheel. The leveling angle between the right front drive wheel and the left front drive wheel, and between the right rear drive wheel and the left rear drive wheel, is adjusted to be less than the leveling angle limit value.

[0020] When △1 < △3 and △2 < △4, the control module determines that the vehicle is tilting backward. The telescopic ends of the left and right rear electro-hydraulic actuators extend, adjusting the left rear drive wheel to be aligned with the left front drive wheel and the right rear drive wheel to be aligned with the right front drive wheel. The leveling angle between the left rear drive wheel and the left front drive wheel, and between the right rear drive wheel and the right front drive wheel, is adjusted to be less than the leveling angle limit value.

[0021] When △1 > △3 and △2 > △4, the control module determines that the vehicle is tilting forward. The telescopic ends of the left front electro-hydraulic actuator and the right front electro-hydraulic actuator are extended to adjust the left rear drive wheel to be aligned with the left rear drive wheel and the right rear drive wheel to be aligned with the right rear drive wheel. The leveling angle between the left front drive wheel and the left rear drive wheel, and between the right front drive wheel and the right rear drive wheel, is adjusted to be less than the leveling angle limit value.

[0022] Furthermore, the alignment steps for the drive wheels on the same side are as follows:

[0023] Set the suspension height of the left front drive wheel to △1, the suspension height of the right front drive wheel to △2, the suspension height of the left rear drive wheel to △3, and the suspension height of the right rear drive wheel to △4.

[0024] Perform a judgment on whether the drive wheels are on the same side; when △1 > △2 and △3 > △4, the left front drive wheel and the left rear drive wheel are determined to be on the same side; when △1 < △2 and △3 < △4, the right front drive wheel and the right rear drive wheel are determined to be on the same side; when △1 < △3 and △2 < △4, the left rear drive wheel and the right rear drive wheel are determined to be on the same side; when △1 > △3 and △2 > △4, the left front drive wheel and the right front drive wheel are determined to be on the same side.

[0025] Furthermore, the alignment step for ensuring that the left front drive wheel and the left rear drive wheel are on the same side is as follows:

[0026] When △1 > △3, the left front electro-hydraulic actuator retracts, aligning the left front drive wheel with the left rear drive wheel; after the left front drive wheel and the left rear drive wheel are adjusted to the same suspension height, the left front electro-hydraulic actuator and the left rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel and the left rear drive wheel to be less than the leveling angle limit value set in step S1.

[0027] When △1 < △3, the left rear electro-hydraulic actuator retracts, aligning the left rear drive wheel with the left front drive wheel; after the left rear drive wheel and the left front drive wheel are adjusted to the same suspension height, the left front electro-hydraulic actuator and the left rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel and the left rear drive wheel to be less than the leveling angle limit value set in step S1.

[0028] Furthermore, the alignment step for ensuring that the right front drive wheel and the right rear drive wheel are on the same side is as follows:

[0029] When △2 > △4, the right front electro-hydraulic actuator retracts, aligning the right front drive wheel with the right rear drive wheel; after the right front drive wheel and the right rear drive wheel are adjusted to the same suspension height, the right front electro-hydraulic actuator and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the right front drive wheel and the right rear drive wheel to be less than the leveling angle limit value set in step S1.

[0030] When △2 < △4, the right rear electro-hydraulic actuator retracts, aligning the rear front drive wheel with the right front drive wheel; after the right rear drive wheel and the right front drive wheel are adjusted to the same suspension height, the right front electro-hydraulic actuator and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the right front drive wheel and the right rear drive wheel to be less than the leveling angle limit value set in step S1.

[0031] Furthermore, the alignment step for ensuring that the left and right rear drive wheels are on the same side is as follows:

[0032] When △3 > △4, the left rear electro-hydraulic actuator retracts, aligning the left rear drive wheel with the right rear drive wheel; after the left rear drive wheel and the right rear drive wheel are adjusted to the same suspension height, the left rear electro-hydraulic actuator and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left rear drive wheel and the right rear drive wheel to be less than the leveling angle limit value set in step S1.

[0033] When △3 < △4, the right rear electro-hydraulic actuator retracts, aligning the right rear drive wheel with the left rear drive wheel; after the right rear drive wheel and the left rear drive wheel are adjusted to the same suspension height, the left rear electro-hydraulic actuator and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left rear drive wheel and the right rear drive wheel to be less than the leveling angle limit value set in step S1.

[0034] Furthermore, the alignment step for ensuring that the left and right front drive wheels are on the same side is as follows:

[0035] When △1 > △2, the left front electro-hydraulic actuator retracts, aligning the left front drive wheel with the right front drive wheel; after the left front drive wheel and the right front drive wheel are adjusted to the same suspension height, the left front electro-hydraulic actuator and the right front electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel and the right front drive wheel to be less than the leveling angle limit value set in step S1.

[0036] When △1 < △2, the right front electro-hydraulic actuator retracts, aligning the right front drive wheel with the left front drive wheel; after the right front drive wheel and the left front drive wheel are adjusted to the same suspension height, the left front electro-hydraulic actuator and the right front electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel and the right front drive wheel to be less than the leveling angle limit value set in step S1.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] This invention patent uses a control module to adaptively adjust the suspension height of the left front drive wheel, right front drive wheel, left rear drive wheel, and right rear drive wheel. When the tomato harvester experiences bumps and instability, the control module quickly adjusts the suspension height of each drive wheel to stabilize the harvester, ensuring its stability. Specifically, a tilt detector monitors the overall tilt of the tomato harvester in real time and transmits the data to the control module. The control module collects and processes the data, determines the tilt of the frame, and controls the left front, right front, left rear, and right rear electro-hydraulic actuators to adaptively and precisely level the frame, ensuring its stability and balance. This extends the lifespan of internal components, prevents tomatoes from falling due to bumps, and avoids damage to tomato roots and seedlings during harvesting due to unstable forces, further enhancing the harvester's operational efficiency.

[0039] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0041] Figure 1 This is an overall diagram of the suspension system of a tomato harvester.

[0042] Figure 2 This is a diagram of some parts of the suspension system of a tomato harvester.

[0043] Figure 3 This is a bottom view of the suspension system of a tomato harvester.

[0044] Figure 4 A flowchart illustrating the leveling method for the suspension device of a tomato harvester.

[0045] Figure 5 This is the control flowchart for the control module.

[0046] Figure 6 This is a flowchart for judging the operation of electro-hydraulic actuators.

[0047] Figure 7 Flowchart for determining the tilt of the suspension device on a tomato harvester.

[0048] Figure 8 This is a flowchart for determining the alignment of the suspension device on the same side of a tomato harvester.

[0049] The numbers in the diagram are: 1. Chassis; 2. Front left drive wheel; 3. Front right drive wheel; 4. Rear left drive wheel; 5. Rear right drive wheel; 6. Electro-hydraulic actuator; 7. Tilt meter; 61. Front left electro-hydraulic actuator; 62. Front right electro-hydraulic actuator; 63. Rear left electro-hydraulic actuator; 64. Rear right electro-hydraulic actuator. Detailed Implementation

[0050] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0051] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0052] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0053] Please refer to Figures 1-8 This invention provides a suspension device for a tomato harvester, comprising: four electro-hydraulic actuators 6 mounted on a frame 1 and corresponding one-to-one with the left front drive wheel 2, right front drive wheel 3, left rear drive wheel 4, and right rear drive wheel 5; a tilt detector 7 mounted at the center of gravity of the frame 1 for real-time detection of the tilt data of the frame 1; a control module mounted on the frame 1 for receiving the tilt data output by the tilt detector 7 and controlling the telescopic movement of the electro-hydraulic actuators 6 according to the received data; the fixed end of the electro-hydraulic actuator 6 is mounted on the frame 1, and the telescopic end is mounted on the axle near the left front drive wheel 2, right front drive wheel 3, left rear drive wheel 4, and right rear drive wheel 5; the electro-hydraulic actuators 6 are used to adjust the suspension height of the corresponding drive wheels.

[0054] Furthermore, the electro-hydraulic actuator 6 includes: a bidirectional motor, a bidirectional hydraulic cylinder, a control valve group, and a displacement sensor; wherein, the bidirectional motor is used to execute the output commands of the control module to drive the bidirectional hydraulic cylinder to extend and retract; the bidirectional hydraulic cylinder controls the suspension height of the left front drive wheel 2 / right front drive wheel 3 / left rear drive wheel 4 / right rear drive wheel 5; the control valve group is used to control the pressure balance and connection direction of the oil circuit of the bidirectional hydraulic cylinder; the displacement sensor is used to detect the suspension height of the left front drive wheel 2 / right front drive wheel 3 / left rear drive wheel 4 / right rear drive wheel 5 in real time and transmit the data to the control module.

[0055] To further explain, the electro-hydraulic actuator 6 includes a left front electro-hydraulic actuator 61, a right front electro-hydraulic actuator 62, a left rear electro-hydraulic actuator 63, and a right rear electro-hydraulic actuator 64; the left front electro-hydraulic actuator 61 is corresponding to adjusting the suspension height of the left front drive wheel 2, the right front electro-hydraulic actuator 62 is corresponding to adjusting the suspension height of the right front drive wheel 3, the left rear electro-hydraulic actuator 63 is corresponding to adjusting the suspension height of the left rear drive wheel 4, and the right rear electro-hydraulic actuator 64 is corresponding to adjusting the suspension height of the right rear drive wheel 5.

[0056] This embodiment uses a control module to adaptively adjust the suspension height of the left front drive wheel 2, right front drive wheel 3, left rear drive wheel 4, and right rear drive wheel 5. This allows the control module to quickly adjust the suspension height of each drive wheel to stabilize the tomato harvester when the frame 1 becomes unstable due to bumps, ensuring its stability. Specifically, the tilt detector 7 monitors the overall tilt of the tomato harvester in real time and transmits the data to the control module. After processing the collected data, the control module determines the tilt of the frame 1 and controls the left front electro-hydraulic actuator 61, right front electro-hydraulic actuator 62, left rear electro-hydraulic actuator 63, and right rear electro-hydraulic actuator 64 to adaptively and precisely level the frame 1, ensuring its stable balance. This improves the lifespan of internal parts, prevents tomatoes from falling due to bumps, and ensures that the tomato roots are not damaged by unstable forces during harvesting, further enhancing the harvester's operational efficiency.

[0057] In this embodiment, the bidirectional hydraulic cylinder is extended and retracted by a bidirectional motor, allowing the left front electro-hydraulic actuator 61, right front electro-hydraulic actuator 62, left rear electro-hydraulic actuator 63, and right rear electro-hydraulic actuator 64 to extend and retract to adjust the suspension height of the left front drive wheel 2, right front drive wheel 3, left rear drive wheel 4, and right rear drive wheel 5. This, in turn, allows the control module to adaptively adjust the overall balance of the frame 1, ensuring rapid stabilization when the frame 1 is tilted, further guaranteeing the flatness of the frame 1, enhancing the stability of the device, and ensuring that the load on the frame 1 will not fall off.

[0058] To further clarify, after receiving a signal from the control module, the bidirectional motor drives the bidirectional hydraulic cylinder to perform the extension and retraction of the piston rod; the bidirectional motor in the left front electro-hydraulic actuator is the left front motor, the bidirectional motor in the left rear electro-hydraulic actuator is the left rear motor, the bidirectional motor in the right front electro-hydraulic actuator is the right front motor, and the bidirectional motor in the right rear electro-hydraulic actuator is the right rear motor; the bidirectional hydraulic cylinder in the left front electro-hydraulic actuator is the left front hydraulic cylinder, the bidirectional hydraulic cylinder in the left rear electro-hydraulic actuator is the left rear hydraulic cylinder, the bidirectional hydraulic cylinder in the right front electro-hydraulic actuator is the right front hydraulic cylinder, and the bidirectional hydraulic cylinder in the right rear electro-hydraulic actuator is the right rear hydraulic cylinder.

[0059] To further explain, the control valve group is mainly used to control the stable connection of the internal oil circuit of the electro-hydraulic actuator, balance the volume of hydraulic oil flowing inside the electro-hydraulic actuator, balance the constant pressure inside the electro-hydraulic actuator, and switch the connection of the valve group according to the adaptability of the hydraulic oil flow direction.

[0060] like Figures 4-8 As shown, the present invention also provides a leveling method for the suspension device of a tomato harvester, comprising:

[0061] S1. Set the leveling angle limit value for the control module; the leveling angle limit value includes: the roll angle limit value α. min and pitch angle limit β min .

[0062] S2. Start the tilt detector 7 to detect the left and right tilt angle data and pitch angle data of the frame 1 in real time, and transmit the data to the control module.

[0063] S3. Tilt detection: The control module compares the data detected in step S2 with the set leveling angle limit value. When the detected data is greater than the set leveling angle limit value, the frame 1 is determined to be in a tilted state.

[0064] S4. Based on the determination result of step S3, the control module obtains the suspension height of the corresponding drive wheel through the displacement sensor.

[0065] S5. The control module calculates and outputs a leveling command to the electro-hydraulic actuator 6 based on the suspension height obtained in step S4, and performs tilting and leveling operations on the right front drive wheel 3, left front drive wheel 2, right rear drive wheel 5, and left rear drive wheel 4.

[0066] S6. Alignment judgment of the inclined side drive wheels; that is, to compare the suspension height of the two drive wheels on the inclined side and determine whether the inclined side has been aligned.

[0067] S7. Based on the alignment judgment result in step S6, the control module sends an alignment command to the electro-hydraulic actuator 6 to perform the same-side alignment operation of the drive wheel.

[0068] In this embodiment, when the road surface is uneven or bumpy, the uneven force on the frame 1 may cause it to tilt to the left or right or overturn. At this time, the control module monitors and adjusts the stability of the frame 1 in real time to ensure the normal operation of the device. Specifically, the tilt detector 7 detects the tilt of the frame 1 in real time, and the control module analyzes and processes the detected data in real time, and judges the state of the frame 1 in real time. Based on the judged state, the right front electro-hydraulic actuator 62, left front electro-hydraulic actuator 61, right rear electro-hydraulic actuator 64 and left rear electro-hydraulic actuator 63 make adaptive tilt leveling and same-side alignment adjustments, so as to ensure that the entire device is always in a stable state, ensuring the stability and operating efficiency of the device.

[0069] To further explain, such as Figure 7 As shown, the steps for tilting and leveling the right front drive wheel 3, left front drive wheel 2, right rear drive wheel 5, and left rear drive wheel 4 are as follows:

[0070] Set the suspension height of the left front drive wheel 2 to △1, the suspension height of the right front drive wheel 3 to △2, the suspension height of the left rear drive wheel 4 to △3, and the suspension height of the right rear drive wheel 5 to △4.

[0071] When △1>△2 and △3>△4, the control module determines that the left side is tilted, and the telescopic ends of the left front electro-hydraulic actuator 61 and the left rear electro-hydraulic actuator 63 are extended, adjusting the left front drive wheel 2 to be aligned with the right front drive wheel 3, and adjusting the left rear drive wheel 4 to be aligned with the right rear drive wheel 5.

[0072] Adjust the leveling angle between the left front drive wheel 2 and the right front drive wheel 3, and between the left rear drive wheel 4 and the right rear drive wheel 5, to be less than the leveling angle limit.

[0073] In this embodiment, when the tomato harvester body tilts to the left, the tilt angle detector 7 detects the angle change and transmits the signal data to the control module. The control module processes and judges the received signal data and transmits the processed signal data to the left front electro-hydraulic actuator 61 and the left rear electro-hydraulic actuator 63. The hydraulic oil is controlled to enter the rod chamber of the left front electro-hydraulic actuator 61, and the piston rod slowly extends. At this time, the suspension height of the left front drive wheel 2 increases, and the left front corner of the body gradually stabilizes. At the same time, the hydraulic oil is controlled to enter the rod chamber of the left rear electro-hydraulic actuator 63, and the piston rod slowly extends. At this time, the suspension height of the left rear drive wheel 4 increases, and the left rear corner of the body gradually stabilizes. Then, the leveling angle between the left front drive wheel 2 and the right front drive wheel 3, and between the left rear drive wheel 4 and the right rear drive wheel 5, is adjusted to be less than the leveling angle limit value.

[0074] When △1 < △2 and △3 < △4, the control module determines that the right side is tilted, and the telescopic ends of the right front electro-hydraulic actuator 62 and the right rear electro-hydraulic actuator 64 are extended, adjusting the right front drive wheel 3 to be aligned with the left front drive wheel 2, and adjusting the right rear drive wheel 5 to be aligned with the left rear drive wheel 4.

[0075] Adjust the leveling angle between the right front drive wheel 3 and the left front drive wheel 2, and between the right rear drive wheel 5 and the left rear drive wheel 4, to be less than the leveling angle limit.

[0076] In this embodiment, when the tomato harvester body tilts to the right, the tilt angle detector 7 detects the angle change and transmits the signal data to the control module. The control module processes and judges the received signal data and transmits the processed signal data to the right front electro-hydraulic actuator 62 and the right rear electro-hydraulic actuator 64. The hydraulic oil is controlled to enter the rod chamber of the right front electro-hydraulic actuator 62, and the piston rod slowly extends. At this time, the suspension height of the right front drive wheel 3 increases, and the right front corner of the body gradually stabilizes. At the same time, the hydraulic oil is controlled to enter the rod chamber of the right rear electro-hydraulic actuator 64, and the piston rod slowly extends. At this time, the suspension height of the right rear drive wheel 5 increases, and the left rear corner of the body gradually stabilizes. Then, the leveling angle between the right front drive wheel 3 and the left front drive wheel 2, and between the right rear drive wheel 5 and the left rear drive wheel 4, is adjusted to be less than the leveling angle limit value.

[0077] When △1 < △3 and △2 < △4, the control module judges it as a backward tilt, and the telescopic ends of the left rear electro-hydraulic actuator 63 and the right rear electro-hydraulic actuator 64 extend, adjusting the left rear drive wheel 4 to be aligned with the left front drive wheel 2, and adjusting the right rear drive wheel 5 to be aligned with the right front drive wheel 3.

[0078] Adjust the leveling angle between the left rear drive wheel 4 and the left front drive wheel 2, and between the right rear drive wheel 5 and the right front drive wheel 3, to be less than the leveling angle limit.

[0079] In this embodiment, when the tomato harvester body tilts backward, the tilt angle detector 7 detects the angle change and transmits the signal data to the control module. The control module processes and judges the received signal data and transmits the processed signal data to the left rear electro-hydraulic actuator 63 and the right rear electro-hydraulic actuator 64. The hydraulic oil is controlled to enter the rod chamber of the left rear electro-hydraulic actuator 63, and the piston rod slowly extends. At this time, the suspension height of the left rear drive wheel 4 increases, and the left rear corner of the body gradually stabilizes. At the same time, the hydraulic oil is controlled to enter the rod chamber of the right rear electro-hydraulic actuator 64, and the piston rod slowly extends. At this time, the suspension height of the right rear drive wheel 5 increases, and the left rear corner of the body gradually stabilizes. Then, the leveling angle between the left rear drive wheel 4 and the left front drive wheel 2, and between the right rear drive wheel 5 and the right front drive wheel 3, is adjusted to be less than the leveling angle limit value.

[0080] When △1>△3 and △2>△4, the control module determines that it is tilting forward, and the telescopic ends of the left front electro-hydraulic actuator 61 and the right front electro-hydraulic actuator 62 are extended, adjusting the left rear drive wheel 4 to be aligned with the left rear drive wheel 4, and adjusting the right rear drive wheel 5 to be aligned with the right rear drive wheel 5.

[0081] Adjust the leveling angle between the left front drive wheel 2 and the left rear drive wheel 4, and between the right front drive wheel 3 and the right rear drive wheel 5, to be less than the leveling angle limit.

[0082] In this embodiment, when the tomato harvester body tilts forward, the tilt angle detector 7 detects the angle change and transmits the signal data to the control module. The control module processes and judges the received signal data and transmits the processed signal data to the left front electro-hydraulic actuator 61 and the right front electro-hydraulic actuator 62. The hydraulic oil is controlled to enter the rod chamber of the left front electro-hydraulic actuator 61, and the piston rod slowly extends. At this time, the suspension height of the left front drive wheel 2 increases, and the left rear corner of the body gradually stabilizes. At the same time, the hydraulic oil is controlled to enter the rod chamber of the right front electro-hydraulic actuator 62, and the piston rod slowly extends. At this time, the suspension height of the right front drive wheel 3 increases, and the left rear corner of the body gradually stabilizes. Then, the leveling angle between the left front drive wheel 2 and the left rear drive wheel 4, and between the right front drive wheel 3 and the right rear drive wheel 5, is adjusted to be less than the leveling angle limit value.

[0083] To further explain, such as Figure 8 As shown, the steps for aligning the drive wheels on the same side are as follows:

[0084] Set the suspension height of the left front drive wheel 2 to △1, the suspension height of the right front drive wheel 3 to △2, the suspension height of the left rear drive wheel 4 to △3, and the suspension height of the right rear drive wheel 5 to △4.

[0085] Determine if the drive wheels are on the same side: When △1 > △2 and △3 > △4, the left front drive wheel 2 and the left rear drive wheel 4 are determined to be on the same side; when △1 < △2 and △3 < △4, the right front drive wheel 3 and the right rear drive wheel 5 are determined to be on the same side; when △1 < △3 and △2 < △4, the left rear drive wheel 4 and the right rear drive wheel 5 are determined to be on the same side; when △1 > △3 and △2 > △4, the left front drive wheel 2 and the right front drive wheel 3 are determined to be on the same side.

[0086] In this embodiment, the alignment step for the left front drive wheel 2 and the left rear drive wheel 4 to be on the same side is as follows:

[0087] When △1 > △3, the left front electro-hydraulic actuator 61 retracts, aligning the left front drive wheel 2 with the left rear drive wheel 4; after the left front drive wheel 2 and the left rear drive wheel 4 are adjusted to the same suspension height, the left front electro-hydraulic actuator 61 and the left rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel 2 and the left rear drive wheel 4 to be less than the leveling angle limit value set in step S1.

[0088] When △1 < △3, the left rear electro-hydraulic actuator 63 retracts, aligning the left rear drive wheel 4 with the left front drive wheel 2; after the left rear drive wheel 4 and the left front drive wheel 2 are adjusted to the same suspension height, the left front electro-hydraulic actuator 61 and the left rear electro-hydraulic driver are synchronously driven to adjust the leveling angle of the left front drive wheel 2 and the left rear drive wheel 4 to be less than the leveling angle limit value set in step S1.

[0089] To further clarify, when the tomato harvester body tilts to the left, △1 > △2 and △3 > △4, indicating that the left front drive wheel 2 and the left rear drive wheel 4 are on the same side. At this time, the displacement sensors in the left front electro-hydraulic actuator 61 and the left rear electro-hydraulic actuator detect the suspension height of the left front drive wheel 2 and the left rear drive wheel 4 respectively, and transmit the detected suspension height data to the control module. The control module calculates and analyzes the received suspension height data. When the control module determines that △1 > △3, that is, the suspension height of the left front drive wheel 2 is higher than the suspension height of the left rear drive wheel 4, the left front electro-hydraulic actuator 61 receives the command from the control module and retracts, adjusting the left front drive wheel 2 to be aligned with the left rear drive wheel 4. After wheel 2 and left rear drive wheel 4 are adjusted to the same suspension height, the left front electro-hydraulic actuator 61 and left rear electro-hydraulic driver are synchronously driven to adjust the leveling angle of left front drive wheel 2 and left rear drive wheel 4 to less than the set leveling angle limit value. When the control module determines that △1 < △3, that is, the suspension height of left rear drive wheel 4 is higher than the suspension height of left front drive wheel 2, the left rear electro-hydraulic actuator 63 receives the command from the control module to retract, so that the left rear drive wheel 4 is aligned with the left front drive wheel 2. After the left rear drive wheel 4 and left front drive wheel 2 are adjusted to the same suspension height, the left rear electro-hydraulic actuator 63 and left front electro-hydraulic driver are synchronously driven to adjust the leveling angle of left rear drive wheel 4 and left front drive wheel 2 to less than the set leveling angle limit value.

[0090] In this embodiment, the alignment step for the right front drive wheel 3 and the right rear drive wheel 5 to be on the same side is as follows:

[0091] When △2 > △4, the right front electro-hydraulic actuator 62 retracts, aligning the right front drive wheel 3 with the right rear drive wheel 5; after the right front drive wheel 3 and the right rear drive wheel 5 are adjusted to the same suspension height, the right front electro-hydraulic actuator 62 and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the right front drive wheel 3 and the right rear drive wheel 5 to be less than the leveling angle limit value set in step S1.

[0092] When △2 < △4, the right rear electro-hydraulic actuator 64 retracts, aligning the rear front drive wheel with the right front drive wheel 3; after the right rear drive wheel 5 and the right front drive wheel 3 are adjusted to the same suspension height, the right front electro-hydraulic actuator 62 and the right rear electro-hydraulic driver are synchronously driven to adjust the leveling angle of the right front drive wheel 3 and the right rear drive wheel 5 to be less than the leveling angle limit value set in step S1.

[0093] To further clarify, when the tomato harvester body tilts to the right, △1 < △2 and △3 < △4, indicating that the right front drive wheel 3 and the right rear drive wheel 5 are on the same side. At this time, the displacement sensors in the right front electro-hydraulic actuator 62 and the right rear electro-hydraulic actuator detect the suspension height of the right front drive wheel 3 and the right rear drive wheel 5 respectively, and transmit the detected suspension height data to the control module. The control module calculates and analyzes the received suspension height data. When the control module determines that △2 > △4, meaning the suspension height of the right front drive wheel 3 is higher than the suspension height of the right rear drive wheel 5, the right front electro-hydraulic actuator 62 receives a command from the control module and retracts, adjusting the right front drive wheel 3 to align with the right rear drive wheel 5. After wheel 3 and right rear drive wheel 5 are adjusted to the same suspension height, the right front electro-hydraulic actuator 62 and right rear electro-hydraulic driver are synchronously driven to adjust the leveling angle of right front drive wheel 3 and right rear drive wheel 5 to less than the set leveling angle limit value. When the control module determines that △2 < △4, that is, the suspension height of right rear drive wheel 5 is higher than the suspension height of right front drive wheel 3, the right rear electro-hydraulic actuator 64 receives the command from the control module to retract, so that the right rear drive wheel 5 is aligned with the right front drive wheel 3. After the right rear drive wheel 5 and right front drive wheel 3 are adjusted to the same suspension height, the right rear electro-hydraulic actuator 64 and right front electro-hydraulic driver are synchronously driven to adjust the leveling angle of right rear drive wheel 5 and right front drive wheel 3 to less than the set leveling angle limit value.

[0094] In this embodiment, the alignment step for the left rear drive wheel 4 and the right rear drive wheel 5 to be on the same side is as follows:

[0095] When △3 > △4, the left rear electro-hydraulic actuator 63 retracts, aligning the left rear drive wheel 4 with the right rear drive wheel 5; after the left rear drive wheel 4 and the right rear drive wheel 5 are adjusted to the same suspension height, the left rear electro-hydraulic actuator 63 and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left rear drive wheel 4 and the right rear drive wheel 5 to less than the leveling angle limit value set in step S1.

[0096] When △3 < △4, the right rear electro-hydraulic actuator 64 retracts, aligning the right rear drive wheel 5 with the left rear drive wheel 4; after the right rear drive wheel 5 and the left rear drive wheel 4 are adjusted to the same suspension height, the left rear electro-hydraulic actuator 63 and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left rear drive wheel 4 and the right rear drive wheel 5 to be less than the leveling angle limit value set in step S1.

[0097] To further clarify, when the tomato harvester body tilts backward, △1 < △3 and △2 < △4, indicating that the left rear drive wheel 4 and the right rear drive wheel 5 are on the same side. At this time, the displacement sensors in the left rear electro-hydraulic actuator 63 and the right rear electro-hydraulic actuator detect the suspension height of the left rear drive wheel 4 and the right rear drive wheel 5 respectively, and transmit the detected suspension height data to the control module. The control module calculates and analyzes the received suspension height data. When the control module determines that △3 > △4, that is, the suspension height of the left rear drive wheel 4 is higher than the suspension height of the right rear drive wheel 5, the left rear electro-hydraulic actuator 63 receives the command from the control module and retracts, adjusting the left rear drive wheel 4 to be aligned with the right rear drive wheel 5. After wheel 4 and right rear drive wheel 5 are adjusted to the same suspension height, the left rear electro-hydraulic actuator 63 and right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left rear drive wheel 4 and right rear drive wheel 5 to less than the set leveling angle limit value. When the control module determines that △3 < △4, that is, the suspension height of the right rear drive wheel 5 is higher than the suspension height of the left rear drive wheel 4, the right rear electro-hydraulic actuator 64 receives the command from the control module to retract, so that the right rear drive wheel 5 is aligned with the left rear drive wheel 4. After the right rear drive wheel 5 and left rear drive wheel 4 are adjusted to the same suspension height, the right rear electro-hydraulic actuator 64 and left rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the right rear drive wheel 5 and left rear drive wheel 4 to less than the set leveling angle limit value.

[0098] In this embodiment, the alignment steps for the left front drive wheel 2 and the right front drive wheel 3 to be on the same side are as follows:

[0099] When △1 > △2, the left front electro-hydraulic actuator 61 retracts, aligning the left front drive wheel 2 with the right front drive wheel 3; after the left front drive wheel 2 and the right front drive wheel 3 are adjusted to the same suspension height, the left front electro-hydraulic actuator 61 and the right front electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel 2 and the right front drive wheel 3 to be less than the leveling angle limit value set in step S1.

[0100] When △1 < △2, the right front electro-hydraulic actuator 62 retracts, aligning the right front drive wheel 3 with the left front drive wheel 2; after the right front drive wheel 3 and the left front drive wheel 2 are adjusted to the same suspension height, the left front electro-hydraulic actuator 61 and the right front electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel 2 and the right front drive wheel 3 to be less than the leveling angle limit value set in step S1.

[0101] To further explain, when the tomato harvester body tilts forward, △1 > △3 and △2 > △4, indicating that the left front drive wheel 2 and the right front drive wheel 3 are on the same side. At this time, the displacement sensors in the left front electro-hydraulic actuator 61 and the right front electro-hydraulic actuator detect the suspension height of the left front drive wheel 2 and the right front drive wheel 3 respectively, and transmit the detected suspension height data to the control module. The control module calculates and analyzes the received suspension height data. When the control module determines that △1 > △2, that is, the suspension height of the left front drive wheel 2 is higher than the suspension height of the right front drive wheel 3, the left front electro-hydraulic actuator 61 receives the command from the control module and retracts, adjusting the left front drive wheel 2 to be aligned with the right front drive wheel 3. After wheel 2 and right front drive wheel 3 are adjusted to the same suspension height, the left front electro-hydraulic actuator 61 and right front electro-hydraulic driver are synchronously driven to adjust the leveling angle of the left front drive wheel 2 and right front drive wheel 3 to less than the set leveling angle limit value. When the control module determines that △1 < △2, that is, the suspension height of the right front drive wheel 3 is higher than the suspension height of the left front drive wheel 2, the right front electro-hydraulic actuator 62 receives the command from the control module to retract, so that the right front drive wheel 3 is aligned with the left front drive wheel 2. After the right front drive wheel 3 and left front drive wheel 2 are adjusted to the same suspension height, the right front electro-hydraulic actuator 62 and left front electro-hydraulic driver are synchronously driven to adjust the leveling angle of the right front drive wheel 3 and left front drive wheel 2 to less than the set leveling angle limit value.

[0102] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A suspension device for a tomato harvester, characterized in that, include: Four electro-hydraulic actuators (6) are mounted on the frame (1) and correspond one-to-one with the left front drive wheel (2), right front drive wheel (3), left rear drive wheel (4), and right rear drive wheel (5); An inclination detector (7) is installed at the center of gravity of the frame (1) to detect the inclination data of the frame (1) in real time. The control module is mounted on the frame (1) and is used to receive tilt data output by the tilt detector (7) and control the extension and retraction of the electro-hydraulic actuator (6) according to the received data. The fixed end of the electro-hydraulic actuator (6) is mounted on the frame (1), and the telescopic end is mounted on the axle near the left front drive wheel (2), right front drive wheel (3), left rear drive wheel (4), and right rear drive wheel (5); the electro-hydraulic actuator (6) is used to adjust the suspension height of the corresponding drive wheel.

2. The tomato harvester suspension device according to claim 1, characterized in that, The electro-hydraulic actuator (6) includes: a bidirectional motor, a bidirectional hydraulic cylinder, a control valve group, and a displacement sensor; The bidirectional motor is used to execute the output commands of the control module and drive the bidirectional hydraulic cylinder to extend and retract. The bidirectional hydraulic cylinder controls the suspension height of the left front drive wheel (2), right front drive wheel (3), left rear drive wheel (4), and right rear drive wheel (5); The control valve assembly is used to control the pressure balance and connection direction of the bidirectional hydraulic cylinder oil circuit; The displacement sensor is used to detect the suspension height of the left front drive wheel (2), right front drive wheel (3), left rear drive wheel (4), and right rear drive wheel (5) in real time, and transmits the data to the control module.

3. The leveling method for the tomato harvester suspension device according to claim 1, characterized in that, The electro-hydraulic actuator (6) includes a left front electro-hydraulic actuator (61), a right front electro-hydraulic actuator (62), a left rear electro-hydraulic actuator (63), and a right rear electro-hydraulic actuator (64); The left front electro-hydraulic actuator (61) adjusts the suspension height of the left front drive wheel (2), the right front electro-hydraulic actuator (62) adjusts the suspension height of the right front drive wheel (3), the left rear electro-hydraulic actuator (63) adjusts the suspension height of the left rear drive wheel (4), and the right rear electro-hydraulic actuator (64) adjusts the suspension height of the right rear drive wheel (5).

4. The leveling method for the tomato harvester suspension device according to claim 3, characterized in that, include: S1. Set the leveling angle limit value for the control module; The leveling angle limit values ​​include: the tilt angle limit value α. min and pitch angle limit β min ; S2. Start the tilt detector (7) to detect the left and right tilt angle data and pitch angle data of the frame (1) in real time, and transmit the data to the control module; S3. Tilt judgment; The control module compares the data detected in step S2 with the set leveling angle limit value. When the detected data is greater than the set leveling angle limit value, it is determined that the frame (1) is in a tilted state. S4. Based on the determination result of step S3, the control module obtains the suspension height of the corresponding drive wheel through the displacement sensor; S5. The control module calculates and outputs a leveling command to the electro-hydraulic actuator (6) based on the suspension height obtained in step S4, and performs tilting and leveling operations on the right front drive wheel (3), left front drive wheel (2), right rear drive wheel (5), and left rear drive wheel (4). S6. Alignment judgment of the inclined side drive wheels; that is, to compare the suspension height of the two drive wheels on the inclined side and determine whether the alignment operation has been carried out on the inclined side; S7. Based on the alignment judgment result in step S6, the control module sends an alignment command to the electro-hydraulic actuator (6) to perform the same-side alignment operation of the drive wheel.

5. The leveling method for the tomato harvester suspension device according to claim 4, characterized in that, The steps for tilting and leveling the right front drive wheel (3), left front drive wheel (2), right rear drive wheel (5), and left rear drive wheel (4) are as follows: Set the suspension height of the left front drive wheel (2) to △1, the suspension height of the right front drive wheel (3) to △2, the suspension height of the left rear drive wheel (4) to △3, and the suspension height of the right rear drive wheel (5) to △4. When △1>△2 and △3>△4, the control module determines that the left side is tilted, and the telescopic ends of the left front electro-hydraulic actuator (61) and the left rear electro-hydraulic actuator (63) are extended, adjusting the left front drive wheel (2) to be aligned with the right front drive wheel (3) and adjusting the left rear drive wheel (4) to be aligned with the right rear drive wheel (5). Adjust the leveling angle between the left front drive wheel (2) and the right front drive wheel (3), and between the left rear drive wheel (4) and the right rear drive wheel (5) to be less than the leveling angle limit value; When △1 < △2 and △3 < △4, the control module determines that the right side is tilted, and the telescopic ends of the right front electro-hydraulic actuator (62) and the right rear electro-hydraulic actuator (64) are extended, adjusting the right front drive wheel (3) to be aligned with the left front drive wheel (2) and adjusting the right rear drive wheel (5) to be aligned with the left rear drive wheel (4). Adjust the leveling angle between the right front drive wheel (3) and the left front drive wheel (2), and between the right rear drive wheel (5) and the left rear drive wheel (4) to be less than the leveling angle limit value; When △1 < △3 and △2 < △4, the control module determines that it is tilting backward. The telescopic ends of the left rear electro-hydraulic actuator (63) and the right rear electro-hydraulic actuator (64) are extended, the left rear drive wheel (4) is adjusted to be aligned with the left front drive wheel (2), and the right rear drive wheel (5) is adjusted to be aligned with the right front drive wheel (3). Adjust the leveling angle between the left rear drive wheel (4) and the left front drive wheel (2), and between the right rear drive wheel (5) and the right front drive wheel (3) to be less than the leveling angle limit value; When △1>△3 and △2>△4, the control module determines that it is tilting forward. The telescopic ends of the left front electro-hydraulic actuator (61) and the right front electro-hydraulic actuator (62) are extended, the left rear drive wheel (4) is adjusted to be aligned with the left rear drive wheel (4), and the right rear drive wheel (5) is adjusted to be aligned with the right rear drive wheel (5). Adjust the leveling angle between the left front drive wheel (2) and the left rear drive wheel (4), and between the right front drive wheel (3) and the right rear drive wheel (5) to be less than the leveling angle limit value.

6. The leveling method for the tomato harvester suspension device according to claim 4, characterized in that, The alignment steps for the same side of the drive wheels are as follows: Set the suspension height of the left front drive wheel (2) to △1, the suspension height of the right front drive wheel (3) to △2, the suspension height of the left rear drive wheel (4) to △3, and the suspension height of the right rear drive wheel (5) to △4. Perform a judgment on whether the drive wheels are on the same side; when △1>△2 and △3>△4, it is determined that the left front drive wheel (2) and the left rear drive wheel (4) are on the same side; When △1 < △2 and △3 < △4, it is determined that the right front drive wheel (3) and the right rear drive wheel (5) are on the same side; When △1 < △3 and △2 < △4, it is determined that the left rear drive wheel (4) and the right rear drive wheel (5) are on the same side; When △1>△3 and △2>△4, it is determined that the left front drive wheel (2) and the right front drive wheel (3) are on the same side.

7. The leveling method for the tomato harvester suspension device according to claim 6, characterized in that, The alignment steps for the left front drive wheel (2) and the left rear drive wheel (4) to be on the same side are as follows: When △1 > △3, the left front electro-hydraulic actuator (61) retracts, aligning the left front drive wheel (2) with the left rear drive wheel (4); after the left front drive wheel (2) and the left rear drive wheel (4) are adjusted to the same suspension height, the left front electro-hydraulic actuator (61) and the left rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel (2) and the left rear drive wheel (4) to be less than the leveling angle limit value set in step S1; When △1 < △3, the left rear electro-hydraulic actuator (63) retracts, aligning the left rear drive wheel (4) with the left front drive wheel (2); after the left rear drive wheel (4) and the left front drive wheel (2) are adjusted to the same suspension height, the left front electro-hydraulic actuator (61) and the left rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel (2) and the left rear drive wheel (4) to be less than the leveling angle limit value set in step S1.

8. The leveling method for the tomato harvester suspension device according to claim 6, characterized in that, The alignment steps for the right front drive wheel (3) and right rear drive wheel (5) being on the same side are as follows: When △2 > △4, the right front electro-hydraulic actuator (62) retracts, aligning the right front drive wheel (3) with the right rear drive wheel (5); after the right front drive wheel (3) and the right rear drive wheel (5) are adjusted to the same suspension height, the right front electro-hydraulic actuator (62) and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the right front drive wheel (3) and the right rear drive wheel (5) to less than the leveling angle limit value set in step S1; When △2 < △4, the right rear electro-hydraulic actuator (64) retracts, aligning the rear front drive wheel with the right front drive wheel (3); after the right rear drive wheel (5) and the right front drive wheel (3) are adjusted to the same suspension height, the right front electro-hydraulic actuator (62) and the right rear electro-hydraulic driver are synchronously driven to adjust the leveling angle of the right front drive wheel (3) and the right rear drive wheel (5) to be less than the leveling angle limit value set in step S1.

9. The leveling method for the suspension device of a tomato harvester according to claim 6, characterized in that, The alignment steps for the left rear drive wheel (4) and right rear drive wheel (5) to be on the same side are as follows: When △3 > △4, the left rear electro-hydraulic actuator (63) retracts, aligning the left rear drive wheel (4) with the right rear drive wheel (5); after the left rear drive wheel (4) and the right rear drive wheel (5) are adjusted to the same suspension height, the left rear electro-hydraulic actuator (63) and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left rear drive wheel (4) and the right rear drive wheel (5) to be less than the leveling angle limit value set in step S1; When △3 < △4, the right rear electro-hydraulic actuator (64) retracts, aligning the right rear drive wheel (5) with the left rear drive wheel (4); after the right rear drive wheel (5) and the left rear drive wheel (4) are adjusted to the same suspension height, the left rear electro-hydraulic actuator (63) and the right rear electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left rear drive wheel (4) and the right rear drive wheel (5) to be less than the leveling angle limit value set in step S1.

10. The leveling method for the tomato harvester suspension device according to claim 6, characterized in that, The alignment steps for the left front drive wheel (2) and right front drive wheel (3) to be on the same side are as follows: When △1 > △2, the left front electro-hydraulic actuator (61) retracts, aligning the left front drive wheel (2) with the right front drive wheel (3); after the left front drive wheel (2) and the right front drive wheel (3) are adjusted to the same suspension height, the left front electro-hydraulic actuator (61) and the right front electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel (2) and the right front drive wheel (3) to be less than the leveling angle limit value set in step S1; When △1 < △2, the right front electro-hydraulic actuator (62) retracts, aligning the right front drive wheel (3) with the left front drive wheel (2); after the right front drive wheel (3) and the left front drive wheel (2) are adjusted to the same suspension height, the left front electro-hydraulic actuator (61) and the right front electro-hydraulic actuator are synchronously driven to adjust the leveling angle of the left front drive wheel (2) and the right front drive wheel (3) to be less than the leveling angle limit value set in step S1.

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