A method for whole-field collaborative tillage posture control for compact agricultural machinery

Abstract

This invention relates to the field of agricultural machinery control technology and discloses a method for all-area collaborative tillage posture control for compact agricultural machinery. Through sensor groups on the front frame welded assembly, rear axle assembly, and implements, parameters such as the posture of the agricultural machinery itself, the posture of the tillage implements, soil hardness, and plot slope are collected in real time. The controller, based on the agricultural machinery's wheel system and implement type, retrieves suitable parameters such as wheelbase, tillage depth, and speed from a mode library, driving the wheelbase mechanism, height angle mechanism, and four-wheel suspension adjustment mechanism to coordinate their actions. This, in turn, adjusts the engine speed and transmission ratio, while the V-belt tensioning mechanism maintains transmission synchronization based on speed deviations. The controller continuously compares real-time parameters with preset thresholds, repeatedly adjusting when limits are exceeded; in case of a fault, it triggers an audible and visual alarm and switches to manual mode. This invention is adaptable to all scenarios, improves operational accuracy and reliability, is compatible with dual-wheel systems, and reduces equipment modification and user operating costs.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery control technology, and more specifically, to a method for all-area collaborative tillage posture control for compact agricultural machinery. Background Technology

[0002] In current agricultural production, with the expansion of small-scale cash crop cultivation (such as vegetable greenhouses and fruit and vegetable cultivation on hillsides), traditional large-scale tillage machinery is difficult to adapt due to its large size and poor flexibility, and compact tillage machinery is gradually becoming the mainstream. Among them, the three-wheeled compact agricultural machinery represented by the crop tillage implement disclosed in CN223428845U, through the modular structure of "front frame and engine mounting frame welded together + rear axle frame gearbox rotary tiller assembly", and with the sliding inner square tube, sliding outer square tube and hydraulic cylinder to achieve wheelbase adjustment, can be adapted to various operating implements such as rotary tillage, stubble removal, and ditching, which to a certain extent meets the operating needs of small plots; at the same time, four-wheeled compact agricultural machinery based on the improvement of the three-wheel structure has also emerged in the industry. By adding a rear wheel set to improve load-bearing stability, it is mainly used for operation scenarios with high requirements for levelness, such as sowing and fertilization.

[0003] However, existing compact tillage machinery and its supporting control technologies still have significant shortcomings: First, wheel system compatibility is poor. The control logic of three-wheeled agricultural machinery is only designed around wheelbase adjustment, and although four-wheeled agricultural machinery adds a rear wheel set, it lacks a targeted leveling adjustment mechanism. The two do not form a unified control framework, which requires users to configure separate control systems for agricultural machinery with different wheel systems, increasing the cost of use. Second, attitude control lacks global adaptability. For complex environments such as hilly slopes and uneven terrain, existing technologies do not accurately control the soil entry angle, ground clearance, and tilt of the tillage implements, which can easily lead to uneven tillage depth, incomplete stubble removal, and ditching deviation, making it difficult to meet the accuracy requirements of operation across all terrains. Third, there is insufficient coordination between power and attitude. Engine speed adjustment, gearbox transmission ratio switching, and implement attitude adjustment operate independently without a linkage mechanism. When soil hardness changes and the load on the implements fluctuates, V-belt drive slippage, power waste, or operation interruption can easily occur, affecting operational efficiency and reliability.

[0004] Therefore, there is an urgent need for a comprehensive collaborative tillage posture control method that can adapt to both three-wheeled and four-wheeled structures, meet the needs of operations across all plots of land, and achieve coordinated control of power transmission and tillage posture, so as to improve the operating accuracy, environmental adaptability and operational reliability of compact agricultural machinery. Summary of the Invention

[0005] In view of this, the present invention proposes a whole-domain collaborative tillage posture control method for compact agricultural machinery, which aims to solve the problems of poor wheel system compatibility, lack of whole-domain adaptability of posture control, and insufficient power and posture coordination in the current technology.

[0006] This invention proposes a method for full-area collaborative tillage posture control for compact agricultural machinery, the method comprising: The agricultural machinery body posture parameters, tillage operation implement posture parameters and plot environment parameters are collected in real time by a sensor group. The agricultural machinery body includes a three-wheel or four-wheel structure. The controller matches the corresponding global collaborative control mode from the preset mode library according to the type of agricultural machinery wheel system and implements; Based on the matching mode and real-time parameters, the controller drives the actuator to coordinate the adjustment of the wheelbase of the agricultural machinery, the ground clearance and soil entry angle of the implements, and adjust the levelness of the four-wheeled agricultural machinery. The controller adjusts the engine speed and transmission ratio in a coordinated manner to ensure that the agricultural machinery's travel speed matches its operating speed. The controller continuously compares the parameters collected by the sensor group with the preset threshold. If the deviation exceeds the limit, the above adjustment is repeated until the parameters meet the preset threshold.

[0007] Furthermore, the sensor group is installed on the front frame and engine mounting bracket welded assembly, the rear axle frame gearbox rotary tiller assembly, and the tillage implements of the compact agricultural machinery; the wheelbase of the agricultural machinery is adjusted by a wheelbase adjustment mechanism, which includes a sliding inner square tube installed on the front frame, a sliding outer square tube installed on the rear frame, and a hydraulic cylinder that drives the two to slide relative to each other; one end of the hydraulic cylinder is hinged to the bottom of the engine mounting bracket, and the other end is hinged to the gearbox.

[0008] Furthermore, the height of the working equipment off the ground and the angle of entry into the soil are adjusted by a height and angle adjustment mechanism, which includes a forward and reverse threaded rod and a height adjustment device; the height adjustment device is a telescopic square tube or a channel steel with a long hole.

[0009] Furthermore, the levelness of the four-wheeled agricultural machinery is adjusted through a rear wheel suspension adjustment mechanism. When the tilt of the agricultural machinery exceeds the limit, the controller drives the hydraulic rod of the mechanism to extend or retract to adjust the suspension height of the rear wheel on one side.

[0010] Furthermore, when adjusting the engine speed and transmission ratio in a coordinated manner, a V-belt tensioning mechanism is used to maintain transmission synchronization. The V-belt tensioning mechanism includes a tensioning pulley and a drive motor. The controller drives the tensioning pulley according to the speed deviation to adjust the tension of the V-belt.

[0011] Furthermore, the preset mode library includes dedicated control modes for different wheel systems and implement combinations. Each mode has preset wheelbase range, implement ground clearance and soil entry angle thresholds, engine speed range, and transmission ratio parameters.

[0012] Furthermore, the controller dynamically adjusts its strategy based on real-time collected soil hardness data: when the soil hardness is higher than the preset value, it controls the tillage implements to reduce the soil penetration depth and increase the engine speed; when the soil hardness is lower than the preset value, it increases the soil penetration depth and decreases the engine speed.

[0013] Furthermore, the wheelbase adjustment for three-wheeled agricultural machinery is as follows: when the slope is steep, the controller drives the hydraulic cylinder to extend to increase the wheelbase; when turning is required on flat ground, the controller drives the hydraulic cylinder to compress to shorten the wheelbase.

[0014] Furthermore, the preset thresholds include the tillage depth deviation of the implements, the tilt angle of the agricultural machinery body, and the slippage rate of the V-belt transmission.

[0015] Furthermore, when the controller detects a sensor malfunction or a parameter continuously exceeding the limit, it issues an alarm and switches to manual mode.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: By constructing a unified control framework adapted to three-wheeled and four-wheeled agricultural machinery, and specifically designing a dynamic wheelbase adjustment strategy for three-wheeled machinery and a rear wheel suspension level adjustment mechanism for four-wheeled machinery, the problem of poor wheel system compatibility and the need for separate control systems for different wheel systems in existing technologies is effectively solved, significantly reducing user costs. Relying on real-time data collection from sensor arrays of the terrain environment (soil hardness, slope) and machinery posture (implementation depth, tilt angle), combined with a preset mode library, precise control of tillage posture across the entire terrain is achieved, avoiding uneven tillage depth in hilly slopes and uneven terrain conditions encountered with existing technologies. The invention addresses the defect of ditching deviation and significantly improves operational accuracy in complex scenarios. By establishing a linkage adjustment mechanism between engine speed, gearbox transmission ratio, and V-belt tension, it achieves coordinated control of power transmission and tillage posture, solving the problems of transmission slippage and power waste caused by the independent operation of these three components in existing technologies, thus ensuring operational efficiency and reliability. Furthermore, based on the basic structural design of the sliding square tube, hydraulic cylinder, and positive and negative thread connecting rods of the CN223428845U utility model, this invention eliminates the need for large-scale modifications to existing compact agricultural machinery, further reducing the difficulty of technology promotion and the modification costs for users. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a step diagram of a method for all-area collaborative tillage posture control for compact agricultural machinery provided by an embodiment of the present invention; Figure 2This is a flowchart illustrating a method for controlling the posture of all-area collaborative tillage in compact agricultural machinery, as provided in an embodiment of the present invention. Detailed Implementation

[0018] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] like Figures 1-2 As shown in some embodiments of this application, this embodiment provides a method for all-area collaborative tillage posture control for compact agricultural machinery, the method comprising: The agricultural machinery body posture parameters, tillage operation implement posture parameters and plot environment parameters are collected in real time by a sensor group. The agricultural machinery body includes a three-wheel or four-wheel structure. The controller matches the corresponding global collaborative control mode from the preset mode library according to the type of agricultural machinery wheel system and implements; Based on the matching mode and real-time parameters, the controller drives the actuator to coordinate the adjustment of the wheelbase of the agricultural machinery, the ground clearance and soil entry angle of the implements, and adjust the levelness of the four-wheeled agricultural machinery. The controller adjusts the engine speed and transmission ratio in a coordinated manner to ensure that the agricultural machinery's travel speed matches its operating speed. The controller continuously compares the parameters collected by the sensor group with the preset threshold. If the deviation exceeds the limit, the above adjustment is repeated until the parameters meet the preset threshold.

[0020] Specifically, such as Figure 1 As shown, the sensor group is installed on the front frame and engine mounting bracket welded assembly, the rear axle frame gearbox rotary tiller assembly, and the tillage implements of the compact agricultural machinery; the wheelbase of the agricultural machinery is adjusted by a wheelbase adjustment mechanism, which includes a sliding inner square tube installed on the front frame, a sliding outer square tube installed on the rear frame, and a hydraulic cylinder that drives the two to slide relative to each other; one end of the hydraulic cylinder is hinged to the bottom of the engine mounting bracket, and the other end is hinged to the gearbox.

[0021] Understandably, in S100, the sensor protection level is IP67 dustproof and waterproof. The sensor group is precisely deployed according to the parameter monitoring requirements of each functional module of the compact agricultural machinery: displacement sensors and tilt sensors are respectively configured at the connection of the sliding inner square tube and the sliding outer square tube of the welded assembly of the front frame and the engine mounting bracket, as well as in the middle of the welded assembly, to collect the relative displacement of the sliding square tube (reflecting the wheelbase change) and the tilt angle of the agricultural machinery body in real time; speed sensors and pressure sensors are configured at the gearbox output end and the fixed square tube of the rear axle gearbox rotary tiller assembly to monitor the gearbox transmission speed and working load; at the actuation end of the tillage implements (such as the rotary tiller blade shaft, ... The ditching plow tip is equipped with height and angle sensors to capture the implement's height off the ground and its angle of entry into the soil, providing multi-dimensional and precise parameter support for all-area collaborative control. In the wheelbase adjustment mechanism for adjusting the agricultural machinery's wheelbase, the sliding inner square tube and the sliding outer square tube adopt a high-precision clearance fit design, and the inner wall is coated with a wear-resistant coating to reduce sliding loss. The hydraulic cylinder is optimized by connecting "one end to the load-bearing position at the bottom of the engine mounting bracket and the other end to the force-bearing point on the side wall of the gearbox" to ensure that the driving force is stably transmitted along the longitudinal direction of the agricultural machinery. The controller can drive the sliding square tube to precisely slide relative to each other to adjust the wheelbase according to the slope of the plot (data collected by sensors) and the wheel system type (three wheels / four wheels). This design provides reliable data and execution basis for the controller to achieve closed-loop feedback correction (such as comparing tillage depth deviation and tilt angle threshold) through the partitioned acquisition of sensor groups and the structured configuration of the wheelbase adjustment mechanism, effectively solving the problems of fuzzy parameter acquisition and insufficient wheelbase adjustment accuracy in existing technologies. It also takes into account the wheel system compatibility requirements of three-wheeled agricultural machinery (extending the wheelbase on slopes to increase stability and compressing the wheelbase on flat ground to increase flexibility) and four-wheeled agricultural machinery (fine-tuning the wheelbase with the rear wheel suspension adjustment mechanism to optimize levelness) by relying on the adaptive design of the sliding square tube and the hydraulic cylinder, avoiding the cost waste of designing a separate adjustment system. At the same time, the precise hinge of the hydraulic cylinder and the wear-resistant design of the sliding square tube extend the service life of the mechanism and reduce the frequency of maintenance.

[0022] Specifically, such as Figure 1 As shown, the height of the working tool off the ground and the angle of entry into the soil are adjusted by a height and angle adjustment mechanism, which includes a forward and reverse threaded rod and a height adjustment device; the height adjustment device is a telescopic square tube or a channel steel with a long hole.

[0023] Understandably, in the S300, the height and angle adjustment mechanism for adjusting the ground clearance and soil entry angle of the implement uses a segmented structure with matching threads at both ends. One end is hinged to the rear of the engine mounting bracket via a wear-resistant pin (linking with the cylinder of the wheelbase adjustment mechanism), and the other end is hinged to the top of the height adjustment device. The height adjustment device is directly connected to the fixed square tube on the gearbox. If it is a telescopic square tube, it slides inside the fixed square tube, and the tube wall has multiple sets of equidistant positioning holes. Height locking is achieved by inserting a tightening screw into the corresponding positioning hole, allowing for fine adjustment of the telescopic amount according to the soil entry depth requirements of different implements such as rotary tillers and seeders. If it is a channel steel with a long hole, it is vertically welded to the outside of the fixed square tube. A fastening bolt with a lock nut is inserted into the long hole of the channel steel. One end of the bolt is fixed to the connecting frame of the implement. The height is adjusted by sliding the bolt up and down along the long hole, and then the nut is tightened to lock it. At the same time, the forward and reverse threaded connecting rod can... By rotating the central adjustment handle to change its length, the implement rotates around the hinge point with the height adjustment device, thereby precisely adjusting the soil entry angle. The entire adjustment process is controlled in real time by the controller based on the data of the implement's height off the ground and soil entry depth collected by the sensor group (such as the stubble height processing requirements of the stubble mulcher), ensuring that the height and angle are matched in tandem. This design achieves synchronous and precise adjustment of the implement's height and soil entry angle through the combination of positive and negative threaded rods and two height adjustment devices, solving the problems of uneven tillage depth and irregular ridging caused by the single adjustment method in the existing technology. It can also flexibly select the adjustment device according to the operation scenario (such as using telescopic square tubes for shallow tillage in vegetable greenhouses and long-hole channel steel for deep ditches on hilly slopes), adapting to a variety of tillage implements. Moreover, the adjustment logic does not need to distinguish between three-wheeled and four-wheeled agricultural machinery (only the angle threshold needs to be fine-tuned according to the wheel system level requirements), avoiding the design of a separate control module, significantly improving wheel system compatibility and reducing user operating costs.

[0024] Specifically, such as Figure 2 As shown, the levelness of the four-wheeled agricultural machinery is adjusted by a rear wheel suspension adjustment mechanism. When the tilt of the agricultural machinery exceeds the limit, the controller drives the hydraulic rod of the mechanism to extend or retract to adjust the suspension height of the rear wheel on one side.

[0025] Understandably, in the S300, adjusting the level of a four-wheeled agricultural machine requires first installing a high-precision dual-axis tilt sensor (to collect real-time lateral tilt angle data) on the load-bearing crossbeam near the midpoint of the front and rear wheel axles in the middle of the machine. Simultaneously, displacement sensors are installed at the connection points between each rear wheel suspension and the rear frame (to provide feedback on suspension height changes). Data from both types of sensors is transmitted to the main controller via a CAN bus. The main controller pre-stores levelness thresholds for different operating scenarios (e.g., sowing ≤ ±0.5°, rotary tillage ≤ ±1°) and compares the real-time tilt angle with these thresholds. If the tilt exceeds the threshold, the controller determines the tilt direction and deviation based on the data (e.g., the left side is too high) and sends a command to the electro-hydraulic proportional valve of the corresponding rear wheel suspension adjustment mechanism. This mechanism is equipped with an independent hydraulic actuator for each rear wheel. One end of the hydraulic rod is ball-jointed to the rear frame hydraulic mounting seat, and the other end is connected to the rear wheel suspension. The electro-hydraulic proportional valve controls the hydraulic system's oil supply, pushing the hydraulic rod to extend or retract (e.g., retracting the left side to lower the left rear wheel height). During adjustment, the displacement sensor (accuracy ±0.2mm) provides real-time feedback on the extension / retraction amount, while the tilt sensor continuously monitors the tilt angle. If the target is met, the controller stops and locks the hydraulic rod; otherwise, the adjustment is repeated. If the right side is too high, the right hydraulic rod is adjusted accordingly, or the left side is extended in conjunction with the adjustment. This operation effectively solves the tilting problem of four-wheeled agricultural machinery on hilly slopes and uneven terrain, ensuring that implements such as fertilizer applicators and grape vine burying machines are planted horizontally, avoiding defects such as uneven fertilization and inconsistent vine burying depth. Furthermore, the independent hydraulic unit is more adaptable to irregular tilting scenarios than traditional dual-sided synchronous adjustment. Its control logic can also be integrated with the wheelbase adjustment of three-wheeled agricultural machinery into the same controller, eliminating the need for additional hardware development, significantly improving wheel system compatibility, and reducing equipment development and user operating costs.

[0026] Specifically, such as Figure 1 As shown, when the engine speed and transmission ratio are adjusted in a linkage manner, a V-belt tensioning mechanism is used to maintain transmission synchronization. The V-belt tensioning mechanism includes a tensioning wheel and a drive motor. The controller drives the tensioning wheel according to the speed deviation to adjust the tension of the V-belt.

[0027] Understandably, in the S400, when adjusting the engine speed and transmission ratio in a coordinated manner, a Hall speed sensor is first installed at the engine output shaft end and a magnetoelectric speed sensor is installed at the gearbox input shaft end. Both of them collect real-time speed data at a frequency of 1-2Hz, and the data is transmitted to the main controller via the CAN bus. The main controller pre-stores the "engine-gearbox" speed matching curves corresponding to different implements (such as rotary tillers and seeders) (for example, rotary tillage requires an engine speed to gearbox speed ratio of 4:3), and calculates the speed deviation between the two in real time. When the deviation exceeds the preset range (e.g., deviation > 5%), the controller first adjusts the gearbox transmission ratio to match the engine speed, and simultaneously triggers the V-belt tensioning mechanism. The tensioning wheel of this mechanism is connected to the electric drive lead screw mechanism through a bearing housing. One end of the lead screw is rigidly connected to the output shaft of the drive motor, and the tensioning wheel is in contact with the inner side (or outer side, depending on the transmission direction) of the V-belt. The controller outputs a pulse signal according to the magnitude of the speed deviation, and the drive motor drives the lead screw to rotate forward (or reverse), pushing the tensioning wheel to move along the slide rail (e.g., 0.5-1cm when the deviation is 10%). At the same time, the stroke is fed back through the miniature displacement sensor at the end of the tensioning wheel shaft to avoid over-tensioning and damaging the belt. When the speed deviation drops to ≤ 3%, the controller stops the motor and locks the lead screw, completing the tension adjustment. This operation can eliminate V-belt slippage caused by load fluctuations, such as increased resistance when tilling hard soil, in real time, ensuring efficient transmission of engine power to the gearbox and avoiding power waste. At the same time, no manual intervention is required for tension, adapting to load changes across all types of terrain. Furthermore, the tensioning mechanism control logic can be integrated with the attitude adjustment system of three-wheeled / four-wheeled agricultural machinery into the same controller, eliminating the need for additional hardware, reducing R&D costs, extending the service life of the V-belt, and reducing maintenance frequency.

[0028] Specifically, such as Figure 1 As shown, the preset mode library includes dedicated control modes for different wheel systems and implement combinations. Each mode has preset wheelbase range, implement ground clearance and soil entry angle thresholds, engine speed range and transmission ratio parameters.

[0029] Understandably, in the S200, when building the preset mode library, all core combinations of three-wheel / four-wheel wheel systems with eight types of implements, such as rotary tillers and stubble cutters, are first enumerated (e.g., 16 mainstream combinations such as three-wheel-weeder and four-wheel-seeder). For each combination, multi-scenario field tests are conducted: for example, when a three-wheel-rotary tiller operates on hilly slopes, the wheelbase range (1800-2000mm), ground clearance (8-12cm), soil entry angle (3-5°), and engine speed (1800-2200rpm) for stable tillage depth are recorded; when a four-wheel-grape vine burying machine operates on slopes, parameters such as wheelbase (2000-2200mm) and ground clearance (10-15cm) are recorded. This test data is then categorized by the "wheel system-implement" tag, entered into the controller's storage module, and labeled with parameter types (wheelbase, height, etc.), forming a dedicated control mode library with a search index. During use, users select the wheel type (three-wheeled / four-wheeled) and implement model via the agricultural machinery's control panel. The controller quickly matches the corresponding mode using an index and automatically retrieves preset parameters as the adjustment benchmark, eliminating the need for re-adjustment. This operation allows the agricultural machinery to be adapted to the target scenario from the moment it is turned on, avoiding the tedious process of manual trial and error and improving operational efficiency. The parameters are based on field testing, ensuring operational accuracy across all plots of land. Furthermore, it covers all wheel-implement combinations, requiring no additional development modes, reducing R&D costs, and allowing beginners to quickly get started, lowering the operational threshold.

[0030] Specifically, such as Figure 1 As shown, the controller dynamically adjusts its strategy based on real-time soil hardness data: when the soil hardness is higher than the preset value, it controls the tillage implement to reduce the soil penetration depth and increase the engine speed; when the soil hardness is lower than the preset value, it increases the soil penetration depth and decreases the engine speed.

[0031] Understandably, in the S300, a contact soil hardness sensor is first installed 10-15cm in front of the tillage implement's actuating end. The main controller pre-stores the hardness thresholds for the corresponding operating scenarios (e.g., for rotary tillage, the threshold for hard soil is >2MPa, and the threshold for soft soil is <0.8MPa). During operation, the sensor collects soil hardness data in real time and transmits it to the controller via the CAN bus. The controller compares the real-time data with the preset thresholds. If the hardness is higher than the preset value, the controller immediately sends a command to the height adjustment device (telescopic square tube / long-hole channel steel) to shorten its stroke and move the implement upward to reduce the soil penetration depth (e.g., from 15cm to 12cm). At the same time, it sends a speed increase command to the engine ECU (e.g., from 1800rpm to 2200rpm). If the hardness is lower than the preset value, the controller controls the height adjustment device to extend and move the implement downward to increase the soil penetration depth (e.g., from 10cm to 13cm), and reduces the engine speed (e.g., from 2000rpm to 1700rpm). During this process, the depth sensor of the implement provides real-time feedback on the adjustment results to ensure that the parameters are accurately met. This operation avoids tool overload and jamming in hard soil and shallow tillage or power waste in soft soil, ensuring work quality; dynamically matches power and soil penetration depth to reduce fuel consumption; adapts to soils of different hardness, improving adaptability to operations across all plots; and eliminates the need for frequent manual adjustments, lowering the operational threshold and improving work efficiency.

[0032] Specifically, such as Figure 1 As shown, the wheelbase adjustment for a three-wheeled agricultural machine is as follows: when the slope is steep, the controller drives the hydraulic cylinder to extend to increase the wheelbase; when turning is required on flat ground, the controller drives the hydraulic cylinder to compress to shorten the wheelbase.

[0033] Understandably, in the S300, for the wheelbase adjustment of three-wheeled agricultural machinery, a high-precision slope sensor is first installed on the front crossbeam of the welded assembly of the front frame and the engine mounting bracket, and a laser displacement sensor is installed at the connection gap between the sliding inner square tube and the sliding outer square tube. The main controller pre-stores the wheelbase adjustment threshold (setting the slope > 5° as a large slope scenario, corresponding to an appropriate wheelbase of 1900-2100mm; the flat ground turning scenario corresponds to an appropriate wheelbase of 1700-1850mm). During operation, the slope sensor collects the real-time slope of the plot at a frequency of 1Hz, and the laser displacement sensor synchronously feeds back the current relative displacement of the sliding square tube (converted to the actual wheelbase). Both types of data are transmitted to the main controller via a data cable. If the controller determines that the slope is greater than 5°, it immediately sends an extension command to the electro-hydraulic proportional valve of the cylinder. The hydraulic system supplies oil to the rodless chamber of the cylinder, pushing the engine mounting bracket to drive the sliding outer square tube to slide outward along the sliding inner square tube until the displacement sensor feeds back the wheelbase to the range of 1900-2100mm. At this point, the controller cuts off the oil circuit and locks the cylinder. If the controller detects that the agricultural machinery is on level ground and receives a steering signal from the steering lever, it sends a cylinder compression command. Hydraulic oil enters the rod chamber of the cylinder, pulling the sliding outer square tube inward to shorten the wheelbase to 1700-1850mm. This operation allows the three-wheeled agricultural machinery to improve stability on slopes by increasing the wheelbase, thus avoiding the risk of rollover. When turning on flat ground, the turning radius is reduced by shortening the wheelbase, making it suitable for flexible operation on small plots of land. There is no need to manually adjust the wheelbase, reducing the intensity of operation. Moreover, relying on the original hydraulic cylinder and sliding square tube structure, no additional parts are required, reducing equipment modification costs, while improving the adaptability and safety of operation on different plots of land.

[0034] Specifically, such as Figure 2 As shown, the preset thresholds include the tillage depth deviation of the implements, the tilt angle of the agricultural machinery body, and the slippage rate of the V-belt transmission.

[0035] Understandably, when determining the preset threshold, specific tests are first conducted for different parameters: Regarding the tillage depth deviation threshold, ultrasonic depth sensors are installed on the actuators of tillage machinery, and the stable tillage depth of rotary tillers, seeders, and other implements is tested on flat land and hilly slopes (e.g., 12-15cm for rotary tillers, 3-5cm for seeders). Using "ensuring work quality without damaging the implements" as the standard, the tillage depth deviation threshold is set to ±1cm (exceeding this tolerance can easily lead to missed tillage or excessive tillage). Regarding the tilt angle threshold of the agricultural machinery body, dual-axis tilt sensors are used to test the tilt angle of three-wheeled and four-wheeled agricultural machinery— —The three-wheeled agricultural machinery was used to simulate operations on slopes, recording the maximum tilt angle (≤3°) without tipping over and with the implements properly entering the soil. The four-wheeled agricultural machinery was used for leveling operations, recording the maximum tilt angle (≤1°) without causing row spacing deviation. Regarding the V-belt drive slippage threshold, rotational speeds were collected by speed sensors at the engine and gearbox shaft ends, and the slippage rate was calculated as ((engine speed - gearbox speed × transmission ratio) / engine speed × 100%). Tests were conducted under different loads (e.g., hard soil, soft soil), and a slippage rate of ≤5% was defined as "no significant power waste and no excessive belt wear." Finally, these measured parameters were categorized by "wheel system - implement" and entered into the controller as preset thresholds. This operation ensures that the thresholds match actual operational needs, providing a precise basis for controller adjustments and preventing uneven tillage depth, machinery tipping over, and power waste. Thresholds are set according to different scenarios, adapting to all operational areas. No repeated manual calibration is required, reducing operational difficulty and improving operational stability and efficiency.

[0036] Specifically, such as Figure 2 As shown, when the controller detects a sensor malfunction or a parameter continuously exceeding the limit, it issues an alarm and switches to manual mode.

[0037] Understandably, the controller monitors the transmission data and operating parameters (tillage depth deviation, tilt angle, etc.) of various sensors (tilt angle, displacement, rotation speed, etc.) in real time. If sensor data interruption, over-range (e.g., displacement sensor display >500mm, far exceeding the actual travel) or frequent jumps are detected, it is determined to be a sensor malfunction. If the operating parameters are detected to exceed the preset threshold for more than 3 seconds (e.g., tillage depth deviation >±3cm, tilt angle >5°), it is determined to be a parameter exceeding the limit. At this time, the controller immediately triggers an audible and visual alarm (buzzer continuously beeps, red warning light flashes), and the operator's cab screen simultaneously displays the fault type (e.g., "soil hardness sensor malfunction" "body tilt exceeding limit"), and automatically cuts off the automatic drive signals of actuators such as cylinders, hydraulic rods, and V-belt tensioning motors, seamlessly activating the manual mode. Operators can directly adjust the actuators through the manual control valves (cylinder extension knob, height adjustment handle, suspension adjustment rod) in the operator's cab, and the screen displays the manually adjusted parameters (e.g., current wheelbase, tillage depth, tilt angle) in real time to assist in precise operation. This operation can prevent machine jamming and operation failure due to malfunctions (such as damage to crop roots due to excessive tillage), ensuring operational safety; the manual mode can be seamlessly connected without stopping for maintenance, reducing operation interruption time; the fault prompts are clear, making it easy to quickly troubleshoot problems and reducing maintenance difficulty; even novice operators can maintain operation through manual adjustment, improving equipment reliability and adaptability to complex scenarios.

[0038] In a specific embodiment of this application, the above steps are implemented in the following ways: Scene 1: Rotary tillage operation of three-wheeled agricultural machinery in a vegetable greenhouse The plot is a 6-meter-wide and 30-meter-long tomato greenhouse (flat land, soil moisture 25%, hardness 0.9MPa), equipped with a three-wheeled agricultural machine and a rotary tiller. The goal is to till the greenhouse soil to a depth of 12-15cm in preparation for sowing. During operation, the controller first matches the "three-wheel rotary tiller (flat ground)" mode from the mode library, automatically retrieving preset parameters of 1700-1850mm wheelbase, 14cm tillage depth, and 1900rpm engine speed. During operation, the slope sensor detects flat ground. When the operator moves the steering lever to turn around the greenhouse pillars, the controller drives the hydraulic cylinder to compress, causing the sliding outer square tube to slide along the inner square tube, shortening the wheelbase to 1750mm and reducing the turning radius to 1.8 meters, avoiding collisions with the pillars. Simultaneously, the soil hardness sensor collects data; due to the soft soil, the controller controls the extension of the telescopic square tube, increasing the rotary tiller's soil penetration depth to 14.5cm, while simultaneously reducing the engine speed to 1800rpm to minimize power waste. During this period, the V-belt speed sensor detects a slippage rate of 0.8% (below the ≤5% threshold), requiring no additional tensioning. Finally, the entire greenhouse rotary tillage is completed in 2 hours, with tillage depth deviations all ≤±0.5cm.

[0039] Scene 2: Corn planting with four-wheeled agricultural machinery on hilly slopes The plot is a hilly slope with a gradient of 12-15° (soil hardness 1.8MPa, few stones). It is equipped with a four-wheeled agricultural machine and a corn precision planter. The operation target is to achieve precise sowing with a row spacing of 60cm and a sowing depth of 3-5cm. After startup, the controller is matched to the "four-wheel-seeder (hilly slope)" mode, with a preset levelness threshold of ≤±0.5°, wheelbase of 2000mm, and engine speed of 2100rpm. During operation, the dual-axis tilt sensor detects that the left side of the agricultural machine tilts by 1.2° (exceeding the threshold). The controller immediately drives the hydraulic rod of the left rear wheel suspension adjustment mechanism to retract, and the displacement sensor reports a retraction amount of 8mm. The tilt angle is corrected to 0.3° (meeting the threshold), ensuring that the sowing row spacing is not offset. When traveling to the hard soil section of the slope, the seeder's resistance increases, the engine speed drops to 1950rpm, and the gearbox speed drops synchronously. The speed deviation reaches 6% (exceeding the ≤5% threshold). The controller drives the V-type motor with tensioning mechanism to rotate forward, causing the tensioning wheel to move by 0.6cm. The slippage rate drops to 2.3%, the power transmission returns to stability, and the final sowing qualification rate reaches 98%.

[0040] In the above embodiments, sensor groups deployed on the front frame welding assembly, rear axle assembly, and implements of the agricultural machinery collect parameters such as the tilt angle of the agricultural machinery body, wheelbase displacement, tillage depth of the implements, and soil hardness in real time. After the data is transmitted to the main controller, the controller retrieves suitable wheelbase range, tillage depth threshold, engine speed, and other parameters from the preset mode library according to the type of agricultural machinery wheel system (three-wheel / four-wheel) and the type of implements. Subsequently, based on the deviation between the real-time parameters and the preset values, the controller drives the corresponding actuators to coordinate actions—for three-wheeled agricultural machinery, the distance between the sliding square tubes is adjusted by the extension and retraction of the hydraulic cylinders to adapt to the stability on slopes or the flexibility on flat ground, through forward and reverse... The connecting rod and telescopic square tube / long-hole channel steel adjust the tillage depth and angle of the implements; for four-wheeled agricultural machinery, the hydraulic rod of the rear wheel suspension is additionally driven to correct the levelness of the machine body; at the same time, the engine speed and gearbox transmission ratio are adjusted in linkage, and the power transmission is kept synchronized through the V-belt tensioning mechanism (driven by the tensioning wheel according to the speed deviation); throughout the process, the controller continuously compares the real-time parameters with the preset thresholds (tillage depth deviation, tilt angle, etc.), and repeats the adjustment when the limit is exceeded. If a sensor failure is detected or the parameters continue to exceed the limit, an audible and visual alarm is triggered and the machine is switched to manual mode. The operator completes the adjustment through the manual valve, and finally achieves precise tillage control of different wheel systems and implements in the entire field.

[0041] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0042] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0043] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0044] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for controlling the posture of all-area collaborative tillage for compact agricultural machinery, characterized in that, The method includes: The agricultural machinery body posture parameters, tillage operation implement posture parameters and plot environment parameters are collected in real time by a sensor group. The agricultural machinery body includes a three-wheel or four-wheel structure. The controller matches the corresponding global collaborative control mode from the preset mode library according to the type of agricultural machinery wheel system and implements; Based on the matching mode and real-time parameters, the controller drives the actuator to coordinate the adjustment of the wheelbase of the agricultural machinery, the ground clearance and soil entry angle of the implements, and adjust the levelness of the four-wheeled agricultural machinery. The controller adjusts the engine speed and transmission ratio in a coordinated manner to ensure that the agricultural machinery's travel speed matches its operating speed. The controller continuously compares the parameters collected by the sensor group with the preset threshold. If the deviation exceeds the limit, the above adjustment is repeated until the parameters meet the preset threshold.

2. The method for all-area collaborative tillage posture control for compact agricultural machinery according to claim 1, characterized in that, The sensor group is installed on the front frame and engine mounting bracket welded assembly, the rear axle frame gearbox rotary tiller assembly, and the tillage implements of the compact agricultural machinery; the wheelbase of the agricultural machinery is adjusted by a wheelbase adjustment mechanism, which includes a sliding inner square tube installed on the front frame, a sliding outer square tube installed on the rear frame, and a hydraulic cylinder that drives the two to slide relative to each other; one end of the hydraulic cylinder is hinged to the bottom of the engine mounting bracket, and the other end is hinged to the gearbox.

3. The method for all-area collaborative tillage posture control for compact agricultural machinery according to claim 1, characterized in that, The height and soil entry angle of the working equipment are adjusted by a height and angle adjustment mechanism, which includes a forward and reverse threaded rod and a height adjustment device; the height adjustment device is a telescopic square tube or a channel steel with a long hole.

4. The method for all-area collaborative tillage posture control for compact agricultural machinery according to claim 1, characterized in that, The levelness of the four-wheeled agricultural machinery is adjusted through a rear wheel suspension adjustment mechanism. When the tilt of the agricultural machinery exceeds the limit, the controller drives the hydraulic rod of the mechanism to extend or retract to adjust the suspension height of the rear wheel on one side.

5. The method for all-area collaborative tillage posture control for compact agricultural machinery according to claim 1, characterized in that, When the engine speed and transmission ratio are adjusted in a coordinated manner, a V-belt tensioning mechanism is used to maintain transmission synchronization. The V-belt tensioning mechanism includes a tensioning pulley and a drive motor. The controller drives the tensioning pulley according to the speed deviation to adjust the tension of the V-belt.

6. The method for all-area collaborative tillage posture control for compact agricultural machinery according to claim 1, characterized in that, The preset mode library includes dedicated control modes for different wheel systems and implement combinations. Each mode has preset wheelbase range, implement ground clearance and soil entry angle thresholds, engine speed range and transmission ratio parameters.

7. The method for all-area collaborative tillage posture control for compact agricultural machinery according to claim 1, characterized in that, The controller dynamically adjusts its strategy based on real-time soil hardness data: when soil hardness is higher than a preset value, it controls the tillage implements to reduce the soil penetration depth and increase the engine speed; when soil hardness is lower than a preset value, it increases the soil penetration depth and decreases the engine speed.

8. The method for all-area collaborative tillage posture control for compact agricultural machinery according to claim 1, characterized in that, The wheelbase adjustment for three-wheeled agricultural machinery is as follows: when the slope is steep, the controller drives the hydraulic cylinder to extend to increase the wheelbase; when turning is required on flat ground, the controller drives the hydraulic cylinder to compress to shorten the wheelbase.

9. The method for all-area collaborative tillage posture control for compact agricultural machinery according to claim 1, characterized in that, The preset thresholds include the tillage depth deviation of the implements, the tilt angle of the agricultural machinery body, and the slippage rate of the V-belt transmission.

10. The method for all-area collaborative tillage posture control for compact agricultural machinery according to claim 1, characterized in that, When the controller detects a sensor malfunction or a parameter continuously exceeding the limit, it issues an alarm and switches to manual mode.

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