A potato ton bag harvesting lifting control method and system based on weight position cooperation and a medium

Abstract

This invention provides a method, system, and medium for controlling the lifting and lowering of potato ton bags based on weight and position coordination. It uses the effective signal of the adjacent next-level limit switch as the actual termination condition for each segment of the descent stroke, avoiding instability in the descent distance caused by factors such as oil temperature, oil pressure, and load changes. This ensures that the descent stroke at each stage is determined by mechanical limits, making the descent stroke precise and controllable, thus improving the consistency and reliability of ton bag lifting and lowering. Adaptive forward compensation based on the weight growth rate causes the descent action to occur earlier when the feeding speed is high, effectively compensating for the lag in hydraulic valve response and platform movement, and improving the accuracy of stage control. A stage latching strategy of "trigger-and-hold, position-and-clear" separates the weight trigger condition from the position termination condition, avoiding the problem of premature cancellation of the descent command due to the weight rapidly exceeding the upper limit of the window during descent.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery automation control and potato harvesting equipment technology, and in particular to a method, system and medium for lifting and lowering potato ton bags based on weight and position coordination. Background Technology

[0002] When potato pickers or harvesters are operating in the field, the harvested potatoes are usually fed into ton bags via a conveyor system. As the number of potatoes in the ton bags increases, the top of the potato pile gradually approaches the end of the conveyor. If the position of the lifting platform is not adjusted during the loading process, the drop height of the potatoes will gradually decrease, easily causing problems such as poor conveying, uneven stacking, and the need for frequent manual intervention. In order to maintain a more reasonable bag-filling height, the lifting platform usually needs to be lowered gradually as the weight of the ton bag increases.

[0003] In existing technologies, controlling the descent of ton bags often employs a timed descent strategy where the hydraulic valve is energized for a fixed period after the weight reaches a threshold. In this control method, the hydraulic valve's conduction time is considered an approximation of the lifting platform's descent stroke. However, the actual operating speed of the hydraulic system is affected by factors such as oil temperature, oil pressure, load, mechanical friction, and valve core response, resulting in inconsistent actual descent distances for the same energization time. When the descent distance is too small, the height of the potatoes piled inside the ton bag increases; when the descent distance is too large, the relative position between the conveyor end and the potato pile may change too rapidly, both affecting the stability of the automatic bagging process and the quality of the potatoes. Summary of the Invention

[0004] To address the aforementioned technical issues, this application provides a method, system, and medium for controlling the lifting and lowering of potato ton bags based on weight and position coordination.

[0005] A first aspect of this application provides a method for controlling the lifting and lowering of potato ton bags during harvesting based on weight and position coordination, the method comprising the following steps: Step S1: Obtain the weight data of the weighing sensor, read the state of the limit switch, and form multiple discrete position states from top to bottom, with a descent phase between two adjacent discrete position states. Step S2: Based on the rated load capacity of the tonne and the preset stage ratio coefficient, configure a separate trigger threshold for each descent stage. and weight window ;in, For the first The buffer zone between stages; Step S3: Preprocess the acquired weight data to obtain valid weight data; Step S4, during the ton packaging process, for the first The following operations are performed during the descent phase: When the valid weight data enters the... The weight window of the stage, and the lifting platform is currently in the first stage. When the platform is at the first position, the controller outputs a descent command to drive the lifting platform to descend; when the first position is triggered... When the limit switch corresponding to the first position is activated, the lifting platform stops descending and marks the first position. Phase completed; In step S5, when the lifting platform reaches the lowest position and the full load confirmation condition is met, the conveyor belt stops conveying, lifts the full load ton bag to the middle position and performs the bag release action; when the full load ton bag is removed and the weight drops below the empty load threshold, the lifting platform is driven back to the highest position to wait for bagging. After bagging is completed, steps S1 to S5 are repeated.

[0006] In some embodiments of this application, step S4, during the ton packaging process, further includes adaptive forward compensation based on the weight growth rate, specifically including the following steps: Calculate the weight growth rate ; If weight growth rate Greater than the preset feed rate threshold , Based on weight growth rate For the first Phase trigger threshold Perform forward compensation to obtain the corrected stage start threshold. ; If weight growth rate Less than the preset feed rate threshold Then determine .

[0007] In some embodiments of this application, the weight growth rate The calculation method is as follows: ; in, Reflects the current rate of increase in the weight of ton bags; Indicates the number of sampling points at the differential interval; Indicates the controller sampling period; Indicates the first The filtered weight at each sampling time; Indicates the sampling sequence number.

[0008] In some embodiments of this application, the stage start threshold is... The calculation method is as follows: ; in, Indicates the forward compensation coefficient; For the first The minimum trigger threshold allowed for a phase.

[0009] In some embodiments of this application, the preprocessing of the acquired weight data in step S3 includes the following operations: Take the length as A sliding window is used to perform median calculations on the raw weight data within the window to obtain the median weight. ; Among them, median weight The calculation method is as follows: ; Indicates the median operation; The length of the sliding window; The sampling sequence number; For median weight Perform a first-order recursive filter to obtain the filtered weight. : ; in, Represents the filter coefficients. .

[0010] In some embodiments of this application, step S4 employs a "trigger-and-hold, clear-after-reach" phase latching strategy: When the Once the stage descent trigger condition is met, the stage execution latch state is set and the descent command is maintained continuously. The descent command will not be canceled due to weight changes before the target limit switch is triggered. When the After the travel limit switch corresponding to the first position is triggered, the clearing phase executes the latching state and the descent command, and marks the first position. Phase completed.

[0011] In some embodiments of this application, a safety interlock protection is also included: When both an upward request and a downward request are detected, the output of both upward and downward requests is canceled.

[0012] In some embodiments of this application, the safety interlock protection further includes at least one of communication validity judgment, limit sequence verification, and action timeout protection.

[0013] A second aspect of this application provides a ton bag lifting control system for a potato picking machine, comprising: The controller is configured to execute the above-described weight-position coordinated potato ton bag harvesting lifting control method; The weighing module is located below the ton bag support platform and is connected in communication with the controller to detect the total weight of the ton bag and the potatoes inside it. Limit switches are arranged sequentially from top to bottom along the direction of movement of the lifting platform and are electrically connected to the controller. They are used to detect the lifting position of the ton bag carrying platform. The hydraulic lifting valve and the hydraulic lowering valve are electrically connected to the controller and are used to drive the lifting platform to rise or fall.

[0014] A third aspect of this application provides a computer-readable medium storing a computer program that, when executed by a processor, implements the steps of the above-described weight-position coordination-based potato ton bag harvesting lifting control method.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1) In this application, the effective signal of the adjacent next-level limit switch is used as the actual termination condition for each segment of the descent stroke, which avoids the problem of unstable descent distance caused by factors such as oil temperature, oil pressure, and load changes. This ensures that the descent stroke of each stage is determined by mechanical limit, and the descent stroke is precise and controllable, thereby improving the consistency and reliability of ton bag lifting. 2) Adaptive forward compensation based on weight growth rate: when the feeding speed is fast, the descent action occurs earlier, which effectively compensates for the lag in hydraulic valve response and platform action, and improves the accuracy of stage control. 3) The phase latching strategy of "trigger-hold, position-clear" is adopted to separate the weight triggering condition from the position termination condition. This allows the hydraulic valve to complete a certain mechanical stroke without relying on a fixed energizing time, avoiding the problem of premature cancellation of the descent command due to the weight rapidly exceeding the upper limit of the window during the descent process.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit this document. Attached Figure Description

[0017] The accompanying drawings, which form part of this document, are used to provide a further understanding of the document. The illustrative embodiments and descriptions herein are used to explain the document and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram illustrating the principle of a weight-position coordination-based potato harvesting lifting control method for ton bags provided in an exemplary embodiment of this application; Figure 2 This is a flowchart of a potato harvesting lifting control method based on weight and position coordination, provided in an exemplary embodiment of this application. Figure 3 This is a schematic diagram of a ton bag lifting control system for a potato picking machine provided in an exemplary embodiment of this application; Figure 4This is a schematic diagram of a ton bag support platform for a potato picking machine provided in an exemplary embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0019] When potato pickers or harvesters are operating in the field, the harvested potatoes are usually fed into ton bags via a conveyor system. As the number of potatoes in the ton bags increases, the top of the potato pile gradually approaches the end of the conveyor. If the position of the lifting platform is not adjusted during the loading process, the drop height of the potatoes will gradually decrease, easily causing problems such as poor conveying, uneven stacking, and the need for frequent manual intervention. In order to maintain a more reasonable bag-filling height, the lifting platform usually needs to be lowered gradually as the weight of the ton bag increases.

[0020] In existing technologies, controlling the descent of ton bags often employs a timed descent strategy where the hydraulic valve is energized for a fixed period after the weight reaches a threshold. In this control method, the hydraulic valve's conduction time is considered an approximation of the lifting platform's descent stroke. However, the actual operating speed of the hydraulic system is affected by factors such as oil temperature, oil pressure, load, mechanical friction, and valve core response, resulting in inconsistent actual descent distances for the same energization time. When the descent distance is too small, the height of the potatoes piled inside the ton bag increases; when the descent distance is too large, the relative position between the conveyor end and the potato pile may change too rapidly, both affecting the stability of the automatic bagging process and the quality of the potatoes.

[0021] Based on this, an exemplary embodiment of this application provides a method, system, and medium for lifting and lowering potato ton bags based on weight and position coordination. It uses the effective signal of the adjacent next-level limit switch as the actual termination condition for each segment of the descent stroke, avoiding instability in the descent distance caused by factors such as oil temperature, oil pressure, and load changes. This ensures that the descent stroke in each stage is determined by mechanical limits, making the descent stroke precise and controllable, thus improving the consistency and reliability of ton bag lifting and lowering. Adaptive forward compensation based on the weight growth rate causes the descent action to occur earlier when the feeding speed is high, effectively compensating for the lag in hydraulic valve response and platform movement, and improving the accuracy of stage control. A stage latching strategy of "trigger-and-hold, position-and-clear" is adopted, separating the weight trigger condition from the position termination condition. This allows the hydraulic valve to complete a defined mechanical stroke without relying on a fixed energizing time, avoiding the problem of premature cancellation of the descent command due to the weight rapidly exceeding the upper limit of the window during descent.

[0022] Example 1: An exemplary embodiment of this application provides a method for lifting and lowering potato ton bags for harvesting based on weight and position coordination, such as... Figure 1 and 2 As shown, the method includes the following steps: Step S1: Obtain the weight data of the weighing sensor, read the state of the limit switch, and form multiple discrete position states from top to bottom, with a descent phase between two adjacent discrete position states. Step S2: Based on the rated load capacity of the tonne and the preset stage ratio coefficient, configure a separate trigger threshold for each descent stage. and weight window ;in, For the first The buffer zone between stages; Step S3: Preprocess the acquired weight data to obtain valid weight data; Step S4, during the ton packaging process, for the first The following operations are performed during the descent phase: When the valid weight data enters the... The weight window of the stage, and the lifting platform is currently in the first stage. When the platform is at the first position, the controller outputs a descent command to drive the lifting platform to descend; when the first position is triggered... When the limit switch corresponding to the first position is activated, the lifting platform stops descending and marks the first position. Phase completed; Step S5: When the lifting platform reaches the lowest position and the full load confirmation condition is met, the conveyor belt stops conveying, lifts the full load ton bag to the middle position and performs the bag release action, releases the ton bag, the lifting platform descends again and performs the tilting action, so that the lifting platform tilts to unload the bag; when the full load ton bag is removed and the weight drops below the empty load threshold, the lifting platform is driven to rise back to the highest position to wait for bagging, and after bagging is completed, steps S1 to S5 are repeated.

[0023] In step S4, during the ton packaging process, adaptive forward compensation based on the weight growth rate is also included, specifically including the following steps: Calculate the weight growth rate ; If weight growth rate Greater than the preset feed rate threshold , Based on weight growth rate For the first Phase trigger threshold Perform forward compensation to obtain the corrected stage start threshold. ; If weight growth rate Less than the preset feed rate threshold Then determine .

[0024] The weight growth rate The calculation method is as follows: ; in, Reflects the current rate of increase in the weight of ton bags; Indicates the number of sampling points at the differential interval; Indicates the controller sampling period; Indicates the first The filtered weight at each sampling time; Indicates the sampling sequence number.

[0025] The stage start threshold The calculation method is as follows: ; in, Indicates the forward compensation coefficient; For the first The minimum trigger threshold allowed for a phase.

[0026] In step S3, the preprocessing of the acquired weight data includes the following operations: Take the length as A sliding window is used to perform median calculations on the raw weight data within the window to obtain the median weight. ; Among them, median weight The calculation method is as follows: ; Indicates the median operation; The length of the sliding window; The sampling sequence number; For median weight Perform a first-order recursive filter to obtain the filtered weight. : ; in, Represents the filter coefficients. .

[0027] Preferably, to avoid premature cancellation of the descent command due to the weight rapidly exceeding the window limit during descent, step S4 employs a "trigger-and-hold, clear upon arrival" stage latching strategy: When the Once the stage descent trigger condition is met, the stage execution latch state is set and the descent command is maintained continuously. The descent command will not be canceled due to weight changes before the target limit switch is triggered. When the After the travel limit switch corresponding to the first position is triggered, the clearing phase executes the latching state and the descent command, and marks the first position. The phase is complete. In this way, the weight triggering and the position termination can be separated, allowing ordinary hydraulic valves to complete a defined mechanical stroke without relying on a fixed energizing time. This avoids the problem of the descent command being prematurely canceled due to the weight rapidly exceeding the upper limit of the window during the descent process.

[0028] Preferably, this application also includes safety interlock protection: When both an upward and downward request are detected simultaneously, the output of both upward and downward requests is cancelled. Preferably, the safety interlock protection further includes at least one of communication validity judgment, limit sequence verification, and action timeout protection.

[0029] For the riser valve and lowering valve Set up an interlock relationship, where For the escalation request, For the descent request, If the system is in a safe and permitted state, the output logic must satisfy: ; ; in, This can include verifying communication validity, confirming correct limit sequence, confirming no action timeout, and confirming no emergency stop signal. The action is revoked if communication times out, limit sequence is abnormal, timeout occurs when descending to the target position, timeout occurs when rising to the highest position, or if both upper and lower hydraulic valves simultaneously request action. and And keep the conveyor belt stopped.

[0030] For example, in this application, five travel limit switches are set to form five discrete position states: highest position M14, second highest position M15, middle position M16, second lowest position M17, and lowest position M18, forming four descent stages. The rated load capacity of the ton bag is set as... The weight buffer zone is According to the preset stage ratio coefficient , , and Generate trigger thresholds for four descent phases , , and , where 0 < < < < ≤1, and ; Indicates the first Each stage has a proportional coefficient; a weight window is set for each stage. Before actual bagging, a loading test can be conducted to check the bagging process. and Calibration was performed to match the descent action at each stage with the change in the height of the potato stack inside the ton bag.

[0031] The discrete positions of the lifting platform are configured as P(k)∈{0,1,2,3,4}; where P(k)=0 indicates that the highest bit M14 is valid, P(k)=1 indicates that the second highest bit M15 is valid, P(k)=2 indicates that the middle bit M16 is valid, P(k)=3 indicates that the second lowest bit M17 is valid, and P(k)=4 indicates that the lowest bit M18 is valid.

[0032] During conveyor belt operation, the rate of increase in the weight of the ton bag varies with the feed flow rate. When the feed speed is high, if the descent is initiated at a fixed weight threshold, the actual weight at the trigger point may have already exceeded the target weight due to the lag in hydraulic valve response and lifting platform movement. Therefore, in this application, adaptive forward compensation based on the weight growth rate is applied to the ton bag during the ton bag packaging process. The weight growth rate of the ton bag is calculated in real time during the ton bag packaging process. , ; Then the weight growth rate With the preset feed rate threshold In comparison, if the weight growth rate Greater than the preset feed rate threshold Based on the weight growth rate For the first Phase trigger threshold Perform forward compensation to obtain the corrected stage start threshold. ; ; If weight growth rate Less than the preset feed rate threshold Then determine .

[0033] For example, the feed rate threshold The setting can be adjusted based on the rated load capacity of the ton bag, the expected loading time per bag, and the potato feeding capacity of the conveyor mechanism. With a rated load capacity of 1200 kg and an expected loading time of 60–150 s per bag, the average feeding speed corresponds to 8–20 kg / s. Therefore, the feeding speed threshold... It can be selected within the range of 8 to 20 kg / s.

[0034] In this embodiment, the following is taken =12 kg / s. In actual application, the speed can be adjusted according to the whole machine loading test in the factory or the bagging test in the field.

[0035] The obtained data is shown in the table below: Table 1. Weight growth rate, stage start threshold, and feed rate threshold data.

[0036] No. The descent trigger conditions for this phase consist of weight conditions, current position conditions, target limit status, and safety conditions: ; in, For the first Phase descent trigger conditions; Security clearance status; For the first Stage target limit switch status; For the first Phase completion markers; The corrected stage start threshold; For the first Phase in The upper limit threshold of the weight window at each sampling time; satisfies When the time comes, a descent command is output, and the lifting platform descends.

[0037] That is, when the effective weight data enters the first... The weight window of the stage, and the lifting platform is currently in the first stage. At the first position, the controller outputs a descent command to drive the lifting platform to descend; the descent terminates when the first [position] is triggered. When the limit switch corresponding to the first position is activated, the lifting platform stops descending and marks the first position. Phase completion. In this application, the effective signal of the adjacent next-level limit switch is used as the actual termination condition for each segment of the descent stroke, avoiding the problem of unstable descent distance caused by factors such as oil temperature, oil pressure, and load changes. This ensures that the descent stroke of each stage is determined by mechanical limit, making the descent stroke precise and controllable, and improving the consistency and reliability of ton bag lifting.

[0038] Example 2: An exemplary embodiment of this application provides a lifting control system for a ton bag of potato picking machine, such as... Figure 3 As shown, the system includes: The controller is configured to perform the weight-position coordination-based potato ton bag harvesting lifting control method as described in Example 1; The weighing module includes a load cell and a load transmitter, which are electrically connected, and the load transmitter is communicatively connected to the controller; for example... Figure 4 As shown, the weighing module is located below the ton bag support platform, that is, below the lifting platform, and is used to detect the total weight of the ton bag and the potatoes inside. Limit switches are arranged sequentially from top to bottom along the direction of movement of the lifting platform and are electrically connected to the controller. They are used to detect the lifting position of the ton bag carrying platform. The hydraulic lifting valve and the hydraulic lowering valve are electrically connected to the controller and are used to drive the lifting platform to rise or fall.

[0039] An exemplary embodiment of this application also provides a computer-readable medium storing a computer program that, when executed by a processor, implements the steps of the weight-position coordination-based potato ton bag harvesting lifting control method as described in Embodiment 1.

[0040] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0041] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0042] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, the intent of this application also includes these modifications and variations.

Claims

1. A method for lifting and lowering potato ton bags for harvesting based on weight and position coordination, characterized in that, The method includes the following steps: Step S1: Obtain the weight data of the weighing sensor, read the state of the limit switch, and form multiple discrete position states from top to bottom, with a descent phase between two adjacent discrete position states. Step S2: Based on the rated load capacity of the tonne and the preset stage ratio coefficient, configure a separate trigger threshold for each descent stage. and weight window ;in, For the first The buffer zone between stages; Step S3: Preprocess the acquired weight data to obtain valid weight data; Step S4, during the ton packaging process, for the first The following operations are performed during the descent phase: When the valid weight data enters the... The weight window of the stage, and the lifting platform is currently in the first stage. When the platform is at the first position, the controller outputs a descent command to drive the lifting platform to descend; when the first position is triggered... When the limit switch corresponding to the first position is activated, the lifting platform stops descending and marks the first position. Phase completed; In step S5, when the lifting platform reaches the lowest position and the full load confirmation condition is met, the conveyor belt stops conveying, lifts the full load ton bag to the middle position and performs the bag release action; when the full load ton bag is removed and the weight drops below the empty load threshold, the lifting platform is driven back to the highest position to wait for bagging. After bagging is completed, steps S1 to S5 are repeated.

2. The method for controlling the lifting and lowering of potato ton bags based on weight and position coordination according to claim 1, characterized in that, In step S4, during the ton packaging process, adaptive forward compensation based on the weight growth rate is also included, specifically including the following steps: Calculate the weight growth rate ; If weight growth rate Greater than the preset feed rate threshold , Based on weight growth rate For the Phase trigger threshold Perform forward compensation to obtain the corrected stage start threshold. ; If weight growth rate Less than the preset feed rate threshold Then determine .

3. The method for controlling the lifting and lowering of potato ton bags based on weight and position coordination according to claim 2, characterized in that, The weight growth rate The calculation method is as follows: ； in, Reflects the current rate of increase in the weight of ton bags; Indicates the number of sampling points at the differential interval; Indicates the controller sampling period; Indicates the first The filter weight at each sampling time; Indicates the sampling sequence number.

4. The method for controlling the lifting and lowering of potato ton bags based on weight and position coordination according to claim 2, characterized in that, The stage start threshold The calculation method is as follows: ； in, Indicates the forward compensation coefficient; For the first The minimum trigger threshold allowed for a phase.

5. The method for controlling the lifting and lowering of potato ton bags based on weight and position coordination according to claim 1, characterized in that, In step S3, the preprocessing of the acquired weight data includes the following operations: Take the length as A sliding window is used to perform median calculations on the raw weight data within the window to obtain the median weight. ; Among them, median weight The calculation method is as follows: ； Indicates the median operation; The length of the sliding window; The sampling sequence number; For median weight Perform a first-order recursive filter to obtain the filtered weight. : ； in, Represents the filter coefficients. .

6. The method for controlling the lifting and lowering of potato ton bags based on weight and position coordination according to claim 1, characterized in that, In step S4, a phase latching strategy of "hold after triggering, clear after reaching the target position" is adopted: When the Once the stage descent trigger condition is met, the stage execution latch state is set and the descent command is maintained continuously. The descent command will not be canceled due to weight changes before the target limit switch is triggered. When the After the travel limit switch corresponding to the first position is triggered, the clearing phase executes the latching state and the descent command, and marks the first position. Phase completed.

7. The method for controlling the lifting and lowering of potato ton bags based on weight-position coordination according to any one of claims 1 to 6, characterized in that, It also includes safety interlock protection: When both an upward request and a downward request are detected, the output of both upward and downward requests is canceled.

8. The method for controlling the lifting and lowering of potato ton bags based on weight and position coordination according to claim 7, characterized in that, The safety interlock protection also includes at least one of communication validity judgment, limit sequence verification, and action timeout protection.

9. A ton bag lifting control system for a potato picking machine, characterized in that, include: The controller is configured to perform the weight-position coordination-based potato ton bag harvesting lifting control method as described in any one of claims 1 to 8; The weighing module is located below the ton bag support platform and is connected in communication with the controller to detect the total weight of the ton bag and the potatoes inside it. Limit switches are arranged sequentially from top to bottom along the direction of movement of the lifting platform and are electrically connected to the controller. They are used to detect the lifting position of the ton bag carrying platform. The hydraulic lifting valve and the hydraulic lowering valve are electrically connected to the controller and are used to drive the lifting platform to rise or fall.

10. A computer-readable medium, wherein a computer program is stored on the computer-readable storage medium, characterized in that, When the computer program is executed by the processor, it implements the steps of the potato ton bag harvesting lifting control method based on weight position coordination as described in any one of claims 1 to 8.

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