CN114531986A - Tilling depth control method and device for field operation machine tool - Google Patents
Tilling depth control method and device for field operation machine tool Download PDFInfo
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- CN114531986A CN114531986A CN202210202080.3A CN202210202080A CN114531986A CN 114531986 A CN114531986 A CN 114531986A CN 202210202080 A CN202210202080 A CN 202210202080A CN 114531986 A CN114531986 A CN 114531986A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
- A01B71/02—Setting or adjusting mechanisms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/087—Lifting devices; Depth regulation devices; Mountings
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/23—Updating
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/24—Querying
- G06F16/245—Query processing
- G06F16/2455—Query execution
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Abstract
The invention discloses a tilling depth control method and a tilling depth control device for field operation machines, which comprise the steps of initializing attitude data of the tilling tool relative to a power machine and generating adjusting data corresponding to preset tilling depth requirement information; when the adjusting data is executed, attitude change data of the power machine is detected in real time, the attitude change data is compared with the attitude data to generate compensation parameters, and the attitude of the cultivator is adjusted according to the compensation parameters; synchronously correcting the adjusting data executed by the cultivator based on the current posture of the cultivator to enable the actual cultivation depth of the cultivator to meet the requirement. The invention can reduce the working strength of the engine hand, stabilize the power output of the engine, save fuel and time and improve the working efficiency.
Description
Technical Field
The invention relates to the technical field of rotary tillage implements, in particular to a tilling depth control method and a tilling depth control device for a field operation implement.
Background
Before crops are planted, soil needs to be loosened and leveled by a power machine (a wheel type machine or a crawler machine) matched with an agricultural implement (a rotary cultivator), the power machine drives the agricultural implement to incline forwards and backwards and leftwards and rightwards due to the height fluctuation of the ground, so that the contact surface of the rotary cultivator and the soil is constantly changed, the power output power of an engine is constantly changed, a mechanical hand needs to constantly adjust the depth according to the working condition of the agricultural implement, but the horizontal state of the agricultural implement cannot be adjusted, and finally, the field surface which is subjected to rotary tillage is uneven and can achieve the expected effect by repeated leveling.
Disclosure of Invention
The invention aims to provide a method and a device for controlling the tilling depth of a field working machine, which can reduce the working strength of a manipulator, stabilize the power output of an engine, save fuel and time and improve the working efficiency.
According to a first aspect of the present invention, there is provided a method of controlling a tilling depth of a field working implement, comprising:
initializing attitude data of the cultivator relative to the power machine, and generating adjusting data corresponding to preset cultivation depth requirement information;
when the adjusting data is executed, attitude change data of the power machine is detected in real time, the attitude change data is compared with the attitude data to generate compensation parameters, and the attitude of the cultivator is adjusted according to the compensation parameters;
synchronously correcting the adjusting data executed by the cultivator based on the current posture of the cultivator to enable the actual cultivation depth of the cultivator to meet the requirement.
Further, initializing attitude data of the tilling implement relative to the power machine specifically includes:
predefining initialization postures and initial parameters of the cultivator and the power machine;
when an initialization command is detected, adjusting the relative posture of the cultivator and the power machine in the current geographic environment to an initialization posture;
and acquiring corresponding data of the current initialization attitude, comparing the data with the initial parameters, correcting the initialization attitude based on the current geographic environment, and initializing the attitude data of the cultivator relative to the power machine.
Further, the generation of the adjustment data specifically includes:
predefining an input port of the tilling depth requirement information to acquire the tilling depth requirement information;
and calculating a lifting change parameter of the cultivator when the tilling depth requirement information is realized based on the initialized attitude data, and defining the lifting change parameter as adjustment data.
Further, the generation of the adjustment data specifically includes:
predefining an input port of the tilling depth requirement information to acquire the tilling depth requirement information;
and calculating a lifting change parameter of the cultivator when the tilling depth requirement information is realized based on the initialized attitude data, and defining the lifting change parameter as adjustment data.
Further, in the process of detecting the attitude change data of the power machine in real time, the method also comprises the following steps of adjusting the response sensitivity of the attitude change data:
presetting a linear adjustment range of the sensitivity, and acquiring a linear parameter of the current sensitivity;
converting attitude response data of the power machine and tilling depth response data of the tilling tool into angle deviation values, and sharing linear parameters of the sensitivity;
when the attitude response data exceeds the linear parameters, defining that the attitude changes;
when the tilling depth response data exceeds the linear parameter, a change in tilling depth is defined.
Further, the adjusting data executed by the tilling implement is synchronously corrected based on the current posture of the tilling implement, so that the actual tilling depth of the tilling implement meets the requirement, specifically including:
obtaining the current posture of the cultivator after being adjusted by the compensation parameters, and obtaining the adjustment data currently executed by the cultivator;
recalculating the actual tilling depth of the tilling tool based on the current posture of the tilling tool to the ground, and performing coordinated fluctuation correction on the adjusting data to enable the actual tilling depth to be matched with the tilling depth requirement information;
the coordinated fluctuation correction of the regulating data only adjusts the height of the tilling implement relative to the ground.
Further, the automatic lifting of the tilling implement is also included:
when the cultivator is in an operating state, the cultivator is automatically lifted to a preset height when any one of the following conditions is met: detecting a back signal, receiving a transition instruction and detecting a manual control signal.
According to a second aspect of the present invention, there is provided a tilling depth control device for a field working implement, including:
an initialization module: initializing attitude data of the cultivator relative to the power machine, and generating adjusting data corresponding to preset cultivation depth requirement information;
an attitude correction module: when the adjustment data is executed, attitude change data of the power machine is detected in real time, the attitude change data is compared with the attitude data to generate compensation parameters, and the attitude of the cultivator is adjusted according to the compensation parameters;
tilling depth correction module: and synchronously correcting the adjusting data executed by the cultivator based on the current posture of the cultivator, so that the actual cultivation depth of the cultivator meets the requirement.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method steps of any of the above first aspects when executing the computer program.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method steps of any of the above first aspects.
The invention has the beneficial effects that:
the invention provides a method and a device for controlling the tilling depth of field operation machines, which are based on the position of a novice and the culture degree, are in a humanized design operation mode and reduce the working strength; the operation posture of the cultivator is adjusted, the ground load during the cultivation of the cultivator is balanced, the power output of the engine is stabilized, the fuel and the time are saved, and the operation efficiency is improved.
The working strength of a manipulator can be effectively reduced, and the rear carrier can be automatically lifted conveniently during transition and backing; the method is new-hand-friendly, can be operated by hands quickly, and has quick adaptation and short period.
The shake and the oscillation of the rear carrier can be reduced, and the rear suspension is protected.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to indicate like elements. The drawings in the following description are directed to some, but not all embodiments of the invention. To a person skilled in the art, without inventive effort, other figures can be derived from these figures.
FIG. 1 is a flow chart of a method for controlling the tilling depth of a field working implement according to an embodiment of the present invention;
FIG. 2 is a modular block diagram of a tilling depth control device of a field work implement according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention and the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is to be understood that the drawings in the following description are merely exemplary of the invention and that other drawings and embodiments can be derived by those skilled in the art without undue burden. The designation of the design orientation merely indicates the relative positional relationship between the respective members, not the absolute positional relationship.
In the embodiment of the invention, the original vehicle forced pressure lifting configuration electromagnetic valve can be directly installed without damage, and a group of double-acting electromagnetic valve, a single-side double-acting oil cylinder and four oil pipes are added to meet the execution requirement of automatic adjustment. A suspension type non-contact (horizontal) sensor is adopted, the installation position is not limited, and any position can be used as an initialization position. In implementation, the delay characteristics of hydraulic pressure and electric appliances can be fully considered, and the adjustment command is made at a proper position (timeliness).
Example one
According to a first aspect of the present invention, there is provided a method for controlling a tilling depth of a field working implement, as shown in fig. 1, which is a flowchart of the method for controlling a tilling depth of a field working implement, including:
step S101: initializing attitude data of the cultivator relative to the power machine, and generating adjusting data corresponding to preset cultivation depth requirement information.
The invention is based on the position of a beginner, reduces the operation difficulty of the agricultural implement (rotary cultivator), enables the agricultural implement to have autonomous intelligent self-adjustment, ensures the posture adaptability of the cultivator, can more effectively implement the external cultivation depth requirement in the operation process, can effectively stabilize the power output of an engine, and reduces the sudden change intensity of the cultivation implement to the ground load.
In the invention, the acquisition of the horizontal data and the actual tilling depth data of the tilling tool comes from the sensors arranged on the rear suspension device, and the horizontal and actual tilling depth data can be calculated and converted by the expansion quantity of a single hydraulic oil cylinder, internal pressure/pressure data, an external sensor and existing parameters. It can be understood that mapping relationships among the hydraulic oil cylinder, the necessary electromagnetic valve and the direction of the machine body are clearly defined, and the relative posture of the tillage tool is convenient to calculate. Attitude data acquisition for the power machine can be integrated and acquired based on the driving state of the wheels and the airborne sensor.
It will be appreciated that the external sensor is mounted in attachment to the structure of the rear suspension and may be a level sensor for detecting level differences in the adjustment of the variably sensitive beams in the suspension structure, and may generate angle difference data for conversion to attitude data for the tiller. Multiple external sensors may be provided to detect multiple beams and integrate the data to obtain more accurate attitude data.
In an embodiment of the present invention, when the power machine is loaded with an agricultural implement (tilling implement), the tilling depth and the horizontal state can be preset on the horizontal ground, so as to determine the initial relative attitude between the power machine and the tilling implement. When the machine is used for working, only the tilling depth needs to be determined, and the tilling tool can automatically control the depth of loose soil and the posture of the soil relative to the ground when in operation.
In the invention, the agricultural implement should have factory-set standard parameters, namely, initial parameters are obtained by detection in an absolute horizontal state. When the mobile terminal is in an actual geographic environment, the horizontal conditions are different, and when initialization is performed according to the standard parameters, the actual parameters of the mobile terminal deviate from the standard parameters. The external display is in a suspension state, and the stress of the suspension bracket is uneven; the internal data then represents the deviation of the parameters. In order to reduce the load unevenness of the rear suspension, the current attitude should be corrected in the reverse direction.
In the embodiment of the invention, the attitude data of the cultivator relative to the power machine is initialized, and the method specifically comprises the following steps:
predefining initialization postures and initial parameters of the cultivator and the power machine;
when an initialization command is detected, adjusting the relative posture of the cultivator and the power machine in the current geographic environment to an initialization posture;
and acquiring corresponding data of the current initialization attitude, comparing the data with the initial parameters, correcting the initialization attitude based on the current geographic environment, and initializing the attitude data of the cultivator relative to the power machine.
It should be clear that, after the power machine is put into the field, the relative horizontal attitude of the power machine changes based on the basic attributes of the current cultivated land, and at this time, the relative attitude data of the cultivator and the power machine should be synchronously corrected, so that the cultivator can better implement the operation on the ground in the subsequent operation process.
Further, when the power machine is skewed, the tilling implement may be skewed with respect to the ground based on the structural connection characteristics between the tilling implement and the power machine, which may adversely affect the work of the tilling implement on the ground and may also affect or interfere with the power output of the engine.
In the embodiment of the invention, an input port of tilling depth requirement information can be preset at the operation end of the power machine, and a depth knob can be preferably arranged for linear adjustment. The lifting of the cultivator can be adjusted according to the adjustment data of the input port, so that the cultivation depth requirement is met. The specific steps of generating the adjustment data include:
predefining an input port of the tilling depth requirement information to acquire the tilling depth requirement information;
and calculating a lifting change parameter of the cultivator when the tilling depth requirement information is realized based on the initialized attitude data, and defining the lifting change parameter as adjustment data.
It should be clear that the horizontal posture of the tilling implement is defined in the initialization process, and the tilling implement is always in the horizontal posture relative to the power machine operating in the normal posture, so that when the tilling depth requirement information is acquired, only the lifting of the tilling implement needs to be adjusted to realize the tilling depth requirement.
For the power machine running in the field, the posture of the power machine is changed according to the planeness of the cultivated land, and the power machine has the possibility of fluctuation, inclination and the like. For the conventional fluctuation, the balance during the operation of the cultivator is less influenced, and the influence on the actual cultivation depth is basically negligible; for the inclination, the balance during the operation of the cultivator is greatly influenced, the influence on the actual cultivation depth is not negligible, the actual cultivation depth is very easy to be out of line with the requirement, the actual operation experience of a manipulator is higher, and the operation of a novice is not facilitated.
In the invention, the initialization can be executed every time the starting operation/power machine posture changes excessively. The execution frequency of the initialization can be triggered according to corresponding conditions, such as power-on self-test, excessive posture change, posture maintenance and the like, and different execution frequencies can be set under different conditions. The execution of this process is not clearly linked to the functioning of the tiller.
Step S102: and when the adjustment data is executed, detecting the attitude change data of the power machine in real time, comparing the attitude change data with the attitude data to generate compensation parameters, and adjusting the attitude of the cultivator according to the compensation parameters.
In the embodiment of the invention, after the initialization and the definition of the tilling depth requirement are completed, the ground operation can be performed, and at this time, the above-mentioned adjustment data can be executed to obtain a good tilling depth. Meanwhile, the attitude change of the power machine during operation can be detected in real time, and the ground-to-ground attitude and the operation attitude of the cultivator are corrected, so that the cultivator can keep a good ground-to-ground operation attitude, and the fluctuation of the power output of the engine is reduced.
In the embodiment of the invention, in the tillage process, the attitude of the tillage tool relative to the ground is adjusted according to the attitude change of the power machine, and the method specifically comprises the following steps:
when the cultivation tool is detected to execute the adjusting data, detecting the attitude change of the power machine in real time, and defining the detected data as attitude response data;
acquiring initial attitude data of the cultivator relative to the power machine, comparing the initial attitude data with attitude response data obtained by current detection, and calculating attitude deviation to be generated when the cultivator runs at the current attitude of the power machine;
redefining a plowing-based demand posture of the cultivator, and outputting a compensation parameter for posture correction of the cultivator according to the current posture fluctuation following type of the power machine;
and when the cultivator operates, the overall ground-facing posture of the cultivator is adjusted according to the compensation parameters, and the adjustment mode comprises inching adjustment and continuous adjustment.
When the invention detects the execution of the adjusting data, the real-time state of the control handle can be the judging condition: when the control handle is in an operation gear, acquiring adjustment data and executing; and when the control handle is in a non-working gear, stopping executing the adjustment data.
In the embodiment of the present invention, attitude change data detected about the power machine is defined as attitude response data, and the detection data can be defined secondarily by response sensitivity hereinafter to determine whether or not an attitude adjustment response is made.
For the attitude response data of the power machine, simulation comparison can be carried out based on the initialized attitude data of the cultivator and the power machine, and the attitude deviation to be generated by the cultivator under the current attitude of the power machine is calculated so as to carry out reverse correction on the attitude of the cultivator, so that the attitude of the cultivator to the ground is kept stable, the phenomena of fluctuation, shaking and the like are not generated along with the power machine, and the stability of the cultivator to the ground operation is facilitated.
It should be clear that, when the tilling implement is in the operating state, the overall ground attitude of the tilling implement can be adjusted according to the compensation parameters; when the cultivator is in a suspended state and stops running, the cultivator can not respond, and the cultivator can be designed according to actual conditions.
Further, when the overall ground-facing posture of the cultivator is adjusted according to the compensation parameters, the adjustment mode can include inching adjustment and continuous adjustment, and the specific selection can be as follows:
when the tolerance range formed by the compensation parameters is small, inching adjustment can be adopted, and small-amplitude adjustment can be directly carried out so as to quickly realize the stability of the posture;
when the tolerance range formed by the compensation parameters is large, continuous adjustment can be adopted to reduce the adjustment range in unit time, gradually realize the stability of the posture and avoid the damage of a rigid structure.
Further, jog adjustment may be integrated with continuous adjustment, and the execution of the attitude adjustment may be performed continuously a plurality of times on the basis of the jog adjustment.
In the embodiment of the invention, the sensitivity of the attitude change can be adjusted so as to reduce the negligible adjustment response generated by a large amount of invalid data streams and optimize the attitude adjustment frequency of the cultivator during the operation on the ground. Therefore, in implementing the detection of the attitude change data of the power machine, the response sensitivity adjustment of the attitude change data may be set to ignore regular fluctuations at the time of work, and to reduce the response frequency. The basic definitions of response sensitivity adjustment include:
presetting a linear adjustment range of the sensitivity, and acquiring a linear parameter of the current sensitivity;
converting attitude response data of the power machine and tilling depth response data of the tilling tool into angle deviation values, and sharing linear parameters of the sensitivity;
when the attitude response data exceeds the linear parameters, defining that the attitude changes;
when the tilling depth response data exceeds the linear parameter, a change in tilling depth is defined.
In the embodiment of the invention, the adjustment of the sensitivity can be set as a knob and arranged in parallel with the input port required by the tilling depth, and the adjustment of the sensitivity can be linear adjustment. The sensitivity can be adjusted based on different terrains, and the device is suitable for different soil qualities and seeding requirements.
When the response data does not exceed the linear parameters, defining that no response can be generated, and defaulting to conventional fluctuation; when the response data exceeds the linear parameter, it is defined that a response should be generated and an adjustment operation is made.
In the embodiment of the invention, the sensitivity of the same standard input is shared, but when the comparison is carried out, the sensitivity of the same standard input can be reasonably scaled based on the basic distribution range of different data so as to meet the real requirement of each item of data.
Step S103: and synchronously correcting the adjusting data executed by the cultivator based on the current posture of the cultivator, so that the actual cultivation depth of the cultivator meets the requirement.
In the embodiment of the invention, after the ground attitude of the cultivator is corrected, the original adjustment data executed for the cultivator should be corrected synchronously when the ground attitude changes, namely the relative height changes, so that the actual cultivation depth of the cultivator can meet the requirement. The specific steps of correcting the adjustment data performed on the tilling implement include:
obtaining the current posture of the cultivator after being adjusted by the compensation parameters, and obtaining the adjustment data currently executed by the cultivator;
recalculating the actual tilling depth of the tilling tool based on the current posture of the tilling tool to the ground, and performing coordinated fluctuation correction on the adjusting data to enable the actual tilling depth to be matched with the tilling depth requirement information;
the coordinated fluctuation correction of the regulating data only adjusts the height of the tilling implement relative to the ground.
In the embodiment of the invention, after the overall ground-facing posture of the cultivator is changed, the formed actual cultivation depth deviates from the cultivation depth requirement when the original adjustment data is executed, the adjustment data can be corrected based on the current posture of the power machine and the current posture of the cultivator, the actual cultivation depth of the cultivator is recalculated, the original adjustment data is corrected, and only the ground-facing height of the cultivator is adjusted during correction; the actual tilling depth formed by the operation can be matched with the tilling depth requirement information when the corrected adjusting data are executed.
Based on the steps of the method, the method also comprises the automatic lifting of the cultivator, when the power machine performs retreating, transition and manual operation, the cultivator automatically responds to perform safe lifting, and the method specifically comprises the following steps: when the cultivator is in an operating state, the cultivator is automatically lifted to a preset height when any one of the following conditions is met: detecting a back signal, receiving a transition instruction and detecting a manual control signal.
It should be clear that manual control has priority over automatic control.
Example two
According to a second aspect of the present invention, a tilling depth control device for a field work implement is provided. As shown in fig. 2, a modular block diagram of a tilling depth control device for a field work implement includes:
the initialization module 201: initializing attitude data of the cultivator relative to the power machine, and generating adjusting data corresponding to preset cultivation depth requirement information;
attitude correction module 202: when the adjustment data is executed, attitude change data of the power machine is detected in real time, the attitude change data is compared with the attitude data to generate compensation parameters, and the attitude of the cultivator is adjusted according to the compensation parameters;
tilling depth correction module 203: and synchronously correcting the adjusting data executed by the cultivator based on the current posture of the cultivator, so that the actual cultivation depth of the cultivator meets the requirement.
It can be understood that the apparatuses provided in the embodiments of the present invention are all applicable to the method described in the first embodiment, and specific functions of each module may refer to the above method flow, which is not described herein again.
EXAMPLE III
The electronic device provided by the embodiment of the invention is used for realizing the method in the first embodiment. Fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. The electronic device may include: the system comprises at least one central processing unit, at least one network interface, a control interface, a memory and at least one communication bus.
The communication bus is used for realizing connection communication and information interaction among the components.
The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface).
The control interface is used for outputting control operation according to the instruction.
The central processor may include one or more processing cores. The central processor connects various parts within the overall terminal using various interfaces and lines, performs various functions of the terminal and processes data according to the method described in the first embodiment by executing or executing instructions, programs, code sets, or instruction sets stored in the memory, and calling data stored in the memory.
The Memory may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable medium. The memory may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), methods for implementing the first embodiment, and the like; the storage data area may store data and the like referred to in the above respective method embodiments.
The invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of the first of the above-mentioned embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some service interfaces, devices or units, and may be an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program, which is stored in a computer-readable memory, and the memory may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the specific embodiments of the invention be limited to these descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A tilling depth control method of a field working machine is characterized by comprising the following steps:
initializing attitude data of the cultivator relative to the power machine, and generating adjusting data corresponding to preset cultivation depth requirement information;
when the adjusting data is executed, attitude change data of the power machine is detected in real time, the attitude change data is compared with the attitude data to generate compensation parameters, and the attitude of the cultivator is adjusted according to the compensation parameters;
synchronously correcting the adjusting data executed by the cultivator based on the current posture of the cultivator to enable the actual cultivation depth of the cultivator to meet the requirement.
2. The tilling depth control method of a field work implement according to claim 1, wherein initializing attitude data of the tilling implement with respect to the power machine specifically includes:
predefining initialization postures and initial parameters of the cultivator and the power machine;
when an initialization command is detected, adjusting the relative posture of the cultivator and the power machine in the current geographic environment to an initialization posture;
and acquiring corresponding data of the current initialization attitude, comparing the data with the initial parameters, correcting the initialization attitude based on the current geographic environment, and initializing the attitude data of the cultivator relative to the power machine.
3. The tilling depth control method for a field working implement according to claim 2, wherein the generation of the adjustment data specifically includes:
predefining an input port of the tilling depth requirement information to acquire the tilling depth requirement information;
and calculating a lifting change parameter of the cultivator when the tilling depth requirement information is realized based on the initialized attitude data, and defining the lifting change parameter as adjustment data.
4. The tilling depth control method of a field working implement according to claim 1, wherein the adjusting data is executed by detecting attitude change data of the power machine in real time, comparing the attitude change data with the attitude data to generate a compensation parameter, and adjusting the attitude of the tilling implement according to the compensation parameter, specifically comprising:
when the cultivation tool is detected to execute the adjusting data, detecting the attitude change of the power machine in real time, and defining the detected data as attitude response data;
acquiring initial attitude data of the cultivator relative to the power machine, comparing the initial attitude data with attitude response data obtained by current detection, and calculating attitude deviation to be generated when the cultivator runs at the current attitude of the power machine;
redefining a plowing-based demand posture of the cultivator, and outputting a compensation parameter for posture correction of the cultivator according to the current posture fluctuation following type of the power machine;
and when the cultivator operates, the overall ground attitude of the cultivator is adjusted according to the compensation parameters, and the adjustment mode comprises inching adjustment and continuous adjustment.
5. The tilling depth control method of a field working implement according to claim 4, wherein the process of detecting attitude change data of the power machine in real time further includes a response sensitivity adjustment of the attitude change data:
presetting a linear adjustment range of the sensitivity, and acquiring a linear parameter of the current sensitivity;
converting attitude response data of the power machine and tilling depth response data of the tilling tool into angle deviation values, and sharing linear parameters of the sensitivity;
when the attitude response data exceeds the linear parameters, defining that the attitude changes;
when the tilling depth response data exceeds the linear parameter, a change in tilling depth is defined.
6. The tilling depth control method of a field working implement according to claim 4, wherein the adjusting data executed by the tilling implement is synchronously corrected based on the current posture of the tilling implement so that the actual tilling depth of the tilling implement meets the requirement, and the method specifically comprises:
obtaining the current posture of the cultivator after being adjusted by the compensation parameters, and obtaining the adjustment data currently executed by the cultivator;
recalculating the actual tilling depth of the tilling tool based on the current posture of the tilling tool to the ground, and performing coordinated fluctuation correction on the adjusting data to enable the actual tilling depth to be matched with the tilling depth requirement information;
the coordinated fluctuation correction of the regulating data only adjusts the height of the tilling implement relative to the ground.
7. The tilling depth control method for a field work implement according to claim 1, further comprising automatic lifting of the tilling implement:
when the cultivator is in an operating state, the cultivator is automatically lifted to a preset height when any one of the following conditions is met: detecting a back signal, receiving a transition instruction and detecting a manual control signal.
8. A tilling depth control device for a field working machine, comprising:
an initialization module: initializing attitude data of the cultivator relative to the power machine, and generating adjusting data corresponding to preset cultivation depth requirement information;
an attitude correction module: when the adjustment data is executed, attitude change data of the power machine is detected in real time, the attitude change data is compared with the attitude data to generate compensation parameters, and the attitude of the cultivator is adjusted according to the compensation parameters;
tilling depth correction module: and synchronously correcting the adjusting data executed by the cultivator based on the current posture of the cultivator, so that the actual cultivation depth of the cultivator meets the requirement.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of a method of tilling depth control of a field work implement according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of a method for tilling depth control of a field work implement according to any one of claims 1 to 7.
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