CN114531986B - Tilling depth control method and device for field working machine - Google Patents
Tilling depth control method and device for field working machine Download PDFInfo
- Publication number
- CN114531986B CN114531986B CN202210202080.3A CN202210202080A CN114531986B CN 114531986 B CN114531986 B CN 114531986B CN 202210202080 A CN202210202080 A CN 202210202080A CN 114531986 B CN114531986 B CN 114531986B
- Authority
- CN
- China
- Prior art keywords
- cultivator
- data
- posture
- attitude
- adjustment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Theoretical Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Databases & Information Systems (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computational Linguistics (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention discloses a method and a device for controlling the tilling depth of a field working machine, comprising initializing attitude data of the tilling tool relative to a power machine and generating adjustment data corresponding to preset tilling depth demand information; when the adjustment data is executed, posture change data of the power machine are detected in real time, and are compared with the posture data to generate compensation parameters, and the posture of the cultivator is adjusted according to the compensation parameters; and synchronously correcting the adjustment 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. The invention can reduce the labor intensity, 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 equipment, in particular to a method and a device for controlling the tillage depth of field operation equipment.
Background
The soil is loosened and leveled by a power machine (a wheel machine or a crawler machine) matched with an agricultural implement (a rotary cultivator) before crop planting, and the power machine drives the agricultural implement to incline forwards and backwards and leftwards and rightwards due to the fluctuation of the ground, so that the contact surface of the rotary cultivator and the soil is continuously changed, the power output of an engine is also continuously changed, the operator is required to continuously adjust the depth according to the working condition of the agricultural implement, but the horizontal state of the agricultural implement cannot be adjusted, the field which is finally rotated is uneven, and the expected effect can be achieved 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 labor intensity of the machine and the hand, 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 tilling depth control method of a field implement, comprising:
initializing attitude data of the cultivator relative to the power machine, and generating adjustment data corresponding to preset cultivation depth demand information;
when the adjustment data is executed, posture change data of the power machine are detected in real time, and are compared with the posture data to generate compensation parameters, and the posture of the cultivator is adjusted according to the compensation parameters;
and synchronously correcting the adjustment 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.
Further, initializing attitude data of the cultivator relative to the power machine specifically includes:
predefining an initialization gesture and an initialization parameter of the cultivator and the power machine;
when an initialization instruction 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 gesture, comparing the corresponding data with the initial parameters, correcting the initialization gesture based on the current geographic environment, and initializing gesture data of the cultivator relative to the power machine.
Further, the generation of the adjustment data specifically includes:
an input port of the tilling depth demand information is predefined and used for acquiring the tilling depth demand information;
and calculating lifting change parameters of the cultivator when the tilling depth demand information is realized based on the initialized gesture data, and defining the lifting change parameters as adjustment data.
Further, the generation of the adjustment data specifically includes:
an input port of the tilling depth demand information is predefined and used for acquiring the tilling depth demand information;
and calculating lifting change parameters of the cultivator when the tilling depth demand information is realized based on the initialized gesture data, and defining the lifting change parameters as adjustment data.
Further, in the process of detecting the attitude change data of the power machine in real time, the method further comprises the steps of adjusting the response sensitivity of the attitude change data:
presetting a linear adjustment range of sensitivity, and obtaining a linear parameter of the current sensitivity;
converting the attitude response data of the power machine and the tilling depth response data of the tilling implement into angle deviation values, and sharing the linear parameter of the sensitivity;
when the gesture response data exceeds the linear parameter, the gesture response data is defined as gesture change;
when the tilling depth response data exceeds the linear parameter, the tilling depth response data is defined as a change in tilling depth.
Further, the adjusting data executed by the cultivator is synchronously corrected based on the current posture of the cultivator, so that the actual cultivation depth of the cultivator meets the requirement, and the method specifically comprises the following steps:
acquiring the current posture of the cultivator after the compensation parameter is adjusted, and acquiring the adjustment data currently executed by the cultivator;
based on the current attitude of the cultivator on the ground, calculating the actual cultivation depth of the cultivator again, and carrying out parity fluctuation correction on the adjustment data to enable the actual cultivation depth to be matched with the cultivation depth demand information;
the parity fluctuation correction of the adjustment data adjusts only the ground height of the tilling implement.
Further, the automatic lifting device also comprises automatic lifting of the cultivator:
when the cultivator is in a working state, the cultivator is automatically lifted to a preset height when any one of the following conditions is met: a back signal is detected, a transition instruction is received, and a manual control signal is detected.
According to a second aspect of the present invention, there is provided a tilling depth control device for a field implement, comprising:
an initialization module: initializing attitude data of the cultivator relative to the power machine, and generating adjustment data corresponding to preset cultivation depth demand information;
and the posture correction module is used for: when the adjustment data is executed, the posture change data of the power machine is detected in real time, and is compared with the posture data to generate compensation parameters, and the posture of the cultivator is adjusted according to the compensation parameters;
and a tilling depth correction module: and synchronously correcting the adjustment 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 one of the above-mentioned first aspects when the computer program is executed.
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 first aspects described above.
The beneficial effects of the invention are as follows:
the invention provides a method and a device for controlling the tilling depth of a field working machine, which are based on the position and cultural degree of novice, and are used for humanizing an operation mode and reducing the working intensity; the working posture of the cultivator is adjusted, the load on the ground during the working of the cultivator is balanced, the power output of the engine is stabilized, the fuel and the time are saved, and the working efficiency is improved.
The labor intensity of the robot can be effectively reduced, and the rear carrier can be automatically lifted during transition and reversing; the method is new and hand-friendly, can be operated by hand quickly, and is fast in adaptation and short in period.
The vibration 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 this 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 identify like elements. The drawings, which are included in the description, illustrate some, but not all embodiments of the invention. Other figures can be derived from these figures by one of ordinary skill in the art without undue effort.
FIG. 1 is a flow chart of a method of controlling a tilling depth of a field implement according to an embodiment of the present invention;
FIG. 2 is a block diagram of a tilling depth control device for a field 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 explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without undue effort. The term "design azimuth" merely means a relative positional relationship between the respective members, not an absolute positional relationship.
In the embodiment of the invention, the original strong pressure lifting configuration electromagnetic valve of the vehicle can be directly installed without damage, and a group of double-acting electromagnetic valves, a unilateral double-acting oil cylinder and four oil pipes are added to meet the execution of automatic adjustment. The 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 the implementation, the delay characteristics of the hydraulic pressure and the electric appliance can be fully considered, and the adjustment command can be given at a proper position (timeliness).
Example 1
According to a first aspect of the present invention, there is provided a method for controlling a tilling depth of a field work implement, as shown in fig. 1, which is a flowchart of the tilling depth control method of the field work implement, including:
step S101: initializing attitude data of the cultivator relative to the power machine, and generating adjustment data corresponding to preset tillage depth demand information.
The invention is based on a novice position, reduces the operation difficulty of agricultural tools (rotary tillers), ensures the autonomous intelligent self-adjustment of the agricultural tools, ensures the posture adaptability of the tillers, can more effectively implement external tilling depth requirements in the operation process, can effectively stabilize the power output of the engine, and reduces the abrupt change strength of the tillers to the ground load.
In the invention, the horizontal data and the actual tilling depth data of the tilling tool are acquired from the sensors arranged on the rear suspension device, and the horizontal and actual tilling depth data can be converted by calculating and converting the telescopic quantity of a single hydraulic cylinder, the internal pressure/pressure data and the external sensors and the existing parameters. It can be understood that the mapping relation should be definitely defined for the hydraulic cylinder, the necessary electromagnetic valve and the machine body direction, so that the calculation of the relative posture of the cultivator is facilitated. The attitude data acquisition for the power machine can be acquired based on the wheel driving state and the on-board sensor integration.
It will be appreciated that the external sensor may be a level sensor attached to the structural mounting of the rear suspension for detecting level differences in the adjustment of the variable sensitive beams in the suspension structure, and may generate angular difference data for convenient conversion into 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 embodiments of the present invention, when the power machine is loading an agricultural implement (a tilling implement), the tilling depth and the level may be preset in a horizontal plane, thereby determining an initial relative attitude between the power machine and the tilling implement. When the machine works in the field, the cultivation depth is only needed to be determined, and the cultivation tool can automatically control the soil loosening depth and the soil alignment posture during operation.
In the invention, the agricultural machinery should have factory-set standard parameters, namely, initial parameters are detected in an absolute level state. When the level conditions are different in the actual geographic environment, when the initialization is performed according to the standard parameters, the actual parameters deviate from the standard parameters. The external display is that the stress of the hanging frame is uneven under the hanging state; the internal data then represents deviations in the parameters. In order to reduce the uneven load of the rear suspension, the current posture is reversely corrected.
In an embodiment of the present invention, initializing attitude data of a tilling implement relative to a power machine includes the specific steps of:
predefining an initialization gesture and an initialization parameter of the cultivator and the power machine;
when an initialization instruction 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 gesture, comparing the corresponding data with the initial parameters, correcting the initialization gesture based on the current geographic environment, and initializing gesture data of the cultivator relative to the power machine.
It should be clear that after the power machine is put down in the field, the relative horizontal posture of the power machine will change based on the basic attribute of the current farmland, and at this time, the relative posture data of the cultivator and the power machine should be corrected synchronously, so that the cultivator can better implement the earth-working in the subsequent running process.
Further, when the power machine is askew, based on the structural connection characteristic between the cultivator and the power machine, the cultivator can be askew relatively lagged, which is unfavorable for the operation of the cultivator on the ground, and can influence and interfere the power output of the engine.
In the embodiment of the invention, the input port of the tilling depth demand information can be preset at the operation end of the power machine, and a depth knob and linear adjustment can be preferably arranged. 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 for generating the adjustment data include:
an input port of the tilling depth demand information is predefined and used for acquiring the tilling depth demand information;
and calculating lifting change parameters of the cultivator when the tilling depth demand information is realized based on the initialized gesture data, and defining the lifting change parameters as adjustment data.
It should be clear that the horizontal posture of the cultivator tool is defined in the process of initialization, and the cultivator tool is always in the horizontal posture relative to the power machine operated in the normal posture, so that when the information of the cultivation depth requirement is obtained, the cultivation depth requirement can be realized by only adjusting the lifting of the cultivator tool.
For power machines operated in the field, the posture of the power machine is changed according to the tillage flatness, and fluctuation, inclination and the like are possible. For the conventional fluctuation, the balance during the cultivation operation is less affected, and the influence on the actual cultivation depth is basically negligible; for tilting, the balance of the cultivator is greatly influenced, the influence on the actual cultivation depth is not negligible, the actual cultivation depth is quite easy to be inconsistent with the requirement, the practical operation experience requirement of a manipulator is high, and the cultivator is not beneficial to the operation of a novice.
In the invention, the initialization can be executed every time the starting operation/the power machine gesture is changed excessively. The initialized execution frequency can be triggered according to corresponding conditions, such as starting-up self-check, excessive gesture change, gesture 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: when the adjustment data is executed, the posture change data of the power machine is detected in real time, the posture change data is compared with the posture data to generate compensation parameters, and the posture of the cultivator is adjusted 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 adjustment data can be executed to obtain a good tilling depth. Meanwhile, the attitude change of the power machine during running can be detected in real time, and the ground attitude and the operation attitude of the cultivator are corrected, so that the cultivator can maintain a good ground operation attitude, and the fluctuation of the power output of the engine is reduced.
In the embodiment of the invention, in the process of ploughing, the attitude of the ploughing tool to the ground is adjusted according to the attitude change of the power machine, and the specific steps comprise:
detecting the posture change of the power machine in real time when the cultivation tool is detected to execute the adjustment data, and defining the detected data as posture response data;
acquiring initialized attitude data of the cultivator relative to the power machine, comparing the initialized attitude data with the currently detected attitude response data, and calculating attitude deviation to be generated when the cultivator runs in the current attitude of the power machine;
redefining a required attitude of the cultivator based on the cultivated land, and outputting compensation parameters for carrying out attitude correction on the cultivator according to the current attitude fluctuation follow-up output of the power machine;
when the cultivator is in operation, the overall ground posture of the cultivator is adjusted according to the compensation parameter, and the adjustment mode comprises inching adjustment and continuous adjustment.
When the invention detects the execution of the adjustment data, the real-time state of the control handle can be the judging condition: when the control handle is in the operation gear, acquiring adjustment data and executing; when the control handle is in the non-working gear, execution of the adjustment data is stopped.
In the embodiment of the present invention, the detected posture change data about the power machine is defined as posture response data, and the detection data can be secondarily defined by the response sensitivity hereinafter to determine whether or not to make a posture adjustment response.
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 can be calculated, so that the attitude of the cultivator is reversely corrected, the ground attitude of the cultivator is kept stable, the phenomenon of fluctuation, shaking and the like caused by the power machine is avoided, and the stability of the ground operation of the cultivator is facilitated.
It should be clear that when the cultivator is in the running state, the overall attitude of the cultivator to the ground 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 specifically designed according to actual conditions.
Further, when the overall ground posture of the cultivator is adjusted according to the compensation parameter, the adjustment mode can comprise click adjustment and continuous adjustment, and the specific selection can be as follows:
when the tolerance range formed by the compensation parameters is smaller, inching adjustment can be adopted, and small-amplitude adjustment can be directly carried out so as to quickly realize the stability of the gesture;
when the tolerance range formed by the compensation parameters is larger, continuous adjustment can be adopted to reduce the adjustment range in unit time, so that the stability of the gesture is gradually realized, and the damage of the rigid structure is avoided.
Further, the jog adjustment and the continuous adjustment may be integrated, and the jog adjustment is continuously performed a plurality of times based on the posture adjustment when the posture adjustment is performed.
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 flow and optimize the attitude adjustment frequency of the cultivator when the cultivator works on the ground. Therefore, in the implementation of detecting the attitude change data of the power machine, the response sensitivity adjustment of the attitude change data may be set to ignore the conventional fluctuation at the time of work, reducing the response frequency. The basic definition of response sensitivity adjustment includes:
presetting a linear adjustment range of sensitivity, and obtaining a linear parameter of the current sensitivity;
converting the attitude response data of the power machine and the tilling depth response data of the tilling implement into angle deviation values, and sharing the linear parameter of the sensitivity;
when the gesture response data exceeds the linear parameter, the gesture response data is defined as gesture change;
when the tilling depth response data exceeds the linear parameter, the tilling depth response data is defined as a change in tilling depth.
In the embodiment of the invention, the adjustment of the sensitivity can be set as a knob and is arranged in parallel with the input port of the tilling depth requirement, and the adjustment of the sensitivity can be linear adjustment. The sensitivity can be adjusted based on different terrains, so that the device is suitable for different soil and sowing requirements.
When the response data does not exceed the linear parameter, defining that no response can be generated, and defaulting to conventional fluctuation; when the response data exceeds the linearity parameters, 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 sensitivity is compared, 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 requirements of each item of data.
Step S103: and synchronously correcting the adjustment 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 posture of the cultivator is corrected, the original adjustment data executed for the cultivator is corrected, and after the ground posture is changed, the change of the relative height is generated, so that the actual depth of the cultivator can meet the requirement. The specific steps of modifying the adjustment data performed on the tilling implement include:
acquiring the current posture of the cultivator after the compensation parameter is adjusted, and acquiring the adjustment data currently executed by the cultivator;
based on the current attitude of the cultivator on the ground, calculating the actual cultivation depth of the cultivator again, and carrying out parity fluctuation correction on the adjustment data to enable the actual cultivation depth to be matched with the cultivation depth demand information;
the parity fluctuation correction of the adjustment data adjusts only the ground height of the tilling implement.
In the embodiment of the invention, after the integral ground posture of the cultivator is changed, when the original regulation data is executed, the formed actual cultivation depth is deviated from the cultivation depth demand, the regulation 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 regulation data is corrected, and when the regulation is corrected, only the ground height of the cultivator is regulated; the actual tilling depth formed by the operation can be matched with the tilling depth requirement information when the corrected adjustment data is executed.
Based on the above method steps, the method should further include automatic lifting of the cultivator, and when the power machine is backed up, transferred to the ground and manually operated, the cultivator automatically responds to the safe lifting, specifically including: when the cultivator is in a working state, the cultivator is automatically lifted to a preset height when any one of the following conditions is met: a back signal is detected, a transition instruction is received, and a manual control signal is detected.
It should be clear that manual control has a higher priority than automatic control.
Example two
According to a second aspect of the present invention, there is provided a tilling depth control device for a field implement. As shown in fig. 2, a modular block diagram of a tilling depth control apparatus for a field work implement, comprising:
initialization module 201: initializing attitude data of the cultivator relative to the power machine, and generating adjustment data corresponding to preset cultivation depth demand information;
the posture correction module 202: when the adjustment data is executed, the posture change data of the power machine is detected in real time, and is compared with the posture data to generate compensation parameters, and the posture of the cultivator is adjusted according to the compensation parameters;
the tilling depth correction module 203: and synchronously correcting the adjustment 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 apparatus provided in the embodiment of the present invention is 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 repeated herein.
Example III
The embodiment of the invention provides electronic equipment for realizing the method in the first embodiment. Fig. 3 is a schematic entity structure of an electronic device according to an embodiment of the present invention. The electronic device may include: at least one central processing unit, at least one network interface, a control interface, a memory, at least one communication bus.
The communication bus is used for realizing connection communication and information interaction among all the components.
The network interface may optionally include a standard wired interface, a wireless interface (e.g., wi-Fi interface), among others.
The control interface is used for outputting control operation according to the instruction.
Wherein the central processor may comprise one or more processing cores. The central processing unit connects the respective parts in the whole terminal by various interfaces and lines, and performs various functions of the terminal and processes data by executing or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory according to the method of the first embodiment.
The Memory may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). The memory may be used to store instructions, programs, code sets, or instruction sets. The memory may include a stored program area and a stored data area, wherein the stored program 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.), a method for implementing the above-described embodiment one, etc.; the storage data area may store data or the like referred to in the above respective method embodiments.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first embodiment described above. The computer readable storage medium may include, among other things, any type of disk including floppy disks, optical disks, DVDs, CD-ROMs, micro-drives, and magneto-optical disks, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, 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 foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, such as the division of the units, merely a logical function division, and there may be additional manners of dividing the actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some service interface, device or unit indirect coupling or communication connection, electrical or otherwise.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on this understanding, the technical solution of the present invention may be embodied essentially or partly in the form of a software product, or all or part of the technical solution, 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 perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be performed by hardware associated with a program that is stored in a computer readable memory, which may include: flash disk, read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 one …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific examples described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (9)
1. A method for controlling the tilling depth of a field implement, comprising:
initializing attitude data of the cultivator relative to the power machine, and generating adjustment data corresponding to preset cultivation depth demand information;
when the adjustment data is executed, posture change data of the power machine are detected in real time, and are compared with the posture data to generate compensation parameters, and the posture of the cultivator is adjusted according to the compensation parameters; the method specifically comprises the following steps:
detecting the posture change of the power machine in real time when the cultivation tool is detected to execute the adjustment data, and defining the detected data as posture response data;
acquiring initialized attitude data of the cultivator relative to the power machine, comparing the initialized attitude data with the currently detected attitude response data, and calculating attitude deviation to be generated when the cultivator runs in the current attitude of the power machine;
redefining a required attitude of the cultivator based on the cultivated land, and outputting compensation parameters for carrying out attitude correction on the cultivator according to the current attitude fluctuation follow-up output of the power machine;
when the cultivator is in operation, the overall ground posture of the cultivator is adjusted according to the compensation parameter, and the adjustment mode comprises inching adjustment and continuous adjustment;
and synchronously correcting the adjustment 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.
2. The method for controlling the tilling depth of a field implement according to claim 1, wherein initializing the attitude data of the tilling implement with respect to the power machine comprises:
predefining an initialization gesture and an initialization parameter of the cultivator and the power machine;
when an initialization instruction 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 gesture, comparing the corresponding data with the initial parameters, correcting the initialization gesture based on the current geographic environment, and initializing gesture data of the cultivator relative to the power machine.
3. The method for controlling the tilling depth of a field implement according to claim 2, wherein the generation of the adjustment data specifically includes:
an input port of the tilling depth demand information is predefined and used for acquiring the tilling depth demand information;
and calculating lifting change parameters of the cultivator when the tilling depth demand information is realized based on the initialized gesture data, and defining the lifting change parameters as adjustment data.
4. The method for controlling the tilling depth of a field implement according to claim 1, wherein the process of detecting the posture change data of the power machine in real time further comprises the response sensitivity adjustment of the posture change data:
presetting a linear adjustment range of sensitivity, and obtaining a linear parameter of the current sensitivity;
converting the attitude response data of the power machine and the tilling depth response data of the tilling implement into angle deviation values, and sharing the linear parameter of the sensitivity;
when the gesture response data exceeds the linear parameter, the gesture response data is defined as gesture change;
when the tilling depth response data exceeds the linear parameter, the tilling depth response data is defined as a change in tilling depth.
5. The tilling depth control method of claim 1, wherein the adjustment data performed 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 comprising:
acquiring the current posture of the cultivator after the compensation parameter is adjusted, and acquiring the adjustment data currently executed by the cultivator;
based on the current attitude of the cultivator on the ground, calculating the actual cultivation depth of the cultivator again, and carrying out parity fluctuation correction on the adjustment data to enable the actual cultivation depth to be matched with the cultivation depth demand information;
the parity fluctuation correction of the adjustment data adjusts only the ground height of the tilling implement.
6. The method for controlling the tilling depth of a field implement according to claim 1, further comprising automatically lifting the tilling implement:
when the cultivator is in a working state, the cultivator is automatically lifted to a preset height when any one of the following conditions is met: a back signal is detected, a transition instruction is received, and a manual control signal is detected.
7. A tilling depth control device for a field implement, the device comprising:
an initialization module: initializing attitude data of the cultivator relative to the power machine, and generating adjustment data corresponding to preset cultivation depth demand information;
and the posture correction module is used for: when the adjustment data is executed, the posture change data of the power machine is detected in real time, and is compared with the posture data to generate compensation parameters, and the posture of the cultivator is adjusted according to the compensation parameters; the method specifically comprises the following steps:
when detecting that the tilling implement executes the adjustment data, detecting the posture change of the power machine in real time, and defining the detected data as posture response data;
acquiring initialized attitude data of the cultivator relative to the power machine, comparing the initialized attitude data with the attitude response data obtained by current detection, and calculating attitude deviation to be generated when the cultivator in the current attitude of the power machine runs;
redefining a required attitude of the cultivator based on the cultivated land, and outputting compensation parameters for carrying out attitude correction on the cultivator according to the current attitude fluctuation follow-up output of the power machine;
when the cultivator runs, the overall ground posture of the cultivator is adjusted according to the compensation parameters, and the adjustment mode comprises inching adjustment and continuous adjustment;
and a tilling depth correction module: and synchronously correcting the adjustment 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.
8. 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 for controlling the tilling depth of a field implement according to any one of claims 1 to 6.
9. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the steps of a tilling depth control method of a field implement according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210202080.3A CN114531986B (en) | 2022-03-03 | 2022-03-03 | Tilling depth control method and device for field working machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210202080.3A CN114531986B (en) | 2022-03-03 | 2022-03-03 | Tilling depth control method and device for field working machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114531986A CN114531986A (en) | 2022-05-27 |
| CN114531986B true CN114531986B (en) | 2023-08-11 |
Family
ID=81661819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210202080.3A Active CN114531986B (en) | 2022-03-03 | 2022-03-03 | Tilling depth control method and device for field working machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114531986B (en) |
Citations (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE855544A (en) * | 1976-06-10 | 1977-12-09 | Lely Nv C Van Der | GROUNDWORK MACHINE |
| AU2583584A (en) * | 1983-03-16 | 1984-09-20 | Agtronics Pty. Ltd. | Tyne depth gauge |
| GB8611544D0 (en) * | 1985-12-05 | 1986-06-18 | Kubota Ltd | Plowing depth detecting system |
| AU104410S (en) * | 1988-03-03 | 1989-07-27 | Centique Ind Pty Ltd | Retaining sleeve |
| CN2074966U (en) * | 1990-07-09 | 1991-04-17 | 王宝琳 | Screwed washing type rotating tillage machine |
| JPH08214602A (en) * | 1995-02-17 | 1996-08-27 | Kubota Corp | Controlling apparatus for tiller |
| JP2000023503A (en) * | 1998-07-09 | 2000-01-25 | Seirei Ind Co Ltd | Control working machine |
| JP2000342014A (en) * | 1999-06-07 | 2000-12-12 | Seirei Ind Co Ltd | Small-size sulky-type working machine |
| JP2001128502A (en) * | 1999-11-09 | 2001-05-15 | Sugano Farm Mach Mfg Co Ltd | Puddling machine |
| JP2001269007A (en) * | 2000-03-28 | 2001-10-02 | Iseki & Co Ltd | Work machine link device of tractor |
| CN1568641A (en) * | 2004-04-27 | 2005-01-26 | 何彦平 | Laser controlled paddy field planishing mill |
| CN201061187Y (en) * | 2007-06-22 | 2008-05-21 | 李厚芝 | Rotary tillage ship with driving wheel depth accommodation |
| CN101459489A (en) * | 2007-12-11 | 2009-06-17 | 中兴通讯股份有限公司 | Deep packet detection device and method |
| CN201533491U (en) * | 2009-08-16 | 2010-07-28 | 霍建生 | Micro-tillage, fertilization, and seed-sowing machine for plain land and slope land |
| CN101878681A (en) * | 2010-06-18 | 2010-11-10 | 吴伯让 | Self-propelled double-shaft deep-tilling machine and tilling method |
| JP2011125308A (en) * | 2009-12-21 | 2011-06-30 | Kubota Corp | Tractor |
| JP2012200237A (en) * | 2011-03-28 | 2012-10-22 | Iseki & Co Ltd | Plowing depth automatic control system for tractor |
| CN103134457A (en) * | 2013-01-28 | 2013-06-05 | 吉林大学 | Real-time monitoring system and real-time monitoring method of tilling depth of agricultural implements |
| CN203435296U (en) * | 2013-09-06 | 2014-02-19 | 邓城 | Light ploughing and preparing machine |
| CN203590689U (en) * | 2013-11-25 | 2014-05-14 | 广西河池德建农业装备制造有限公司 | Hydraulic lifting rotary tillage mechanism |
| CN104750843A (en) * | 2015-04-08 | 2015-07-01 | 浙江大学 | Auxiliary system for rapidly extracting design knowledge from IPC (Information Processing Center) |
| CN205827143U (en) * | 2016-06-20 | 2016-12-21 | 北京农业智能装备技术研究中心 | Subsoiling land preparation operation quality detecting system |
| CN106576470A (en) * | 2016-11-25 | 2017-04-26 | 湖南春燕机械制造有限公司 | Tilling depth control system applied to farming machinery |
| CN107103040A (en) * | 2017-03-27 | 2017-08-29 | 西北大学 | A kind of irrigated area basic data acquisition system |
| WO2017166434A1 (en) * | 2016-03-31 | 2017-10-05 | 江苏新岛机械有限公司 | Intermediate-drive deep rotary tillage device |
| CN108575124A (en) * | 2018-07-17 | 2018-09-28 | 潍坊科技学院 | A kind of control device of twin shaft Stratified soil cutting rotary cultivator |
| CN208029328U (en) * | 2018-02-07 | 2018-11-02 | 农业部南京农业机械化研究所 | A kind of floating control rotary-cut rotary cultivator of twin shaft |
| CN109581921A (en) * | 2018-12-03 | 2019-04-05 | 武汉盛硕电子有限公司 | A kind of tractor electronically-controlled suspension control method and system, control device |
| CN109588065A (en) * | 2019-01-02 | 2019-04-09 | 华南农业大学 | A kind of equipment elevation continuous regulation mechanism and its tilling depth Automatic adjustment method |
| CN109819694A (en) * | 2019-02-01 | 2019-05-31 | 山东理工大学 | A kind of rotary cultivator tilling depth self-adaption regulation system and its method |
| CA3042800A1 (en) * | 2018-07-10 | 2020-01-10 | Cnh Industrial Canada, Ltd. | Depth adjustment features for a seed planting unit of an agricultural implement |
| CN110731164A (en) * | 2019-12-03 | 2020-01-31 | 深知智能科技(金华)有限公司 | Automatic operation posture adjustment control method and system for harvester working devices |
| CN110741749A (en) * | 2019-12-03 | 2020-02-04 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of rotary cultivator working device |
| CN110905020A (en) * | 2019-12-03 | 2020-03-24 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of bulldozer working device |
| CN111133853A (en) * | 2020-01-17 | 2020-05-12 | 日照海卓液压有限公司 | Multi-parameter combined automatic adjusting system and method for tilling depth of tractor |
| CN112400366A (en) * | 2020-10-22 | 2021-02-26 | 农芯科技(广州)有限责任公司 | Paddy field slurry stirring machine unit leveling system and paddy field slurry stirring machine unit |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109961504B (en) * | 2017-12-25 | 2023-07-21 | 宏达国际电子股份有限公司 | Three-dimensional model reconstruction method, electronic device and non-transitory computer readable recording medium |
-
2022
- 2022-03-03 CN CN202210202080.3A patent/CN114531986B/en active Active
Patent Citations (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE855544A (en) * | 1976-06-10 | 1977-12-09 | Lely Nv C Van Der | GROUNDWORK MACHINE |
| AU2583584A (en) * | 1983-03-16 | 1984-09-20 | Agtronics Pty. Ltd. | Tyne depth gauge |
| GB8611544D0 (en) * | 1985-12-05 | 1986-06-18 | Kubota Ltd | Plowing depth detecting system |
| AU104410S (en) * | 1988-03-03 | 1989-07-27 | Centique Ind Pty Ltd | Retaining sleeve |
| CN2074966U (en) * | 1990-07-09 | 1991-04-17 | 王宝琳 | Screwed washing type rotating tillage machine |
| JPH08214602A (en) * | 1995-02-17 | 1996-08-27 | Kubota Corp | Controlling apparatus for tiller |
| JP2000023503A (en) * | 1998-07-09 | 2000-01-25 | Seirei Ind Co Ltd | Control working machine |
| JP2000342014A (en) * | 1999-06-07 | 2000-12-12 | Seirei Ind Co Ltd | Small-size sulky-type working machine |
| JP2001128502A (en) * | 1999-11-09 | 2001-05-15 | Sugano Farm Mach Mfg Co Ltd | Puddling machine |
| JP2001269007A (en) * | 2000-03-28 | 2001-10-02 | Iseki & Co Ltd | Work machine link device of tractor |
| CN1568641A (en) * | 2004-04-27 | 2005-01-26 | 何彦平 | Laser controlled paddy field planishing mill |
| CN201061187Y (en) * | 2007-06-22 | 2008-05-21 | 李厚芝 | Rotary tillage ship with driving wheel depth accommodation |
| CN101459489A (en) * | 2007-12-11 | 2009-06-17 | 中兴通讯股份有限公司 | Deep packet detection device and method |
| CN201533491U (en) * | 2009-08-16 | 2010-07-28 | 霍建生 | Micro-tillage, fertilization, and seed-sowing machine for plain land and slope land |
| JP2011125308A (en) * | 2009-12-21 | 2011-06-30 | Kubota Corp | Tractor |
| CN101878681A (en) * | 2010-06-18 | 2010-11-10 | 吴伯让 | Self-propelled double-shaft deep-tilling machine and tilling method |
| JP2012200237A (en) * | 2011-03-28 | 2012-10-22 | Iseki & Co Ltd | Plowing depth automatic control system for tractor |
| CN103134457A (en) * | 2013-01-28 | 2013-06-05 | 吉林大学 | Real-time monitoring system and real-time monitoring method of tilling depth of agricultural implements |
| CN203435296U (en) * | 2013-09-06 | 2014-02-19 | 邓城 | Light ploughing and preparing machine |
| CN203590689U (en) * | 2013-11-25 | 2014-05-14 | 广西河池德建农业装备制造有限公司 | Hydraulic lifting rotary tillage mechanism |
| CN104750843A (en) * | 2015-04-08 | 2015-07-01 | 浙江大学 | Auxiliary system for rapidly extracting design knowledge from IPC (Information Processing Center) |
| WO2017166434A1 (en) * | 2016-03-31 | 2017-10-05 | 江苏新岛机械有限公司 | Intermediate-drive deep rotary tillage device |
| CN205827143U (en) * | 2016-06-20 | 2016-12-21 | 北京农业智能装备技术研究中心 | Subsoiling land preparation operation quality detecting system |
| CN106576470A (en) * | 2016-11-25 | 2017-04-26 | 湖南春燕机械制造有限公司 | Tilling depth control system applied to farming machinery |
| CN107103040A (en) * | 2017-03-27 | 2017-08-29 | 西北大学 | A kind of irrigated area basic data acquisition system |
| CN208029328U (en) * | 2018-02-07 | 2018-11-02 | 农业部南京农业机械化研究所 | A kind of floating control rotary-cut rotary cultivator of twin shaft |
| CA3042800A1 (en) * | 2018-07-10 | 2020-01-10 | Cnh Industrial Canada, Ltd. | Depth adjustment features for a seed planting unit of an agricultural implement |
| CN108575124A (en) * | 2018-07-17 | 2018-09-28 | 潍坊科技学院 | A kind of control device of twin shaft Stratified soil cutting rotary cultivator |
| CN109581921A (en) * | 2018-12-03 | 2019-04-05 | 武汉盛硕电子有限公司 | A kind of tractor electronically-controlled suspension control method and system, control device |
| CN109588065A (en) * | 2019-01-02 | 2019-04-09 | 华南农业大学 | A kind of equipment elevation continuous regulation mechanism and its tilling depth Automatic adjustment method |
| CN109819694A (en) * | 2019-02-01 | 2019-05-31 | 山东理工大学 | A kind of rotary cultivator tilling depth self-adaption regulation system and its method |
| CN110731164A (en) * | 2019-12-03 | 2020-01-31 | 深知智能科技(金华)有限公司 | Automatic operation posture adjustment control method and system for harvester working devices |
| CN110741749A (en) * | 2019-12-03 | 2020-02-04 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of rotary cultivator working device |
| CN110905020A (en) * | 2019-12-03 | 2020-03-24 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of bulldozer working device |
| CN111133853A (en) * | 2020-01-17 | 2020-05-12 | 日照海卓液压有限公司 | Multi-parameter combined automatic adjusting system and method for tilling depth of tractor |
| CN112400366A (en) * | 2020-10-22 | 2021-02-26 | 农芯科技(广州)有限责任公司 | Paddy field slurry stirring machine unit leveling system and paddy field slurry stirring machine unit |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114531986A (en) | 2022-05-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10813266B2 (en) | System and method for leveling an agricultural implement | |
| EP0838141B1 (en) | A vehicle control apparatus and method | |
| US20180153088A1 (en) | Automated leveling and depth control system of a work machine and method thereof | |
| CN107493703B (en) | Operation quality measurement and control system and method for deep scarification and soil preparation combined machine | |
| CA3072966A1 (en) | A system for controlling soil compaction caused by wheels, and use of such system | |
| US11665989B2 (en) | Implement contouring toolbar | |
| Bakker et al. | A path following algorithm for mobile robots | |
| CN111133853B (en) | Multi-parameter combined automatic regulation system and method for tractor tilling depth | |
| US20210048290A1 (en) | System and method for determining field surface conditions using vision-based data and data from a secondary source | |
| US20200008337A1 (en) | Residue management based on topography by an agricultural tillage implement | |
| US20200113123A1 (en) | System and method for controlling operation of a work vehicle towing an agricultural implement | |
| US20180206387A1 (en) | Agricultural Implement and Method of Controlling an Agricultural Implement | |
| US20180220574A1 (en) | Gauge wheel and hitch force control | |
| US10602653B2 (en) | System and method for controlling the orientation of ground engaging elements on an agricultural implement | |
| US20220000006A1 (en) | Tractor and method for operating a tractor | |
| CA3146887A1 (en) | System and method for monitoring shank float | |
| CN114531986B (en) | Tilling depth control method and device for field working machine | |
| US20200053942A1 (en) | Enhanced resolution fore/aft leveling of a towable tillage implement | |
| US20210120726A1 (en) | System and method for detecting levelness of tools of a tillage implement based on tool loading | |
| Jing et al. | Development of a GNSS/INS-based automatic navigation land levelling system | |
| Anthonis et al. | An automatic depth control system for online measurement of spatial variation in soil compaction, part 3: Design of depth control system | |
| CN109588065A (en) | A kind of equipment elevation continuous regulation mechanism and its tilling depth Automatic adjustment method | |
| US20230047045A1 (en) | Method and system to determine coupling-type-independent working heights of a plurality of agricultural attachments | |
| KR102144830B1 (en) | Apparatus and method for driving control of agricultural working vehicle | |
| US20210259148A1 (en) | Method for automating an agricultural work task |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |