KR101914511B1 - Image based tractor control device and control method according to crop height - Google Patents

Abstract

An image-based tractor control device according to a crop height according to one embodiment of the present invention is a tractor control device including a vehicle body coupled to a frame coupled to a front wheel axle and a body provided with a rear wheel axle, comprising: a camera portion filming a crop; an image storage portion receiving a video obtained by the camera portion to store as an image, and converting the image into a pixel; a height calculation portion calculating portion for calculating the height of the crop by calculating the pixel of the crop stored in the image storage portion; a slope sensor portion arranged at the center of the body and measuring a slope state of the vehicle body in accordance with the ground surface state; a posture adjusting portion coupled to the frame, the front wheel axle, and the rear wheel axle to adjust the height of the vehicle body, and adjusting horizontality of the vehicle body; and a controller for controlling the posture adjusting portion by receiving the crop height value of the height calculation portion and the slope value of the slope sensor portion.

Description

TECHNICAL FIELD [0001] The present invention relates to an image-based tractor control device and a control method thereof,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for controlling an image-based tractor according to crop height, and more particularly, to a tractor apparatus capable of adjusting the horizontal position of a tractor body and adjusting a ground level of the body.

The tractor has become synonymous with agricultural and civil engineering cars, but it is precisely the collective name for tow trucks. It means pulling, usually refers to a car with an engine pulled from the top of a trailer truck or trailer bus. There are two types of tractors: a wheel type wheeled crawler type and a caterpillar type caterpillar.

The former is suitable for relatively light work, has better ride quality than the trackless crawler, has less resistance and can speed up. The latter has a lower ground contact pressure than the wheel type (about 1kg per unit area in the wheel type and 0.3kg in the crawler type), and the adhesive force to the ground is also large. Therefore, And is suitable for running at a low speed on a ground that is not grounded.

The structure is basically the same as a regular car, but equipped with a powerful engine, pulling power is good and strong. The tractor was originally developed for agricultural use in the United States, and is still an indispensable tool for farming to haul spruce, plows, harrows and harvesters for cultivation.

However, in order to use the tractor for the agricultural work, it moves on the rice field or the field. When the height of the crop is higher than that of the tractor when moving, the tractor moves and damages the crop.

In order to solve the above problems, Korean Patent No. 10-1342394 (entitled " tractor body elevating device ") is provided with a buffer cylinder on the right and left sides between a vehicle body and a train axis, So that the vehicle body is raised or lowered vertically.

Further, a fixed display portion is provided at a portion where the movable display portion is vertically moved as the vehicle body is moved up and down, and is fixedly coupled to the electric train shaft or the electric train axis, and the driver observes the coincidence or separation between the movable display portion and the fixed display portion while sitting in the cab The structure of the vehicle body is ascended or descended by ascertaining the degree of ascending and descending of the vehicle body.

In order to adjust the height of the vehicle body, the cushion cylinder must be operated in a state where the tractor stops moving. Therefore, there is a problem in that the working time is long. The degree of lift of the tractor is determined by checking the coincidence or separation between the movable display unit and the fixed display unit However, in order to ascertain whether the tractor has moved up to the height of the crop by moving over the rice field or the field, the problem that the tractor could damage the crop is not solved because the buffer cylinder is operated depending on the driver's eyes or feeling.

Patent Registration No. 10-1342394 (Publication Date: December 17, 2013)

An object of the present invention is to provide an apparatus and method for automatically adjusting a ground level of a vehicle body by measuring the height of a crop in a camera.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

According to an aspect of the present invention, there is provided a control device for a tractor including a body coupled to a body having a frame coupled to a front wheel axle and a rear wheel axle, An image storing unit for receiving an image to be acquired and storing the image as an image and converting the image into pixels; a height calculating unit for calculating a height of the crop by calculating pixels of the crop stored in the image storing unit; A posture adjusting unit coupled to the frame and the front and rear wheel axles to adjust a height of the vehicle body and adjust a horizontal position of the vehicle body, And a tilt value of the tilt sensor unit to control the posture controller ; And

In one embodiment of the present invention, the tilt sensor unit may further include a rolling sensor for measuring the tilt of the vehicle body in the left-right direction, and a pitching sensor for measuring the tilt of the vehicle body in the longitudinal direction.

In an embodiment of the present invention, the posture adjusting portion includes a front wheel adjusting portion having a front wheel cylinder coupled to both the frame and the front wheel axle; And a rear wheel control unit having a rear wheel cylinder coupled to both sides of the frame and the rear wheel axle, and a rear wheel having a rear wheel shaft eccentrically coupled to both ends of the rear wheel axle and coupled with rear wheels.

In an embodiment of the present invention, the posture adjusting unit may further include a front wheel and a rear wheel cylinder, and a cylinder displacement detecting sensor coupled to the vehicle body to detect a displacement of the front and rear wheel cylinders and to transmit a displacement value to the controller do.

In the embodiment of the present invention, the posture adjusting unit may further include a shock absorber coupled to the front wheel and the rear wheel cylinder, the shock absorber being configured to prevent the vehicle from swinging up or down when the vehicle body moves.

In the above-described embodiment, the tractor includes an image-based tractor control device according to the crop height.

According to another aspect of the present invention, there is provided a method of driving a tractor, the method comprising the steps of: a) driving a tractor to select an automatic mode or a manual mode, b) confirming a tilt of a ground state and a vehicle body with a tilt sensor, D) measuring the height of crops photographed by the camera, e) adjusting the ground level of the car body to reflect the height of the measured crop, and f) The method comprising the steps of:

According to an embodiment of the present invention, when the manual mode is selected in step (a), the user may further adjust the posture of the vehicle body using the controller.

In an embodiment of the present invention, the step b further includes calculating a forward slope value and a horizontal slope value, and transmitting the calculated slope value to a controller.

In a preferred embodiment of the present invention, the step (c) includes the steps of calculating front wheel and rear wheel displacement values, transmitting the calculated front wheel and rear wheel cylinder displacement values to the controller, calculating the calculated front wheel and rear wheel cylinder displacement values, Comparing and analyzing the cylinder displacement value, and adjusting the body to a horizontal posture by adjusting the front wheel cylinder and the rear wheel cylinder by the controller.

According to an embodiment of the present invention, the step d may include capturing a crop through a camera, storing the photographed image as an image, converting the image into a pixel, Calculating a height of the crop, and transmitting the measured height value of the crop to the controller.

In a preferred embodiment of the present invention, the step of moving the cylinder of the front wheel axle by the height of the crop in the controller is performed to raise the front of the vehicle body, and a rotating plate eccentrically joined to the rear wheel axle And raising the rear of the vehicle body by adjusting a height at which the rear wheel contacts the ground; And a control unit.

The effect of the present invention with the above-described structure is that the height of the crop is photographed and imaged in real time, so that the tractor can recognize the crop in real time while moving.

The image can be converted into pixels to measure the height of the crop. The height of the crop can be adjusted automatically or manually based on the crop height.

Since the tractor body rises or falls depending on the height of the crop, it is possible to prevent the tractor from moving and damaging the crop, thereby increasing the yield of the crop.

In addition, since the vehicle body can be held horizontally when the tractor moves on a ground surface having inclination or curvature, the driver can prevent the driver from tilting according to the inclination of the ground, thereby enhancing the riding comfort of the driver.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a block diagram of an image-based tractor control apparatus according to crop height according to an embodiment of the present invention.
2 is an embodiment of an image-based tractor control apparatus according to crop height according to an embodiment of the present invention.
3 is an enlarged view of a front wheel axle of an image-based tractor control apparatus according to an embodiment of the present invention.
4 is a side view of an image-based tractor control apparatus according to crop height according to an embodiment of the present invention.
5 is a plan view of an image-based tractor control apparatus according to crop height according to an embodiment of the present invention.
6 is a flowchart of an image-based tractor control apparatus according to crop height according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" (connected, connected, coupled) with another part, it is not only the case where it is "directly connected" "Is included. Also, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of an image-based tractor control apparatus according to an embodiment of the present invention, FIG. 2 is a view illustrating an apparatus for controlling an image-based tractor according to crop height according to an embodiment of the present invention And FIG. 3 is an enlarged view of a front wheel axle of an image-based tractor control apparatus according to an embodiment of the present invention. FIG. 4 is a view showing an image-based tractor control apparatus according to an embodiment of the present invention. FIG. 5 is a plan view of an image-based tractor control apparatus according to crop height according to an embodiment of the present invention. FIG. 6 is a view illustrating an image-based tractor control method according to an embodiment of the present invention. FIG.

1 to 5, an apparatus for adjusting the posture of a tractor vehicle body 8 according to an embodiment of the present invention includes a frame 3 coupled with a front wheel axle 1 and a rear wheel axle 4 An apparatus for adjusting the posture of a tractor body (8) in a tractor body (8) to which a body (7) is coupled, the apparatus comprising: a camera unit (100) A height calculator 300 for calculating the height of the crop by calculating pixels of the crop stored in the image storage 200 and a height calculator 300 for calculating the height of the crop, A tilt sensor unit 400 disposed at the center of the vehicle body 8 to measure the inclination state of the vehicle body 8 according to the ground state and a tilt sensor unit 400 connected to the frame 3 and the front and rear wheel axles 1, An attitude adjusting unit 500 for adjusting the height of the vehicle body 8 and adjusting the level of the vehicle body 8, Receiving and the slope value of the inclination sensor section 400 comprises a controller 600 for controlling the position control unit 500.

The camera unit 100 captures an image of the crop. More specifically, the camera unit 100 is protrudingly formed on the upper portion of the vehicle body, and photographs the crop in the forward path on which the tractor moves, in real time. Since the camera 100 captures the crop in real time, the driver can grasp the crop without checking whether the crop exists in the tractor path. In addition, the image photographed by the camera unit 100 is transmitted to the image storage unit 200.

The image storage unit 200 stores images stored in the camera unit 100 as images. More specifically, since it is difficult to grasp the accurate height of the crop with the image transmitted from the camera unit 100, the transmitted image is stored as an image. If the stored image is converted into pixels again, the height of the crop can be measured more accurately than the height of the crop with the image captured by the camera unit 100.

The height calculation unit 300 calculates the height of the crop converted into pixels. The formula for converting pixels to cm is cm = pixels * 2.54 / dip. Here, dip represents the degree of density of pixels, which indicates how many points are contained in one inch (width * length), that is, resolution.

As shown in the formula, the value of cm per pixel is different according to the dip value. In one embodiment of the present invention, assuming dip to be 100, 0.0254 cm per pixel, and the height of the crop is calculated. Count the number of pixels of the crop converted to pixels and multiply by 0.0254 cm to see the height of the crop. When the height value of the crop is reached, it is transmitted to the controller 600.

The tilt sensor unit 400 includes a rolling sensor 410 for measuring the tilt of the vehicle body 8 in the left and right direction and a pitching sensor 420 for measuring the tilt of the vehicle body 8 in the front and rear direction. The tilt value measured by the rolling sensor 410 and the pitching sensor 420 is transmitted to the controller 600 and the controller 600 controls the posture adjusting unit 500 to adjust the level of the body 8.

The controller 600 adjusts the posture adjusting unit 500 based on the tilt value transmitted from the tilt sensor unit 400 and the height of the crop measured by the height calculating unit 300 to horizontally adjust the vehicle body 8, It is possible to prevent the crop from being damaged by the vehicle body 8 when the tractor moves the tractor by controlling the height of the tractor 8.

The posture adjusting unit 500 includes a front wheel adjusting unit 510 having a front wheel cylinder 511 coupled to the frame 3 and to both sides of the front wheel axle 1 and a front wheel adjusting unit 510 coupled to both sides of the frame 3 and the rear wheel axle 4, And a rear wheel regulating unit 520 having a rear wheel cylinder 521 that is eccentrically connected to both ends of the rear wheel axle 4 and has a rear wheel shaft 4 to which the rear wheel 6 is coupled, .

The front wheel control unit 510 operates the front wheel cylinder 511 coupled to the front wheel axle 1 and the frame 3 to horizontally adjust the vehicle body 8 or to adjust the ground clearance in front of the vehicle body 8 Height) can be adjusted. At this time, the operation of the front wheel cylinder 511 is controlled by the controller 600. The maximum rising length of the front wheel cylinder 511 is 55 mm and the maximum falling length is 55 mm. As an example, assuming that the reference value of the stroke of the front wheel cylinder 511 is 375 mm, the length of the front wheel cylinder 511 which is maximally increased is 430 mm, and the length of the front wheel cylinder 511 which is maximally lowered is 320 mm. Therefore, the moving distance of the cylinder does not exceed 110 mm at maximum. That is, assuming that the radius of the front wheel 2 is 515 mm, the height of the front surface of the vehicle body 8 to the front wheel cylinder 511 can be increased up to 625 mm.

The rear wheel adjuster 520 can adjust the horizontal position of the vehicle body 8 by operating the rear wheel axle 4 and the rear wheel cylinder 521 coupled to the frame 3. The maximum operating range of the front wheel cylinder 511 as well as the front wheel cylinder 511 is 110 mm to be.

However, the range of motion of the front wheel cylinder 511 and the rear wheel cylinder 521 is not limited to 110 mm, and the range of motion of the cylinder may be changed in the future since the range of motion is limited for smooth explanation.

The rear wheel adjuster 520 is eccentrically coupled to both ends of the rear wheel axle 4 to adjust the height of the vehicle body 8. [ The rotary plate 522 has an elliptical shape in which the rear wheel axle 4 is not engaged with the center of the ellipse but is eccentrically engaged with the rear wheel axle 4 and the rear wheel axle 5 is opposed to the rear wheel axle 4 with respect to the center point of the ellipse. And the rear wheels 6 are engaged with the rear wheel shafts 5.

Accordingly, when the rear wheel axle 4 rotates, the rotation plate 522 rotates and the height of the rear wheel 6 close to the ground changes according to the rotation angle, so that the rear height of the vehicle body 8 can be adjusted.

The posture control unit 500 is connected to the front wheel cylinder 511 and the rear wheel cylinder 521 to detect the operation displacement of the front wheel cylinder 511 and the rear wheel cylinder 521, And a displacement detection sensor 530.

The slope of the vehicle body 8 can be adjusted horizontally by moving the front wheel cylinder 511 and the rear wheel cylinder 521 based on the slope value transmitted from the slope sensor unit 400 and the cylinder displacement value. For example, the tractor senses the direction in which the vehicle body 8 tilts while moving, and operates the corresponding cylinder to control the vehicle body 8 horizontally.

Further, the front wheel cylinder 511 and the rear wheel cylinder 521 of the posture control unit 500 may be operated by supplying hydraulic pressure or compressed gas. When the compressed gas is supplied to the cylinder, the accumulator filled with the compressed gas may be connected to the cylinder. When the cylinder is supplied with the oil pressure, a hydraulic pressure supply unit for supplying the oil pressure to the cylinder and a valve for controlling the flow rate may be added.

Hydraulic cylinders and gas cylinders are widely used in the art, so a detailed description thereof will be omitted.

The posture control unit 500 may be provided with a shock absorber 540 for restraining the vehicle body 8 from shaking or vibrating up and down when the vehicle body 8 is moved to one side of the front wheels and the rear wheel cylinders 511 and 521. [

The shock absorber 540 can suppress sudden fluctuation of the vehicle body 8 when the vehicle body 8 is suddenly changed in posture, thereby improving the riding comfort of the driver.

As shown in FIG. 6, a method of controlling an image-based tractor according to crop height will be described with reference to the configuration described above.

(S10) of driving the tractor and selecting whether it is an automatic mode or a manual mode. At this time, if the manual mode is selected, the driver manually controls the ground level and the horizontal state of the vehicle body 8 directly (S11)

If the tractor is in the automatic mode, step (S20) of confirming the inclination value of the vehicle body 8 and the state of the paper surface is performed by the tilt sensor. At this time, a step S21 of calculating the forward and backward slope value and the horizontal slope value and a step of transmitting the calculated slope value to the controller 600 may be executed.

More specifically, the tilt value measured by the rolling sensor 410 for measuring the tilt value in the left-right direction and the pitching sensor 420 for measuring the tilt of the vehicle body 8 in the longitudinal direction is transmitted to the controller 600.

Thereafter, step S30 of controlling the vehicle body 8 to a horizontal posture is executed. At this time, the step S31 of calculating the displacement values of the front and rear wheel cylinders 511 and 521 is executed and the step S32 of transmitting the calculated displacement values of the front wheel and the rear wheel cylinders 511 and 521 to the controller 600, Is executed.

Thereafter, a step S33 of comparing and analyzing the inclination value and the displaced values of the front wheels and the rear wheels 511 and 521 is executed and the front wheel cylinder 511 and the rear wheel cylinder 521 are adjusted in the controller 600, (S34) is executed.

In more detail, the controller 600 compares the tilt value transmitted from the tilt sensor unit 400 with the displacement value transmitted from the cylinder displacement measuring sensor and compares the tilt value transmitted from the cylinder displacement measuring sensor with the front wheel cylinder 511 or the rear wheel cylinder 521 so as to maintain the horizontal position of the vehicle body 8.

A step S40 of measuring the height of the crop photographed by the camera is executed. At this time, the step S41 of photographing the crop through the camera is executed and the step S42 of storing the image as an image is executed. Thereafter, the step S43 of converting the image into pixels and the step S44 of calculating the height of the crop by measuring the pixels of the converted crop are performed, and the step of transmitting the height value of the measured crop to the controller 600 S45) is executed.

(S50) of adjusting the ground height of the vehicle body 8 is performed reflecting the height value of the measured crop. At this time, a step S51 of raising the front of the vehicle body 8 by moving the cylinder of the front wheel axle 1 by the height of the crop is performed at the controller 600, and the controller 600 executes the step S51 to raise the rear wheel axle 4 (Step S52) of rotating the rotating plate 522 eccentrically connected to the vehicle body 8 and raising the rear of the vehicle body 8 by adjusting the height at which the rear wheel contacts the ground surface is executed.

More specifically, the rotary plate 522 of the rear wheel adjuster 520 is elliptically shaped and is coupled to the rear wheel axle 4 so as not to be engaged with the rear wheel axle 4 at the center of the ellipse. The rear wheel axle 5 is formed so as to face the rear wheel axle 4 with respect to the center point of the ellipse and the rear wheel is coupled to the rear wheel axle 5. [

When the rear wheel axle 4 is rotated, the rotation plate 522 is rotated and the height of the rear wheel coupled to the rotation plate 522 closes to the ground, so that the rear of the vehicle body 8 can be raised or lowered.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

1: front wheel axle 2: front wheel
3: Frame 4: rear wheel axle
5: rear wheel shaft 6: rear wheel
7: Body 8: Body
100: camera unit 200: image storage unit
300: height calculation unit 400: tilt sensor unit
410: Rolling sensor 420: Pitching sensor
500: posture adjusting unit 510: front wheel adjusting unit
511: front wheel cylinder 520: rear wheel control unit
521: rear wheel cylinder 522:
530: Displacement sensor 540: Shock absorber

Claims (12)

A control device for a tractor including a body coupled to a body having a frame coupled with a front wheel axle and a rear wheel axle,
A camera unit configured to protrude from the upper portion of the vehicle body and shoot a crop in a real-time image on the tractor front path so that a driver can recognize whether or not the crop exists on the tractor path;
An image storage unit for receiving an image acquired by the camera unit and storing the image as an image, converting the image into pixels, and measuring the height of an accurate crop with an image photographed by the camera unit;
The unit is converted into cm (centimeter) by multiplying the number of pixels converted from the image stored in the image storage unit corresponding to the crop by a value of 2.54 / dip to calculate a concrete height of the crop, A height calculation unit for transmitting the height calculation result;
A tilt sensor disposed at the center of the body for measuring a tilt state of the vehicle body according to a state of the ground; And
An attitude adjusting unit coupled to the frame and the front and rear axles to adjust the height of the vehicle body and to adjust the level of the vehicle body; / RTI >
The controller comprising:
Wherein the control unit controls the posture control unit based on the crop height value of the height calculation unit and the slope value of the tilt sensor unit.
The method according to claim 1,
Wherein the tilt sensor unit further comprises a rolling sensor for measuring a tilt of the vehicle body in the left and right direction and a pitching sensor for measuring a tilt of the vehicle body in the forward and backward directions.
The method according to claim 1,
The posture adjusting unit includes a front wheel adjusting unit including a front wheel cylinder coupled to both the frame and the front wheel axle; And a rear wheel cylinder eccentrically coupled to both ends of the rear wheel axle in an elliptical shape and having a rear wheel shaft coupled to the rear wheel, the rear wheel being opposed to the rear wheel axle with respect to a center point of the ellipse, And a rear wheel adjuster provided on the rear wheel,
Wherein the rotation plate rotates as the rear wheel axle rotates and a height at which the rear wheel contacts the ground changes according to a rotation angle of the rotation plate, thereby adjusting the height of the rear of the vehicle body.
The method of claim 3,
Wherein the posture control unit further comprises a front wheel and a rear wheel cylinder and a cylinder displacement detection sensor coupled to the vehicle body to detect displacement of front and rear wheel cylinders and to send a displacement value to the controller. controller.
The method of claim 3,
Wherein the posture adjusting unit further includes a shock absorber coupled to the front wheels and the rear wheels so as to prevent the vehicle from shaking or vibrating up and down when the vehicle body moves.
A tractor comprising an image-based tractor control device according to crop height formed by any one of claims 1 to 5.
A tractor control method using the tractor control device according to claim 1,
a) driving the tractor and selecting whether it is an automatic mode or a manual mode;
b) confirming the ground state and the slope of the vehicle body with a tilt sensor;
c) controlling the vehicle body in a horizontal posture;
d) measuring the height of the crop photographed by the camera;
e) adjusting the ground level of the car body to reflect the height value of the measured crop;
f) moving to another location;
Wherein the height of the crop is determined based on the height of the crop.
8. The method of claim 7,
Further comprising the step of adjusting the posture of the vehicle body using the controller when the manual mode is selected in step a.
8. The method of claim 7,
Calculating a forward slope value and a leftward slope value in step b;
And transmitting the calculated slope value to a controller. ≪ Desc / Clms Page number 21 >
8. The method of claim 7,
Calculating a front wheel and a rear wheel displacement value;
Transmitting the calculated front wheel and rear wheel cylinder displacement values to a controller;
Comparing and comparing the calculated slope values and the calculated front wheel and rear wheel cylinder displacement values;
Further comprising: adjusting the front body cylinder and the rear wheel cylinder to adjust the body to a horizontal posture by the controller.
8. The method of claim 7,
D) photographing the crop through the camera;
Storing the photographed image as an image;
Converting the image into a pixel;
Measuring a pixel of the transformed crop to calculate a height of the crop;
And transmitting the measured height value of the crop to the controller. ≪ Desc / Clms Page number 20 >
8. The method of claim 7,
The step of moving the cylinder of the front wheel axle by the height of the crop in the controller to raise the front of the car body;
Rotating the rotating plate eccentrically connected to the rear wheel axle by the height of the crop in the controller and raising the rear of the vehicle body by adjusting a height at which the rear wheel contacts the ground; Further comprising the steps of: determining a height of the crop based on the height of the crop.

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