WO2020215608A1 - Dispositif de labour, système de protection de charrue associé et procédé de protection associé - Google Patents

Dispositif de labour, système de protection de charrue associé et procédé de protection associé Download PDF

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Publication number
WO2020215608A1
WO2020215608A1 PCT/CN2019/107849 CN2019107849W WO2020215608A1 WO 2020215608 A1 WO2020215608 A1 WO 2020215608A1 CN 2019107849 W CN2019107849 W CN 2019107849W WO 2020215608 A1 WO2020215608 A1 WO 2020215608A1
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WIPO (PCT)
Prior art keywords
plough
agricultural machine
suspension
controller
protection system
Prior art date
Application number
PCT/CN2019/107849
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English (en)
Chinese (zh)
Inventor
肖文迪
侯跃军
吴迪
姚远
Original Assignee
丰疆智能科技股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201920562902.2U external-priority patent/CN211557882U/zh
Priority claimed from CN201910330234.5A external-priority patent/CN110100508A/zh
Application filed by 丰疆智能科技股份有限公司 filed Critical 丰疆智能科技股份有限公司
Publication of WO2020215608A1 publication Critical patent/WO2020215608A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B3/00—Ploughs with fixed plough-shares
    • A01B3/24—Tractor-drawn ploughs
    • A01B3/26—Tractor-drawn ploughs without alternating possibility

Definitions

  • the invention relates to the field of agricultural automatic control, in particular to a farming equipment and its plough protection system and protection method.
  • Cultivated land equipment is a common type of agricultural machinery in agricultural equipment.
  • the cultivated land equipment includes a cultivated land equipment and a tractor that pulls the cultivated land equipment.
  • the tractor provides driving and working power for the farmland equipment, and performs necessary control of the farmland equipment, such as controlling ascent and descending.
  • the cultivated land equipment in the prior art is controlled by the driver artificially while working on the cultivated land, wherein the operator artificially controls the lifting, lowering, and depth of the cultivated land, etc. of the cultivated land equipment. Therefore, during farming operations, operators need to adjust and operate the farming equipment according to the actual working environment. For example, when turning, they need to lift the farming equipment in a timely manner to prevent the farming equipment from being damaged during turning.
  • the invention application with the publication number CN104914882A discloses an automatic control device and a control method for an agricultural machinery plough, wherein the application discloses a steering control method for a plough and an obstacle crossing control method for a plough.
  • the driver is required to issue an instruction to lower the plough when the vehicle steering is completed, that is, the plough needs to be artificially controlled to lower the plough again. This will increase the driver's labor intensity and operational difficulty.
  • the depth of the lowered plough cannot be guaranteed to be consistent with the depth of the plough described before the turn, so inconsistent plough depth will affect the quality of work.
  • the plow obstacle crossing control method of this application is based on the change in the heading angle of the vehicle when the wheel passes the obstacle, and the existence of the obstacle can be detected only when the wheel passes the obstacle.
  • the detection accuracy of this obstacle avoidance detection method is reduced. If the obstacle is between the two wheels, it is difficult for the agricultural machinery plough to detect the existence of the obstacle. Therefore, this method cannot achieve obstacle avoidance well, and the obstacle crossing control method of the plough still requires the driver to manually operate the plough to avoid obstacles, and cannot realize automatic obstacle avoidance.
  • One of the main advantages of the present invention is to provide an arable land equipment and its plough protection system and protection method, wherein the plough protection system automatically controls a plough of the arable land equipment based on the current operating conditions of the arable land equipment, The labor intensity and operation difficulty of operating the farmland equipment are reduced.
  • Another advantage of the present invention is to provide an arable land equipment and its plough protection system and protection method, wherein the plough protection system recognizes the working environment of the arable land equipment, and automatically controls and Protect the plough to avoid damage to the plough.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein when the cultivating equipment is turning, the plough protection system automatically controls and lifts the plough so that The plough is off the ground during turning, avoiding damage to the plough and reducing the operating burden of the operator.
  • Another advantage of the present invention is to provide an arable land equipment and its plough protection system and protection method, wherein the plough protection system includes a rotation angle sensor, wherein the rotation angle sensor collects the steering angle of an agricultural machine driving the arable land equipment , Judging the turning of the arable land equipment based on the steering angle, so that the plough protection system can automatically control and lift the plough when the agricultural machine turns.
  • Another advantage of the present invention is to provide an arable land equipment and its plough protection system and protection method, wherein when the arable land equipment turns, the plough protection system automatically controls and lowers the ploughs to reduce the number of operators The intensity of operation.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein the plough protection system further includes at least one heading sensor, wherein the heading sensor collects the driving direction of the agricultural machine, wherein The plough protection system judges whether the agricultural machine is back to normal based on the data collected by the heading sensor. When the agricultural machine is back to normal, the plough protection system automatically controls and lowers the plough, reducing driving The difficulty of personnel operation improves the quality of farmland operations.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein the plough protection system can record the lowering angle of the plough during operation, wherein the plough protection is The system automatically controls the lowering of the plough to the position before being lifted according to the initial lowering angle, so that the depth of the cultivated land of the cultivated land equipment is consistent, and the operation quality of the cultivated land equipment is improved.
  • Another advantage of the present invention is to provide a plow protection system and protection method thereof, wherein the plow protection system includes at least one suspension sensor, wherein the suspension sensor collects the angle at which the plow is suspended, wherein The plough protection system controls the lowering angle of the plough based on the suspension angle collected by the suspension sensor, thereby reducing the operating difficulty of the operator and improving the accuracy of the operation.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein the suspension sensor of the plough protection system collects the suspension angle of the plough in real time, and when the plough When the suspension position of the plough is too high, the plough protection system automatically controls and disconnects the power transmission of the plough, so as to avoid the damage caused by the idling of the plough.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein when the plough is lifted more than a height, the plough protection system is based on all the information collected by the suspension sensor.
  • the suspension angle of the plough automatically controls and disconnects the power transmission of the plough to reduce the operating intensity of the operator.
  • Another advantage of the present invention is to provide a ploughing equipment and its plough protection system and protection method, wherein when the plough is lowered below a height, the plough automatic protection system collects information based on the suspension sensor The hanging angle of the plough can automatically control and start the power transmission of the plough, so that the ploughing equipment can work on the land to reduce the operating intensity of the operator.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein when obstacles exist in front of the agricultural machinery, such as field ridges, rocks, wooden stakes, etc., the plough protection system The plough is raised automatically to prevent the plough from being damaged by the obstacle.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein when obstacles exist in front of the agricultural machinery, such as field ridges, rocks, wooden stakes, etc., the plough protection system The plough is automatically raised, which reduces the difficulty of operation for the driver.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein when the agricultural machinery crosses an obstacle, the plough protection system automatically controls and lowers the plough to reduce The operating intensity of the driver.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein the plough protection system further includes at least one obstacle recognition module, wherein the obstacle recognition module can recognize the front of the agricultural machine The obstacle improves the accuracy of the obstacle.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein the obstacle recognition module is arranged at the front end of the agricultural machine, so as to identify the obstacle on the ground in front of the agricultural machine So that the plough protection system controls the operation of the plough based on the identified obstacle information.
  • Another advantage of the present invention is to provide a farming equipment and its plough protection system and protection method, wherein the obstacle recognition module is arranged above the agricultural machine, and the obstacle recognition module collects the forward direction of the agricultural machine The image of the farmland, wherein the plow protection system recognizes the obstacle information in the farmland based on the image, such as physical information of the obstacle, so as to control and operate the plow based on the obstacle information , To prevent the plough from colliding with the obstacle and damaging the plough.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein the obstacle recognition module can identify the length of the obstacle, wherein the plough protection system is based on the agricultural machinery
  • the driving speed can obtain the time to raise the plough, which improves the accuracy of the operation and reduces the operation difficulty of the operator.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein the obstacle recognition module can identify the length of the obstacle, wherein the plough protection system is based on the agricultural machinery
  • the driving speed can determine the timing of lowering the plough, which improves the accuracy of the operation and reduces the difficulty of the operator.
  • Another advantage of the present invention is to provide a cultivating equipment and its plough protection system and protection method, wherein the plough protection system further includes at least one switch, wherein the switch can be individually opened and closed, so that The plough protection system protects the ploughing equipment in different scenarios to meet various user requirements.
  • Another advantage of the present invention is to provide an arable land equipment and its plough protection system and protection method, wherein the plough protection system has a simple structure, is easy to install and deploy to any agricultural machine with a suspension device, and improves the arable land Applicability of the equipment and the plough protection system.
  • a plough protection system of the present invention which can achieve the foregoing objectives and other objectives and advantages, is suitable for protecting a plough, wherein the plough is mounted on an agricultural machine, and wherein the agricultural machine is based on The plough protection system automatically controls the plough, including:
  • a suspension control module wherein the suspension control module is communicatively connected to the controller, and the controller generates a control command, wherein the suspension control module controls a suspension device of the agricultural machine based on the control command to The suspension device of the agricultural machine drives the plough.
  • the suspension control module generates a control signal based on the control instruction of the controller, and transmits the control signal to the suspension device of the agricultural machine for the The suspension device automatically drives the plough based on the control signal.
  • the plough protection system further includes a transmission control module, wherein the transmission control module is communicatively connected to the controller, and the controller sends a control command to the transmission control module , Wherein the transmission control module controls the power transmission between a transmission device of the agricultural machine and the plough based on the control command.
  • the transmission control module generates an electrical control signal based on the control instruction of the controller, and transmits the electrical control signal to the transmission device of the agricultural machine for the
  • the transmission device of the agricultural machine automatically connects or disconnects the power transmission with the plough based on the electric control signal.
  • the plough protection system further includes a suspension sensor, wherein the suspension sensor is communicatively connected to the controller, and the suspension sensor collects the suspension of the plough suspended by the agricultural machine Angle, wherein the controller determines the height at which the plough is raised and lowered based on the suspension angle, and when the plough is raised more than a height, the transmission control module is based on the control of the controller Instructing to disconnect the power transmission of the agricultural machine to the plough.
  • the plough protection system further includes a suspension sensor, wherein the suspension sensor is communicatively connected to the controller, and the suspension sensor collects the suspension of the plough suspended by the agricultural machine Angle, wherein the controller determines the height at which the plough is raised and lowered based on the suspension angle, and when the plough is lowered below a height, the transmission control module is based on the controller’s The control command is combined with the power transmission of the agricultural machine to the plough.
  • the plough protection system further includes at least one rotation angle sensor, wherein the rotation angle sensor is communicatively connected to the controller, the rotation angle sensor collects the heading angle of the agricultural machine, and the control The device determines whether the agricultural machine is turning based on the steering angle.
  • the suspension control module automatically lifts the suspension device of the agricultural machine based on the control command of the controller to make the The agricultural machine lifts the plough upward.
  • the plough protection system further includes at least one heading sensor, wherein the heading sensor is communicatively connected to the controller, and the heading sensor collects the steering angle of the front wheel of the agricultural machine,
  • the controller determines that the agricultural machine is returning to the normal body based on the heading angle.
  • the suspension control module automatically lowers the agricultural machine's body based on the control instruction of the controller.
  • a suspension device is used to make the agricultural machine lower the plough.
  • the rotation angle sensor is arranged on at least one steering wheel of the agricultural machine, and the rotation angle sensor measures the rotation angle of the steering wheel of the agricultural machine for the controller to use based on the The rotation angle determines whether the agricultural machine is steering.
  • the plough protection system further includes at least one obstacle recognition module that recognizes obstacle information in the farmland in front of the agricultural machine, wherein the obstacle recognition module is communicatively connected
  • the suspension control module automatically lifts the suspension device of the agricultural machine based on the control command of the controller, so that the agricultural machine moves upward. Raise the plough.
  • the plough protection system further includes at least one obstacle recognition module that recognizes obstacle information in the farmland in front of the agricultural machine, wherein the obstacle recognition module is communicatively connected
  • the suspension control module automatically lowers the suspension device of the agricultural machine based on the control command of the controller, so that the agricultural machine falls downward. Lower the plough.
  • the obstacle recognition module is arranged on the front of the agricultural machine, and the obstacle recognition module acquires the obstacle information on the ground by collecting ground information in a range in front of the agricultural machine, To detect the obstacle information in front of the agricultural machine.
  • the plough protection system further includes at least one communication module, wherein the communication module communicatively connects the agricultural machine to the controller, and the controller obtains all information through the communication module. According to the vehicle speed information of the agricultural machine, the controller obtains the timing when the plough is controlled based on the vehicle speed information of the agricultural machine.
  • the present invention further provides a farming equipment, including:
  • the plough protection system according to any one of the above, wherein the plough protection system is provided on the plough, and the plough protection system automatically controls the plough through the agricultural machine.
  • the plow includes a plow body, a suspension support device, and a power transmission device, wherein the suspension support device is provided on the plow body, and the suspension support device is The suspension device is drivably arranged on the agricultural machine, wherein the power transmission device is drivingly connected to the plough main body, and the power transmission device is drivingly connected to the transmission device of the agricultural machine.
  • the present invention further provides a protection method of a plough protection system, wherein the protection method includes the following steps:
  • the step further includes the following step: preset a suspension angle judgment threshold b.
  • step (B) of the method for protecting the plough whether the height of the plough is judged by comparing the suspension angle a and the suspension angle judgment threshold b Exceed the preset height.
  • the above-mentioned plow protection method further includes step (D): recording the power transmission disconnection operation of the agricultural machine and the plow.
  • the above-mentioned plough protection method further includes the step (E): when the suspension angle a is less than the suspension angle judgment threshold b, read the operation record of the controller, and if there is a disconnection During the operation record, a combined control instruction is generated, and the power transmission of the agricultural machine and the power transmission device of the plough is restored based on the combined control instruction.
  • the step (E) of the above-mentioned plough protection method further includes: when the suspension angle a is smaller than the suspension angle judgment threshold b, reading the operation record of the controller, If there is no disconnection operation, the power transmission of the power transmission device of the agricultural machine and the plough is maintained.
  • the above-mentioned plough protection method further includes step (F): clearing various operation records of the controller.
  • the present invention further provides a plow protection method, wherein the protection method includes the following steps:
  • the step (I) further includes:
  • the step (1) further includes: detecting the rotation angle c of the steering wheel of the agricultural machine to obtain the steering data of the agricultural machine.
  • the method before the step (II), the method further includes: presetting a steering angle judgment threshold d, so as to judge whether the agricultural machine is steering according to the steering angle judgment threshold d.
  • the step (III) of the above-mentioned plow protection method before the step (III) of the above-mentioned plow protection method, it further comprises: collecting the suspension angle a of the plow being supported by the suspension device of the agricultural machine, and recording the suspension angle a.
  • a lifting control signal is generated by the suspension control module, and the suspension device of the agricultural machine is controlled to raise the Plow.
  • the step (III) of the above-mentioned plough protection method further includes: recording the automatic lifting operation of the plough to the controller.
  • the plow protection method further includes:
  • the step (IV) of the plough protection method further includes:
  • step (IV) before the step (IV), it further includes:
  • the step (V) further includes the steps:
  • the suspension device of the agricultural machine moves downward, and the plough is lowered to the original height.
  • the above protection method further includes the step (VI) of clearing the records existing in the controller.
  • the present invention further provides a plow protection method, wherein the protection method includes the following steps:
  • the step (i) further includes:
  • the obstacle information in front of the agricultural machine is identified, wherein the obstacle information includes the length g, the height h of the obstacle, and the distance i between the obstacle and the agricultural machine.
  • the step (i) further includes: obtaining the traveling speed v of the agricultural machine and the distance k from the front of the agricultural machine to the plough.
  • step (ii) before the step (ii), it further includes the step of: preset an obstacle height threshold j, by comparing the height h of the obstacle in the obstacle information with the obstacle The height threshold j determines whether the plough of the arable land equipment can pass the obstacle.
  • the step (ii) further includes: when the height of the obstacle h ⁇ j, generating a lifting control command for controlling the suspension device of the agricultural machine, and obtaining the lifting
  • step (iii) before the step (iii), it further comprises: recording the suspension angle a of the plough collected by the suspension sensor.
  • the step (iv) further includes: reading the angle a at which the plough is suspended stored in the controller, and lowering the plough based on the suspension angle a , So that the plough is controlled to be lowered to the original height position.
  • step (iv) after the step (iv), it further includes: clearing the records recorded in the controller.
  • Fig. 1 is an overall schematic diagram of a cultivating equipment according to a first preferred embodiment of the present invention.
  • Fig. 2A is a schematic diagram of the operation scene of the farmland equipment according to the above preferred embodiment of the present invention, wherein the figure shows that the plow protection system of the farmland equipment recognizes the change of the turning and heading of the farmland equipment.
  • Fig. 2B is a schematic diagram of an operation scene of the arable land equipment according to the above preferred embodiment of the present invention, wherein the figure shows that the plough protection system of the arable land equipment recognizes a plow lift angle of the arable land equipment.
  • Fig. 2C is a schematic diagram of an operation scene of the arable land equipment according to the above preferred embodiment of the present invention, wherein the figure shows that the plow protection system of the arable land equipment recognizes obstacles in front of the arable land equipment.
  • Fig. 3 is a schematic diagram of a protection method of the arable land equipment during plowing operation according to the above-mentioned preferred embodiment of the present invention, wherein the figure shows that the plow protection system protects the plow when the arable land equipment is in plowing operation The method steps.
  • FIG. 4 is a schematic flowchart of the method for protecting the farmland equipment according to the above preferred embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a steering protection method when the arable land equipment is turned according to the above-mentioned preferred embodiment of the present invention, wherein the figure shows that the plow protection system protects the plough when the arable land equipment is turned Method steps.
  • Fig. 6 is a schematic flowchart of the method for protecting the cultivated land equipment according to the above preferred embodiment of the present invention.
  • Fig. 7 is a schematic diagram of a protection method for the arable land equipment when crossing an obstacle according to the above preferred embodiment of the present invention, wherein the figure shows that the plow protection system protects the plough when the arable land equipment crosses an obstacle The method steps.
  • Fig. 8 is a schematic flowchart of the method for protecting the farmland equipment according to the above-mentioned preferred embodiment of the present invention.
  • the arable land equipment is mounted on an agricultural machine 100, wherein the agricultural machine 100 pulls the arable land equipment and provides operating power of the arable land equipment.
  • the cultivating equipment includes a plow 10 and a plow protection system 20, wherein the plow 10 is carried to the agricultural machine 100, and the agricultural machine 100 pulls the plow 10 and provides working power to the
  • the plow tool 10 is used to drive the plow tool 10 to cultivate the land.
  • the agricultural machine 100 drives up the plough 10 or drives the plough 10 underground.
  • the plow 10 of the cultivating equipment is drivingly connected to the agricultural machine 100, and the plow 10 is driven by the agricultural machine 100 to cultivate the land.
  • the plough protection system 20 is mounted on the agricultural machinery 100 and the plough 10, wherein the plough protection system 20 controls the agricultural machinery 100 based on the current working environment, and the agricultural machinery 100 lifts the The plough 10, or lower the plough 10, or drive the plough 10 to cultivate the land.
  • the plough protection system 20 automatically controls the agricultural machine 100 based on the current arable land operating environment, and controls the ploughing operation of the plough 10 through the agricultural machine 100, thereby reducing the operation of the ploughing equipment on the arable land.
  • the operation intensity of the operator during the process reduces the difficulty of the operation of the farmland equipment.
  • the plow protection system 20 of the arable land equipment automatically controls the agricultural machine 100 so that the agricultural machine 100 moves upward during the turn. Lift the plough 10 off the ground to avoid damage to the plough 10 during the turning process.
  • the plow protection system 20 automatically controls the agricultural machine 100 so that the agricultural machine 100 lifts the plow 10 upwards from the ground before encountering the obstacle, Avoid encountering the obstacle during the operation of the plough 10.
  • the plow protection system 20 automatically controls the agricultural machine 100, and by The agricultural machine 100 stops driving the plow tool 10 for plowing operations, so as to prevent the plow tool 10 from being idly driven by the agricultural machine 100 to damage the plow tool 100.
  • the plow protection system 20 of the arable land equipment controls the agricultural machine 100 to automatically drive the plow 10 through the agricultural machine 100.
  • the operation of the plowing equipment and the agricultural machine 100 is reduced, and the damage to the ploughs during the plowing operation is reduced, so as to avoid human errors caused by operation.
  • Mechanical failure is beneficial to increase the service life of the agricultural machine 100 and the farmland equipment.
  • the plow 10 of the farming equipment is drivably arranged on a suspension device of the agricultural machine 100, wherein the suspension device pulls the farming equipment
  • the plough 10 walks, pulls the plough 10 up or down, and keeps the plough 10 at a height suspended.
  • the suspension device of the agricultural machine 100 pulls the plow 10 to move and maintain the plow 10 at a height.
  • the plough protection system 20 controls the suspension device of the agricultural machine 100 to raise, lower and maintain the height position of the plough 10 of the farming equipment by the suspension device.
  • the suspension device of the agricultural machine 100 is a three-point hydraulic suspension device, or other suspension support devices that can support the plough 10.
  • the type of the agricultural machine 100 is merely exemplary, and not limited.
  • the plow 10 of the cultivating equipment is driveably connected to a transmission device of the agricultural machine 100, wherein the transmission device transmits power to the plow 10 and drives the plow 10 to work in the field.
  • the plough protection system 20 controls the transmission device of the agricultural machine 100, wherein the transmission device is controlled to transmit power to the plough 10, or is controlled to disconnect the power transmission of the plough 10 .
  • the transmission device of the agricultural machine 100 is a universal joint transmission device, wherein the universal joint transmission device is driveably connected to the plow tool 10 to drive the plow tool 10 for plowing operations.
  • the transmission device of the agricultural machine 100 is merely exemplary here, and not restrictive.
  • the plow 10 of the farming equipment is supported and hauled by the suspension device of the agricultural machine 100 to move on the ground, and is driven by the transmission device of the agricultural machine 100 for farming operations.
  • the plow 10 of the cultivating equipment is driven by the agricultural machine 100 to work on the farmland in the manner of rotary tillage, tillage, or harrowing. It is worth mentioning that, in the present invention, the type of the plough 10 is merely an example, and not a limitation.
  • the plough 10 includes a plough body 11, a suspension support device 12, and a power transmission device 13, wherein the suspension support device 12 is arranged at Above the plough body 11, wherein the power transmission device 13 is driveably connected to the plough body 11.
  • the suspension support device 12 is drivably disposed on the transmission device of the agricultural machine 100, and the suspension support device 12 is driven by the transmission device, or the suspension support device 12 is maintained at a fixed height position .
  • the plough protection system 20 controls the suspension device of the agricultural machine 100, and the suspension device lifts the The plough main body 11 of the plough 10 allows the cultivating equipment to be off the ground.
  • the suspension support device 12 is a three-point support mechanism, wherein the suspension support device 12 further includes a three support unit, wherein one end of the support unit 12 is fixedly The other end of each supporting unit 12 is fixed to a supporting point.
  • a triangular stable support structure is formed between the support units of the suspension support device 12, so that the suspension device of the agricultural machine 100 can stably support the plow 10 through the suspension support device 12 Plow main body 11.
  • the power transmission device 13 is drivingly connected to the plough body 11, wherein the transmission device of the agricultural machine 100 drives the power transmission device 13 to rotate, wherein the power transmission device 13 is driven by the transmission device While rotating, the plough is driven to cultivate the land.
  • the plow protection system 20 controls the The transmission device stops driving the power transmission device 13 of the plough 10 by the transmission device.
  • the plough protection system 20 includes a controller 21 and a suspension control module 22, wherein the suspension control module 22 is communicatively connected to the controller 21.
  • the controller 21 sends a control instruction to the suspension control module 22, wherein the suspension control module 22 controls the suspension device of the agricultural machine 100 based on the control instruction of the controller 21.
  • the suspension device lifts, lowers, or holds the plough 10.
  • the suspension control module 22 is connected to the controller 21 through a communication cable, and the control signal of the controller 21 is transmitted to the suspension control module 22 through the communication cable.
  • the connection manner of the controller 21 and the suspension control module 22 in the present invention is merely exemplary here. Therefore, the controller 21 may also be communicatively connected to the suspension control module 22 through a wireless connection, so that the controller 21 may transmit control signals to the suspension control module 22 in a wireless transmission manner.
  • the controller 21 is mounted on the agricultural machine 100.
  • the suspension control module 22 sends an electric drive signal to the suspension device of the agricultural machine 100 based on the control signal of the controller 21, wherein the suspension device raises, lowers, or holds the plough based on the electric signal 10.
  • the suspension control module 22 is provided on the agricultural machine 100, wherein the suspension control module 22 is electrically connected to the suspension device of the agricultural machine 100.
  • the suspension control module 22 is electrically connected to the suspension device of the agricultural machine 100 through a cable, so that the suspension control module 22 sends an electric drive signal to the suspension device through the cable.
  • the suspension device of the agricultural machine 100 is a hydraulic suspension mechanism.
  • the suspension control module 22 controls the hydraulic mechanism of the suspension device, and The plough 10 is raised or lowered.
  • the type of the suspension device of the agricultural machine 100 is merely exemplary, and not a limitation.
  • the plough protection system 20 further includes a transmission control module 23, wherein the transmission control module 23 is communicatively connected to the controller 21.
  • the controller 21 sends a control instruction to the transmission control module 23, wherein the transmission control module 23 connects or disconnects the transmission device of the agricultural machine 100 based on the control instruction.
  • the transmission device drives the plough 10 to work or disconnects the power transmission of the plough 10.
  • the transmission control module 23 is connected to the controller 21 through a communication cable, wherein the control command signal of the controller 21 is transmitted to the transmission control module 23 through the communication cable.
  • the connection manner of the controller 21 and the transmission control module 23 is merely exemplary here, and not limited.
  • the controller 21 is communicatively connected to the transmission control module in a wireless connection manner, so that the controller 21 transmits control signals to the transmission control module 23 in a wireless transmission manner.
  • the transmission control module 23 sends an electrical control signal to the transmission device of the agricultural machine 100 based on the control instruction of the controller 21, wherein the transmission device is coupled or disconnected with the plough based on the electrical control signal. 10 power transmission.
  • the transmission control module 23 is electrically connected to the transmission device of the agricultural machine.
  • the transmission control module 23 is electrically connected to the transmission device of the agricultural machine 100 through a cable, so that the transmission control module can transmit electrical control signals to the transmission device of the agricultural machine 100 through the cable .
  • the transmission control module 23 of the plough protection system 20 sends electrical control to the transmission under the control of the controller 21 Signal so that the transmission device is coupled to the power transmission device 13 of the plough 10.
  • the transmission control module 23 of the plough protection system 20 is controlled by the controller 21 Under the action, an electrical control signal is sent to the transmission device, so that the transmission device disconnects the power transmission from the plough 10.
  • the plough protection system 20 further includes at least one suspension sensor 24, wherein the suspension sensor 24 collects the position where the plough 10 is suspended by the agricultural machine 100.
  • the suspension sensor 24 is communicatively connected to the controller 21 of the plough protection system 20, wherein the suspension sensor 24 transmits the collected position information to the controller 21.
  • the controller 21 generates a control signal for controlling the plough 10 based on the position information collected by the suspension sensor 24.
  • the suspension sensor 24 is implemented as an angle sensing device, wherein the suspension sensor 24 collects the suspension device of the plough 10 and the agricultural machine 100 The angle between.
  • the suspension sensor 24 can also be implemented as other sensing devices, such as a position height sensor.
  • the suspension sensor 24 collects data of the angle at which the plough is suspended.
  • the suspension sensor 24 collects the angle a between the suspension support device 12 of the plough 10 and the suspension device of the agricultural machine 100. It can be understood that the smaller the included angle a is, the higher the height of the plough 10 is suspended. Therefore, the suspension height of the plough 10 can be obtained based on the size of the included angle a, so as to determine the working state of the plough 10.
  • the plough protection system 20 controls the agricultural machine 100 to disconnect the power transmission between the agricultural machine 100 and the agricultural machine to protect the agricultural machine and the transmission device of the agricultural machine.
  • FIGS. 3 and 4 of the accompanying drawings of the specification of the present invention a protection method of the plow protection system of the cultivating equipment is explained in the following description.
  • the suspension sensor 24 transmits the collected suspension angle a of the plough 10 to the controller 21, wherein the controller 21 determines whether the position of the plough 10 exceeds the operating angle based on the suspension angle a. Height range, and generate corresponding control signal.
  • the controller 21 presets a suspension angle judgment threshold b, wherein when the included angle a ⁇ b, the controller 21 judges that the height of the plough 10 does not exceed the working height. Therefore, the controller 21 generates a control signal for controlling the operation of the plough 10, wherein the controller 21 transmits the control signal to the transmission control module 23.
  • the transmission control module 23 maintains or restores the power transmission between the power transmission device of the plough 10 and the transmission device of the agricultural machine 100 based on the control signal.
  • the controller 21 determines that the height of the plough 10 exceeds the working height, and generates a control signal.
  • the control signal generated by the controller 21 is transmitted to the transmission control module 23, wherein the transmission control module 23 disconnects the transmission device of the agricultural machine 100 from the plough 10 based on the control signal.
  • the suspension sensor 24 collects the angle a of the plough 10 and changes with the height of the plough 10 .
  • the transmission control module 23 of the plow protection system 20 controls to disconnect the transmission device of the agricultural machine 100 from the plow The power transmission device 13 with 10.
  • the transmission control module 23 of the plow protection system 20 controls to restore the transmission device of the agricultural machine 100 and the The power of the power transmission device 13 of the plough 10 is transmitted so that the plough body 11 of the plough 10 is lowered in a manner of plowing.
  • the height corresponding to the threshold angle of the plough preset by the plough protection system 20 is the height of the plough body 11 of the plough 10 from the ground.
  • the transmission control module 23 disconnects the power transmission device 13 of the plow 10 and the transmission device of the agricultural machine 100. transmission.
  • the transmission control module 23 combines the power transmission device 13 of the plow 10 and the transmission device of the agricultural machine 100. The power is transmitted between the two to start the ploughing operation of the plough 10.
  • the controller 21 of the plough protection system 20 is a programmable controller, wherein the controller 21 can record the execution of the transmission control module 23 The operation process.
  • the controller 21 records that the power transmission device 13 and The disconnecting operation of the transmission device of the agricultural machine 100. Therefore, when the angle a<b collected by the suspension sensor 24 and the disconnection operation record of the power transmission device 13 and the transmission device of the agricultural machine 100 exists in the controller 21, The controller 21 generates a resume combination instruction.
  • the controller 21 transmits the restoration combination instruction to the transmission control module 23, wherein the transmission control module 23 restores the power output of the transmission device of the agricultural machine 100 based on the restoration combination instruction. More preferably, the controller 21 can automatically clear the operation records saved by the controller 21, so as to continue to execute the subsequent automatic protection process.
  • the plow protection method is a method in which the plow protection system automatically protects the plow during the plowing operation, wherein the protection method includes the following steps:
  • Step 310 Collect a suspension angle a at which the plough 10 is supported by the agricultural machine 100;
  • Step 320 Determine whether the height of the plough 10 exceeds a preset height based on the suspension angle a;
  • Step 330 When the height of the plough tool 10 exceeds the preset height, generate a disconnection control command, and disconnect the agricultural machine 100 from the power transmission device 13 of the plough tool 10 based on the disconnection control command. Power transmission.
  • the step 320 further includes the following step: preset a suspension angle judgment threshold b.
  • preset a suspension angle judgment threshold b it is determined whether the height of the plough 10 exceeds a preset height by comparing the suspension angle a and the suspension angle judgment threshold b.
  • the suspension angle a is smaller than the suspension angle judgment threshold b, it is judged that the plough 10 exceeds a preset height.
  • the suspension angle a is smaller than the suspension angle judgment threshold b, it is judged that the plough 10 does not exceed a preset height.
  • the method further includes a step 340: recording the power transmission disconnection operation of the agricultural machine 100 and the plough 10.
  • the above plough protection method further includes step 350: when the suspension angle a is less than the suspension angle judgment threshold b, read the operation record of the controller 21, and if there is a disconnection operation record, generate a combined control command , And restore the power transmission between the agricultural machine 100 and the power transmission device 13 of the plough 10 based on the combined control command.
  • the step 350 of the above-mentioned plough protection method further includes: when the suspension angle a is less than the suspension angle judgment threshold b, reading the operation record of the controller 21, if there is no disconnection operation, The power transmission between the agricultural machine 100 and the power transmission device 13 of the plough 10 is maintained.
  • the above plough protection method further includes step 360: clearing various operation records.
  • the suspension sensor 24 of the plough protection system 20 transmits the collected data to the controller 21 in real time, wherein the controller 21 records and The suspension angle data collected by the suspension sensor 24 is saved.
  • the plough protection system 20 further includes at least one rotation angle sensor 25, wherein the rotation angle sensor 25 collects the rotation data of the agricultural machine 100.
  • the rotation angle sensor 25 is communicatively connected to the controller 21, wherein the rotation angle sensor 25 transmits the collected steering data to the controller 21, and the controller 21 determines the position based on the steering angle. State whether the agricultural machine 100 is in a turning state.
  • the rotation angle sensor 25 is provided on at least one steering wheel of the agricultural machine 100, and the rotation angle sensor 25 collects the rotation angle c of the steering wheel, and transmits the steering
  • the rotation angle c of the wheel reaches the controller 21 for the controller 21 to determine whether the agricultural machine 100 is in a rotating state based on the rotation data of the steering wheel.
  • the steering wheel of the agricultural machine 100 is a front wheel, wherein the rotation angle sensor 25 is arranged on the rotation shaft of the left front wheel and/or the right front wheel of the agricultural machine 100, so that the The rotation angle sensor collects the steering angle data when the agricultural machine 100 is turning.
  • the rotation angle sensor 25 collects the steering data of the agricultural machine 100 in real time, and transmits the steering data to the controller 21.
  • the rotation angle sensor 25 is connected to the controller 21 through a communication cable, and transmits the collected rotation angle to the controller 21. It can be understood that the connection manner of the rotation angle sensor 25 and the controller 21 in the present invention is merely an example, and not a limitation. Therefore, the rotation angle sensor 25 can also be connected to the controller 21 in other ways, such as a wireless connection.
  • the controller 21 determines that the agricultural machine 100 is in a turning state based on the rotation angle c, the controller 21 generates a lifting control signal.
  • the controller 21 transmits the lifting control signal to the suspension control module 22, wherein the suspension control module 22 obtains an electric drive signal for controlling the suspension device of the agricultural machine 100 based on the lifting control signal.
  • the suspension device of the agricultural machine 100 is controlled by the suspension control module 22 and automatically lifts the plough 10.
  • the controller 21 when the agricultural machine is turning, the controller 21 generates a control signal for lifting the plough 10 based on the rotation angle sensor 25 and transmits the control signal to the suspension control module 22.
  • the suspension control module 22 automatically controls the suspension device of the agricultural machine 100 based on the control signal to automatically lift the plough 10.
  • the plough protection system 20 automatically controls the lifting of the plough 10 to the highest position to prevent the plough 10 from being affected by the turning process. damage.
  • the suspension sensor 24 records the suspension angle of the suspension support device 12 to the controller 21. That is to say, the controller 21 records the angle a at which the plough 10 is suspended by the agricultural machine 100 when the agricultural machine 100 is turned, so as to obtain that the plough 10 is suspended according to the suspension angle a of the plough 10 The height position of the suspension.
  • the controller 21 When the turn of the agricultural machine 100 is completed, the controller 21 generates a lowering control instruction, and transmits the lowering control instruction to the suspension controller 24.
  • the suspension controller 24 automatically controls the suspension device of the agricultural machine 100 based on the lowering control instruction, and automatically lowers the plough 10.
  • the controller 21 automatically controls the suspension device of the agricultural machine 100 based on the recorded suspension angle a, and lowers the plough 10 to the position before lifting.
  • the plough protection system 20 automatically controls the lowering of the plough 10 to a record height.
  • the plough protection system 20 further includes at least one heading sensor 26, wherein the heading sensor detects the heading angle of the agricultural machine 100 for the controller 21 to use the heading angle according to the heading angle. It is determined whether the agricultural machine 100 returns to the body.
  • the heading sensor 26 is communicatively connected to the controller 21, wherein the heading angle of the agricultural machine detected by the heading sensor 26 is transmitted to the controller 21.
  • the heading sensor 26 is connected to the controller 21 via a communication cable, wherein the heading sensor 26 transmits detection data to the controller 21 via the communication cable in real time.
  • the plough tool protection system 20 controls the agricultural machine 100 to automatically lift the plough tool 10 during the turning process, so as to prevent the plough tool from being damaged during the turning process.
  • the plow protection system 20 controls the agricultural machine 100 to automatically place the plow 10 in the ground, thereby reducing the operating labor burden of the operator in the process of farming.
  • the plough protection method includes the following steps:
  • Step 510 Obtain a turn signal of the agricultural machine 100
  • Step 520 based on the steering signal, generate a lift control command
  • step 530 based on the lifting control command, the suspension device of the agricultural machine 100 is lifted upward, and the plow 10 is raised by the suspension device of the agricultural machine 100.
  • the step 510 further includes:
  • Step 511 Detect the rotation direction of the agricultural machine 100 to obtain a steering data of the agricultural machine 100.
  • Step 512 based on the steering data of the agricultural machine 100, determines whether the agricultural machine 100 is turning, so as to obtain the steering signal of the agricultural machine 100.
  • step 511 of the above-mentioned plough protection method it further includes: detecting the rotation angle c of the steering wheel of the agricultural machine 100 to obtain the steering data of the agricultural machine 100.
  • the method further includes the step of: preset a steering angle judgment threshold d.
  • the steering angle judgment threshold d is used to judge whether the agricultural machine 100 is turning during the farming operation. When the detected steering angle
  • the method further includes the step of collecting the suspension angle a of the plough 10 supported by the suspension device of the agricultural machine 100, and recording the suspension angle a.
  • the suspension control module 22 In the step 530 of the above-mentioned plough protection method, the suspension control module 22 generates a lifting electric drive signal, and controls the suspension device of the agricultural machine 100 to raise the plough 10.
  • the suspension device of the agricultural machine 100 drives the plough to the highest position.
  • the step 530 further includes the following steps: recording the automatic lifting operation of the plough 10 by the controller 21.
  • the plough protection method further includes:
  • Step 540 When the agricultural machine 100 returns to the normal position after turning, generate a drop control command
  • step 550 based on the lowering control command, the suspension device of the agricultural machine 100 moves downward, and the plow 10 is lowered by the suspension device of the agricultural machine 100.
  • the controller 21 determines whether the agricultural machine 100 has been turned back to the normal direction based on the heading direction angle of the agricultural machine collected by the heading sensor 26.
  • the step 540 of the above-mentioned plough protection method further includes:
  • Step 541 Collect a heading angle e of the agricultural machine 100.
  • step 542 based on the heading angle e, it is determined whether the agricultural machine 100 has been turned back to normal.
  • the heading angle e of the agricultural machine 100 before and after the steering is compared to determine whether the agricultural machine 100 is turned back to the right.
  • before and after turning of the agricultural machine 100 with the heading angle threshold f it is determined whether the agricultural machine 100 has returned to the right after turning.
  • minus 180° is compared with the heading judgment angle threshold f, if
  • the step 550 further includes the steps of: acquiring the suspension angle a recorded in the controller 21 before the plough 10 is lifted; and controlling the suspension angle a based on the suspension angle a
  • the suspension device of the agricultural machine 100 moves downward, and the plough 10 is lowered to the original height.
  • step 560 to clear the records existing in the controller 21.
  • the plow protection system further includes at least one obstacle recognition module 27, wherein the obstacle recognition module 27 recognizes the obstacle situation in front of the agricultural machine 100.
  • the obstacle recognition module 27 is communicatively connected to the controller 21, and the obstacle recognition module 27 transmits the recognized obstacle information to the controller 21.
  • the controller 21 When there is an obstacle, the controller 21 generates a raising control signal for raising the suspension device of the agricultural machine 100 based on the obstacle information recognized by the obstacle recognition module 27.
  • the suspension device of the agricultural machine 100 automatically raises the plough 10 based on the raising control signal, so that the plough 10 is raised to avoid touching the obstacle.
  • the obstacle recognition module 27 is communicatively connected to the controller 21 through a communication cable, and the information recognized by the obstacle recognition module 27 is transmitted to the controller 21 through the communication cable. It can be understood that the connection manner between the obstacle recognition module 27 and the controller 21 is merely exemplary here, and not limited. Therefore, the obstacle recognition module 27 and the controller 21 can also be connected in other ways, such as a wireless connection.
  • the obstacle recognition module 27 is arranged at the front end of the agricultural machine 100, wherein the obstacle recognition module 27 can collect ground information in front of the agricultural machine 100 to identify the obstacles on the ground. .
  • the obstacle recognition module 27 is installed on the front of the agricultural machine 100 so as to obtain ground information in the front range of the agricultural machine 100.
  • the obstacle recognition module 27 collects ground images, and recognizes the obstacle information on the ground based on the image information, such as physical information of the obstacle, and Length, width, and height information, etc. It can be understood that the manner in which the obstacle recognition module 27 is detected by the obstacle on the ground is merely exemplary here, and not limited. Therefore, the obstacle recognition module 27 can also be implemented as a recognition device in other ways, such as a radar device, wherein the radar device is installed on the front of the agricultural machine 100 to detect the front of the agricultural machine 100 in the farmland. Obstacle information.
  • the obstacle recognition module 27 collects ground information in front of the agricultural machine 100 and identifies obstacles in the farmland based on the ground information. It is understandable that the obstacle recognition module 27 can collect obstacle information in the driving direction in front of the agricultural machine 100, such as obstacles where the wheels need to pass, and obstacles between two wheels.
  • the obstacle recognition module 27 transmits the collected physical information of the obstacle to the controller 21, so that the controller 21 can obtain the lifting of the plough 10 based on the physical information of the obstacle.
  • the plough protection system further includes a communication module 28, wherein the communication module 28 is communicatively connected to the bus network of the agricultural machine 100 to obtain vehicle speed information of the agricultural machine 100 , Body length information, and farmland operation information, etc.
  • the bus network of the agricultural machine 100 is a CAN bus network.
  • the communication module 28 is a CAN communication module that is communicatively connected to the CAN bus network.
  • the communication module 28 is communicatively connected to the controller 21, wherein the communication module 28 transmits the vehicle speed information, body length information, and farmland operation information of the agricultural machine 100 to the controller 21 for the
  • the controller 21 controls the suspension device of the agricultural machine 100 according to the obtained obstacle information and the vehicle information of the agricultural machine.
  • the obstacle recognition module 27 when the obstacle recognition module 27 recognizes that there is an obstacle in front of the agricultural machine 100, the obstacle recognition module 27 transmits the recognition information to the controller 21.
  • the controller 21 obtains operation information such as the current traveling speed of the agricultural machine 100 during operation and the length of the agricultural machine 100 through the communication module 28.
  • the controller 21 generates a lifting control command based on the identification information of the obstacle and the running speed operation information of the agricultural machine 100.
  • the controller 21 transmits the lifting control instruction to the suspension control module 22, wherein the suspension control module 22 generates an electric drive signal for controlling the suspension device of the agricultural machine 100 based on the control instruction.
  • the suspension control module 22 controls to lift the suspension device of the agricultural machine 100, and the plow tool 10 is lifted by the suspension device of the agricultural machine 100 to prevent the plow tool 10 from colliding in the farmland during farming operations.
  • the obstacles are examples of the suspension device of the agricultural machine 100, and the plow tool 10 is lifted by the suspension device of the agricultural machine 100 to prevent the plow
  • the controller 21 of the plough protection system 20 After the agricultural machinery 100 and the arable land equipment cross over the obstacle, the controller 21 of the plough protection system 20 generates a lowering control command for lowering the plough 10, and lowers the lowering The control command is transmitted to the suspension control module 22.
  • the suspension control module 22 generates a lower discharge driving signal based on the lowering control instruction, and the suspension control module 22 transmits the lower discharge driving signal to the suspension device of the agricultural machine 100 to electrically control the agricultural machine 100
  • the suspension device moves downward, and the plough 10 is lowered by the suspension device.
  • the plow protection method is a method in which the agricultural machine 100 encounters obstacles when driving the cultivating equipment to plow the land, and the plow protection system 20 protects the plow 10, wherein the protection method includes the following steps:
  • Step 710 Obtain a detection signal of an obstacle
  • Step 720 generates a lift control command based on the detection signal.
  • step 730 based on the lifting control command, the suspension device of the agricultural machine 100 is lifted upward, and the plow 10 is raised by the suspension device of the agricultural machine 100.
  • the step 710 further includes:
  • Step 711 Collect ground information in front of the agricultural machine 100.
  • Step 712 identifies obstacle information in front of the agricultural machine 100, where the obstacle information includes the length g, height h of the obstacle, and the distance i between the obstacle and the agricultural machine 100.
  • the step 710 after the step 710, it further includes: obtaining the traveling speed v of the agricultural machine 100 and the distance k from the front of the agricultural machine 100 to the plow 10.
  • the method before the step 720, the method further includes the step of presetting an obstacle height threshold j. It is understandable that by comparing the height h of the obstacle in the obstacle information with the size of the obstacle height threshold j, it is determined whether the plough 10 of the arable land equipment can pass the obstacle. Things. It is understandable that if the detected height of the obstacle is h ⁇ j, the controller 21 determines that the arable land equipment can safely pass the obstacle during the operation without protection.
  • the controller 21 of the plough protection system 20 determines that the plough 10 of the cultivating equipment cannot pass the obstacle during cultivating operations, The plow 10 needs to be lifted so that the plow 10 of the cultivating equipment crosses the obstacle.
  • the suspension device of the agricultural machine 100 controls the lifting of the plough 10 to the highest suspension position.
  • the method further includes: recording the suspension angle a of the plough 10 collected by the suspension sensor 22.
  • step 740 of the above-mentioned plough protection method of the present invention further comprises: reading the angle a at which the plough 10 is suspended stored in the controller 21, and lowering the plough based on the suspension angle a The plow 10 is controlled to be lowered to the original height position.
  • step 740 of the above-mentioned plough protection method of the present invention further includes: clearing the various records recorded in the controller 21.
  • the plough protection system 20 further includes at least one control switch 29, wherein the control switch 29 switches the plough protection system 20 in different scenarios to Different protection methods control the plough 10 via the agricultural machine 100.
  • the control switch 29 is used to switch the protection mode of the plough protection system 20 in different usage scenarios.
  • the control switch 29 is adjusted and the plough protection system 20 is in the steering protection mode.
  • the plough protection system 20 controls the agricultural machine 100 so that the agricultural machine 100 automatically lifts the plough 10.
  • the control switch 29 is operated to adjust the plow protection system 20 so that when the agricultural machine 100 encounters an obstacle, the plow protection system 20 controls the The agricultural machine 100 automatically lifts the plough 10 by the agricultural machine 100.
  • control switch 29 includes a steering control switch 291, a work control switch 292, and an obstacle control switch 293, wherein the steering control switch 291 controls the plough protection system 20 to protect the plant during the steering process. ⁇ plough 10. It is understandable that when the agricultural machine 100 is driving to a turning position or near a turn, the steering control switch 291 is activated, so that the plough protection system is in a steering protection state. When the agricultural machine 100 is operating straight, the steering control switch 291 is turned off to reduce the steering misjudgment of the plough protection system 20. The operation control switch 292 controls the plough protection system 20 to protect the plough 10 during farming operations.
  • the plow protection system 20 can automatically control the agricultural machine 100 and the plows according to the height of the plow 10 raised during plowing operations. 10 power transmission.
  • the obstacle control switch 293 controls the plough protection system 20 to protect the plough 10 when encountering obstacles.
  • the obstacle recognition module of the plough protection system 20 can be an obstacle that exists in the farmland so as to control the plough 10 through the agricultural machine 100.
  • the steering control switch 291, the operation control switch 292, and the obstacle control switch 293 of the control switch 29 are independent of each other. Therefore, the steering control switch 291, the operation control switch 292, and the obstacle control switch 293 can be operated independently, so that the arable land equipment can adapt to different scenarios.
  • control switch 29 is installed on the agricultural machine 100 so that the operator can adjust the protection mode of the farming equipment by operating the switch 29.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Lifting Devices For Agricultural Implements (AREA)

Abstract

La présente invention concerne un dispositif de labour, un système de protection de charrue (20) associé et un procédé de protection associé, le système de protection de charrue (20) comprenant un dispositif de commande (21), un module de commande de suspension (22), un module de commande de transmission (23), un capteur de suspension (24), un capteur d'angle de rotation (25) et un module d'identification d'obstacle (27) ; le module de commande de suspension (22), le module de commande de transmission (23), le capteur de suspension (24), le capteur d'angle de rotation (25) et le module d'identification d'obstacle (27) sont connectés en communication au dispositif de commande (21). Le module de commande de suspension (22) est connecté en communication au dispositif de commande (21) ; le dispositif de commande (21) génère une instruction de commande, et le module de commande de suspension (22) commande un appareil de suspension d'une machine agricole (100) selon l'instruction de commande de sorte que l'appareil de manipulation de la machine agricole (100) entraîne une charrue (10), la machine agricole (100) commandant automatiquement la charrue (10) en fonction du système de protection de charrue (20).
PCT/CN2019/107849 2019-04-23 2019-09-25 Dispositif de labour, système de protection de charrue associé et procédé de protection associé WO2020215608A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201920562902.2 2019-04-23
CN201920562902.2U CN211557882U (zh) 2019-04-23 2019-04-23 耕地设备及其犁具保护系统
CN201910330234.5A CN110100508A (zh) 2019-04-23 2019-04-23 耕地设备及其犁具保护系统和保护方法
CN201910330234.5 2019-04-23

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CN110100508A (zh) * 2019-04-23 2019-08-09 丰疆智能科技股份有限公司 耕地设备及其犁具保护系统和保护方法

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US20170089021A1 (en) * 2015-09-25 2017-03-30 Meyer Products, Llc Expandable containment plow
CN106717212A (zh) * 2016-11-27 2017-05-31 雷沃重工股份有限公司 拖拉机机具管理控制方法
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