Manual priority tractor self-steering method and device

Abstract

The invention provides a manually priority tractor self-steering method, which comprises that: a pressure switch judges whether an enclosed hydraulic steering gear connected with the pressure switch is in a working state, if the enclosed hydraulic steering gear is in the working state, the current manual operation state is maintained, and if the enclosed hydraulic steering gear is not in the working state, a controller powers up an electromagnetic switch valve to make the electromagnetic switch valve in a closed state so as to open an electro-hydraulic proportional direction valve; the spool of a priority valve moves, so that the oil in an oil pump enters the electro-hydraulic proportional direction valve; a self-steering pipeline is communicated with a steering cylinder of the tractor through a hydraulic control direction valve; and the controller controls the flow direction and flow velocity of the oil in the self-steering pipeline by controlling the spool opening of the electro-hydraulic proportional direction valve, so that a piston of a steering hydraulic cylinder extends or retracts to execute the expected steering operation. The method realizes the self-steering of the tractor, guarantees the priority of the manual operation, and provides a technological base for an automatic navigation system for field work for the tractor.

Description

technical field [0001] The invention relates to the field of control technology, in particular to an automatic steering control method and device thereof applied in a tractor automatic navigation control system. Background technique [0002] During the field operation of tractors, due to the poor maneuverability of the operation unit, it is easy to affect the productivity due to heavy plowing, missed plowing or extra distance. In order to reduce the occurrence of rework and missed work between adjacent working ridges, the existing technology mostly uses the method of marking with a marker or spraying foam to mark in the field as the basis for the driver's work navigation. With the development of domestic precision agricultural technology research in recent years, researchers have developed an agricultural machinery navigation system, which uses GPS, PC104 computers and navigation light sticks to provide navigation instructions for agricultural machinery field operations. Ho...

AI Technical Summary

Problems solved by technology

However, there are certain defects in the above two navigation instruction methods for agricultural machinery operations.

[0003] The traditional method of marking with a liner and spraying foam is basically infeasible or the navigation indication effect is poor when the visibility of the farmland operation environment is low, there is no obvious reference on the farmland surface, and the ground surface is undulating. The purpose of improving the quality of work

Most of the existing navigation indication systems use the RS232 bus, which leads to complicated system wiring and poor reliability, and the versatility and compatibility of each module of the system are not strong

At the same time, this type of navigation and indication system is greatly affected by human operation factors, and the navigation accuracy of the operation is poor, which cannot meet the application requirements of high-precision farmland operations such as sowing.

In addition, the operation and control of the existing navigation indication system still needs to be completed by the driver. In fact, it is an auxiliary operation navigation system, and the labor intensity of the driver is still relatively high.

Images