Agricultural machine steering method, device and agricultural machine

Abstract

The application discloses an agricultural machine turning method, device and agricultural machine, wherein the agricultural machine turning method comprises the following steps: acquiring a current running state of the agricultural machine, wherein the current running state at least comprises a current running speed and a current position of the agricultural machine; generating a turning instruction, wherein the turning instruction at least comprises a turning direction and a turning angle; generating a motor control instruction according to the turning instruction and the current running state, and controlling a variable-speed motor to rotate according to the motor control instruction; acquiring an actual rotating angle of the variable-speed motor within a preset time interval every interval, modifying the motor control instruction according to the actual rotating angle, and controlling the variable-speed motor to rotate according to the modified motor control instruction. The agricultural machine turning method, device and agricultural machine provided by the embodiment of the application have the advantages of reducing the working strength of the driver and the requirements for the driver.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and in particular to a method, apparatus and agricultural machinery for steering agricultural machinery. Background Technology

[0002] Agricultural machinery mainly includes tractors, rice transplanters, harvesters, tillage and planting machines, and low-speed trucks, primarily used for field operations. The working environment for agricultural machinery is characterized by: plots of land with regular or irregular geometric shapes; terrain that may have gentle undulations such as slopes, gentle dips, ditches, embankments, or rocks; objects that cannot be collided with or accessed, such as boundary walls, trees, or buildings, within or at the edge of the site; and the presence of other agricultural machinery operating within the site, or multiple agricultural machines working collaboratively.

[0003] Different types of agricultural machinery can be divided into two parts in their working process: driving and operation. Driving refers to the movement of agricultural machinery within the site as required; operation refers to the interaction between agricultural machinery and farmland, crops, and other agricultural machinery, such as rice transplanters performing rice transplanting operations and harvesters performing harvesting operations.

[0004] However, the inventors of this invention have discovered that existing agricultural machinery generally requires a driver to operate it, which is labor-intensive and places high demands on the driver. Summary of the Invention

[0005] This invention provides a method, device, and agricultural machine for steering agricultural machinery, in order to reduce the workload of the driver and the requirements for the driver.

[0006] According to one aspect of the present invention, a method for steering an agricultural machine is provided, comprising: acquiring the current driving state of the agricultural machine, the current driving state including at least the current driving speed and current position of the agricultural machine; generating a steering command, the steering command including at least a steering direction and a steering angle; generating a motor control command based on the steering command and the current driving state, and controlling a variable speed motor to rotate according to the motor control command; acquiring the actual rotation angle of the variable speed motor within the preset time interval at preset time intervals, correcting the motor control command based on the actual rotation angle, and controlling the variable speed motor to rotate according to the corrected motor control command.

[0007] According to another aspect of the present invention, a steering device for an agricultural machine is provided, comprising: a controller, a variable-speed motor connected to the controller, a detection antenna connected to the controller, and a human-machine interface connected to the controller; the detection antenna is used to acquire the current driving state of the agricultural machine, the current driving state including at least the current driving speed and current position of the agricultural machine; the controller is used to generate a steering command, the steering command including at least a steering direction and a steering angle, generate a motor control command based on the steering command and the current driving state, and control the variable-speed motor to rotate according to the motor control command, acquire the actual rotation angle of the variable-speed motor within the preset time interval at preset time intervals, correct the motor control command based on the actual rotation angle, and control the variable-speed motor to rotate according to the corrected motor control command.

[0008] According to another aspect of the present invention, an agricultural machine is provided, comprising: a steering wheel, a transmission, and an agricultural machine steering device as described above; the steering wheel is connected to a controller of the agricultural machine steering device, and the transmission is connected to a variable speed motor of the agricultural machine steering device.

[0009] In the technical solution of this invention, motor control commands are generated based on the current driving state and steering commands of the agricultural machine. These commands control the variable speed motor to complete speed control during the turning process, achieving automatic steering of the agricultural machine without requiring manual steering by the driver. This reduces the driver's workload and lowers the requirements for the driver's driving skills. Furthermore, the actual rotation angle of the variable speed motor within a preset time interval is acquired at each preset time interval, and the motor control commands are corrected based on the actual rotation angle, achieving closed-loop control of the variable speed motor and making speed control during the turning process of the agricultural machine more precise.

[0010] Additionally, it includes: generating a direction control command based on the current driving state and the steering command, and controlling the steering wheel of the agricultural machine to rotate according to the direction control command.

[0011] Furthermore, the step of correcting the motor control command based on the actual rotation angle specifically includes: correcting the motor control command based on the direction control command and the actual rotation angle. By correcting the motor control command through the direction control command that controls the steering wheel rotation, the coordination between directional changes and speed changes during the agricultural machine's turning process becomes closer, improving the accuracy of speed control during the agricultural machine's turning process.

[0012] In addition, obtaining the actual rotation angle of the variable speed motor within the preset time period specifically includes: receiving the actual rotation angle of the variable speed motor within the preset time period measured by an angle sensor connected to the variable speed motor.

[0013] In addition, the generation of steering commands specifically includes: pre-setting multiple steering buttons, each steering button corresponding to a separate steering command; when a steering button press operation is detected, generating the steering command corresponding to the pressed steering button. By pre-setting multiple steering buttons and automatically generating the steering command corresponding to the pressed steering button when a button press operation is detected, one-button steering of the agricultural machine is achieved, reducing the driver's workload.

[0014] In addition, after obtaining the current driving status of the agricultural machine, the process further includes: sending the driving status to a preset display screen for display. Sending the driving status to the preset display screen makes it easier for the driver or other personnel to know the current driving status of the agricultural machine, and makes it easier to control the agricultural machine.

[0015] Additionally, it includes: an angle sensor connected to the variable speed motor and the controller respectively, the angle sensor being used to measure the actual rotation angle of the variable speed motor within the preset time period, and sending the actual rotation angle to the controller.

[0016] Additionally, it includes: a plurality of steering buttons connected to the controller, each steering button corresponding to a single steering command; the controller is also configured to generate the steering command corresponding to the pressed steering button when a steering button press operation is detected.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a steering method for agricultural machinery provided in Embodiment 1 of the present invention;

[0020] Figure 2 This is an antenna architecture diagram applicable to Embodiment 1 of the present invention;

[0021] Figure 3 This is a diagram of the steering button architecture applicable to Embodiment 1 of the present invention;

[0022] Figure 4 This is a flowchart of a steering method for agricultural machinery provided in Embodiment 2 of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of an agricultural machinery steering device provided in Embodiment 3 of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of the variable speed motor and angle sensor of the steering device for an agricultural machine provided in Embodiment 3 of the present invention.

[0025] Figure 7 This is a schematic diagram of the structure of an agricultural machine provided in Embodiment 4 of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1 The flowchart illustrates a method for steering an agricultural machine according to Embodiment 1 of the present invention. This method can be executed by a steering device, which can be implemented in hardware and / or software and can be configured within the agricultural machine. Figure 1 As shown, the method includes:

[0030] Step 101: Obtain the current driving status of the agricultural machine.

[0031] In this step, the current driving status includes at least the agricultural machinery's current speed and current position. In practical applications, the current position of the agricultural machinery can be determined by an antenna mounted on the machinery or its steering mechanism, for example... Figure 2 As shown, the system may include two GPS antennas 1 and one 4G antenna 2. One main GPS antenna is used for initial positioning of the agricultural machine, while the other secondary GPS antenna is used to determine the machine's direction of travel. The 4G antenna receives satellite signals to achieve further precise network RTK positioning, determining the machine's current location. Furthermore, after achieving precise positioning of the agricultural machine through the antennas, the machine's current speed can be calculated from changes in its position. Dual positioning using both the main GPS antenna and the 4G antenna avoids deviations in the machine's positioning, thus preventing errors in determining its current travel status and ensuring the accuracy of the acquired information. It is understood that the aforementioned method of obtaining the current travel status of the agricultural machine using two GPS antennas and one 4G antenna is merely a specific example in this embodiment and does not constitute a limitation. In other embodiments of the invention, the current travel status of the agricultural machine can also be obtained using a single GPS antenna, a single 4G antenna, or other methods and structures such as visual recognition technology. The specific configuration can be flexibly adjusted according to actual needs.

[0032] Furthermore, after obtaining the current driving status of the agricultural machinery, the driving status can be sent to a preset display screen for display. Sending the driving status to the preset display screen makes it easier for the driver or other personnel to know the current driving status of the agricultural machinery, and makes it easier to control the agricultural machinery.

[0033] Step 102: Generate steering instructions.

[0034] In this step, the steering command includes at least the steering direction and steering angle. The steering direction can be a left turn, a right turn, or a turn south or east, etc., and can be flexibly set according to actual needs. In this embodiment, as... Figure 3As shown, multiple steering buttons 3 are preset in the control area of ​​the agricultural machine. Each steering button corresponds to a single steering command. For example, multiple steering buttons can be set to turn left 30°, turn left 60°, turn left 90° (U-turn), turn right 30°, turn right 60°, and turn right 90° (U-turn), etc. Each button corresponds to a steering command. For example, the aforementioned six steering buttons correspond to six different steering commands: turn left 30°, turn left 60°, turn left 90° (U-turn), turn right 30°, turn right 60°, and turn right 90° (U-turn). When a steering button is pressed, the corresponding steering command is generated. For example, when the left turn 30° button is pressed, the left turn 30° steering command is automatically generated. Setting multiple steering buttons, each corresponding to a single steering command, enables one-button steering of the agricultural machine, reducing the workload of the driver and other agricultural machine operators and the professional skills required of the driver. It is understood that the aforementioned multiple preset turn buttons are merely a specific example in this embodiment and do not constitute a limitation.

[0035] Step 103: Generate motor control commands based on steering instructions and current driving status, and control the rotation of the transmission motor according to the motor control commands.

[0036] In this step, motor control commands are generated based on the steering command and the current driving status. Specifically, the required driving speed of the agricultural machine when turning is calculated based on the steering command and the current driving status. Then, the required speed, steering parameters, etc., of the steering motor are calculated based on the required driving speed and the current driving speed of the agricultural machine. Motor control commands are generated based on the required speed, steering, or rotation angle parameters of the steering motor. Finally, the motor control commands are sent to the steering motor to control the steering motor to operate according to the required speed, steering, or rotation angle parameters.

[0037] Step 104: Obtain the actual rotation angle of the variable speed motor within the preset time interval at preset time intervals.

[0038] In this step, the preset duration is a time period set as needed. The longer the preset duration, the fewer times the actual rotation angle of the variable speed motor is obtained, and the less calculation is required; the shorter the preset duration, the more times the actual rotation angle of the variable speed motor is obtained, and the higher the control accuracy of the variable speed motor. The specific settings can be flexibly adjusted according to actual needs.

[0039] In this embodiment, the actual rotation angle of the variable speed motor within a preset time period can be measured using an angle sensor connected to the variable speed motor. It is understood that the aforementioned measurement of the actual rotation angle of the variable speed motor within a preset time period using an angle sensor connected to the variable speed motor is merely a specific example in this embodiment. In other embodiments of the present invention, the actual rotation angle of the variable speed motor can also be obtained through other methods such as photographing the motor rotation and then performing image recognition. The specific settings can be flexibly configured according to actual needs.

[0040] Step 105: Correct the motor control command according to the actual rotation angle, and control the variable speed motor to rotate according to the corrected motor control command.

[0041] In this step, the actual rotation angle of the variable speed motor is compared with the angle required for the variable speed motor to rotate in the motor control command. The difference between the actual rotation angle and the required rotation angle in the motor control command is obtained. Then, the motor control command is corrected based on this difference to obtain a new, corrected motor control command. This corrected motor control command is then used to control the variable speed motor. For example, if the motor control command requires the variable speed motor to rotate 90° within 3 seconds, but the measured actual rotation angle within 3 seconds is 80°, there is a 10° error between the motor control command and the actual rotation angle. The corrected motor control command can then be adjusted to require the variable speed motor to rotate 100° within 3 seconds, thus achieving the required 90° rotation angle. It is understood that the above is only one example in this embodiment; specific examples are provided, and the actual rotation angle and correction method can be flexibly set according to actual needs.

[0042] Compared with the prior art, the agricultural machinery steering method provided in Embodiment 1 of the present invention generates motor control commands based on the current driving state and steering instructions of the agricultural machinery. The motor control commands control the variable speed motor to complete the speed control during the steering process of the agricultural machinery, realizing automatic steering of the agricultural machinery without the need for manual steering by the driver. This reduces the driver's workload and lowers the requirements for the driver's driving skills. In addition, the actual rotation angle of the variable speed motor within the preset time interval is obtained at preset time intervals, and the motor control commands are corrected according to the actual rotation angle to realize closed-loop control of the variable speed motor, making the speed control during the steering process of the agricultural machinery more precise.

[0043] Example 2

[0044] Figure 4 This is a flowchart illustrating a method for steering an agricultural machine according to Embodiment 2 of the present invention. Figure 4 As shown, the method includes:

[0045] Step 201: Obtain the current driving status of the agricultural machine.

[0046] Step 202: Generate steering instructions.

[0047] Step 203: Generate motor control commands based on steering instructions and current driving status, and control the rotation of the transmission motor according to the motor control commands.

[0048] Step 204: Obtain the actual rotation angle of the variable speed motor within the preset time interval at each preset time interval.

[0049] It is understood that steps 201 to 204 in this embodiment are largely the same as steps 101 to 104 in embodiment 1. For details, please refer to the detailed description of the foregoing embodiment, which will not be repeated here.

[0050] Step 205: Generate a direction control command based on the current driving status and steering command, and control the steering wheel of the agricultural machine to turn according to the direction control command.

[0051] In this embodiment, the required steering wheel angle of the agricultural machine can be obtained based on the current driving speed and steering command. Then, a direction control command is generated based on the required steering wheel angle, and the steering wheel of the agricultural machine is controlled to rotate according to the direction control command.

[0052] Step 206: Correct the motor control command according to the direction control command and the actual rotation angle, and control the rotation of the variable speed motor according to the corrected motor control command.

[0053] In this step, the change in the agricultural machine's travel direction after a preset time can be obtained according to the direction control command. The motor control command is then corrected according to the change in the agricultural machine's travel direction, and the variable speed motor is controlled to rotate according to the corrected motor control command.

[0054] Compared with the prior art, the agricultural machinery steering method provided in Embodiment 2 of the present invention retains the technical effects of Embodiment 1, and modifies the motor control command by controlling the direction control command of the steering wheel rotation, so that the coordination between the direction change and speed change during the agricultural machinery steering process is closer, and the speed control accuracy during the agricultural machinery steering process is improved.

[0055] Example 3

[0056] Figure 5 This is a schematic diagram of the structure of a steering device for an agricultural machine provided in Embodiment 3 of the present invention. Figure 5 As shown, the device includes:

[0057] The system includes a controller 10, a variable-speed motor 20 connected to the controller 10, a detection antenna 30 connected to the controller 10, and a human-machine interface 40 connected to the controller 10. The detection antenna 30 is used to acquire the current driving status of the agricultural machine, which includes at least the current driving speed and current position of the agricultural machine. The controller 10 is used to generate steering commands, which include at least the steering direction and steering angle. Based on the steering commands and the current driving status, the controller generates motor control commands and controls the variable-speed motor to rotate according to the motor control commands. The controller acquires the actual rotation angle of the variable-speed motor within the preset time interval at each preset time interval, corrects the motor control commands based on the actual rotation angle, and controls the variable-speed motor to rotate according to the corrected motor control commands.

[0058] In addition, it also includes: an angle sensor 50 connected to the variable speed motor 20 and the controller 10 respectively. The angle sensor 50 is used to measure the actual rotation angle of the variable speed motor 20 within a preset time period and send the actual rotation angle to the controller 10. Figure 6 An exploded view of the connection structure between the variable speed motor 20 and the angle sensor 50, as shown below. Figure 6 As shown, the variable speed motor 20 and the angle sensor 50 are mounted on the gear plate support 60 and connected via the gear plate 70. When the variable speed motor 20 rotates, it drives the connected gear plate 70 to rotate. The angle sensor 50 indirectly measures the rotation angle of the variable speed motor 20 by sensing the rotation angle of the gear plate 70. The system also includes: a rolled sleeve 80 connecting the gear plate 70 and the angle sensor 50; a motor mounting plate 90 for fixing the variable speed motor 20 and the gear plate support 60; a motor gasket 100 disposed between the motor mounting plate 90 and the variable speed motor 20; and a lower support plate 110 for fixing the gear plate support 60.

[0059] like Figure 5 As shown, the human-computer interaction device 40 also includes a plurality of steering buttons 41 connected to the controller 10, each steering button 41 corresponding to a single steering command; the controller 10 is also used to generate a steering command corresponding to the pressed steering button when a steering button press operation is detected.

[0060] The agricultural machinery steering device provided in this embodiment of the invention can execute the agricultural machinery steering method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the agricultural machinery steering method.

[0061] Example 4

[0062] Figure 7 This is a schematic diagram of the structure of an agricultural machine provided in Embodiment 4 of the present invention. Figure 7 As shown, the agricultural machine includes: a steering wheel 200, a transmission 300, and an agricultural machine steering device 400 as provided in the aforementioned embodiment;

[0063] The steering wheel 200 is connected to the controller 10 of the agricultural machinery steering device 400, and the transmission 300 is connected to the speed change motor 20 of the agricultural machinery steering device 400.

[0064] The agricultural machine provided in this embodiment includes the agricultural machine steering device provided in the foregoing embodiment, and therefore has the same technical effects as the foregoing embodiment.

[0065] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0066] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for steering agricultural machinery, characterized in that, include: The current driving status of the agricultural machine is obtained, and the current driving status includes at least the current driving speed and current position of the agricultural machine; Generate a steering command, the steering command including at least a steering direction and a steering angle; Generate motor control commands based on the steering command and the current driving state, and control the rotation of the variable speed motor based on the motor control commands; The actual rotation angle of the variable speed motor within the preset time interval is obtained at each preset time interval. The motor control command is corrected according to the actual rotation angle. The variable speed motor is controlled to rotate according to the corrected motor control command. The step of generating motor control commands based on the steering command and the current driving state includes: The required driving speed of the agricultural machine when turning is calculated based on the steering command and the current driving state. The rotational speed and steering direction of the steering motor are calculated based on the required driving speed of the agricultural machine and the current driving speed of the agricultural machine. Based on the rotational speed of the steering motor and the steering, motor control commands are generated; The step of obtaining the actual rotation angle of the variable speed motor within the preset time period specifically includes: The actual rotation angle of the variable speed motor within the preset time period is measured by an angle sensor connected to the variable speed motor.

2. The agricultural machinery steering method according to claim 1, characterized in that, Also includes: Based on the current driving status and the steering command, a direction control command is generated, and the steering wheel of the agricultural machine is controlled to rotate according to the direction control command.

3. The agricultural machinery steering method according to claim 2, characterized in that, The step of correcting the motor control command based on the actual rotation angle specifically includes: The motor control command is corrected based on the direction control command and the actual rotation angle.

4. The agricultural machinery steering method according to claim 1, characterized in that, The generation of steering instructions specifically includes: Multiple steering buttons are preset, and each steering button corresponds to a single steering command; When a turn button press is detected, a turn command corresponding to the pressed turn button is generated.

5. The agricultural machinery steering method according to claim 1, characterized in that, After obtaining the current driving status of the agricultural machinery, the method further includes: The driving status is sent to a preset display screen for display.

6. A steering device for an agricultural machine, used to perform the steering method for an agricultural machine according to any one of claims 1-5, characterized in that, include: A controller, a variable speed motor connected to the controller, a detection antenna connected to the controller, and a human-machine interface connected to the controller; The detection antenna is used to acquire the current driving status of the agricultural machine, which includes at least the current driving speed and current position of the agricultural machine. The controller is used to generate steering commands, which include at least a steering direction and a steering angle. Based on the steering commands and the current driving state, it generates motor control commands and controls the rotation of the variable speed motor according to the motor control commands. At preset time intervals, it acquires the actual rotation angle of the variable speed motor within the preset time interval, corrects the motor control commands based on the actual rotation angle, and controls the rotation of the variable speed motor according to the corrected motor control commands.

7. The agricultural machinery steering device according to claim 6, characterized in that, Also includes: An angle sensor is connected to both the variable speed motor and the controller. The angle sensor is used to measure the actual rotation angle of the variable speed motor within the preset time period and send the actual rotation angle to the controller.

8. The agricultural machinery steering device according to claim 6, characterized in that, Also includes: Multiple steering buttons connected to the controller, each steering button corresponding to and storing a single steering command; The controller is also configured to generate a steering command corresponding to the pressed steering button when a steering button press operation is detected.

9. An agricultural machine, characterized in that, include: Steering wheel, transmission, and agricultural machinery steering device as described in any one of claims 6 to 8; The steering wheel is connected to the controller of the agricultural machinery steering device, and the transmission is connected to the speed change motor of the agricultural machinery steering device.

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