Tractor automatic repeated operation method, electronic device and storage medium

Abstract

A tractor automatic repeated operation method, electronic equipment and storage medium, the method makes the tractor automatically repeat the continuous change operation which has been executed through the control system, the target variable of the continuous change operation changes continuously with time during the operation process, the method classifies the continuous change operation first, then according to the different control requirements of the tractor repeated operation for the target variable, the end type repeated operation or the process type repeated operation is carried out, the end type repeated operation makes the tractor reach the final value of the initial operation directly when repeated, the process type repeated operation obtains the cumulative value of the target variable through the continuous interval sampling mode and calculates and saves the average value, and then makes the tractor repeat the change time and total variable of the initial operation with the fixed average value when repeated. The present application can improve the repeated execution ability of the tractor operation and meet the requirements of automatic repeated execution.

Description

Technical Field

[0001] This invention relates to the field of automatic repetitive operation of tractors, and more particularly to a method for automatic repetitive operation of tractors, as well as electronic equipment and storage media. Background Technology

[0002] During tractor operation, there are often multiple repetitive tasks, such as adjusting engine speed, changing gearbox gears, and controlling working devices each time the tractor is at the field end. To address this, some existing tractors are equipped with the function of automatically performing repeated operations. For example, Chinese Invention Patent 201610645858.2 discloses a tractor field end management and control system and its control method, which has the function of recording and replaying operation actions. Recording is done according to time or distance traveled, and playback is performed according to the recorded time or distance traveled.

[0003] For operations involving switches, only a single state needs to be recorded. However, for operations that can change continuously, such as throttle position adjustment or hydraulic output adjustment, directly recording the state changes would generate a large amount of data, causing the function to malfunction. Simply recording a single state value during the operation, such as the state value at the end of the operation, and then directly using that state value during repeated executions, makes it difficult to achieve the same effect as the initial recorded operation in the repeated execution process and results. Therefore, the existing tractor operation repetition capability is insufficient and cannot meet the requirements for automatic repetition. Summary of the Invention

[0004] To address the problem that existing tractors are unable to automatically and repeatedly perform continuously changing operations, this invention provides a method for automatically and repeatedly performing operations on a tractor, as well as electronic equipment and storage media.

[0005] The technical solution adopted by this invention to solve the above-mentioned technical problems is: a method for an automatic repetitive execution of operations by a tractor, wherein the tractor automatically repeats previously executed continuous changing operations through a control system, and the target variable is continuously controlled during the continuous changing operations. The method includes:

[0006] Based on the control requirements of the target variable, continuous change operations are classified into endpoint-type continuous change operations and process-type continuous change operations. Endpoint-type continuous change operations need to control the final value of the target variable when the operation stops, while process-type continuous change operations need to control the accumulated value of the target variable during the operation.

[0007] The control system detects continuously changing operations that need to be repeated. When the detected continuous changing operation is of the endpoint type, the endpoint type operation is repeated; when the detected continuous changing operation is of the process type, the process type operation is repeated.

[0008] The endpoint type repetitive execution operation includes the following steps:

[0009] Step 1: The control system monitors the continuous change operation process of the endpoint type that needs to be repeated, accumulates and records the operation time, and continuously detects the real-time status value of the target variable until the continuous change operation of the endpoint type stops. Then, it saves the continuous change time T1 of the target variable and the final value A of the target variable when the detection stops.

[0010] Step 2: Before performing repeated operations, the control system detects the current state of the target variable, takes the current value A0 of the detected target variable as the initial state value, and reads the final value A as the target state value. Then, it calculates and saves the rate of change ΔA of the target variable: ΔA = (A - A0) / T1;

[0011] Step 3: The control system causes the tractor to perform repetitive operations, controlling the target variable to continuously change from the initial state value A0, and keeping the rate of change of the target variable at ΔA during the repetitive execution process until the repetitive execution time reaches T1. The control system then stops the target variable from changing, thus completing the endpoint type repetitive execution operation.

[0012] The process type of repetitive execution operation includes the following steps:

[0013] Step 1: The control system monitors the continuously changing process of the process type that needs to be repeated, accumulates and records the operation time, and continuously detects the current state value of the target variable at fixed time intervals. During detection, multiple current state values ​​are accumulated sequentially until the repeated execution of the process type stops. The continuous change time T2 of the target variable is saved, and the accumulated value B of the target variable during the detection process is obtained by accumulating all current state values. Then, the average value ΔB of the target variable is calculated and saved: ΔB=B / T2.

[0014] Step 2: The control system causes the tractor to perform repetitive operations, controlling the target variable to change from the operation stop state value to the average value ΔB, and keeping the target variable's state value at ΔB during the repetitive execution process until the repetitive execution time reaches T2. The control system then restores the target variable to the operation stop state value, thus completing the process type repetitive execution operation.

[0015] An electronic device includes a memory and a processor, the memory storing instructions executable by the processor, the instructions being executable by the processor to implement the above-described method for automatically and repeatedly performing operations on a tractor.

[0016] A computer-readable storage medium storing a computer program that can be executed by a processor to implement the above-described method for automatically and repeatedly performing operations on a tractor.

[0017] According to the above technical solution, the beneficial effects of the present invention are:

[0018] This invention first categorizes continuously changing operations. Then, based on the different control requirements of the target variable during repetitive tractor operations, it performs either endpoint-type or process-type repetitive execution operations. Endpoint-type repetitive execution directly ensures the tractor reaches the final value of the initial operation during repetition. Process-type repetitive execution obtains the cumulative value of the target variable through continuous interval sampling, calculates and saves the average value, and then reproduces the change time and total variable of the initial operation with a fixed average value during repetition. Endpoint-type repetitive execution is simple and reliable, while process-type repetitive execution not only controls the total variable of continuously changing operations but also ensures that the target variable maintains a linear change during repetition, thus guaranteeing efficient and smooth automatic repetitive execution of continuously changing operations. Compared with existing technologies, it eliminates the need to directly record the entire change process of the target variable, avoiding the excessive data volume and difficulty in implementing repetitive execution with large amounts of data. This invention is applicable to various continuously changing operations of tractors, improving the repetitive execution capability of tractor operations and meeting the requirements of automatic repetitive execution. Detailed Implementation

[0019] A method for automatically repeating operations on a tractor involves a control system that enables the tractor to automatically repeat previously performed continuous changing operations, during which a target variable is continuously controlled. Based on the control requirements of the target variable, this method categorizes continuous changing operations into endpoint-type continuous changing operations and process-type continuous changing operations.

[0020] Endpoint-type continuous change operations require controlling the final value of the target variable when the operation stops, such as a throttle position change operation, which requires controlling the final position after the throttle stops. Process-type continuous change operations require controlling the cumulative value of the target variable during the operation, such as a hydraulic system performing a hydraulic output operation, which requires controlling the total output volume during the hydraulic output process.

[0021] The control system detects continuously changing operations that need to be repeated. When the detected continuous changing operation is of the endpoint type, the endpoint type operation is repeated. When the detected continuous changing operation is of the process type, the process type operation is repeated.

[0022] Repeated operations for endpoint types include the following steps:

[0023] Step 1: The control system monitors the continuous change operation process of the endpoint type that needs to be repeated, accumulates and records the operation time, and continuously detects the real-time status value of the target variable until the continuous change operation of the endpoint type stops. Then, it saves the continuous change time T1 of the target variable and the final value A of the target variable when the detection stops.

[0024] Step 2: Before performing repeated operations, the control system detects the current state of the target variable, takes the current value A0 of the detected target variable as the initial state value, and reads the final value A as the target state value. Then, it calculates and saves the rate of change ΔA of the target variable: ΔA = (A - A0) / T1;

[0025] Step 3: The control system causes the tractor to perform repetitive operations, controlling the target variable to continuously change from the initial state value A0, and keeping the rate of change of the target variable at ΔA during the repetitive execution process until the repetitive execution time reaches T1. The control system then stops the target variable from changing, thus completing the endpoint type repetitive execution operation.

[0026] Taking the hand throttle as an example, the target variable for the repeated execution of endpoint-type operations is the hand throttle position. After monitoring begins, when the sensor detects a change in the hand throttle position, it starts recording the hand throttle operation, starts a timer, and continuously monitors the changes in the hand throttle position. When the hand throttle position no longer changes, the hand throttle recording stops, and the timer value T1 and the endpoint position value P of the hand throttle are saved. Before repeatedly executing the throttle position adjustment operation, the control system monitors and records the current throttle position value P0 in advance, and then calculates the throttle position change rate RP: RP = (P - P0) / T1.

[0027] When it is necessary to repeat the throttle position adjustment operation based on the initial operation, the automatic control of the hand throttle starts moving from the current throttle position at a speed of RP. When the movement time of the hand throttle reaches T1, the movement of the hand throttle is automatically stopped, so that the throttle position of the hand throttle is adjusted to the throttle end position of the initial operation. Repeating the above process can realize the repeated execution of the end point type operation.

[0028] The above method can ensure that the throttle position change time and final value during repeated execution remain consistent with the initial operation. However, the throttle position value changes linearly during repeated execution, while the throttle position value during recording generally changes non-linearly. For example, based on equidistant time points, the throttle position value during the initial operation can change at a rate of 0%-10%-50%-60%, while during repeated execution, it changes at a linear rate of 0%-20%-40%-60%.

[0029] The process type of repeated execution operation includes the following steps:

[0030] Step 1: The control system monitors the continuously changing process of the process type that needs to be repeated, accumulates and records the operation time, and continuously detects the current state value of the target variable at fixed time intervals. During detection, multiple current state values ​​are accumulated sequentially until the repeated execution of the process type stops. The continuous change time T2 of the target variable is saved, and the accumulated value B of the target variable during the detection process is obtained by accumulating all current state values. Then, the average value ΔB of the target variable is calculated and saved: ΔB=B / T2.

[0031] Step 2: The control system causes the tractor to perform repetitive operations, controlling the target variable to change from the operation stop state value to the average value ΔB, and keeping the target variable's state value at ΔB during the repetitive execution process until the repetitive execution time reaches T2. The control system then restores the target variable to the operation stop state value, thus completing the process type repetitive execution operation.

[0032] Taking a hydraulic system's hydraulic output as an example, the process type involves repetitive execution of operations. The target variable is the real-time flow rate of the hydraulic output, and the operation stops when the output flow rate is 0. When a non-zero hydraulic output flow rate is detected, recording of the hydraulic output operation begins. A timer is started, and the output flow rate of the hydraulic system is detected multiple times at fixed time intervals. As the number of detected data increases, the output flow rate is accumulated sequentially. The output flow rate time is obtained either by directly recording the data through the timer or by multiplying the number of detections by the interval. When the hydraulic output flow rate is 0, hydraulic output recording stops, the timer value T2 is saved, and the accumulated output volume V is obtained. The control system calculates and saves the average flow rate value L, L = V / T2.

[0033] When it is necessary to repeatedly perform the hydraulic output flow adjustment operation based on the initial operation, the automatic control hydraulic system continuously outputs hydraulic fluid at an average flow value L. When the duration of hydraulic output reaches T2, the hydraulic output is automatically stopped, so that the hydraulic system can achieve the same total output volume V within the same time as the initial operation. Repeating the above process can realize the automatic repeated execution of operation of process change type.

[0034] The above method ensures that the hydraulic output time and total output volume remain consistent with the initial operation during repeated executions. However, the hydraulic output flow rate is constant during repeated executions, while the hydraulic output flow rate during recording is generally variable. For example, the hydraulic output flow rate can vary at 30%-50%-40%-60% of the maximum flow rate during the initial operation, but remains consistently at 45% of the maximum flow rate during repeated executions.

[0035] This invention also provides an electronic device, including a memory and a processor. Specifically, it includes a bus, a memory, a processor, and a communication interface. The memory is a volatile or non-volatile storage device or a combination thereof, including but not limited to random access memory (RAM), read-only memory (ROM), flash memory (FlashRAM), optical memory, magnetic memory, etc. The memory stores instructions executable by the processor. The processor executes the instructions to make the electronic device implement the methods described in the above embodiments. The processor is a general-purpose processor, an application-specific integrated circuit, a programmable logic device, or a circuit composed of discrete devices. The communication interface is used to connect to an interactive interface or display system, including, for example, a keyboard, mouse, touchpad, camera, microphone, liquid crystal display, speaker, indicator light, etc., for receiving operator operation data and information or outputting sound, light, and graphic information to the operator.

[0036] The methods in the above embodiments can be implemented in the form of a computer program, which is stored in a memory and executed by a processor; the computer program can also be stored in an external independent memory and executed by a processor through a communication interface, or copied to a memory through a communication interface and executed by a processor; the communication interface can copy the computer program to the memory in the form of electromagnetic wave signals or optical signals.

[0037] The present invention also provides a computer-readable storage medium storing a computer program that can be executed by a processor to implement the above-described method. The readable storage medium may be included in the above-described electronic device, such as a memory, or it may exist independently without being included in the electronic device.

[0038] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A method for automatically repeating an operation of a tractor by a control system, which automatically repeats a continuous change operation, which has been performed, of the tractor, in which a target variable is continuously controlled, characterized in that, The method comprises: ​ According to the control requirement of the target variable, the continuous change operation is classified into an end type continuous change operation and a process type continuous change operation, the end type continuous change operation needs to control the final value of the target variable when the operation stops, and the process type continuous change operation needs to control the cumulative value of the target variable during the operation process; The control system detects the continuous change operation that needs to be repeatedly executed, when it is detected as an end type continuous change operation, an end type repeated execution operation is performed, and when it is detected as a process type continuous change operation, a process type repeated execution operation is performed; The end type repeated execution operation comprises the following steps: Step 1, the control system monitors the end type continuous change operation that needs to be repeatedly executed, accumulates and records the operation time, and continuously detects the real-time state value of the target variable, until the end type continuous change operation stops, the continuous change time T1 of the target variable and the final value A of the target variable at the detection stop are saved; Step 2, before performing the repeated execution operation, the control system detects the current state of the target variable, takes the detected current value A0 of the target variable as the starting state value, reads the final value A as the target state value, then calculates and saves the change rate ΔA of the target variable: ΔA=(A-A0) / T1; Step 3, the control system makes the tractor perform the repeated execution operation, controls the target variable to continuously change from the starting state value A0, and makes the change rate of the target variable remain ΔA during the repeated execution, until the repeated execution operation time reaches T1, the control system makes the target variable stop changing, that is, the end type repeated execution operation is completed; The process type repeated execution operation comprises the following steps: Step 1, the control system monitors the process type continuous change operation that needs to be repeatedly executed, accumulates and records the operation time, and continuously detects the current state value of the target variable at a fixed time interval, the obtained multiple current state values are sequentially accumulated during detection, until the process type repeated execution operation stops, the continuous change time T2 of the target variable is saved, and the cumulative value B of the target variable during the detection process is obtained through the accumulation result of all current state values, then the average value ΔB of the target variable is calculated and saved: ΔB=B / T2; Step 2, the control system makes the tractor perform the repeated execution operation, controls the target variable to change from the operation stop state value to the average value ΔB, and makes the state value of the target variable remain ΔB during the repeated execution, until the repeated execution operation time reaches T2, the control system makes the target variable return to the operation stop state value, that is, the process type repeated execution operation is completed.

2. An electronic device, comprising: A memory and a processor are included, the memory stores instructions executable by the processor, and the instructions can be executed by the processor to implement the method of claim 1.

3. A computer-readable storage medium, characterized in that, It stores a computer program, and the computer program can be executed by the processor to implement the method of claim 1.