A method, system, electronic device, medium, and harvester for shifting a harvester

Abstract

The present application relates to a kind of harvesting machine gear shifting method, system, electronic device, medium and harvesting machine, the method includes: obtaining the gear engagement instruction of harvesting machine, current handle state, current speed and current gear position, the gear engagement instruction includes target gear;According to the current handle state, current speed and current gear position, it is judged whether the harvesting machine satisfies the preset gear engagement condition, if not satisfy the gear engagement condition, the enable solenoid valve of the harvesting machine is output, and the current gear position is adjusted, until the current gear position after adjustment, the handle state corresponding to the current gear position after adjustment, the speed corresponding to the current gear position after adjustment satisfy the gear engagement condition, stop output the enable solenoid valve, to gear shifting according to the target gear.By the method of the present application, automatic gear shifting is carried out, compared with manual gear shifting, the labor intensity of driver is greatly reduced, and the operation efficiency of combine harvester is also improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and more specifically, to a method, system, electronic equipment, medium, and harvester for shifting gears in a harvester. Background Technology

[0002] my country is a major agricultural country, and with the continuous development of agricultural mechanization, agricultural production efficiency is also increasing. Combine harvesters operate in complex and even harsh environments. To improve their economic efficiency and reduce operating costs, combine harvesters often need to operate at the most suitable gear, requiring the operator to shift gears appropriately and timely according to the working conditions. Currently, most combine harvesters still use manual mechanical gear shifting, which takes a long time, increasing the operator's workload and reducing operational efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method, system, electronic device, medium and harvester for shifting gears of a harvester, in order to solve at least one of the above-mentioned technical problems.

[0004] In a first aspect, the technical solution of the present invention to solve the above-mentioned technical problems is as follows: a method for shifting gears in a harvester, the method comprising:

[0005] S1, obtain the harvester's gear shifting command, current handle status, current vehicle speed, and current gear position, wherein the gear shifting command includes the target gear;

[0006] S2, based on the current handle state, current vehicle speed and current gear position, determine whether the harvester meets the preset gear engagement conditions. If the gear engagement conditions are not met, output the enable solenoid valve of the harvester and adjust the current gear position until the adjusted current gear position, the handle state corresponding to the adjusted current gear position, and the vehicle speed corresponding to the adjusted current gear position meet the gear engagement conditions. Execute S3. If the gear engagement conditions are met, execute S3.

[0007] S3, stop outputting the enabling solenoid valve to shift gears according to the target gear.

[0008] The beneficial effects of this invention are: the transmission gears are controlled by an electro-hydraulic control method, that is, based on the current handle state, current vehicle speed and current gear position of the harvester, the current gear of the harvester is automatically shifted according to the target gear. Compared with manual shifting, this greatly reduces the labor intensity of the driver and also improves the operating efficiency of the combine harvester.

[0009] Based on the above technical solution, the present invention can be further improved as follows.

[0010] Furthermore, the current handle state is any one of the following: neutral, forward, or reverse; and the current gear position is any one of the following: neutral, 1st gear, 2nd gear, or 3rd gear.

[0011] The above-mentioned determination of whether the harvester meets the preset gear engagement conditions based on the current handle state, current vehicle speed, and current gear position includes:

[0012] If the current handle state is not in the middle position, the current vehicle speed is less than the set vehicle speed, the current gear position is not the position corresponding to the target gear, and there are no other gear shifting commands, it is determined that the harvester does not meet the gear shifting conditions. The other gear shifting commands are gear shifting commands corresponding to gears other than the target gear.

[0013] If the current handle state is in the neutral position, the current vehicle speed is not less than the set vehicle speed, the current gear position is the position corresponding to the target gear, and there are no other gear shifting commands, it is determined that the harvester meets the gear shifting conditions.

[0014] The beneficial effect of adopting the above-mentioned further solution is that, based on the current lever state, current vehicle speed, and current gear position, it is possible to accurately determine whether it is the right time to shift gears, and thus accurately perform automatic gear shifting.

[0015] Furthermore, the current gear position mentioned above is determined based on the following method:

[0016] Acquire the first voltage value detected by the first gear position sensor and the second voltage value detected by the second gear position sensor installed on the harvester;

[0017] The current gear position is determined by a pre-trained position determination model based on the first voltage value and the second voltage value. The position determination model is a model trained based on different gear positions and the voltage values ​​corresponding to different gear positions.

[0018] The beneficial effect of adopting the above-mentioned further scheme is that the pre-trained position determination model can accurately determine the current gear position, which improves the accuracy of the current gear position determination compared with the method of directly determining the gear position based on hardware sensors.

[0019] Furthermore, the aforementioned location determination model was determined in the following way:

[0020] Obtain the current parking brake status of the harvester;

[0021] Based on the current handle status, current vehicle speed, and current parking brake status, determine whether the harvester meets the preset training conditions;

[0022] If the predicted training conditions are met, different gear positions and the voltage values ​​corresponding to different gear positions are obtained. For each gear position, the voltage value corresponding to the gear position includes voltage values ​​at at least two time points.

[0023] For each gear position, the initial model is trained based on the gear position and the voltage values ​​at least two times corresponding to the gear position to obtain the position determination model.

[0024] The beneficial effect of adopting the above-mentioned further scheme is that, based on different gear positions and the voltage values ​​corresponding to different gear positions, a model that can accurately determine the gear position can be trained.

[0025] Furthermore, the method also includes:

[0026] The display shows the harvester's current handle status, current speed, current parking brake status, and target gear.

[0027] The beneficial effect of adopting the above-mentioned further solution is that by displaying the current handle status, current vehicle speed, current parking brake status, and the target gear, the driver can clearly know the current driving status.

[0028] Secondly, in order to solve the above-mentioned technical problems, the present invention also provides a gear shifting system for a harvester, the system including an on-board control unit, and a vehicle speed sensor, an enabling solenoid valve, a multi-functional armrest box and a gear position sensor respectively communicated and connected to the on-board control unit.

[0029] The multi-functional armrest box is used to obtain the harvester's gear shifting command and the current handle status, wherein the gear shifting command includes the target gear;

[0030] The vehicle speed sensor is used to obtain the current speed of the harvester;

[0031] The gear position sensor is used to obtain the current gear position of the harvester;

[0032] The vehicle control unit is used to acquire the gear shift command, the current lever status, the current vehicle speed, and the current gear position, and to execute the following steps:

[0033] S10: Based on the current handle state, current vehicle speed, and current gear position, determine whether the harvester meets the preset gear engagement conditions. If the gear engagement conditions are not met, output the enabling solenoid valve and adjust the current gear position until the adjusted current gear position, the handle state corresponding to the adjusted current gear position, and the vehicle speed corresponding to the adjusted current gear position meet the gear engagement conditions. Then execute S20. If the gear engagement conditions are met, execute S20.

[0034] S20, stop outputting the enabling solenoid valve to shift gears according to the target gear.

[0035] Thirdly, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the gear shifting method of the harvester of the present application.

[0036] Fourthly, in order to solve the above-mentioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the harvester shifting method of the present application.

[0037] Fifthly, in order to solve the above-mentioned technical problems, the present invention also provides a harvester, which includes the electronic equipment described in the third aspect.

[0038] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0040] Figure 1 This is a flowchart illustrating a gear shifting method for a harvester according to an embodiment of the present invention.

[0041] Figure 2 A schematic diagram of a gear shifting system for a harvester provided in one embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of a harvester vehicle status determination process according to an embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of the structure of a gear shifting device for a harvester according to an embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0045] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0046] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0047] The solution provided in this invention can be applied to any application scenario requiring automatic gear shifting of the harvester. The solution provided in this invention can be executed by an electronic device with data processing capabilities, such as an electronic device with data processing capabilities installed on the harvester.

[0048] This invention provides a possible implementation, such as... Figure 1 The diagram shows a flowchart of a gear-shifting method for a harvester. This method can be executed by any electronic device, such as an onboard control unit. For ease of description, the method provided in this embodiment will be described below using the onboard control unit as the executing entity. Figure 1 The flowchart shown indicates that the method may include the following steps:

[0049] S1, obtain the harvester's gear shifting command, current handle status, current vehicle speed, and current gear position, wherein the gear shifting command includes the target gear;

[0050] S2, based on the current handle state, current vehicle speed and current gear position, determine whether the harvester meets the preset gear engagement conditions. If the gear engagement conditions are not met, output the enable solenoid valve of the harvester and adjust the current gear position until the adjusted current gear position, the handle state corresponding to the adjusted current gear position, and the vehicle speed corresponding to the adjusted current gear position meet the gear engagement conditions. Execute S3. If the gear engagement conditions are met, execute S3.

[0051] S3, stop outputting the enabling solenoid valve to shift gears according to the target gear.

[0052] The method of this invention uses electro-hydraulic control to control the gearbox gears. Based on the current handle state, current speed, and current gear position of the harvester, the harvester automatically shifts to the target gear. Compared with manual shifting, this greatly reduces the driver's workload and improves the operating efficiency of the combine harvester.

[0053] The present invention will be further described below with reference to the following specific embodiments. In this embodiment, the shifting system of the harvester corresponding to the hardware device will be described to better understand the shifting method of the harvester proposed in this solution.

[0054] See Figure 2 A gear shifting system for a harvester includes an on-board control unit, and a vehicle speed sensor, an enabling solenoid valve, a multi-functional armrest box, and a gear position sensor, all of which are communicatively connected to the on-board control unit.

[0055] The multi-functional armrest box is used to obtain the harvester's gear shifting command and the current handle status, wherein the gear shifting command includes the target gear;

[0056] The vehicle speed sensor can be installed on the output shaft of the gearbox to obtain the current vehicle speed of the harvester;

[0057] The gear position sensor is used to obtain the current gear position of the harvester;

[0058] The vehicle control unit is used to acquire the gear shift command, the current lever status, the current vehicle speed, and the current gear position, and to execute the following steps:

[0059] S10: Based on the current handle state, current vehicle speed, and current gear position, determine whether the harvester meets the preset gear engagement conditions. If the gear engagement conditions are not met, output the enabling solenoid valve and adjust the current gear position until the adjusted current gear position, the handle state corresponding to the adjusted current gear position, and the vehicle speed corresponding to the adjusted current gear position meet the gear engagement conditions. Then execute S20. If the gear engagement conditions are met, execute S20.

[0060] S20, stop outputting the enabling solenoid valve to shift gears according to the target gear.

[0061] S10 corresponds to the processing procedure of S2 described above, and S20 corresponds to the processing procedure of S3 described above.

[0062] In S10, meeting the gear shifting conditions means that the harvester's current speed, current handle state, and current gear position all meet the conditions for shifting gears, and gear shifting can be performed. How to determine whether the harvester meets the preset gear shifting conditions based on the current handle state, current speed, and current gear position will be described below and will not be repeated here.

[0063] Optionally, the system further includes gear solenoid valves corresponding to different gear positions, including gear 1, gear 2, and gear 3; when the target gear position is not neutral, step S20 specifically includes:

[0064] Stop outputting the enabling solenoid valve and the gear solenoid valve corresponding to the target gear, so as to perform gear shifting according to the target gear.

[0065] The automatic shifting mechanism for neutral, 1st gear, 2nd gear, and 3rd gear will be explained in the following description and will not be repeated here.

[0066] Optionally, the system further includes a parking brake pressure sensor connected to the vehicle control unit, used to acquire the current voltage signal and send it to the vehicle control unit. The vehicle control unit is also used to determine the current parking brake state of the harvester based on the current voltage signal.

[0067] Optionally, the above system also includes a parking brake solenoid valve connected to the vehicle control unit. The multi-function armrest box is also used to receive electronic parking commands and electronic parking release commands via the CAN bus. Figure 2 The CAN-bus shown in the diagram sends electronic parking commands and electronic parking release commands to the vehicle control unit;

[0068] The vehicle control unit is also used to control the harvester to apply parking brake via the parking brake solenoid valve based on the electronic parking command, and to control the harvester to release parking brake via the parking brake solenoid valve based on the electronic parking release command.

[0069] Specifically, one implementation method of the above-mentioned vehicle control unit controlling the harvester to perform parking braking through the parking brake solenoid valve based on the electronic parking command is as follows: based on the electronic parking command, the parking brake solenoid valve is disconnected, and the current voltage signal of the parking brake pressure sensor is collected at the same time. If the value of the current voltage signal is less than 15 MPa, it is determined that the harvester is in parking braking.

[0070] Specifically, one implementation method of the above-mentioned vehicle control unit controlling the harvester to release the parking brake through the parking brake solenoid valve based on the electronic parking release command is as follows: based on the electronic parking release command, the parking brake solenoid valve is output, and the current voltage signal of the parking brake pressure sensor is collected at the same time. If the value of the current voltage signal is greater than or equal to 15 MPa, it is determined that the harvester is in the process of releasing the parking brake.

[0071] Optionally, the parking brake pressure sensor can detect a voltage signal of 0.5-4.5V, and the on-board control unit can convert the voltage signal into a pressure signal of 0-40 MPa.

[0072] Optionally, the system may also include an intelligent display terminal connected to the vehicle control unit, used to display the harvester's current handle status, current vehicle speed, current parking brake status, current parking brake release status, and the target gear.

[0073] In this system, the gear position sensor may include gear position sensor 1 and gear position sensor 2, both of which are 0.5V-4.5V voltage signals.

[0074] Optionally, the vehicle control unit is an input signal acquisition and control signal output unit, mainly acquiring various sensor signals and controlling the output of solenoid valves. In this solution, gear position sensor 1 and gear position sensor 2 are both connected to the analog input port of the vehicle control unit, the vehicle speed sensor is connected to the frequency input port of the vehicle control unit, and the 1st gear solenoid valve, 2nd gear solenoid valve, 3rd gear solenoid valve, and neutral gear solenoid valve are all connected to the output port of the vehicle control unit.

[0075] See Figure 3 The on-board control unit is also used to determine the harvester's vehicle status based on the current handle status and current handle position. The vehicle status includes five states: stop, forward acceleration, forward deceleration, reverse acceleration, and reverse deceleration.

[0076] The handle on the multi-functional armrest box enables walking control. When the handle is in the neutral position, the output is 0; when the handle is in the maximum forward position, the output is 100%; when the handle is in the maximum reverse position, the output is also 100%. Based on the handle status and the current gear position, the vehicle control unit can determine whether the harvester is in any of the five states: stopped, forward acceleration, forward deceleration, reverse acceleration, or reverse deceleration.

[0077] Optionally, the multi-functional armrest box also has electronic parking brake, 1st gear, 2nd gear, 3rd gear, and neutral gear buttons. The electronic parking brake button is used to realize the parking brake and parking brake release of the harvester, and the 1st gear, 2nd gear, 3rd gear, and neutral gear buttons are used to generate gear shifting commands.

[0078] After introducing the gear shifting system and working principle of the harvester, this paper describes a gear shifting method for a harvester, which may include the following steps:

[0079] S1, obtain the harvester's gear shifting command, current handle status, current vehicle speed, and current gear position, wherein the gear shifting command includes the target gear;

[0080] S2, based on the current handle state, current vehicle speed and current gear position, determine whether the harvester meets the preset gear engagement conditions. If the gear engagement conditions are not met, output the enable solenoid valve of the harvester and adjust the current gear position until the adjusted current gear position, the handle state corresponding to the adjusted current gear position, and the vehicle speed corresponding to the adjusted current gear position meet the gear engagement conditions. Execute S3. If the gear engagement conditions are met, execute S3.

[0081] S3, stop outputting the enabling solenoid valve to shift gears according to the target gear.

[0082] Optionally, the current handle state is any one of the neutral position, forward gear position, or reverse gear position, and the current gear position is any one of the neutral position, first gear position, second gear position, or third gear position.

[0083] In S2, based on the current handle state, current vehicle speed, and current gear position, it is determined whether the harvester meets the preset gear engagement conditions, specifically including:

[0084] If the current handle state is not in the middle position, the current vehicle speed is less than the set vehicle speed (e.g., 1 km / h), the current gear position is not the position corresponding to the target gear, and there are no other gear shifting commands, it is determined that the harvester does not meet the gear shifting conditions. The other gear shifting commands are gear shifting commands corresponding to gears other than the target gear.

[0085] If the current handle state is in the neutral position, the current vehicle speed is not less than the set vehicle speed, the current gear position is the position corresponding to the target gear, and there are no other gear shifting commands, it is determined that the harvester meets the gear shifting conditions.

[0086] Optionally, in S2 above, if the gear engagement condition is not met, one implementation of the enable solenoid valve for the harvester is as follows:

[0087] If the target gear is any one of gear 1, gear 2 or gear 3, when the gear engagement condition is not met, the enable solenoid valve of the harvester and the gear solenoid valve corresponding to the target gear are output.

[0088] If the target gear is neutral, and the gear engagement conditions are not met, the enable solenoid valve of the harvester will be activated.

[0089] Correspondingly, in S3 above, one possible way to stop the output of the enabling solenoid valve to shift gears according to the target gear is as follows:

[0090] If the target gear is any of gear 1, 2 or 3, stop outputting the enabling solenoid valve and the gear solenoid valve corresponding to the target gear, so as to perform gear shifting according to the target gear;

[0091] If the target gear is neutral, stop outputting the enabling solenoid valve to perform gear shifting according to the target gear.

[0092] Optionally, the current gear position is determined based on the following method:

[0093] Acquire the first voltage value detected by the first gear position sensor and the second voltage value detected by the second gear position sensor installed on the harvester;

[0094] The current gear position is determined by a pre-trained position determination model based on the first voltage value and the second voltage value. The position determination model is a model trained based on different gear positions and the voltage values ​​corresponding to different gear positions.

[0095] Optionally, one possible way to determine the current gear position using a pre-trained position determination model based on the first voltage value and the second voltage value is as follows:

[0096] The position of the first gear is determined using a position determination model based on the first voltage value.

[0097] The position of the second gear is determined using the position determination model based on the second voltage value.

[0098] Determine the current gear position based on the first gear position and the second gear position.

[0099] One possible way to determine the current gear position based on the first gear position and the second gear position is to average the first gear position and the average value is used as the current gear position.

[0100] Optionally, the above location determination model is determined in the following way:

[0101] Obtain the current parking brake status of the harvester;

[0102] Based on the current handle status, current vehicle speed, and current parking brake status, determine whether the harvester meets the preset training conditions;

[0103] If the predicted training conditions are met, different gear positions and the voltage values ​​corresponding to different gear positions are obtained. For each gear position, the voltage value corresponding to the gear position includes voltage values ​​at at least two time points.

[0104] For each gear position, the initial model is trained based on the gear position and the voltage values ​​at least two times corresponding to the gear position to obtain the position determination model.

[0105] To better understand the process of establishing the location determination model described above, the following example will illustrate the process:

[0106] The current parking brake status of the harvester is obtained. Based on the current handle position, current vehicle speed, and current parking brake status, it is determined whether the harvester meets the preset training conditions. Specifically, when the handle is in the neutral position, the current parking status is that the harvester is under parking brake, and the current vehicle speed is less than the set speed of 1 km / h, the training conditions are considered met. Otherwise, the training conditions are not met, and a prompt message can be generated to indicate that the self-learning conditions are not met.

[0107] Once the training conditions are met, gear learning can proceed in the order of 1st gear, 2nd gear, 3rd gear, and neutral. Specifically, the vehicle control unit outputs the 1st gear solenoid valve and the enable solenoid valve, records the voltage value U0 of the gear position sensor at time k, and after a 500ms delay, records the voltage value U1 at time k+1. If the voltage value of U1 minus U0 is less than 20mV, it indicates that the current gear position corresponding to the gear position sensor is 1st gear. If the voltage value of U1 minus U0 is greater than or equal to 20mV, it indicates that the current gear position corresponding to the gear position sensor has not yet reached 1st gear. The system continues to judge the voltage value U2 at time k+2 after 500ms, until the voltage value at time k+n minus the voltage value at time k+n-1 is less than 20mV, and the time interval between time k+n and time k is less than 10s. At this point, the vehicle control unit determines that the 1st gear position learning is successful; otherwise, the 1st gear position learning fails.

[0108] After learning the first gear position, the vehicle control unit proceeds to learn other gear positions. The learning principles for the second, third, and neutral positions are similar to those for the first gear. The difference is that when learning the second gear position, the output is the second gear solenoid valve and its enabling solenoid valve; when learning the third gear position, the output is the third gear solenoid valve and its enabling solenoid valve. Once all gear positions have been successfully learned, a position determination model is obtained. The vehicle control unit then sends a successful gear learning flag to the smart display terminal. Otherwise, it sends a failed gear learning flag to the smart display terminal.

[0109] After the position determination model is trained, during use, the position determination model can be used to learn the gear position based on the first voltage value and the second voltage value to determine the current gear position.

[0110] To better illustrate and understand the principle of the method provided by this invention, the following description uses an optional specific embodiment to illustrate the solution of this invention. It should be noted that the specific implementation of each step in this specific embodiment should not be construed as a limitation of the solution of this invention. Other implementations that can be conceived by those skilled in the art based on the principle of the solution provided by this invention should also be considered within the scope of protection of this invention.

[0111] Since the current handlebar state is any one of neutral, forward, or reverse, and the current gear position is any one of neutral, 1st gear, 2nd gear, or 3rd gear, this solution will be further explained based on different current handlebar states and different current gear positions:

[0112] In this embodiment, the gear shifting command can be generated based on the multi-functional armrest box, and the gear shifting command can be sent to the vehicle control unit via CAN message signal. In this embodiment, the gear shifting command can be referred to as the target gear command CAN message signal. When the target gear changes, the target gear command CAN message signal changes accordingly. Therefore, the target gear command CAN message signal can be any one of the neutral gear command CAN message signal, 1st gear command CAN message signal, 2nd gear command CAN message signal, or 3rd gear command CAN message signal.

[0113] When the vehicle control unit receives the neutral command CAN message signal sent by the multi-function armrest box, and the current handle is in the neutral position (handle state), the current vehicle speed is less than 1km / h (set vehicle speed), the current gear position is not in neutral, and there is no 1st, 2nd, or 3rd gear shift command, the vehicle control unit outputs the enable solenoid valve; otherwise, it cannot output the enable solenoid valve and prompts that the shift conditions are not met. If a neutral position signal is detected, indicating that the current gear is in neutral, the enable solenoid valve stops outputting power. If no neutral position signal is detected, indicating that the current gear is not in neutral, the vehicle control unit disconnects the enable solenoid valve after a 5-second delay. After a 1-second delay, the vehicle control unit resumes outputting power to the enable solenoid valve. If a neutral position signal is detected, the enable solenoid valve stops outputting power. If no neutral position signal is detected, the vehicle control unit disconnects the enable solenoid valve again after a 5-second delay. After a 1-second delay, the enable solenoid valve resumes outputting power. If a neutral position signal is detected, the enable solenoid valve stops outputting power. If no neutral position signal is detected, the output stops after a 5-second delay and an alarm sounds indicating neutral gear engagement failure.

[0114] When the vehicle control unit receives a 1st gear command CAN message signal from the multi-function armrest box, and the current handle is in the neutral position, the current vehicle speed is less than 1 km / h, the current gear position is not in 1st gear, and there are no neutral, 2nd gear, or 3rd gear control commands, the vehicle control unit outputs the 1st gear solenoid valve and the enabling solenoid valve. Otherwise, it cannot output the 1st gear solenoid valve and the enabling solenoid valve, and indicates that the gear engagement conditions are not met. When the vehicle control unit detects the 1st gear position signal, i.e., the current gear position is in 1st gear, it stops outputting the 1st gear solenoid valve and the enabling solenoid valve. If no 1st gear position signal is detected (meaning the current gear position is not in 1st gear), the enabling solenoid valve is disconnected after a 5-second delay. After a 1-second delay, the vehicle control unit continues to output to the enabling solenoid valve. If a 1st gear position signal is detected, the output to the enabling solenoid valve stops. If no 1st gear position signal is detected, the vehicle control unit disconnects the enabling solenoid valve again after a 5-second delay. After a 1-second delay, the output to the enabling solenoid valve resumes. If a 1st gear position signal is detected, the output to the enabling solenoid valve stops. If no 1st gear position signal is detected, the output stops after a 5-second delay and an alarm for 1st gear engagement failure is triggered.

[0115] When the vehicle control unit receives a CAN message signal for a second gear from the multi-function armrest box, and the current gear lever is in the neutral position, the current vehicle speed is less than 1 km / h, the current gear position is not in second gear, and there are no neutral, first gear, or third gear control commands, the vehicle control unit outputs the second gear solenoid valve and the enabling solenoid valve. Otherwise, it cannot output the second gear solenoid valve and the enabling solenoid valve, and prompts that the gear engagement conditions are not met. If a second gear position signal is detected, i.e., the current gear position is in second gear, the output of the second gear solenoid valve and the enabling solenoid valve stops. If no second gear position signal is detected... The signal indicates that the current gear position is 2nd gear. After a 5-second delay, the vehicle control unit disconnects the enabling solenoid valve. After a 1-second delay, the vehicle control unit continues to output to the enabling solenoid valve. If the 2nd gear position signal is detected, the output to the enabling solenoid valve stops. If the 2nd gear position signal is not detected, after a 5-second delay, the vehicle control unit disconnects the enabling solenoid valve again. After a 1-second delay, the output to the enabling solenoid valve continues. If the 2nd gear position signal is detected, the output to the enabling solenoid valve stops. If the 2nd gear position signal is still not detected, after a 5-second delay, the output stops and an alarm sounds indicating 2nd gear engagement failure.

[0116] When the vehicle control unit receives a CAN message signal for a 3rd gear command from the multi-function armrest box, and the current gear lever is in the neutral position, the current vehicle speed is less than 1 km / h, the current gear position is not in 3rd gear, and there are no neutral, 1st gear, or 2nd gear control commands, the vehicle control unit outputs the 3rd gear solenoid valve and the enable solenoid valve. Otherwise, it cannot output the 3rd gear solenoid valve and the enable solenoid valve, and indicates that the gear engagement conditions are not met. If a 3rd gear position signal is detected, meaning the current gear position is in 3rd gear, the output of the 3rd gear solenoid valve and the enable solenoid valve stops. If no 3rd gear position signal is detected... If the current gear position is not in 3rd gear, the vehicle control unit will disconnect the enabling solenoid valve after a 5-second delay. After a 1-second delay, the vehicle control unit will continue to output to the enabling solenoid valve. If the 3rd gear position signal is detected, the output to the enabling solenoid valve will stop. If the 3rd gear position signal is not detected, the vehicle control unit will disconnect the enabling solenoid valve again after a 5-second delay. After a 1-second delay, the output to the enabling solenoid valve will continue. If the 3rd gear position signal is detected, the output to the enabling solenoid valve will stop. If the 3rd gear position signal is still not detected, the output will stop after a 5-second delay and an alarm will sound indicating 3rd gear engagement failure.

[0117] The present invention employs electro-hydraulic control to manage the gearbox positions, while simultaneously using position sensors to detect the gear status. Since the positions of each gearbox gear may vary, a gear self-learning strategy is designed to address consistency issues; that is, the gear can automatically learn its position based on the different gearbox positions. This invention significantly reduces the driver's workload and simultaneously improves the operating efficiency of the combine harvester.

[0118] Based on and Figure 1 Based on the same principle as the method shown, this embodiment of the invention also provides a gear shifting device 20 for a harvester, such as... Figure 4 As shown, the shifting device 20 of the harvester may include an acquisition module 210, a processing module 220, and a shifting module 230, wherein:

[0119] The acquisition module 210 is used to acquire the harvester's gear shifting command, current handle status, current vehicle speed, and current gear position, wherein the gear shifting command includes the target gear.

[0120] The processing module 220 is used to determine whether the harvester meets the preset gear engagement conditions based on the current handle state, current vehicle speed, and current gear position. If the gear engagement conditions are not met, the module outputs the enable solenoid valve of the harvester and adjusts the current gear position until the adjusted current gear position, the handle state corresponding to the adjusted current gear position, and the vehicle speed corresponding to the adjusted current gear position meet the gear engagement conditions. The processing process of the shift module 230 is then executed. If the gear engagement conditions are met, the processing process of the shift module 230 is also executed.

[0121] The shift module 230 is used to stop the output of the enabling solenoid valve so as to shift gears according to the target gear.

[0122] Optionally, the current handle state is any one of the neutral position, forward gear position, or reverse gear position, and the current gear position is any one of the neutral position, first gear position, second gear position, or third gear position.

[0123] When the processing module 220 determines whether the harvester meets the preset gear engagement conditions based on the current handle state, current vehicle speed, and current gear position, it is specifically used for:

[0124] If the current handle state is not in the middle position, the current vehicle speed is less than the set vehicle speed, the current gear position is not the position corresponding to the target gear, and there are no other gear shifting commands, it is determined that the harvester does not meet the gear shifting conditions. The other gear shifting commands are gear shifting commands corresponding to gears other than the target gear.

[0125] If the current handle state is in the neutral position, the current vehicle speed is not less than the set vehicle speed, the current gear position is the position corresponding to the target gear, and there are no other gear shifting commands, it is determined that the harvester meets the gear shifting conditions.

[0126] Optionally, the current gear position is determined based on the following method:

[0127] Acquire the first voltage value detected by the first gear position sensor and the second voltage value detected by the second gear position sensor installed on the harvester;

[0128] The current gear position is determined by a pre-trained position determination model based on the first voltage value and the second voltage value. The position determination model is a model trained based on different gear positions and the voltage values ​​corresponding to different gear positions.

[0129] Optionally, the location determination model is determined in the following manner:

[0130] Obtain the current parking brake status of the harvester;

[0131] Based on the current handle status, current vehicle speed, and current parking brake status, determine whether the harvester meets the preset training conditions;

[0132] If the predicted training conditions are met, different gear positions and the voltage values ​​corresponding to different gear positions are obtained. For each gear position, the voltage value corresponding to the gear position includes voltage values ​​at at least two time points.

[0133] For each gear position, the initial model is trained based on the gear position and the voltage values ​​at least two times corresponding to the gear position to obtain the position determination model.

[0134] Optionally, the device may also include:

[0135] The display module is used to display the current handle status, current vehicle speed, current parking brake status, and target gear of the harvester.

[0136] The gear shifting device of the harvester in this embodiment of the invention can execute the gear shifting method of the harvester provided in this embodiment of the invention. The implementation principle is similar. The actions performed by each module and unit in the gear shifting device of the harvester in each embodiment of the invention correspond to the steps in the gear shifting method of the harvester in each embodiment of the invention. For detailed functional descriptions of each module of the gear shifting device of the harvester, please refer to the descriptions of the corresponding gear shifting methods of the harvester shown above, which will not be repeated here.

[0137] The gear shifting device of the harvester can be a computer program (including program code) running on a computer device, such as an application software; the device can be used to execute the corresponding steps in the method provided in the embodiments of the present invention.

[0138] In some embodiments, the gear shifting device of the harvester provided in this invention can be implemented using a combination of hardware and software. As an example, the gear shifting device of the harvester provided in this invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the gear shifting method of the harvester provided in this invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0139] In other embodiments, the gear shifting device of the harvester provided in this invention can be implemented in software. Figure 4 A harvester shifting device stored in a memory is shown. It can be software in the form of programs and plug-ins, and includes a series of modules, including an acquisition module 210, a processing module 220 and a shifting module 230, for implementing the harvester shifting method provided in the embodiments of the present invention.

[0140] The modules described in the embodiments of the present invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0141] Based on the same principles as the methods shown in the embodiments of the present invention, the embodiments of the present invention also provide an electronic device, which may include, but is not limited to: a processor and a memory; the memory for storing computer programs; and the processor for executing the methods shown in any embodiment of the present invention by invoking the computer programs.

[0142] In one alternative embodiment, an electronic device is provided, such as Figure 5 As shown, Figure 5 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0143] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0144] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0145] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0146] The memory 4003 stores the application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0147] Among these, electronic devices can also be terminal devices. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0148] This invention provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.

[0149] According to another aspect of the present invention, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various embodiments described above.

[0150] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0151] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0152] The computer-readable storage medium provided in this invention can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0153] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0154] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method for shifting gears in a harvester, characterized in that, include: S1, obtain the harvester's gear shifting command, current handle status, current vehicle speed, and current gear position, wherein the gear shifting command includes the target gear; S2, based on the current handle state, current vehicle speed and current gear position, determine whether the harvester meets the preset gear engagement conditions. If the gear engagement conditions are not met, output the enable solenoid valve of the harvester and adjust the current gear position until the adjusted current gear position, the handle state corresponding to the adjusted current gear position, and the vehicle speed corresponding to the adjusted current gear position meet the gear engagement conditions. Execute S3. If the gear engagement conditions are met, execute S3. S3, stop outputting the enabling solenoid valve to shift gears according to the target gear; The current handle state is any one of the neutral position, forward gear position, or reverse gear position, and the current gear position is any one of the neutral position, 1st gear position, 2nd gear position, or 3rd gear position; The step of determining whether the harvester meets the preset gear engagement conditions based on the current handle state, current vehicle speed, and current gear position includes: If the current handle state is not in the middle position, the current vehicle speed is less than the set vehicle speed, the current gear position is not the position corresponding to the target gear, and there are no other gear shifting commands, it is determined that the harvester does not meet the gear shifting conditions. The other gear shifting commands are gear shifting commands corresponding to gears other than the target gear. If the current handle state is in the neutral position, the current vehicle speed is not less than the set vehicle speed, the current gear position is the position corresponding to the target gear, and there are no other gear shifting commands, it is determined that the harvester meets the gear shifting conditions.

2. The method according to claim 1, characterized in that, The current gear position is determined based on the following method: Acquire the first voltage value detected by the first gear position sensor and the second voltage value detected by the second gear position sensor installed on the harvester; The current gear position is determined by a pre-trained position determination model based on the first voltage value and the second voltage value. The position determination model is a model trained based on different gear positions and the voltage values ​​corresponding to different gear positions.

3. The method according to claim 2, characterized in that, The location determination model is determined in the following way: Obtain the current parking brake status of the harvester; Based on the current handle status, current vehicle speed, and current parking brake status, determine whether the harvester meets the preset training conditions; If the preset training conditions are met, different gear positions and the voltage values ​​corresponding to different gear positions are obtained. For each gear position, the voltage value corresponding to the gear position includes voltage values ​​at at least two times. For each gear position, the initial model is trained based on the gear position and the voltage values ​​at least two times corresponding to the gear position to obtain the position determination model.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: The display shows the harvester's current handle status, current speed, current parking brake status, and target gear.

5. A gear shifting system for a harvester, characterized in that, The harvester shifting method according to claim 1 includes an on-board control unit, and a vehicle speed sensor, an enabling solenoid valve, a multi-functional armrest box and a gear position sensor, which are respectively communicatively connected to the on-board control unit. The multi-functional armrest box is used to obtain the harvester's gear shifting command and the current handle status, wherein the gear shifting command includes the target gear; The vehicle speed sensor is used to obtain the current speed of the harvester; The gear position sensor is used to obtain the current gear position of the harvester; The vehicle control unit is used to acquire the gear shift command, the current lever state, the current vehicle speed, and the current gear position, and to execute the following steps: S10: Based on the current handle state, current vehicle speed, and current gear position, determine whether the harvester meets the preset gear engagement conditions. If the gear engagement conditions are not met, output the enabling solenoid valve and adjust the current gear position until the adjusted current gear position, the handle state corresponding to the adjusted current gear position, and the vehicle speed corresponding to the adjusted current gear position meet the gear engagement conditions. Then execute S20. If the gear engagement conditions are met, execute S20. S20, stop outputting the enabling solenoid valve to shift gears according to the target gear.

6. The system according to claim 5, characterized in that, The system also includes gear solenoid valves corresponding to different gear positions, including gear 1, gear 2 and gear 3; When the target gear is not neutral, step S20 includes: Stop the output of the enabling solenoid valve, and shift gears according to the target gear position through the gear solenoid valve corresponding to the target gear position.

7. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1-4.

9. A harvester, characterized in that, Including the electronic device as described in claim 7.

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