Cane machine control method and apparatus, cane machine and machine readable storage medium

Abstract

The application discloses a sugarcane machine control method and device, a sugarcane machine and a machine readable storage medium, and relates to the technical field of sugarcane machines. The method comprises the following steps: determining whether the sugarcane machine meets the starting requirement in the case that a work signal is received; performing starting control on at least one execution mechanism according to a preset starting sequence of the execution mechanism in the case that the sugarcane machine meets the starting requirement; performing parameter detection on the execution mechanism to obtain a parameter detection result in the case that at least one execution mechanism is started; and controlling the sugarcane machine to work in the case that the parameter detection result of all the execution mechanisms passes the parameter detection. The application is used to solve the defects that the driver's operation is complicated in the prior art, and the risk of sugarcane machine damage caused by improper operation of the driver is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sugarcane machines, in particular to a sugarcane machine control method and device, a sugarcane machine and a machine readable storage medium. BACKGROUND

[0002] A sugarcane machine is an agricultural mechanical equipment for harvesting, processing and processing sugarcane, which integrates pruning, cutting, leaf stripping, separation and transportation. The sugarcane machine needs to complete multiple complex actions, and each action is controlled by a separate button to facilitate fault diagnosis and action debugging.

[0003] In the prior art, multiple buttons on the sugarcane machine are integrated on an integrated handle. Before the sugarcane machine is operated, the driver needs to press the buttons of the execution mechanism of the sugarcane machine such as the pruner, the cane holder, the root knife, the conveying drum, the cleaning fan and the elevator in sequence, which leads to complicated operation of the driver during operation and increases the risk of damage to the sugarcane machine due to improper operation of the driver. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a sugarcane machine control method, device, sugarcane machine and machine readable storage medium to solve the defects in the prior art that the driver's operation is complicated during operation, which increases the risk of damage to the sugarcane machine due to improper operation of the driver.

[0005] To achieve the above-mentioned purpose, the first aspect of the present application provides a sugarcane machine control method, the sugarcane machine comprising at least one execution mechanism, the sugarcane machine control method comprising:

[0006] In the case of receiving an operation signal, it is determined whether the sugarcane machine meets the starting requirement;

[0007] In the case that the sugarcane machine meets the starting requirement, the at least one execution mechanism is controlled according to the preset starting sequence of the execution mechanism;

[0008] In the case of starting at least one execution mechanism, the execution mechanism is detected to obtain a parameter detection result;

[0009] In the case that all parameter detection results of the execution mechanism pass the parameter detection, the sugarcane machine is controlled to operate.

[0010] In the embodiments of the present application, the sugarcane machine further comprises an engine, and the determination of whether the sugarcane machine meets the starting requirement comprises:

[0011] Obtaining the cooling oil temperature, the cooling water temperature and the rotating speed of the engine;

[0012] In a case where the engine speed reaches a preset speed threshold, the cooling water temperature reaches a preset water temperature threshold, and the cooling oil temperature in the hydraulic oil tank reaches a preset cooling oil temperature threshold, it is determined that the sugarcane harvester meets the starting requirement.

[0013] In the embodiments of the present application, the determination of whether the sugarcane harvester meets the starting requirement in a case where the work signal is received comprises:

[0014] In a case where the work signal is received, the sugarcane harvester is controlled to enter a work mode;

[0015] It is determined whether the sugarcane harvester meets the starting requirement;

[0016] The method further comprises:

[0017] In a case where the sugarcane harvester does not meet the starting requirement, the sugarcane harvester is controlled to exit the work mode, and an alarm information is sent out.

[0018] In the embodiments of the present application, the actuators of the sugarcane harvester comprise a cane supporting device, a tipper, a root knife device, a conveying drum, a gear box, a cleaning fan and an elevator, and the parameter detection on the actuators in a case where at least one of the actuators is started to obtain a parameter detection result comprises:

[0019] In a case where the actuator is the cane supporting device, the speed, the pressure of a motor corresponding to the cane supporting device and the position of the cane supporting device are obtained;

[0020] In a case where the speed of the motor corresponding to the cane supporting device reaches a first preset speed, the pressure of the motor corresponding to the cane supporting device reaches a first preset pressure, and the position of the cane supporting device is located at a first preset position, it is determined that the parameter detection result of the cane supporting device is passed; and / or

[0021] In a case where the actuator is the tipper, the speed, the pressure of a motor corresponding to the tipper and the height of the tipper are obtained;

[0022] In a case where the speed of the motor corresponding to the tipper reaches a second preset speed, the pressure of the motor corresponding to the tipper reaches a second preset pressure, and the height of the tipper reaches a preset height, it is determined that the parameter detection result of the tipper is passed; and / or

[0023] In a case where the actuator is any one of the root knife device, the conveying drum, the gear box, the cleaning fan and the elevator, the speed and the pressure of a motor corresponding to the actuator are obtained;

[0024] In a case where the rotation speed of the motor corresponding to the actuator reaches a corresponding preset rotation speed and the pressure of the motor corresponding to the actuator reaches a corresponding preset pressure, it is determined that the parameter detection result of the actuator is passed.

[0025] In the embodiment of the present application, the sugarcane machine further comprises a lifting oil cylinder, and in a case where the sugarcane machine meets the starting requirement, at least one of the actuators is controlled to start according to a preset starting sequence of the actuators, comprising:

[0026] In a case where the sugarcane machine meets the starting requirement, the sugarcane machine is initialized according to a preset first initialization logic;

[0027] At least one of the actuators is controlled to start according to a preset starting sequence of the actuators;

[0028] The first initialization logic comprises at least one of the following:

[0029] The lifting oil cylinder is controlled to move to a second preset position;

[0030] The root knife device is controlled to move to a third preset position;

[0031] The cane holder is controlled to move to a fourth preset position;

[0032] The tip cutter is controlled to move to a fifth preset position.

[0033] In the embodiment of the present application, the method further comprises:

[0034] In a case where the turning signal is received, it is determined whether all the actuators of the sugarcane machine pass the parameter detection;

[0035] In a case where all the actuators of the sugarcane machine pass the parameter detection, it is determined whether the rotation speed of the motor corresponding to the root knife device is less than or equal to a third preset rotation speed;

[0036] In a case where the rotation speed of the motor corresponding to the root knife device is less than or equal to the third preset rotation speed, it is determined whether the rotation speed of the motor corresponding to the cleaning fan is less than or equal to a fourth preset rotation speed;

[0037] In a case where the rotation speed of the motor corresponding to the cleaning fan is less than or equal to the fourth preset rotation speed, the sugarcane machine is controlled to turn.

[0038] In the embodiment of the present application, in a case where all the actuators of the sugarcane machine pass the parameter detection, it is determined whether the rotation speed of the motor corresponding to the root knife device is less than or equal to a third preset rotation speed, comprising:

[0039] In a case where all the actuators of the sugarcane harvester pass the parameter detection, the sugarcane harvester is initialized according to a preset second initialization logic;

[0040] It is determined whether the rotating speed of the motor corresponding to the root cutter is less than or equal to a third preset rotating speed;

[0041] The second initialization logic includes:

[0042] The lifting cylinder of the sugarcane harvester is controlled to move to a sixth preset position;

[0043] The root cutter is controlled to move to a seventh preset position;

[0044] The cane holder is controlled to move to an eighth preset position.

[0045] In the embodiments of the present application, the method further includes:

[0046] The opening degree of an accelerator pedal of the sugarcane harvester is acquired;

[0047] In a case where the opening degree of the accelerator pedal is maximum, the current of the engine of the sugarcane harvester is controlled to decrease according to a preset positive proportional function in a delayed manner, and in a case where the opening degree of the accelerator pedal is minimum, the current of the engine of the sugarcane harvester is controlled to increase according to a preset positive proportional function in a delayed manner, wherein the rotating speed of the engine increases with the increase of the current of the engine;

[0048] The sugarcane harvester is controlled to travel according to the rotating speed of the engine.

[0049] In the embodiments of the present application, the method further includes:

[0050] In a case where one of the actuators does not pass the parameter detection, an alarm information that the actuator is abnormal is sent.

[0051] The second aspect of the present application provides a sugarcane harvester control device, including:

[0052] a memory configured to store instructions; and

[0053] a processor configured to call the instructions from the memory and capable of realizing the above-mentioned sugarcane harvester control method when the instructions are executed.

[0054] The third aspect of the present application provides a sugarcane harvester, including:

[0055] the above-mentioned sugarcane harvester control device.

[0056] The fourth aspect of the present application provides a machine readable storage medium, characterized in that the machine readable storage medium stores instructions for causing a machine to execute the sugarcane machine control method.

[0057] By the above technical solution, in the case of receiving the operation signal, first determine whether the sugarcane machine reaches the starting requirement, and in the case of the sugarcane machine reaching the starting requirement, according to the preset starting sequence of the actuator, the at least one actuator is started to control, and in the case of all parameter detection results of the actuator passing the parameter detection, the sugarcane machine is controlled to work, so as to realize automatic control of the sugarcane machine to work when receiving the operation signal, without the need for the driver to control the sugarcane machine through multiple keys, reduce the complexity of the driver controlling the sugarcane machine through multiple keys when the driver is working, solve the defect that the driver is cumbersome to operate when working in the prior art, increase the risk of sugarcane machine damage caused by improper operation of the driver, and at the same time, increase the driving experience of the driver.

[0058] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0059] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0060] Figure 1 The overall structure of a sugarcane machine according to an embodiment of the present application is schematically shown;

[0061] Figure 2 The flowchart of a sugarcane machine control method according to an embodiment of the present application is schematically shown.

[0062] MARKED FOR EXPLANATION

[0063] 1 Pruner 2 Stalk holder

[0064] 3 Cab 4 Root cutter

[0065] 5 Engine 6 Conveyor belt

[0066] 7 Cutter 8 Traveling device

[0067] 9 Cleaning fan 10 Elevator DETAILED DESCRIPTION

[0068] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. It should be understood that the specific implementation described herein is only used to explain and describe the embodiments of the present application, and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0069] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0070] In addition, if the embodiments of the present application involve descriptions such as “first”, “second”, etc., the descriptions of “first”, “second”, etc. are only for description purposes, and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is also not within the scope of protection claimed by the present application.

[0071] For ease of understanding, the sugarcane machine is described as follows:

[0072] Figure 1 The overall structure of a sugarcane machine according to an embodiment of the present application is schematically shown. As shown in Figure 1 The sugarcane machine includes a tipper 1, a cane holder 2, a cab 3, a root cutter 4, an engine 5, a conveyor belt 6, a cutter 7, a walking device 8, a cleaning fan 9 and an elevator 10. Among them, the tipper 1, the cane holder 2, the root cutter 4, the cutter 7, the cleaning fan 9 and the elevator 10 are the actuators of the sugarcane machine, which are respectively used to perform different functions, in addition to which, the actuators of the sugarcane machine also include a conveying drum and a gear box.

[0073] Specifically, the top trimmer 1 is used to trim the top of the sugarcane, facilitating subsequent processing and treatment of the sugarcane; the cane lifter 2 is used to lift the sugarcane from the ground and position it on the cutter 7, so as to cut the sugarcane; the root cutter 4 is used to cut the root of the sugarcane; the cutter 7 is used to cut the sugarcane into small segments of a certain length, facilitating subsequent processing and treatment; the conveying drum and the gear box are located inside the sugarcane machine, the conveying drum is used to convey the sugarcane segments from the cutter 7 to the cleaning fan 9 and the elevator 10, and the gear box is used to achieve transmission and control; the cleaning fan 9 is used to clean and separate the cut sugarcane segments, and to remove impurities and substandard sugarcane segments, and to convey the qualified sugarcane segments to subsequent processing equipment through the elevator 10.

[0074] Figure 2 A flowchart of a sugarcane machine control method according to an embodiment of the present application is schematically shown. As shown in the figure, Figure 2 The embodiment of the present application provides a sugarcane machine control method, and the sugarcane machine comprises at least one actuator, which can comprise the following steps:

[0075] S110, in the case of receiving a work signal, determining whether the sugarcane machine meets the starting requirement.

[0076] In this embodiment, the keys of the multiple actuators on the sugarcane machine are integrated into one key, and when the driver presses the key, the work signal is received.

[0077] In the case of receiving a work signal, in order to ensure the normal operation of the sugarcane machine, it is necessary to determine whether the sugarcane machine meets the starting requirement. Specifically, the starting requirement refers to the requirement that needs to be met before the sugarcane machine works.

[0078] S120, in the case of the sugarcane machine meeting the starting requirement, starting control is performed on the at least one actuator according to a preset starting sequence of the actuators.

[0079] In the case of the sugarcane machine meeting the starting requirement, starting control is performed on the at least one actuator according to a preset starting sequence of the actuators. Specifically, the starting sequence of the actuators can be the cane lifter 2, the top trimmer 1, the root cutter 4, the conveying drum, the gear box, the cleaning fan 9, and the elevator 10, and in addition to this, the starting sequence of the actuators can also be a combination of other actuators, which is not limited herein.

[0080] It should be noted that the starting sequence of the actuators can be flexibly adjusted according to the specific implementation process, which is not limited herein.

[0081] S130, in the case of starting the at least one actuator, performing parameter detection on the actuator to obtain a parameter detection result.

[0082] In the case of starting one of the actuators, in order to ensure that the sugarcane machine operates normally, the parameters of the actuator need to be detected, wherein the parameter detection refers to detecting the actuator to determine whether its working performance meets the requirements of the normal operation of the sugarcane machine.

[0083] After the parameter detection of the actuator is performed, the parameter detection result can be obtained.

[0084] S140, in the case that the parameter detection results of all actuators pass the parameter detection, the sugarcane machine is controlled to operate.

[0085] In the case that the parameter detection results of all actuators pass the parameter detection, the sugarcane machine can be controlled to operate.

[0086] In the case that the parameter detection results of all actuators pass the parameter detection, the sugarcane machine can be controlled to operate.

[0086] In the case that the parameter detection results of all actuators pass the parameter detection, the sugarcane machine can be controlled to operate.

[0087] In one of the embodiments of the present embodiment, the sugarcane machine further comprises an engine, and determining whether the sugarcane machine meets the starting requirements comprises the following steps:

[0088] S111, obtaining the cooling oil temperature, the cooling water temperature and the rotating speed of the engine 5.

[0089] In the present embodiment, the rotating speed of the engine 5 can be obtained by a rotating speed sensor, and the cooling water temperature and the cooling oil temperature can be obtained by a temperature sensor.

[0090] S112, in the case that the rotating speed of the engine 5 reaches a preset rotating speed threshold value, the cooling water temperature reaches a preset water temperature threshold value, and the cooling oil temperature in the hydraulic oil tank reaches a preset cooling oil temperature threshold value, it is determined that the sugarcane machine meets the starting requirements.

[0091] Since in specific implementation, if the rotation speed of the engine 5 is too low, the sugarcane harvester cannot work normally and may cause safety risk of the sugarcane harvester; if the cooling water temperature and / or the cooling oil temperature are too low, the sugarcane harvester may not reach the normal starting temperature, therefore, in the case that the rotation speed of the engine 5 reaches the preset rotation speed threshold, the cooling water temperature reaches the preset water temperature threshold and the cooling oil temperature reaches the preset cooling oil temperature threshold, it can be determined that the sugarcane harvester reaches the starting requirement.

[0092] In the embodiment, by judging whether the rotation speed of the engine 5, the cooling water temperature and the cooling oil temperature reach the preset threshold, it can be determined whether the sugarcane harvester reaches the starting requirement, which effectively ensures that the sugarcane harvester can normally operate after starting, guarantees the safety and performance of the sugarcane harvester, and further effectively avoids starting the sugarcane harvester under unsuitable conditions, reduces the risk of failure and damage, and prolongs the service life of the sugarcane harvester.

[0093] In one of the implementation manners of the embodiment, in the case that the operation signal is received, determining whether the sugarcane harvester reaches the starting requirement includes the following steps:

[0094] S1101, in the case that the operation signal is received, controlling the sugarcane harvester to enter the operation mode.

[0095] In the case that the operation signal is received, the sugarcane harvester enters the operation mode, wherein the operation signal is received when the driver presses the one-key operation button, which indicates that the sugarcane harvester enters the operation mode.

[0096] S1102, determining whether the sugarcane harvester reaches the starting requirement.

[0097] It has been described in steps S111-S112 that whether the sugarcane harvester reaches the starting requirement, therefore, no further description is given here.

[0098] The method further includes:

[0099] S1103, in the case that the sugarcane harvester does not reach the starting requirement, controlling the sugarcane harvester to exit the operation mode and issuing an alarm information.

[0100] In the case that the sugarcane harvester does not reach the starting requirement, it indicates that the conditions of the sugarcane harvester at this time cannot start normally, at this time, the sugarcane harvester is controlled to exit the operation mode and an alarm information is issued, specifically, the alarm information can be sound and light information, which is used to prompt that the sugarcane harvester does not reach the starting requirement.

[0101] In the embodiment, in the case that the sugarcane harvester does not reach the starting requirement, the sugarcane harvester is controlled to exit the operation mode and an alarm information is issued, which is used to prompt the driver that the sugarcane harvester does not reach the starting requirement, effectively avoiding forcibly starting the sugarcane harvester under the condition that the starting requirement is not met, thereby reducing the risk of failure of the sugarcane harvester.

[0102] In one of the implementation modes of the embodiment, the actuators of the sugarcane machine include the cane holder 2, the top cutter 1, the root cutter 4, the conveying roller, the gear box, the cleaning fan 9 and the elevator 10, and in the case of starting at least one actuator, the parameter detection of the actuator is performed to obtain a parameter detection result, including the following steps:

[0103] S131, in the case of the actuator being the cane holder 2, the rotation speed of the motor corresponding to the cane holder 2, the pressure and the position of the cane holder 2 are obtained;

[0104] The rotation speed of the motor corresponding to the cane holder 2 can be obtained by a rotation speed sensor, the pressure of the motor corresponding to the cane holder 2 can be obtained by a pressure sensor, and the position of the cane holder 2 can be obtained by a position sensor. The embodiment does not limit the obtaining mode of the rotation speed, the pressure and the position of the motor corresponding to the cane holder 2.

[0105] S132, in the case of the rotation speed of the motor corresponding to the cane holder 2 reaching a first preset rotation speed, the pressure of the motor corresponding to the cane holder 2 reaching a first preset pressure and the position of the cane holder 2 being located at a first preset position, it is determined that the parameter detection result of the cane holder 2 is passed; and / or

[0106] In the case of the rotation speed of the motor corresponding to the cane holder 2 reaching a first preset rotation speed, the pressure of the motor corresponding to the cane holder 2 reaching a first preset pressure and the position of the cane holder 2 being located at a first preset position, it is indicated that the cane holder 2 can work normally, and at this time, it is determined that the cane holder 2 passes the parameter detection.

[0107] S133, in the case of the actuator being the top cutter 1, the rotation speed of the motor corresponding to the top cutter 1, the pressure and the height of the top cutter 1 are obtained;

[0108] The rotation speed of the motor corresponding to the top cutter 1 can be obtained by a rotation speed sensor, the pressure of the motor corresponding to the top cutter 1 can be obtained by a pressure sensor, and the height of the top cutter 1 can be obtained by a height sensor. The embodiment does not limit the obtaining mode of the rotation speed, the pressure and the height of the motor corresponding to the top cutter 1.

[0109] S134, in the case of the rotation speed of the motor corresponding to the top cutter 1 reaching a second preset rotation speed, the pressure of the motor corresponding to the top cutter 1 reaching a second preset pressure and the height of the top cutter 1 reaching a preset height, it is determined that the parameter detection result of the top cutter 1 is passed; and / or

[0110] In a case where the rotation speed of the motor corresponding to the topping cutter 1 reaches the second preset rotation speed, the pressure of the motor corresponding to the topping cutter 1 reaches the second preset pressure, and the height of the topping cutter 1 reaches the preset height, it is indicated that the topping cutter 1 can work normally, and it is determined that the parameter detection of the topping cutter 1 is passed.

[0111] In a case where the actuator is any one of the root cutter 4, the conveying roller, the gear box, the cleaning fan 9, and the elevator 10, the rotation speed and the pressure of the motor corresponding to the actuator are acquired.

[0112] In the embodiment, in a case where the actuator is the root cutter 4, the conveying roller, the gear box, the cleaning fan 9, or the elevator 10, the rotation speed of the motor corresponding to the actuator can be acquired by the rotation speed sensor, and the pressure of the motor corresponding to the actuator can be acquired by the pressure sensor. The embodiment does not limit the acquisition manner of the rotation speed and the pressure of the motor corresponding to the actuator.

[0113] In a case where the rotation speed of the motor corresponding to the actuator reaches the corresponding preset rotation speed and the pressure of the motor corresponding to the actuator reaches the corresponding preset pressure, it is determined that the parameter detection result of the actuator is passed.

[0114] In a case where the rotation speed of the motor corresponding to the actuator reaches the corresponding preset rotation speed and the pressure of the motor corresponding to the actuator reaches the corresponding preset pressure, it is indicated that the actuator can work normally, and it is determined that the parameter detection of the actuator is passed.

[0115] The embodiment performs parameter detection on the actuator in a case where the at least one actuator is started, and obtains a parameter detection result, so that parameter detection can be performed on one of the actuators, and the actuator that fails can be detected in time.

[0116] In one of the embodiments of the embodiment, the sugarcane harvester further includes a lifting oil cylinder. In a case where the sugarcane harvester meets the starting requirement, the at least one actuator is controlled to start according to a preset starting sequence of the actuators, including the following steps.

[0117] S210, in a case where the sugarcane harvester meets the starting requirement, the sugarcane harvester is initialized according to a preset first initialization logic.

[0118] The first initialization logic is used to control the sugarcane harvester to initialize in a case where the sugarcane harvester meets the starting requirement and before the step of controlling the at least one actuator to start.

[0119] S220, the at least one actuator is controlled to start according to a preset starting sequence of the actuators.

[0120] In the embodiment, when the sugarcane machine meets the starting requirements, the sugarcane machine needs to be initialized, and then the step of starting control of at least one actuator according to the preset starting sequence of the actuator is performed.

[0121] Specifically, the first initialization logic includes at least one of the following:

[0122] S211, control the lifting oil cylinder to move to a second preset position.

[0123] S212, control the root knife device 4 to move to a third preset position.

[0124] S213, control the cane holder 2 to move to a fourth preset position.

[0125] S214, control the tip cutter 1 to move to a fifth preset position.

[0126] In the embodiment, the initialization of the sugarcane machine is realized by controlling the lifting oil cylinder, the root knife device 4, the cane holder 2 and the tip cutter 1 to move to the corresponding positions. The lifting oil cylinder can be the lifting oil cylinder of the front wheel of the sugarcane machine. The initialization logic can be that the lifting oil cylinder is lowered to the second preset position, the root knife device 4 is lowered to the third preset position, the cane holder 2 is lowered to the fourth preset position, and the tip cutter 1 is raised to the fifth preset position.

[0127] In the embodiment, the sugarcane machine is first initialized, and the step of starting control of at least one actuator according to the preset starting sequence of the actuator is performed, so as to improve the working efficiency and stability of the sugarcane machine and ensure that each actuator can normally operate after starting.

[0128] In one of the embodiments of the embodiment, the sugarcane machine control method further includes the following steps:

[0129] S310, in the case where the turning signal is received, it is determined whether all actuators of the sugarcane machine pass the parameter detection.

[0130] In a specific implementation, when the sugarcane harvester makes a field turning, the driver needs to lift the root knife 4 and the cane holder 2 by the lifting oil cylinder to prevent collision with the ridge or hard objects during the turning. However, in actual operation of the driver, the speed of the engine 5 of the sugarcane harvester needs to be controlled to be reduced during the turning, but the speed of the motor corresponding to the actuator cannot be continuously controlled and reduced. In addition, during the turning interval, the speed of the actuator is always kept at a high speed, which leads to high oil consumption and poor fuel economy. At the same time, the continuous high-speed operation of the actuator reduces its service life. Therefore, the sugarcane harvester in this embodiment has a one-key turning mode. Specifically, the one-key turning mode can be controlled by the driver through an integrated button. When the driver presses the one-key turning button, a turning signal is received. In the case of receiving the turning signal, it is determined whether all the actuators of the sugarcane harvester pass the parameter detection.

[0131] It should be noted that when the sugarcane harvester is in the one-key turning mode, whether the actuator passes the parameter detection is consistent with the parameter detection method in steps S131-S136, which will not be described here.

[0132] S320, in the case that all the actuators of the sugarcane harvester pass the parameter detection, it is determined whether the speed of the motor corresponding to the root knife 4 is less than or equal to the third preset speed.

[0133] In the case that all the actuators of the sugarcane harvester pass the parameter detection, in order to reduce oil consumption, the speed of the motor corresponding to the root knife 4 needs to be controlled to be reduced, and it is determined whether the speed of the motor corresponding to the root knife 4 is less than or equal to the third preset speed. If the speed of the motor corresponding to the root knife 4 is not less than or equal to the third preset speed, an alarm information of the abnormal root knife 4 is sent.

[0134] S330, in the case that the speed of the motor corresponding to the root knife 4 is less than or equal to the third preset speed, it is determined whether the speed of the motor corresponding to the cleaning fan 9 is less than or equal to the fourth preset speed.

[0135] In the case that the speed of the motor corresponding to the root knife 4 is less than or equal to the third preset speed, in order to further reduce oil consumption, the speed of the motor corresponding to the cleaning fan 9 needs to be controlled to be reduced, and it is determined whether the speed of the motor corresponding to the cleaning fan 9 is less than or equal to the fourth preset speed. If the speed of the motor corresponding to the cleaning fan 9 is not less than or equal to the fourth preset speed, an alarm information of the abnormal cleaning fan 9 is sent.

[0136] S340, in the case that the speed of the motor corresponding to the cleaning fan 9 is less than or equal to the fourth preset speed, the sugarcane harvester is controlled to make a turning.

[0137] In the case that the rotation speed of the motor corresponding to the cleaning fan 9 is less than or equal to the fourth preset rotation speed, the sugarcane harvester is controlled to turn.

[0138] In the case that the rotation speed of the motor corresponding to the cleaning fan 9 is less than or equal to the fourth preset rotation speed, the sugarcane harvester is controlled to turn.

[0139] In one of the embodiments of the present embodiment, in the case that all actuators of the sugarcane harvester are detected by parameters, determining whether the rotation speed of the motor corresponding to the root knife 4 is reduced to the third preset rotation speed comprises the following steps:

[0140] S410, in the case that all actuators of the sugarcane harvester are detected by parameters, initializing the sugarcane harvester according to the preset second initialization logic.

[0141] The second initialization logic is used to control the sugarcane harvester to initialize before the step of determining whether the rotation speed of the root knife reaches the eighth preset rotation speed.

[0142] S420, determining whether the rotation speed of the motor corresponding to the root knife 4 is reduced to the third preset rotation speed.

[0143] In the present embodiment, in the case that all actuators of the sugarcane harvester are detected by parameters, the sugarcane harvester needs to be initialized before the step of determining whether the rotation speed of the motor corresponding to the root knife 4 is reduced to the third preset rotation speed.

[0144] Specifically, the second initialization logic comprises:

[0145] S411, controlling the lifting cylinder of the sugarcane harvester to move to the sixth preset position.

[0146] S412, controlling the root knife 4 to move to the seventh preset position.

[0147] S413, controlling the cane holder 2 to move to the eighth preset position.

[0148] In the present embodiment, the initialization of the sugarcane harvester is realized by controlling the lifting cylinder, the root knife 4 and the cane holder 2 to move to the corresponding positions. The lifting cylinder can be the lifting cylinder of the front wheel of the sugarcane harvester. The initialization logic can be that the lifting cylinder is lifted to the sixth preset position, the root knife 4 is lifted to the seventh preset position, and the cane holder 2 is lifted to the eighth preset position.

[0149] The embodiment first initializes the sugarcane machine, and performs a step of determining whether the rotation speed of the motor corresponding to the root knife device 4 is reduced to a third preset rotation speed, so as to improve the working efficiency and stability of the sugarcane machine when turning, and ensure that each actuator can normally operate after the sugarcane machine turns.

[0150] In one of the embodiments of the present embodiment, the sugarcane machine control method further comprises the following steps:

[0151] S341, acquiring the accelerator pedal opening degree of the sugarcane machine.

[0152] The accelerator pedal opening degree of the sugarcane machine refers to the opening and closing degree of the accelerator pedal, which is used to control the rotation speed and power output of the engine. The accelerator pedal opening degree can be acquired by an accelerator pedal position sensor, in addition to which the accelerator pedal opening degree can also be acquired by other means, which are not limited herein.

[0153] S342, in the case that the accelerator pedal opening degree is maximum, controlling the current of the engine 5 of the sugarcane machine to be reduced according to a preset positive proportional function, and in the case that the accelerator pedal opening degree is minimum, controlling the current of the engine 5 of the sugarcane machine to be increased according to a preset positive proportional function, wherein the rotation speed of the engine 5 increases with the increase of the current of the engine 5.

[0154] In the case that the accelerator pedal opening degree is maximum, it indicates that the current of the engine 5 reaches the maximum at this time, and the rotation speed of the engine 5 reaches the rated rotation speed.

[0155] At present, the current of the engine 5 instantaneously increases with the increase of the accelerator pedal opening degree, so that the rotation speed of the engine 5 instantaneously reaches the rated rotation speed, which increases the failure rate of the engine 5 and the whole vehicle. Therefore, in the present embodiment, the current of the engine 5 of the sugarcane machine is controlled to be reduced according to a preset positive proportional function, so that the rotation speed of the engine 5 slowly increases, which effectively reduces the failure rate of the engine 5 and the whole machine.

[0156] Similarly, the current of the engine 5 instantaneously decreases with the decrease of the accelerator pedal opening degree, so that the rotation speed of the engine 5 instantaneously decreases to the minimum point, which increases the failure rate of the engine 5 and the whole vehicle. Therefore, in the present embodiment, the current of the engine 5 of the sugarcane machine is controlled to be increased according to a preset positive proportional function, so that the rotation speed of the engine 5 slowly decreases, which effectively reduces the failure rate of the engine 5 and the whole machine.

[0157] S343, controlling the sugarcane machine to travel according to the rotation speed of the engine 5.

[0158] Specifically, the traveling can include forward movement, backward movement, turning and the like.

[0159] The embodiment controls the current of the engine 5 of the sugarcane harvester to increase according to a preset positive proportional function, so that the rotating speed of the engine 5 increases slowly, and the failure rate of the engine 5 and the whole machine is effectively reduced.

[0160] In one of the implementation manners of the embodiment, the sugarcane harvester control method further includes the following steps.

[0161] S510, in the case where one of the actuators fails to pass the parameter detection, an alarm information of the abnormal actuator is sent.

[0162] If the parameter detection on one of the actuators fails, an alarm information of the abnormal actuator is sent.

[0163] The embodiment sends an alarm information of the abnormal actuator in the case where one of the actuators fails to pass the parameter detection, so that whether the actuator fails can be found in time.

[0164] The embodiment of the application further provides a sugarcane harvester control device, which includes:

[0165] a memory configured to store instructions; and

[0166] a processor configured to call the instructions from the memory and capable of realizing the above-mentioned sugarcane harvester control method when the instructions are executed.

[0167] The embodiment of the application further provides a sugarcane harvester, which includes:

[0168] the above-mentioned sugarcane harvester control device.

[0169] The embodiment of the application further provides a machine readable storage medium, which stores instructions for making a machine execute the above-mentioned sugarcane harvester control method.

[0170] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system or a computer program product. Therefore, the application can be in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0171] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0172] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0173] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0174] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0175] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, for storing instructions and data. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), flash memory, or other non-volatile memory. The memory can be a memory of a computer-readable medium.

[0176] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0177] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0178] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A sugarcane machine control method, characterized by, The sugarcane machine comprises at least one actuator, and the actuator comprises a cane holder, a tipper, a root knife, a conveying drum, a gear box, a cleaning fan and an elevator, and the sugarcane machine control method comprises the following steps: In the case of receiving a job signal, it is determined whether the sugarcane machine meets the starting requirement; In the case that the sugarcane machine meets the starting requirement, the starting control of at least one actuator is performed according to the preset starting sequence of the actuator; In the case of starting at least one actuator, the parameter detection of the actuator is performed to obtain a parameter detection result; In the case that the parameter detection result of all actuators passes the parameter detection, the sugarcane machine is controlled to work; The opening degree of the accelerator pedal of the sugarcane machine is obtained; In the case that the opening degree of the accelerator pedal is the largest, the current of the engine of the sugarcane machine is controlled to decrease according to a preset positive proportional function delay, and in the case that the opening degree of the accelerator pedal is the smallest, the current of the engine of the sugarcane machine is controlled to increase according to a preset positive proportional function delay, wherein the speed of the engine increases with the increase of the current of the engine; The sugarcane machine is controlled to travel according to the speed of the engine; In the case of starting at least one actuator, the parameter detection of the actuator is performed to obtain a parameter detection result, which comprises the following steps: In the case that the actuator is the cane holder, the speed, pressure and position of the motor corresponding to the cane holder are obtained; In the case that the speed of the motor corresponding to the cane holder reaches a first preset speed, the pressure of the motor corresponding to the cane holder reaches a first preset pressure, and the position of the cane holder is located at a first preset position, it is determined that the parameter detection result of the cane holder passes the parameter detection; and / or In the case that the actuator is the tipper, the speed, pressure and height of the motor corresponding to the tipper are obtained; In the case that the speed of the motor corresponding to the tipper reaches a second preset speed, the pressure of the motor corresponding to the tipper reaches a second preset pressure, and the height of the tipper reaches a preset height, it is determined that the parameter detection result of the tipper passes the parameter detection; and / or In the case that the actuator is any one of the root knife, the conveying drum, the gear box, the cleaning fan and the elevator, the speed and pressure of the motor corresponding to the actuator are obtained; In the case that the speed of the motor corresponding to the actuator reaches a corresponding preset speed, and the pressure of the motor corresponding to the actuator reaches a corresponding preset pressure, it is determined that the parameter detection result of the actuator passes the parameter detection.

2. The method of claim 1, wherein, The sugarcane machine further comprises an engine, and the determination of whether the sugarcane machine meets the starting requirement comprises the following steps: The cooling oil temperature, the cooling water temperature and the speed of the engine are obtained; In the case that the speed of the engine reaches a preset speed threshold, the cooling water temperature reaches a preset water temperature threshold, and the cooling oil temperature reaches a preset cooling oil temperature threshold, it is determined that the sugarcane machine meets the starting requirement.

3. The method of claim 1, wherein, The method further comprises: In the case where the operation signal is received, the sugarcane harvester is controlled to enter an operation mode; It is determined whether the sugarcane harvester meets the starting requirement; The method further comprises: In the case where the sugarcane harvester does not meet the starting requirement, the sugarcane harvester is controlled to exit the operation mode, and an alarm information is sent out.

4. The method of claim 1, wherein, The sugarcane harvester further comprises a lifting oil cylinder, and in the case where the sugarcane harvester meets the starting requirement, the at least one execution mechanism is controlled to start according to a preset starting sequence of the execution mechanism, comprising: In the case where the sugarcane harvester meets the starting requirement, the sugarcane harvester is initialized according to a preset first initialization logic; The at least one execution mechanism is controlled to start according to a preset starting sequence of the execution mechanism; The first initialization logic comprises at least one of the following: The lifting oil cylinder is controlled to move to a second preset position; The root knife device is controlled to move to a third preset position; The cane holder is controlled to move to a fourth preset position; The tip cutter is controlled to move to a fifth preset position.

5. The method of claim 1, wherein, The method further comprises: In the case where the turning signal is received, it is determined whether all the execution mechanisms of the sugarcane harvester pass the parameter detection; In the case where all the execution mechanisms of the sugarcane harvester pass the parameter detection, it is determined whether the rotating speed of the motor corresponding to the root knife device is less than or equal to a third preset rotating speed; In the case where the rotating speed of the motor corresponding to the root knife device is less than or equal to the third preset rotating speed, it is determined whether the rotating speed of the motor corresponding to the cleaning fan is less than or equal to a fourth preset rotating speed; In the case where the rotating speed of the motor corresponding to the cleaning fan is less than or equal to the fourth preset rotating speed, the sugarcane harvester is controlled to turn.

6. The method of claim 5, wherein, In the case where all the execution mechanisms of the sugarcane harvester pass the parameter detection, it is determined whether the rotating speed of the motor corresponding to the root knife device is less than or equal to a third preset rotating speed, comprising: In the case where all the execution mechanisms of the sugarcane harvester pass the parameter detection, the sugarcane harvester is initialized according to a preset second initialization logic; It is determined whether the rotating speed of the motor corresponding to the root knife device is less than or equal to a third preset rotating speed; The second initialization logic comprises: The lifting oil cylinder of the sugarcane harvester is controlled to move to a sixth preset position; The root knife device is controlled to move to a seventh preset position; The cane holder is controlled to move to an eighth preset position.

7. The method of claim 1, wherein, The method further comprises: In the case where one of the execution mechanisms does not pass the parameter detection, an alarm information of the abnormal execution mechanism is sent out.

8. A cane machine control apparatus characterised by, Comprise: a memory configured to store instructions; and a processor configured to call the instructions from the memory and capable of implementing the sugarcane harvester control method according to any one of claims 1 to 7 when the instructions are executed.

9. A sugar cane harvester characterised by, Comprise: the sugarcane harvester control device according to claim 8.

10. A machine-readable storage medium, characterized in that, The machine readable storage medium has instructions stored thereon, and the instructions are used to make the machine execute the sugarcane harvester control method according to any one of claims 1 to 7.

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