A vehicle anti-blocking control method, device, medium and agricultural machine

Abstract

The application discloses a kind of vehicle anti-blocking control method, equipment, medium and agricultural machinery, it is related to agricultural machinery technical field, method includes: when vehicle automatic control mode starts, according to the comparison result of the numerical value of the header pressure sensor of vehicle and preset pressure value, the opening degree of proportional electromagnetic valve for adjusting vehicle speed is controlled.The application increases pressure sensor at the interface of feeding auger and bridge device, by the comparison result between pressure sensor and preset pressure value, when detecting that bridge device and shaft flow cylinder junction is blocked in first time, by adjusting speed, it is solved that it is blocked.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, and in particular to a vehicle anti-blocking control method, device, medium and agricultural machinery. BACKGROUND

[0002] The wheat harvester is the main machine for wheat harvesting, and its working performance directly affects the operation efficiency and harvesting quality. Too large feeding amount not only leads to high loss rate of the header, high entrainment loss rate and other adverse consequences, but also causes blockage at the overpass device, which damages the mechanical structure of the wheat harvester. Therefore, it has profound practical significance to keep the feeding amount at the optimal value by detecting and identifying the harvesting process and adaptively adjusting the feeding amount during harvesting to improve the harvesting efficiency and harvesting quality. At present, the control of the wheat harvesting feeding amount in China mainly relies on the subjective operation of the driver, and the adjustment of the feeding amount has great subjectivity and uncertainty. During the harvesting process, the driver is difficult to judge the working condition of the part from the overpass device to the axial flow cylinder. Basically, the driver discovers the problem at the connection between the overpass device and the axial flow cylinder after the material is blocked, and then manually handles the blocked material after stopping the vehicle, which occupies the operation time and affects the harvesting efficiency and harvesting quality. SUMMARY

[0003] The present application relates to the technical field of agricultural machinery, and in particular to a vehicle anti-blocking control method, device, medium and agricultural machinery.

[0004] 1) In a first aspect, the present application provides a vehicle anti-blocking control method, and the specific technical solutions are as follows:

[0005] When the automatic control mode of the vehicle is started, the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed is controlled according to the comparison result of the value of the header pressure sensor of the vehicle and the preset pressure value, and the header pressure sensor is arranged at the interface between the feeding auger and the overpass device.

[0006] The vehicle anti-blocking control method provided by the present application has the following beneficial effects:

[0007] The pressure sensor is added at the interface between the feeding auger and the overpass device, and the comparison result between the pressure sensor and the preset pressure value can detect the blockage at the connection between the overpass device and the axial flow cylinder in the first time, and the blockage can be solved by adjusting the vehicle speed.

[0008] On the basis of the above-mentioned scheme, the present application can also be improved as follows.

[0009] Further, when the value of the header pressure sensor of the vehicle is less than the preset pressure value, the process of controlling the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed is as follows:

[0010] maintain the first current opening degree of the proportional electromagnetic valve for adjusting the vehicle speed, while closing the header raising speed electromagnetic valve for controlling the header raising, closing the header lowering speed electromagnetic valve for controlling the header lowering, closing the harvesting cylinder rotating speed raising speed electromagnetic valve for raising the harvesting cylinder rotating speed, and closing the harvesting cylinder rotating speed lowering speed electromagnetic valve for lowering the harvesting cylinder rotating speed.

[0011] Further, before the control of the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed, when the value of the header pressure sensor of the vehicle is not less than the preset pressure value, the method further comprises:

[0012] determining whether the duration that the value of the header pressure sensor of the vehicle is not less than the preset pressure value and the axial flow cylinder rotating speed of the vehicle is less than the preset axial flow cylinder rotating speed exceeds a first preset duration, generating a first determination result, and controlling the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed according to the first determination result.

[0013] Further, when the first determination result is yes, the process of controlling the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed according to the first determination result is:

[0014] maintaining the second current opening degree of the proportional electromagnetic valve for adjusting the vehicle speed, while opening the harvesting cylinder rotating speed raising speed electromagnetic valve for raising the harvesting cylinder rotating speed according to a first preset period.

[0015] Further, when the first determination result is no, before the control of the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed according to the first determination result, the method further comprises:

[0016] determining whether the duration that the axial flow cylinder rotating speed of the vehicle is less than the preset axial flow cylinder rotating speed exceeds a second preset duration, generating a second determination result, and controlling the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed in combination with the second determination result.

[0017] Further, when the second determination result is yes, the process of controlling the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed is specifically:

[0018] decreasing the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed, while opening the header lowering speed electromagnetic valve for lowering the header lowering according to a second preset period.

[0019] Further, when the automatic control mode of the vehicle is closed, the first current opening degree of the proportional electromagnetic valve for adjusting the vehicle speed is maintained, while the header raising speed electromagnetic valve for controlling the header raising, the header lowering speed electromagnetic valve for controlling the header lowering, the harvesting cylinder rotating speed raising speed electromagnetic valve for raising the harvesting cylinder rotating speed, and the harvesting cylinder rotating speed lowering speed electromagnetic valve for lowering the harvesting cylinder rotating speed are closed.

[0020] 2) In a second aspect, the present application also provides a computer device, comprising a processor, and a memory coupled to the processor, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor, so that the computer device implements any one of the above methods.

[0021] 3) In a third aspect, the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor, so that the computer implements any one of the above methods.

[0022] 4) In a fourth aspect, the present application also provides an agricultural machine, comprising the above computer device.

[0023] It should be noted that the technical solutions of the second to fourth aspects of the present application and the corresponding possible implementation manners have the beneficial effects as described above for the first aspect and the corresponding possible implementation manners, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0024] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the drawings:

[0025] Figure 1 Figure 1 is a flowchart of a vehicle anti-blocking control method according to an embodiment of the present application;

[0026] Figure 2 Figure 2 is a model architecture diagram of a vehicle anti-blocking control method according to an embodiment of the present application;

[0027] Figure 3 Figure 3 is a flowchart of a vehicle anti-blocking control method according to another embodiment of the present application;

[0028] Figure 4 Figure 4 is a schematic diagram of a computer device structure. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0030] As shown in Figure 1 Figure 1, a vehicle anti-blocking control method according to an embodiment of the present application comprises the following steps:

[0031] S1, determining whether the automatic control mode of the vehicle is started;

[0032] S2, when the automatic control mode of the vehicle is started, according to the comparison result of the value of the header pressure sensor of the vehicle and the preset pressure value, the opening and closing degree of the proportional electromagnetic valve for adjusting the speed of the vehicle is controlled, and the header pressure sensor is arranged at the interface between the feeding auger and the bridge device.

[0033] It should be noted that the feeding auger and the bridge device are both existing devices, and their positions and structures have been disclosed, and will not be described here.

[0034] The process of determining whether the automatic control mode of the vehicle is started can be determined by manual inspection and whether the automatic control mode gives a feedback signal indicating that it has been started.

[0035] The automatic control mode refers to the vehicle traveling according to a preset program. In different application scenarios, the automatic control mode can refer to different traveling modes. For example, when the vehicle is a harvester, the automatic control mode can correspond to different harvesting speeds at different positions. When the vehicle is a mower, the automatic control mode can correspond to different vehicle speeds at different cutting heights.

[0036] In another embodiment of the present scheme, initialization and peripheral self-checking processing can also be performed before determining whether there is a foreign matter blockage. Figure 2 and Figure 3 As shown in the present scheme, the system is initialized and the peripheral self-checking processing is performed for the system composed of the vehicle controller, the intelligent display terminal, the header stepless speed change device, the header pressure sensor at the interface of the feeding auger and the bridge device, the header speed sensor, the axial flow drum stepless speed change device, the axial flow drum speed sensor, the vehicle speed regulating proportional valve, and the hydraulic working components. Specifically:

[0037] The vehicle controller is a processor or CPU containing the automatic control mode. The initialization and peripheral self-checking processing of the vehicle controller includes but is not limited to: detecting whether the processor or CPU can normally read and analyze data, and whether it can normally output results.

[0038] The intelligent display terminal is a display screen or display for displaying the current speed of the vehicle, the current speed of the axial flow drum, the current height of the header, and the abnormal data in the vehicle controller, etc. The initialization and peripheral self-checking processing of the intelligent display terminal includes but is not limited to: adjusting the basic parameters of the display screen or display such as resolution, angle, etc. to make the display screen and the viewing angle of the observer level or to make the display screen in the best viewing position, checking whether there is an area that cannot be displayed in the display screen or display, whether it is synchronized with the transmission data, etc.

[0039] The header stepless speed change device and the axial flow cylinder stepless speed change device are stepless speed change devices. The initialization and self-checking of the header stepless speed change device and the axial flow cylinder stepless speed change device include but are not limited to: detecting whether the stepless speed change device can normally realize continuous change of transmission ratio.

[0040] The initialization and self-checking of the header pressure sensor at the interface between the feeding auger and the bridge device include but are not limited to: determining the transmission range of the pressure sensor, i.e. the maximum pressure value and the minimum pressure value, and detecting whether the pressure sensor can accurately transmit the pressure signal.

[0041] The header speed sensor and the axial flow cylinder speed sensor are speed sensors for collecting speed signals. The initialization and self-checking of the header speed sensor and the axial flow cylinder speed sensor include but are not limited to: determining the transmission range of the speed sensor, i.e. the maximum speed value and the minimum speed value, and detecting whether the speed sensor can accurately transmit the speed signal.

[0042] The vehicle speed regulating proportional valve is a proportional electromagnetic valve for controlling the vehicle speed. The initialization and self-checking of the vehicle speed regulating proportional valve include but are not limited to: initializing different currents corresponding to different opening degrees of the proportional electromagnetic valve and determining the influence of different opening degrees on the vehicle speed.

[0043] The hydraulic working component refers to a hydraulic device connected to the vehicle speed regulating proportional valve for generating different continuous proportional control signals for controlling the pressure, flow and direction of liquid flow according to different currents. The initialization and self-checking of the hydraulic working component include but are not limited to: detecting whether the hydraulic working component is working normally.

[0044] The preset pressure value is set according to historical experience or actual demand, and no specific numerical value is limited here.

[0045] In another embodiment of the present scheme, according to the comparison result of the value of the header pressure sensor of the vehicle and the preset pressure value, the specific process of controlling the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed includes:

[0046] As Figure 3The real-time pressure value at the interface between the feeding auger and the bridge device is detected. When the real-time pressure value is detected to be higher than the set value for 5s, the rotating speed of the axial flow cylinder is first increased. The speed increasing electromagnetic valve of the axial flow cylinder is opened once every 5s according to the timing value set on the intelligent display terminal, and the rotating speed of the axial flow cylinder is gradually increased until the pressure value of the header pressure sensor installed on the header reaches the set value range. If the rotating speed of the axial flow cylinder reaches the maximum value for 5s detected by the rotating speed sensor, and the pressure of the header pressure sensor is still higher than the set value, the speed decreasing electromagnetic valve of the header is opened once every 5s according to the timing value set on the intelligent display terminal, and the rotating speed of the header feeding is gradually decreased. The vehicle speed regulating proportional valve is also decreased according to the value set on the intelligent display terminal, so that the current value of the proportional valve is decreased every 5s. Until the pressure value is detected to be restored to the set value range, the speed decreasing electromagnetic valve of the header is stopped, and the current rotating speed of the header and the vehicle speed are maintained.

[0047] That is, the rotating speed of the header and the rotating speed of the axial flow cylinder are increased or decreased by controlling the on-off of the electromagnetic valve of the transmission ratio of the header stepless speed change device and the axial flow cylinder stepless speed change device. The vehicle speed is increased or decreased by increasing or decreasing the current value of the vehicle speed regulating proportional valve.

[0048] When the automatic adjustment command is started during harvesting of the harvester, the controller detects the pressure value of the pressure sensor installed on the header, the rotating speed sensor value of the header, and the axial flow cylinder sensor value in real time. When it is detected that the bridge device and the axial flow cylinder are blocked, the on-off of the speed regulating electromagnetic valve of the header and the speed regulating electromagnetic valve of the axial flow cylinder and the output current value of the vehicle speed regulating proportional valve are controlled according to the following logic to solve the blocking problem.

[0049] When the value of the header pressure sensor is less than the set value, the speed regulating electromagnetic valve of the header and the electromagnetic valve of the axial flow cylinder remain unchanged, and the output current value of the vehicle speed regulating proportional valve remains unchanged.

[0050] When the value of the header pressure sensor is greater than the set value for more than 5s, and the rotating speed value of the axial flow cylinder is less than the set value, the speed increasing electromagnetic valve of the axial flow cylinder is opened once every 5s according to the set timing, and the output current of the vehicle speed regulating proportional valve remains unchanged.

[0051] When the value of the header pressure sensor is greater than the set value for more than 5s, and the rotating speed value of the axial flow cylinder reaches the set value for more than 5s, the speed decreasing electromagnetic valve of the header is opened once every 5s according to the set timing, and the output current value of the vehicle speed regulating proportional valve is decreased according to the set value.

[0052] Until the value of the header pressure sensor is detected to be less than the set value again, the speed decreasing electromagnetic valve of the header is closed, and the current value of the vehicle speed regulating proportional valve is maintained.

[0053] The application mainly solves the problem of harvesting material blockage at the junction of the bridge device and the axial flow cylinder during harvesting. By adding a pressure sensor at the interface between the feeding auger and the bridge device, when blockage is detected at the junction of the bridge device and the axial flow cylinder, the controller adjusts the cutting platform speed, the axial flow cylinder speed and the vehicle speed in real time through adaptive control to solve the blockage.

[0054] Further, when the value of the cutting platform pressure sensor of the vehicle is less than the preset pressure value, the process of controlling the opening and closing degree of the proportional electromagnetic valve for adjusting the vehicle speed is:

[0055] maintaining the first current opening and closing degree of the proportional electromagnetic valve for adjusting the vehicle speed, while closing the cutting platform speed-up electromagnetic valve for controlling the lifting of the cutting platform, closing the cutting platform speed-down electromagnetic valve for controlling the landing of the cutting platform, closing the harvesting cylinder speed-up electromagnetic valve for increasing the harvesting cylinder speed, and closing the harvesting cylinder speed-down electromagnetic valve for decreasing the harvesting cylinder speed.

[0056] Further, when the value of the cutting platform pressure sensor of the vehicle is not less than the preset pressure value, the process of controlling the opening and closing degree of the proportional electromagnetic valve for adjusting the vehicle speed further comprises:

[0057] determining whether the duration that the value of the cutting platform pressure sensor of the vehicle is not less than the preset pressure value exceeds a first preset duration, and the axial flow cylinder speed of the vehicle is less than a preset axial flow cylinder speed, generating a first determination result, and controlling the opening and closing degree of the proportional electromagnetic valve for adjusting the vehicle speed according to the first determination result.

[0058] Further, when the first determination result is yes, the process of controlling the opening and closing degree of the proportional electromagnetic valve for adjusting the vehicle speed according to the first determination result is:

[0059] maintaining the second current opening and closing degree of the proportional electromagnetic valve for adjusting the vehicle speed, while opening the harvesting cylinder speed-up electromagnetic valve for increasing the harvesting cylinder speed according to a first preset period.

[0060] Further, when the first determination result is no, the process of controlling the opening and closing degree of the proportional electromagnetic valve for adjusting the vehicle speed according to the first determination result further comprises:

[0061] determining whether the duration that the axial flow cylinder speed of the vehicle is less than the preset axial flow cylinder speed exceeds a second preset duration, generating a second determination result, and controlling the opening and closing degree of the proportional electromagnetic valve for adjusting the vehicle speed in combination with the second determination result.

[0062] Further, when the second determination result is yes, the process of controlling the opening and closing degree of the proportional electromagnetic valve for adjusting the vehicle speed is specifically:

[0063] Reduce the opening degree of the proportional electromagnetic valve for adjusting the vehicle speed, and open the opening degree of the header lowering speed electromagnetic valve for controlling the header lowering according to a second preset period.

[0064] Further, when the vehicle automatic control mode is closed, the first current opening degree of the proportional electromagnetic valve for adjusting the vehicle speed is maintained, and the header lifting speed electromagnetic valve for controlling the header lifting, the header lowering speed electromagnetic valve for controlling the header lowering, the harvesting drum rotating speed lifting speed electromagnetic valve for lifting the harvesting drum rotating speed, and the harvesting drum rotating speed lowering speed electromagnetic valve for lowering the harvesting drum rotating speed are all closed.

[0065] In the above embodiments, although the steps are numbered S1, S2, etc., it is only a specific embodiment given by the present application, and those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is within the protection scope of the present application. It can be understood that in some embodiments, some or all of the above embodiments can be included.

[0066] As shown in Figure 4 A computer device 300 according to an embodiment of the present application, the computer device 300 includes a processor 320, the processor 320 is coupled with a memory 310, and the memory 310 stores at least one computer program 330, the at least one computer program 330 is loaded and executed by the processor 320, so that the computer device 300 implements any one of the above methods, specifically:

[0067] The computer device 300 can be different due to configuration or performance, and can include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the computer device 300 implements the vehicle anti-blocking control method provided by the above embodiment. Of course, the computer device 300 can also have a wired or wireless network interface, a keyboard, and an input and output interface, etc. components, so as to perform input and output, and the computer device 300 can also include other components for realizing device functions, which will not be described here.

[0068] A computer readable storage medium according to an embodiment of the present application, the computer readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor, so that the computer implements any one of the above methods.

[0069] Optionally, the computer readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0070] In an example embodiment, a computer program product or computer program is also provided, which includes 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 the processor executes the computer instructions, so that the computer device performs any of the above methods.

[0071] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and do not represent a specific order or sequence. The order of use of similar objects can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described.

[0072] Those skilled in the art know that the present application can be implemented as a system, a method or a computer program product, therefore, the present disclosure can be specifically implemented as follows: it can be a complete hardware, a complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present application can also be implemented as a computer program product in one or more computer readable media, which includes computer readable program code.

[0073] Any combination of one or more computer readable medium can be utilized. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0074] Although the embodiments of the present application have been shown and described above, it should be understood by those skilled in the art that the above embodiments are exemplary, and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements, and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle congestion prevention control method characterized by comprising: The application relates to a method for controlling a vehicle in an automatic control mode. When the vehicle is in the automatic control mode, the opening degree of a proportional electromagnetic valve for adjusting the speed of the vehicle is controlled according to the comparison result of the value of a header pressure sensor of the vehicle and a preset pressure value, the header pressure sensor being arranged at the interface between a feeding auger and a bridge device. When the value of the header pressure sensor of the vehicle is not less than the preset pressure value, the method further comprises: determining whether the time length during which the value of the header pressure sensor of the vehicle is not less than the preset pressure value exceeds a first preset time length and the rotational speed of an axial flow cylinder of the vehicle is less than a preset rotational speed of the axial flow cylinder, generating a first determination result, and controlling the opening degree of the proportional electromagnetic valve for adjusting the speed of the vehicle according to the first determination result; when the first determination result is yes, maintaining the second current opening degree of the proportional electromagnetic valve for adjusting the speed of the vehicle, and opening an axial flow cylinder speed-up electromagnetic valve for increasing the rotational speed of the axial flow cylinder according to a first preset period; when the first determination result is no, the method further comprises: determining whether the time length during which the rotational speed of the axial flow cylinder of the vehicle is less than the preset rotational speed of the axial flow cylinder exceeds a second preset time length, generating a second determination result, and controlling the opening degree of the proportional electromagnetic valve for adjusting the speed of the vehicle in combination with the second determination result; when the second determination result is yes, reducing the opening degree of the proportional electromagnetic valve for adjusting the speed of the vehicle, and opening a header speed-down electromagnetic valve for lowering the opening degree of the header speed-down electromagnetic valve for controlling the lowering of the header according to a second preset period.

2. The vehicle anti-blocking control method according to claim 1, wherein When the value of the header pressure sensor of the vehicle is less than the preset pressure value, the process of controlling the opening degree of the proportional electromagnetic valve for adjusting the speed of the vehicle comprises: maintaining the first current opening degree of the proportional electromagnetic valve for adjusting the speed of the vehicle, and closing a header speed-up electromagnetic valve for controlling the lifting of the header, closing the header speed-down electromagnetic valve for controlling the lowering of the header, closing the axial flow cylinder speed-up electromagnetic valve for increasing the rotational speed of the axial flow cylinder, and closing an axial flow cylinder speed-down electromagnetic valve for reducing the rotational speed of the axial flow cylinder.

3. The vehicle anti-blocking control method according to claim 1, wherein When the vehicle is not in the automatic control mode, the first current opening degree of the proportional electromagnetic valve for adjusting the speed of the vehicle is maintained, and the header speed-up electromagnetic valve for controlling the lifting of the header, the header speed-down electromagnetic valve for controlling the lowering of the header, the axial flow cylinder speed-up electromagnetic valve for increasing the rotational speed of the axial flow cylinder, and the axial flow cylinder speed-down electromagnetic valve for reducing the rotational speed of the axial flow cylinder are all closed.

4. A computer device, comprising: The computer device comprises a processor and a memory, the memory stores at least one computer program, the at least one computer program is loaded and executed by the processor, so that the computer device realizes the method according to any one of claims 1 to 3.

5. A computer readable storage medium, characterized in that, The computer readable storage medium stores at least one computer program, the at least one computer program is loaded and executed by the processor, so that the computer realizes the method according to any one of claims 1 to 3.

6. An agricultural machine characterized by comprising: The computer device as claimed in claim 4 is included.

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