Field test method, device and equipment of harvester and storage medium
By automatically adjusting the vehicle speed and steering angle of the harvester, the problem of difficulty in ensuring test accuracy and consistency in manual driving is solved, uninterrupted testing is achieved, and the production efficiency and consistency of test data are improved.
Patent Information
- Application Number
- CN202411759687.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-03
- Publication Date
- 2025-02-14
AI Technical Summary
When manually driving the harvester for bumpy tests of durability and reliability, it is difficult to ensure the accuracy and consistency of the test, and long-term driving causes operator fatigue, affecting the accuracy of the test results.
By obtaining the direction angle, vehicle speed and steering angle of the harvester in the bumpy test field, adjusting its acceleration and angular speed, and automatically adjusting the walking motor and steering cylinder, achieving accurate control of vehicle speed and steering angle, and timely stopping driving when abnormal conditions occur.
Uninterrupted testing can be achieved without manual intervention, improving productivity and consistency of test data, and reducing operator fatigue and inaccuracy of test results.
Smart Images
Figure CN119437742A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of harvester field testing technology, and in particular to a harvester field testing method, device, equipment and storage medium. Background Art
[0002] During the development phase of harvesters, prototypes need to undergo a lot of field durability testing, among which durability road testing on a set bumpy field is a very important part. At present, in this testing phase, most manufacturers use the method of manually driving the harvester to conduct durability and reliability bump tests, so that the harvester undergoes cyclic walking tests on a bumpy field.
[0003] However, manual operation cannot ensure the accuracy and consistency of the test. Long-term driving can easily fatigue the operator, affecting the accuracy of the test results. In addition, the constant shaking and vibration of the vehicle during the bump test leads to extremely poor operating comfort, which may affect the operator's operating level. Furthermore, complex road conditions require the driver to accurately control the speed and maintain the direction, which is a double test of physical and mental strength, and can easily lead to physical exhaustion or mental relaxation. Summary of the invention
[0004] In view of this, the embodiments of the present application at least provide a field test method, device, equipment and storage medium for a harvester, which adjusts the steering angle and vehicle speed of the harvester and can promptly terminate driving when an abnormal condition occurs in the harvester. The entire process does not require human intervention, and uninterrupted testing can be achieved, thereby improving production efficiency and consistency of test data.
[0005] This application mainly includes the following aspects:
[0006] In a first aspect, an embodiment of the present application provides a field test method for a harvester, the field test method comprising:
[0007] Obtaining the direction angle of the current target harvester on the bump test field, and determining a preset vehicle speed and a preset steering angle corresponding to the direction angle;
[0008] Obtain the speed and steering angle of the current target harvester on the bumpy test field;
[0009] Based on the preset vehicle speed and the vehicle speed, determining the acceleration of the target harvester, and adjusting the travel motor of the target harvester according to the acceleration so that the vehicle speed reaches the preset vehicle speed;
[0010] Based on the preset steering angle and the steering angle, the angular velocity of the target harvester is determined, and the steering cylinder of the target harvester is adjusted according to the angular velocity so that the steering angle reaches the preset steering angle.
[0011] Preferably, the step of obtaining the direction angle of the current target harvester in the bump test field and determining a preset vehicle speed and a preset steering angle corresponding to the direction angle includes:
[0012] Obtaining the position coordinates of the target harvester on the bump test field, and determining the direction angle of the target harvester on the bump test field according to the preset origin coordinates of the bump test field;
[0013] According to a preset mapping table, a preset vehicle speed and a preset steering angle corresponding to the direction angle are determined.
[0014] Preferably, the determining the acceleration of the target harvester based on the preset vehicle speed and the vehicle speed, and adjusting the travel motor of the target harvester according to the acceleration so that the vehicle speed reaches the preset vehicle speed, comprises:
[0015] Performing a difference calculation on the preset vehicle speed and the vehicle speed to obtain a vehicle speed difference of the current target harvester;
[0016] Performing a quotient operation on the vehicle speed difference and the first preset conversion time period to obtain an acceleration of the target harvester;
[0017] The travel motor of the target harvester is adjusted according to the acceleration so that the vehicle speed reaches the preset vehicle speed.
[0018] Preferably, the determining the angular velocity of the target harvester based on the preset steering angle and the steering angle, and adjusting the steering cylinder of the target harvester according to the angular velocity so that the steering angle reaches the preset steering angle, comprises:
[0019] Performing a difference operation on the preset steering angle and the steering angle to obtain a steering angle difference of the current target harvester;
[0020] Performing a quotient operation on the steering angle difference and the second preset conversion time period to obtain an angular velocity of the target harvester;
[0021] The steering cylinder of the target harvester is adjusted according to the angular velocity so that the steering angle reaches the preset steering angle.
[0022] Preferably, the field test method further comprises:
[0023] Obtaining the vehicle speed of the target harvester at a first moment, a second moment, and a third moment within a first preset conversion time period;
[0024] Performing a difference calculation between the vehicle speed at the second moment and the vehicle speed at the first moment to obtain a first vehicle speed difference value, and performing a difference calculation between the vehicle speed at the third moment and the vehicle speed at the second moment to obtain a second vehicle speed difference value;
[0025] Determining a speed change rate of the target harvester based on the first speed difference and the second speed difference;
[0026] If the vehicle speed change rate is greater than the first preset change value, the target harvester brakes.
[0027] Preferably, the steering angle of the target harvester at a first moment, a second moment, and a third moment within a second preset conversion time period are obtained;
[0028] performing a difference operation on the steering angle at the second moment and the steering angle at the first moment to obtain a first steering angle difference, and performing a difference operation on the steering angle at the third moment and the steering angle at the second moment to obtain a second steering angle difference;
[0029] Determining a steering angle change rate of a target harvester based on the first steering angle difference and the second steering angle difference;
[0030] If the steering angle change rate is greater than a second preset change value, the target harvester brakes.
[0031] In a second aspect, an embodiment of the present application further provides a field test device for a harvester, the field test device comprising:
[0032] A direction angle acquisition module is used to acquire the direction angle of the current target harvester in the bump test field, and determine the preset vehicle speed and preset steering angle corresponding to the direction angle;
[0033] The vehicle speed and steering angle acquisition module acquires the vehicle speed and steering angle of the current target harvester on the bumpy test field;
[0034] a motor adjustment module, which determines the acceleration of the target harvester based on the preset vehicle speed and the vehicle speed, and adjusts the travel motor of the target harvester according to the acceleration;
[0035] The cylinder adjustment module determines the angular velocity of the target harvester based on the preset steering angle and the steering angle, and adjusts the steering cylinder of the target harvester according to the angular velocity.
[0036] Preferably, the direction angle acquisition module is specifically used for:
[0037] Obtaining the position coordinates of the target harvester on the bump test field, and determining the direction angle of the target harvester on the bump test field according to the preset origin coordinates of the bump test field;
[0038] According to a preset mapping table, a preset vehicle speed and a preset steering angle corresponding to the direction angle are determined.
[0039] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the field test method described in the first aspect or any possible implementation manner of the first aspect.
[0040] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the field test method described in the first aspect or any possible implementation manner of the first aspect are executed.
[0041] The embodiments of the present application provide a field test method, device, equipment and storage medium for a harvester. First, the azimuth angle of the target harvester in a bump test field is obtained to determine the corresponding preset speed and preset steering angle, and the current speed and steering angle are obtained at the same time. Next, the acceleration of the harvester is determined by the preset speed and the current speed, the travel motor is adjusted according to the acceleration, and the angular velocity is determined by the preset steering angle and the current steering angle. Finally, the steering cylinder is adjusted according to the angular velocity, so as to adjust the speed and steering angle of the target harvester. In this way, the steering angle and speed of the harvester are adjusted, and the driving can be stopped in time when an abnormal condition occurs in the harvester. The entire process does not require manual intervention, and uninterrupted testing can be achieved, thereby improving production efficiency and consistency of test data.
[0042] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0044] Figure 1 One of the flow charts of a field test method of a harvester provided in an embodiment of the present application is shown;
[0045] Figure 2 A schematic plan view of a bump test field provided in an embodiment of the present application is shown;
[0046] Figure 3 A second flow chart of a field test method for a harvester provided in an embodiment of the present application;
[0047] Figure 4 One of the structural schematic diagrams of a field test device for a harvester provided in an embodiment of the present application is shown;
[0048] Figure 5 A second structural schematic diagram of a field test device for a harvester provided in an embodiment of the present application is shown;
[0049] Figure 6 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION
[0050] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.
[0051] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
[0052] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario where field testing of a harvester is required. The embodiments of the present application are not limited to specific application scenarios. Any solutions of the field testing methods, devices, equipment and storage media of the harvester provided by the embodiments of the present application are within the scope of protection of the present application.
[0053] During the development phase of the harvester, the prototype needs to undergo a lot of field durability testing, among which durability road tests on a set bumpy field are very important. At present, in this testing link, most manufacturers rely on manual driving of the harvester to conduct durability and reliability bump tests, and the harvester is tested to conduct cyclic walking tests on a bumpy field. However, manual operation makes it difficult to ensure the accuracy and consistency of the test, and long-term driving can easily make the operator fatigued, affecting the accuracy of the test results. In addition, the vehicle constantly shakes and vibrates during the bumpy test, resulting in extremely poor operating comfort, which may affect the operator's operating level. Furthermore, complex road conditions require the driver to accurately control the speed and maintain the direction, which constitutes a double test of physical and mental strength, and can easily lead to physical exhaustion or mental relaxation.
[0054] In response to the above problems, the embodiments of the present application provide a field test method, device, equipment and storage medium for a harvester, which can adjust the steering angle and vehicle speed of the harvester. When an abnormal condition occurs in the harvester, the driving can be terminated in time. The entire process does not require human intervention, and uninterrupted testing can be achieved, thereby improving production efficiency and consistency of test data.
[0055] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.
[0056] See also Figure 1 , Figure 1 One of the flow charts of a field test method provided in an embodiment of the present application.
[0057] The road conditions at the bumpy site are complex, with not only various roadblocks but also flat sections, requiring vehicles to adopt different driving speeds at different road conditions. For example, when encountering roadblocks, you need to slow down to ensure safe passage, while on flat sections you may need to increase your speed to meet the test requirements.
[0058] The durability test contents of the harvester may include but are not limited to: mechanical structure durability, power system durability and control system durability.
[0059] like Figure 1 As shown in , the field test method of the harvester provided in the embodiment of the present application comprises the following steps:
[0060] Step S101, obtaining the directional angle information of the current target harvester in the bump test field, and determining the preset vehicle speed and preset steering angle corresponding to the directional angle information.
[0061] Here, a positioning device, such as a high-precision GPS, installed on the target harvester is used to obtain the position coordinates P(X P , YP ).
[0062] See also Figure 2 , Figure 2 This is a schematic plan view of the bump test field provided in an embodiment of the present application.
[0063] like Figure 2 As shown in , the shape of the bump test field may include but is not limited to: circular and rectangular. As an example, the bump test field of the present application is a circular bump runway, on which multiple tests are set. The test area includes: a high bump density area, a medium bump density area, a low bump density area and a bump-free area. Dense obstacle blocks are set in the high bump density area to simulate a strong bumpy road surface; an appropriate amount of obstacle blocks are set in the medium bump density area to simulate a medium-intensity bumpy road surface; sparse obstacle blocks are set in the low bump density area to simulate a general-intensity bumpy road surface; no obstacle blocks are set in the bump-free area to simulate a flat road surface. The speed specified in each test area is different, among which the driving speed in the bump-free area is the highest, and the speed in the high bump density area is the lowest, and the speeds set for these four road surfaces have the following relationship: the speed in the bump-free area> the speed in the low bump density area> the speed in the medium bump density area> the speed in the high bump density area. In order to perfectly simulate the road surface spectrum under actual working conditions, these four bump areas are randomly set.
[0064] Regarding step S101, as an example, during specific implementation, the following steps may be included:
[0065] First, obtain the position coordinates of the target harvester on the bump test field, and determine the direction angle of the target harvester on the bump test field based on the preset bump test field origin coordinates. Here, the direction angle represents the orientation of the target harvester relative to the origin, and determines the test area where the target harvester is located. Set the origin coordinates and reference coordinates on the bump test field. Continuing with the above example, for the circular bump runway test field, select the center of the circular runway as the origin coordinate O (X0, Y0), and the reference point coordinates B (X b , Y b ) can be set as a specific mark point on the runway, the reference coordinate can be set at the intersection of the runway entrance and the line connecting the center of the circle on the runway, and the position coordinate P(X P , Y P ), through O(X0, Y0), the reference coordinate B(X b , Y b ) and position coordinates P(X P , Y P )Build vector and The direction angle of the target harvester in the bump test field can be calculated by formula (1).
[0066]
[0067] Among them, θ p is the direction angle of the target harvester in the bump test field. As an example, assume that the radius of the circular bump runway is 100 meters, set the center of the circle to the origin coordinate O(0,0), assume that the runway entrance is on the negative half axis of the x-axis, and set the intersection of the runway entrance and the center of the circle on the runway to the reference coordinate B(-100,0). Assume that the position coordinate of the target harvester is P(-50,50). First, construct the vector vector Then, calculate the magnitude of the vector, It is about 70.71, is 100, and finally calculate the direction angle θ p Here, if the reference coordinate point is on the negative half axis of the x-axis, and the position coordinate P(X P , Y P ) P is greater than zero, then the direction angle is positive p , if Y P Less than zero, the direction angle is negative θ p .
[0068] Then, according to the preset mapping table, the preset vehicle speed and the preset steering angle corresponding to the direction angle are determined. Here, in the present application, each direction angle has a corresponding preset vehicle speed and preset steering angle.
[0069] Step S102, obtaining the vehicle speed and steering angle of the current target harvester in the bump test field.
[0070] Step S103, based on the preset vehicle speed and the vehicle speed, determine the acceleration of the target harvester, and adjust the travel motor of the target harvester according to the acceleration so that the vehicle speed reaches the preset vehicle speed.
[0071] Regarding step S103, as an example, during specific implementation, the following steps may be included:
[0072] First, the preset vehicle speed and the vehicle speed are calculated to obtain the vehicle speed difference of the current target harvester. Here, the vehicle speed difference of the current target harvester ΔV = V x -V i , where V x is the preset vehicle speed, V i It is the speed of the current target harvester on the bumpy test field.
[0073] Then, the speed difference and the first preset conversion time period are used for quotient calculation to obtain the acceleration of the target harvester. Here, in order to convert the speed of the current target harvester to the preset speed, the speed of the current target harvester is set to complete the deviation correction operation within the first preset conversion time period. The acceleration calculated in this application is taken as an absolute value, and the absolute value of the acceleration of the target harvester per unit time is a|=|ΔV / ΔT1|, where ΔT1 is the first preset conversion time period. If V x Greater than V i The target harvester accelerates. If V x Less than V i The target harvester slows down.
[0074] Finally, the travel motor of the target harvester is adjusted according to the acceleration so that the vehicle speed reaches the preset vehicle speed. Here, if the acceleration is positive (the target harvester needs to accelerate), the flow of hydraulic oil to the travel motor is increased. For example, it is achieved by adjusting the displacement of the hydraulic pump or adjusting the opening of the flow control valve. Assuming that the speed of the travel motor is proportional to the flow of hydraulic oil, when acceleration is required, the opening of the flow control valve is increased so that more hydraulic oil enters the travel motor, thereby increasing the speed of the motor and increasing the speed of the target harvester. If the acceleration is negative (the target harvester needs to decelerate), the flow of hydraulic oil is reduced. This can be achieved by reducing the opening of the flow control valve, limiting the amount of hydraulic oil entering the travel motor, reducing the motor speed, and achieving deceleration of the target harvester.
[0075] Step S104, based on the preset steering angle and the steering angle, determine the angular velocity of the target harvester, and adjust the steering cylinder of the target harvester according to the angular velocity so that the steering angle reaches the preset steering angle.
[0076] Regarding step S104, as an example, during specific implementation, the following steps may be included:
[0077] First, the steering angle and the preset steering angle are subtracted to obtain the steering angle difference of the current target harvester. Here, the steering angle difference of the current target harvester is Δθ=θ x -θ i , where θ x is the preset steering angle, θ i It is the steering angle of the current target harvester in the bumpy test field.
[0078] Then, the steering angle difference and the second preset conversion time period are divided to obtain the angular velocity of the target harvester. Here, the absolute value of the angular velocity of the target harvester per unit time ω|=|Δθ / ΔT2|, where ΔT2 is the first preset conversion time period. The bump blocks in the bump test field are randomly set. In most cases, only a single steering wheel presses against the bump block, which will cause a certain deviation between the steering angle of the steering wheel and the set steering angle. In order to allow the steering wheel to turn back to the set direction, the steering angle is set to complete the correction operation within the second preset conversion time period. Assume that the driving direction is clockwise. If θ x Greater than θ i Then the steering wheel of the target harvester turns right. If θ x Less than θ i Then the steering wheel of the target harvester turns left. Assuming the driving direction is counterclockwise, if θ x Greater than θ i Then the steering wheel of the target harvester turns left. If θ x Less than θ i As an example, suppose the target harvester is in a circular bump test field traveling clockwise, with a preset steering angle of 30 degrees. Due to the influence of one of the bump blocks, the steering wheel angle becomes 35 degrees, 5 degrees to the right. In order to correct the right deviation, the steering wheel needs to turn 5 degrees to the left, so that the target harvester returns to the normal clockwise driving path.
[0079] Finally, the steering cylinder of the target harvester is adjusted according to the angular velocity so that the steering angle reaches the preset steering angle. Here, when the angular velocity calculation result indicates that the steering wheel needs to turn left, the flow of hydraulic oil flowing to the left chamber of the steering cylinder is increased, and the flow flowing to the right chamber is reduced. For example, this is achieved by controlling the flow distribution valve in the hydraulic pipeline. The flow distribution valve can guide more hydraulic oil to the left chamber according to the instructions of the system, so that the piston moves in the cylinder, pushes the steering linkage mechanism, and thus drives the steering wheel to turn left. On the contrary, when the angular velocity indicates that the steering wheel needs to turn right, the flow of hydraulic oil flowing to the right chamber of the steering cylinder is increased, and the flow in the left chamber is reduced, so that the steering wheel turns right.
[0080] See also Figure 3 , Figure 3 This is the second flow chart of a field test method for a harvester provided in an embodiment of the present application.
[0081] like Figure 3 As shown in , in this application, the following steps are used to judge and handle the situation where the target harvester is out of control:
[0082] In case the speed of the target harvester is out of control, in step S105, the speed of the target harvester at the first moment, the speed at the second moment, and the speed at the third moment within the first preset conversion time period are obtained. Here, the first moment>the second moment>the third moment within the first preset conversion time period. As an example, assuming that the first preset conversion time period is 3s, the first moment t1=0s, the speed V1 at the first moment is 8m / s, the second moment t3=1s, the speed V2 at the second moment is 8.5m / s, the third moment t3=2s, and the speed V3 at the third moment is 9.5m / s.
[0083] Step S106, the vehicle speed at the second moment is calculated by difference calculation with the vehicle speed at the first moment to obtain a first vehicle speed difference, and the vehicle speed at the third moment is calculated by difference calculation with the vehicle speed at the second moment to obtain a second vehicle speed difference. Continuing with the above example, the first vehicle speed difference ΔV1 = V2-V1 = 8.5-8 = 0.5, and the second vehicle speed difference ΔV2 = V3-V2 = 9.5-8.5 = 1.
[0084] Step S107, based on the first speed difference and the second speed difference, determine the speed change rate of the target harvester. Here, the first speed difference and the second speed difference are taken as absolute values, and then the absolute values are taken and the quotient is calculated with the third moment and the first moment to obtain the speed change rate V δ Continuing with the above example, the target harvester's speed change rate V δ =|ΔV2-ΔV1| / (t3-t1)=0.5 / 3=0.17.
[0085] Step S108, determining whether the vehicle speed change rate is greater than a first preset change value.
[0086] Step S109, if the speed change rate is greater than the first preset change value, the target harvester brakes; if the speed change rate is less than or equal to the first preset change value, return to step S101. Continuing with the above example, assuming that the first preset change value is set to 0, when the speed change rate is 0.17, the target harvester brakes.
[0087] In response to the loss of control of the steering angle of the target harvester, step S110 obtains the steering angle of the target harvester at the first moment, the second moment, and the third moment within the second preset conversion time period. Here, the first moment within the second preset conversion time period> the second moment> the third moment. As an example, assuming that the second preset conversion time period is 3s, the first moment within the second preset conversion time period is t4=0s, the steering angle θ1 at the first moment is 30 degrees, the second moment is t5=1s, the steering angle θ2 at the second moment is 30.5 degrees, the third moment is t6=2s, and the steering angle θ3 at the third moment is 32.5 degrees.
[0088] Step S111, performing a difference operation on the steering angle at the second moment and the steering angle at the first moment to obtain a first steering angle difference, and performing a difference operation on the steering angle at the third moment and the steering angle at the second moment to obtain a second steering angle difference. Continuing with the above example, the first steering angle difference Δθ1 = θ2-θ1 = 30.5-30 = 0.5, and the second steering angle difference Δθ2 = θ3-θ2 = 32.5-30.5 = 2.
[0089] Step S112, based on the first steering angle difference and the second steering angle difference, determine the steering angle change rate of the target harvester. Here, the first steering angle difference and the second steering angle difference are taken as absolute values, and then the absolute values are taken and the quotient is calculated with the third moment and the first moment to obtain the steering angle change rate θ δ Continuing with the above example, the steering angle change rate θ of the target harvester δ =|Δθ2-Δθ1| / (t6-t4)=1.5 / 3=0.5.
[0090] Step S113, determining whether the steering angle change rate is greater than a second preset change value.
[0091] Step S109, if the steering angle change rate is greater than the second preset change value, the target harvester brakes; if the steering angle change rate is less than or equal to the second preset change value, return to step S101. Continuing with the above example, assuming that the second preset change value is set to 0, when the steering angle change rate is 0.5, the target harvester brakes.
[0092] In the present application, if the vehicle speed change rate is greater than the first preset change value and / or the steering angle change rate is greater than the second preset change value, indicating that the target harvester vehicle deviates from the predetermined driving direction, the vehicle's braking system is immediately activated, and braking force is applied to the wheels through a hydraulic device or an electronic braking system to quickly decelerate the harvester until it stops, so as to avoid possible collisions or dangerous situations such as running off the runway.
[0093] Here, the preset change value is set according to the actual situation. For example, there are many valuable equipments in the bump test field. Even if the change rate is extremely small, it may cause serious consequences. In this case, any non-zero change rate can be regarded as a danger signal. Therefore, the first preset change value and / or the second preset change value are set to zero. In this way, once the vehicle speed change rate is greater than zero and / or the steering angle change rate is greater than zero, the braking operation will be triggered.
[0094] An embodiment of the present application provides a field test method for a harvester. Through the method, the steering angle and the vehicle speed of the harvester are adjusted. When an abnormal condition occurs in the harvester, the driving can be stopped in time. The entire process does not require human intervention, and uninterrupted testing can be achieved, thereby improving production efficiency and consistency of test data.
[0095] Based on the same application concept, the embodiments of the present application also provide a field test device for a harvester corresponding to the field test method for a harvester provided in the above embodiments. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the field test method for a harvester in the above embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.
[0096] See also Figure 4 , Figure 4 This is one of the structural schematic diagrams of a field test device for a harvester provided in an embodiment of the present application.
[0097] like Figure 4 As shown in , the field test device 410 includes:
[0098] A direction angle acquisition module 411 acquires the direction angle of the current target harvester in the bump test field, and determines a preset vehicle speed and a preset steering angle corresponding to the direction angle;
[0099] The vehicle speed and steering angle acquisition module 412 acquires the vehicle speed and steering angle of the current target harvester in the bump test field;
[0100] The motor adjustment module 413 determines the acceleration of the target harvester based on the preset vehicle speed and the vehicle speed, and adjusts the travel motor of the target harvester according to the acceleration so that the vehicle speed reaches the preset vehicle speed;
[0101] The cylinder adjustment module 414 determines the angular velocity of the target harvester based on the preset steering angle and the steering angle, and adjusts the steering cylinder of the target harvester according to the angular velocity so that the steering angle reaches the preset steering angle.
[0102] Preferably, the direction angle acquisition module 411 is specifically used for:
[0103] Obtaining the position coordinates of the target harvester on the bump test field, and determining the direction angle of the target harvester on the bump test field according to the preset origin coordinates of the bump test field;
[0104] According to a preset mapping table, a preset vehicle speed and a preset steering angle corresponding to the direction angle are determined.
[0105] Preferably, the motor adjustment module 413 is specifically used for:
[0106] Performing a difference calculation on the preset vehicle speed and the vehicle speed to obtain a vehicle speed difference of the current target harvester;
[0107] Performing a quotient operation on the vehicle speed difference and the first preset conversion time period to obtain an acceleration of the target harvester;
[0108] The travel motor of the target harvester is adjusted according to the acceleration so that the vehicle speed reaches the preset vehicle speed.
[0109] Preferably, the oil cylinder adjustment module 414 is specifically used for:
[0110] Performing a difference operation on the preset steering angle and the steering angle to obtain a steering angle difference of the current target harvester;
[0111] Performing a quotient operation on the steering angle difference and the second preset conversion time period to obtain an angular velocity of the target harvester;
[0112] The steering cylinder of the target harvester is adjusted according to the angular velocity so that the steering angle reaches the preset steering angle.
[0113] See also Figure 5 , Figure 5 This is a second structural schematic diagram of a field test device for a harvester provided in an embodiment of the present application.
[0114] like Figure 5 As shown in , preferably, the field test device 410 also includes:
[0115] The moment speed acquisition module 415 acquires the speed of the target harvester at a first moment, a second moment, and a third moment within the first preset conversion time period;
[0116] The vehicle speed difference determination module 416 performs a difference calculation between the vehicle speed at the second moment and the vehicle speed at the first moment to obtain a first vehicle speed difference, and performs a difference calculation between the vehicle speed at the third moment and the vehicle speed at the second moment to obtain a second vehicle speed difference;
[0117] The vehicle speed change rate determination module 417 determines the vehicle speed change rate of the target harvester based on the first vehicle speed difference and the second vehicle speed difference;
[0118] The vehicle speed braking module 418 brakes the target harvester if the vehicle speed change rate is greater than a first preset change value;
[0119] like Figure 5 As shown in , preferably, the field test device 410 also includes:
[0120] The moment steering angle acquisition module 419 acquires the steering angle of the target harvester at a first moment, a second moment, and a third moment within a second preset conversion time period;
[0121] The steering angle difference determination module 4110 performs a difference operation on the steering angle at the second moment and the steering angle at the first moment to obtain a first steering angle difference, and performs a difference operation on the steering angle at the third moment and the steering angle at the second moment to obtain a second steering angle difference;
[0122] A steering angle change rate determination module 4111 determines a steering angle change rate of a target harvester based on a first steering angle difference and a second steering angle difference;
[0123] Steering angle braking module 4112, if the steering angle change rate is greater than a second preset change value, the target harvester is braked.
[0124] See also Figure 6 , Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.
[0125] like Figure 6 As shown in , the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .
[0126] The memory 620 stores machine-readable instructions executable by the processor 610. When the electronic device 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, the above-mentioned Figure 1 and Figure 3 The specific implementation of the steps of the field test method of the harvester in the method embodiment shown can be found in the method embodiment, and will not be repeated here.
[0127] The present application also provides a computer-readable storage medium on which a computer program is stored. The computer program can be executed as described above when the processor runs it. Figure 1 and Figure 3The steps of the rice transplanting depth control method of the rice transplanter in the method embodiment shown, the specific implementation method can refer to the method embodiment, and will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0128] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0129] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0130] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.
[0131] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A field test method for a harvester, characterized in that: The field test method includes: Obtaining the direction angle of the current target harvester on the bump test field, and determining a preset vehicle speed and a preset steering angle corresponding to the direction angle; Obtain the speed and steering angle of the current target harvester on the bumpy test field; Based on the preset vehicle speed and the vehicle speed, determining the acceleration of the target harvester, and adjusting the travel motor of the target harvester according to the acceleration so that the vehicle speed reaches the preset vehicle speed; Based on the preset steering angle and the steering angle, the angular velocity of the target harvester is determined, and the steering cylinder of the target harvester is adjusted according to the angular velocity so that the steering angle reaches the preset steering angle.
2. The field test method according to claim 1, characterized in that: The step of obtaining the direction angle of the current target harvester on the bump test field and determining a preset vehicle speed and a preset steering angle corresponding to the direction angle includes: Obtaining the position coordinates of the target harvester on the bump test field, and determining the direction angle of the target harvester on the bump test field according to the preset origin coordinates of the bump test field; According to a preset mapping table, a preset vehicle speed and a preset steering angle corresponding to the direction angle are determined.
3. The field test method according to claim 1, characterized in that: The step of determining the acceleration of the target harvester based on the preset vehicle speed and the vehicle speed, and adjusting the travel motor of the target harvester according to the acceleration so that the vehicle speed reaches the preset vehicle speed includes: Performing a difference calculation on the preset vehicle speed and the vehicle speed to obtain a vehicle speed difference of the current target harvester; Performing a quotient operation on the vehicle speed difference and the first preset conversion time period to obtain an acceleration of the target harvester; The travel motor of the target harvester is adjusted according to the acceleration so that the vehicle speed reaches the preset vehicle speed.
4. The field test method according to claim 1, characterized in that: The method of determining the angular velocity of the target harvester based on the preset steering angle and the steering angle, and adjusting the steering cylinder of the target harvester according to the angular velocity so that the steering angle reaches the preset steering angle, comprises: Performing a difference operation on the preset steering angle and the steering angle to obtain a steering angle difference of the current target harvester; Performing a quotient operation on the steering angle difference and the second preset conversion time period to obtain an angular velocity of the target harvester; The steering cylinder of the target harvester is adjusted according to the angular velocity so that the steering angle reaches the preset steering angle.
5. The field test method according to claim 1, characterized in that: The field test method also includes: Obtaining the vehicle speed of the target harvester at a first moment, a second moment, and a third moment within a first preset conversion time period; Performing a difference calculation between the vehicle speed at the second moment and the vehicle speed at the first moment to obtain a first vehicle speed difference value, and performing a difference calculation between the vehicle speed at the third moment and the vehicle speed at the second moment to obtain a second vehicle speed difference value; Determining a speed change rate of the target harvester based on the first speed difference and the second speed difference; If the vehicle speed change rate is greater than the first preset change value, the target harvester brakes.
6. The field test method according to claim 1, characterized in that: The field test method also includes: Obtaining a steering angle of the target harvester at a first moment, a steering angle at a second moment, and a steering angle at a third moment within a second preset conversion time period; performing a difference operation on the steering angle at the second moment and the steering angle at the first moment to obtain a first steering angle difference, and performing a difference operation on the steering angle at the third moment and the steering angle at the second moment to obtain a second steering angle difference; Determining a steering angle change rate of a target harvester based on the first steering angle difference and the second steering angle difference; If the steering angle change rate is greater than a second preset change value, the target harvester brakes.
7. A field test device for a harvester, characterized in that: The field test device comprises: A direction angle acquisition module is used to acquire the direction angle of the current target harvester in the bump test field, and determine the preset vehicle speed and preset steering angle corresponding to the direction angle; The vehicle speed and steering angle acquisition module acquires the vehicle speed and steering angle of the current target harvester on the bumpy test field; A motor adjustment module determines the acceleration of the target harvester based on the preset vehicle speed and the vehicle speed, and adjusts the travel motor of the target harvester according to the acceleration so that the vehicle speed reaches the preset vehicle speed; The cylinder adjustment module determines the angular velocity of the target harvester based on the preset steering angle and the steering angle, and adjusts the steering cylinder of the target harvester according to the angular velocity so that the steering angle reaches the preset steering angle.
8. The field test device according to claim 7, characterized in that: The direction angle acquisition module is specifically used for: Obtaining the position coordinates of the target harvester on the bump test field, and determining the direction angle of the target harvester on the bump test field according to the preset origin coordinates of the bump test field; According to a preset mapping table, a preset vehicle speed and a preset steering angle corresponding to the direction angle are determined.
9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to execute the steps of the field test method as described in any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the field test method according to any one of claims 1 to 6 are executed.