Electromechanical steering control system and method

Abstract

The invention relates to the technical field of steering control, in particular to an electromechanical steering control system and method.The system comprises a steering handle, a controller, an electromechanical control unit and a display interaction screen; the steering handle is provided with a micro-motion device used for controlling fine-tuning steering and an angle sensor used for detecting the swing angle of the steering handle. The output end of the micro-motion device and the output end of the angle sensor are connected to the input end of the controller, and the signal line ends of the controller, the display interaction screen and the electromechanical control unit are connected with one another through a CAN bus. And the controller determines a control strategy based on an output signal of the micro-motion device, an output signal of the angle sensor and / or system parameters displayed in the display interaction screen, and controls the electromechanical control unit to drive the steering oil cylinder based on the control strategy so as to execute the steering action of the target harvesting machine. According to the invention, the softness and the sensitivity of the steering operation are ensured, and the individual requirements of operators on the steering control experience are met.

Description

Technical Field

[0001] The present invention relates to the technical field of steering control, and in particular to an electromechanical steering control system and method. Background Art

[0002] The steering mechanism of a harvesting machine refers to a system or device used to control the travel direction of the harvesting equipment, which allows the operator to change the travel route of the machine as needed and achieve precise control of the travel path.

[0003] The steering mechanism of harvesting machinery can be divided into two types: mechanical control and electro-hydraulic control. The mechanical control method is a steering system that combines a traditional mechanical joystick with a manual valve. This system relies on a mechanical pull rod structure. The valve stem position of the steering valve is directly adjusted by manually operating the pull rod, and then the opening and closing of the steering hydraulic cylinder are controlled to achieve the purpose of steering. The electro-hydraulic control method is a steering system that combines electric control and hydraulics. This system uses a controller to monitor the angle change of the joystick in real time, and controls the output of the left and right steering switch solenoid valves and the pressure solenoid valve by calculation according to this change, thereby achieving steering. At present, the steering mechanism of harvesting machinery is still mainly mechanically controlled, and a small number of electro-hydraulic control devices are used. The above two traditional types of steering mechanisms have obvious shortcomings, that is, the steering control force of the mechanical control method is large and easy to fatigue, while the electro-hydraulic control method has high requirements for oil quality and is prone to valve core jamming.

[0004] In the above solutions, both mechanical control and electro-hydraulic control types have the problem that the sensitivity or softness during steering cannot be adjusted, which limits the operator's personalized needs for the steering control experience. Summary of the invention

[0005] In view of this, the present invention provides an electromechanical steering control system and method to solve the problem that the sensitivity or softness of steering cannot be adjusted in the existing steering control method, which limits the operator's personalized needs for the steering control experience.

[0006] In a first aspect, the present invention provides an electromechanical steering control system, the system comprising: a steering handle, a controller, an electromechanical control unit, and a display interactive screen;

[0007] The steering handle is provided with a micro-motion device for controlling fine-tuning of the steering, and an angle sensor for detecting the swing angle of the steering handle;

[0008] The output end of the micro-motion device and the output end of the angle sensor are respectively connected to the input end of the controller, and the signal line end of the controller, the signal line end of the interactive display screen and the signal line end of the electromechanical control unit are connected to each other through a CAN bus;

[0009] The controller is used to determine a control strategy based on the output signal of the micro-motion device, the output signal of the angle sensor and / or the system parameters displayed in the interactive screen, and control the electromechanical control unit to drive the steering cylinder based on the control strategy to perform the steering action of the target harvesting machinery.

[0010] The above scheme provides dual-mode operation, with fine directional adjustment through micro-motion devices, suitable for small corrections, and a larger range of directional adjustment through the steering handle, suitable for curved driving or quick turns. While achieving dual-mode operation, the system's mechanical structure design has few changes and can be upgraded and installed without significantly changing the existing harvesting machinery structure, reducing the cost and time of transformation. In addition, the optimized harvesting machinery structure also ensures the softness of steering operation, reduces mechanical wear and vibration, and extends the service life of the equipment. The steering operation is smooth, which reduces the impact and fatigue on the driver and improves driving comfort. Parameters can be set according to different machine types and the driver's driving habits to achieve the best driving experience.

[0011] In an optional implementation, the angle sensor is connected to the steering handle via a mechanical rocker, and the output end of the angle sensor is connected to the first input end of the controller.

[0012] In an optional embodiment, the micro-motion device includes a left-turn micro-motion button and a right-turn micro-motion button, the output end of the left-turn micro-motion button is connected to the second input end of the controller, and the output end of the right-turn micro-motion button is connected to the third input end of the controller.

[0013] In an optional embodiment, the electromechanical control unit includes a motor transmission mechanism and a steering valve;

[0014] The motor transmission mechanism is mechanically connected to the steering valve, and the steering valve is connected to the steering cylinder via a hydraulic oil pipe;

[0015] The motor transmission mechanism is used to drive the steering valve based on the control command issued by the controller;

[0016] The steering valve is used to control the telescopic length and speed of the steering cylinder based on the drive of the motor transmission mechanism, so as to drive the steering rocker arm of the gearbox to change the angle and execute the steering action of the target harvesting machinery.

[0017] In an optional embodiment, the motor transmission mechanism includes a motor, a gear and a rack, and the gear is meshingly connected with the rack;

[0018] The gear is used to drive the rack to perform stepless extension and retraction when the motor rotates forward and reverse, so as to push the steering rocker arm of the gearbox to change its angle through the steering valve and the steering cylinder in turn, thereby executing the stepless steering action of the target harvesting machinery.

[0019] In an optional embodiment, the steering valve comprises a main valve core and a steering valve body, and the main valve core performs a telescopic action in the steering valve body to realize the telescopic function of the steering cylinder;

[0020] The rack of the motor transmission mechanism is rigidly connected to the main valve core of the steering valve, so that the main valve core is pushed to perform a telescopic action through the telescopic action of the rack.

[0021] In an optional embodiment, the display interactive screen is used to display at least one of the micro-motion device status, the angle sensor real-time value, the motor transmission mechanism current value, the set target value, the set system parameters and the alarm information;

[0022] The display interactive screen and the controller both include a storage module, and the storage module is used to store specified data in the system.

[0023] In a second aspect, the present invention provides an electromechanical steering control method, the method being executed by a controller in the electromechanical steering control system described above, the method comprising:

[0024] Obtaining the output signal of the micro-motion device, the output signal of the angle sensor, and the system parameters displayed on the interactive screen;

[0025] Based on the output signal of the micro-motion device, the output signal of the angle sensor and / or the system parameters displayed in the interactive screen, a control strategy is determined, and based on the control strategy, the electromechanical control unit is controlled to drive the steering cylinder to perform the steering action of the target harvesting machinery.

[0026] In an optional embodiment, the method further includes:

[0027] The current driving mode selected by the user is obtained through the display interactive screen; the driving modes include comfort mode, standard mode and sports mode; the control strategy is determined according to the current driving mode; the control strategy includes the target direction, extension amount and movement speed of the motor transmission mechanism of the electromechanical control unit.

[0028] In an optional embodiment, the method further includes:

[0029] When the target harvester is traveling in a straight line and needs to perform a large-radius steering correction, the current movement direction of the target harvester is corrected based on the output signal of the micro-motion device or the output signal of the angle sensor, and the steering valve is controlled to operate in a separate steering mode to perform a large-radius steering action of the target harvester; when the target harvester is turning and needs to perform a variable small-radius steering correction, the current movement direction of the target harvester is corrected based on the output signal of the angle sensor, and the steering valve is controlled to transition from the separate steering mode to the brake steering mode to perform the variable small-radius steering action of the target harvester.

[0030] In a third aspect, the present invention provides an electromechanical steering control device, which is executed by a controller in the electromechanical steering control system described above, and comprises:

[0031] A parameter acquisition module, used to acquire the output signal of the micro-motion device, the output signal of the angle sensor, and the system parameters displayed on the interactive screen;

[0032] The steering action execution module is used to determine the control strategy based on the output signal of the micro-motion device, the output signal of the angle sensor and / or the system parameters displayed in the interactive screen, and control the electromechanical control unit to drive the steering cylinder based on the control strategy to execute the steering action of the target harvesting machinery.

[0033] In a fourth aspect, the present invention provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to thereby execute an electromechanical steering control method according to the first aspect or any corresponding embodiment thereof.

[0034] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute an electromechanical steering control method according to the first aspect or any corresponding embodiment thereof.

[0035] In a sixth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute an electromechanical steering control method according to the first aspect or any corresponding embodiment thereof.

[0036] The technical solution provided by the present invention may include the following beneficial effects:

[0037] The present invention provides dual-mode operation, which can make fine direction adjustments through a micro-motion device, which is suitable for small corrections, and can make larger-range direction adjustments through a steering handle, which is suitable for curved driving or quick turns. While realizing dual-mode operation, the present invention has little mechanical structure design change, and can be upgraded and installed without significantly changing the existing harvesting machinery structure, thereby reducing the cost and time of transformation. In addition, the optimized harvesting machinery structure also ensures the softness of the steering operation, reduces mechanical wear and vibration, and extends the service life of the equipment. The steering operation is smooth, which reduces the impact and fatigue on the driver, improves the driving comfort, and can be set according to different machine types and the driver's driving habits to achieve the best driving experience. By precisely controlling the steering, the operation accuracy and efficiency of the harvester are improved. Automated steering control reduces the repeated operations that the driver needs to perform and reduces the labor intensity. The operation process of the harvesting machinery is optimized, the fuel efficiency and operation efficiency are improved, and the operating cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 is a schematic structural diagram of an electromechanical steering control system according to an embodiment of the present invention;

[0040] Figure 2 is a schematic structural diagram of a motor transmission mechanism according to an embodiment of the present invention;

[0041] Figure 3 is a schematic diagram of the connection between the motor transmission mechanism and the steering valve according to an embodiment of the present invention;

[0042] Figure 4 is a flow chart of an electromechanical steering control method according to an embodiment of the present invention;

[0043] Figure 5 is a structural block diagram of an electromechanical steering control device according to an embodiment of the present invention;

[0044] Figure 6 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] According to an embodiment of the present invention, an electromechanical steering control system embodiment is provided. Figure 1 is a schematic diagram of the structure of an electromechanical steering control system according to an embodiment of the present invention. Figure 1 As shown, the system includes: a steering handle 2, a controller 1, an electromechanical control unit 3, and a display interactive screen 5;

[0047] The steering handle 2 is provided with a micro-motion device for controlling fine-tuning of the steering, and an angle sensor 21 for detecting the swing angle of the steering handle 2;

[0048] The output end of the micro-motion device and the output end of the angle sensor 21 are respectively connected to the input end of the controller 1, and the signal line end of the controller 1, the signal line end of the display interactive screen 5 and the signal line end of the electromechanical control unit 3 are connected to each other through a CAN bus;

[0049] The controller 1 is used to determine a control strategy based on the output signal of the micro-motion device, the output signal of the angle sensor 21 and / or the system parameters displayed on the display interactive screen 5, and control the electromechanical control unit 3 to drive the steering cylinder 4 based on the control strategy to perform the steering action of the target harvesting machine (for example, the steering action of the target harvesting machine can be the steering action control of a crawler harvesting machine, and can also include walking control, cutting table control, reel control, grain bin control, grain unloading barrel control, etc.). The steering control system can be set in the target harvesting machine.

[0050] In an optional embodiment, the micro-motion device includes a left-turn micro-motion button 22 and a right-turn micro-motion button 23, and the output end of the left-turn micro-motion button 22 is connected to the second input end of the controller 1 (i.e. Figure 1 The output end of the right turn micro button 23 is connected to the third input end of the controller 1 (i.e. Figure 1 Input 3).

[0051] Furthermore, in order to avoid the defects of the two steering modes of mechanical control mode and electro-hydraulic control mode, this embodiment designs an electromechanical steering control system, which mainly includes a steering handle 2, an angle sensor 21, an electromechanical control unit 3, a controller 1, a display interactive screen 5, and a steering cylinder 4. Figure 1 shown.

[0052] The upper end of the steering handle 2 is provided with a micro-motion device, including a left-turn micro-motion button 22 and a right-turn micro-motion button 23. The lower end of the steering handle 2 is equipped with an angle sensor 21. The angle sensor 21 is linked with the steering handle 2 through a mechanical rocker to detect the swing angle of the steering handle 2 in real time. The output signals of the left-turn micro-motion button 22, the right-turn micro-motion button 23 and the angle sensor 21 are connected to the controller 1. The controller 1 is connected to the display interactive screen 5 and the electromechanical control unit 3 through the CAN bus. The high-level signal line end (i.e. Figure 1 The controller 1, the interactive display screen 5 and the low-level signal line end of the electromechanical control unit 3 (ie, Figure 1 The CANL in the display interactive screen 5 is interconnected through the CAN bus. The controller 1 of this embodiment is connected to the display interactive screen 5 and the electromechanical control unit 3 through the CAN bus, achieving high-speed and reliable data transmission and improving the overall performance and stability of the system. The controller 1 is the core of the system. The left turn micro button 22, the right turn micro button 23 and the angle sensor 21 linked to the steering handle 2 input the collected signals to the controller 1. The controller 1 makes decisions according to the parameters and input signals set in the display interactive screen 5 and the established control strategy, controls the action speed and stroke of the electromechanical control unit 3, and further drives the steering cylinder 4 to extend and retract the length and speed. The steering cylinder 4 directly drives the steering rocker arm angle change to achieve the purpose of steering.

[0053] Furthermore, the left turn micro-button 22 and the right turn micro-button 23 on the steering handle 2 provide precise small-amplitude steering control, which is suitable for scenarios that require fine adjustment. The operator presses the corresponding button to achieve a small angle adjustment of the steering handle 2, thereby controlling the steering direction and angle of the target harvesting machinery, which not only improves the convenience of driving, but also significantly enhances the accuracy and safety of driving. In scenarios where frequent steering adjustments or precise alignment are required, such as cargo handling, farmland operations, etc., the left turn micro-button 22 and the right turn micro-button 23 can help operators reduce operational errors and collision risks. In addition, the operator can freely adjust the amplitude and speed of the steering according to actual conditions and needs to adapt to different driving environments and operating requirements.

[0054] In an optional embodiment, the angle sensor 21 is connected to the steering handle 2 through a mechanical swing rod, and the output end of the angle sensor 21 is connected to the first input end of the controller 1 (i.e. Figure 1 Input 1).

[0055] Furthermore, the angle sensor 21 of the present embodiment is linked to the steering handle 2 through a mechanical swing arm, and detects the swing angle of the steering handle 2 in real time to ensure the accurate transmission of the steering command. The mechanical swing arm serves as a bridge connecting the steering handle 2 and the angle sensor 21, and moves with the swing of the steering handle 2. When the operator turns the steering handle 2, the mechanical swing arm will deflect accordingly, and the angle of this deflection is consistent with the swing angle of the steering handle 2. The angle sensor 21 is installed on the mechanical swing arm or on a structure connected to it, and senses the deflection angle of the mechanical swing arm through an internal sensitive element (such as a resistive, photoelectric or magnetic sensitive element, etc.), and converts it into an electrical signal output. The electrical signal is then transmitted to the controller 1 through the first input terminal of the controller 1. The controller 1 determines the swing angle and direction of the steering handle 2 based on the size and direction of the received signal, and then generates corresponding control instructions according to the preset control strategy. These control instructions can be transmitted through the CAN bus (such as Figure 1 As shown, the two physical endpoints of the CAN bus are respectively connected with a 120 ohm resistor to maintain the signal quality on the CAN bus) and other communication methods to send to the electric mechanical control unit 3, drive the motor transmission mechanism 31 to work, and finally control the extension and contraction of the steering cylinder 4 to achieve the steering of the target harvesting machinery. Since the linkage between the mechanical swing arm and the steering handle 2 is mechanical, it has the characteristics of accurate transmission and rapid response. At the same time, the high-precision measurement of the angle sensor 21 also ensures the accurate transmission of the steering command, which not only improves the control accuracy and stability of the steering system, but also enhances the driving comfort and safety.

[0056] In an optional embodiment, the electromechanical control unit 3 includes a motor transmission mechanism 31 and a steering valve 32;

[0057] The motor transmission mechanism 31 is mechanically connected to the steering valve 32, and the steering valve 32 is connected to the steering cylinder 4 through a hydraulic oil pipe 6;

[0058] The motor transmission mechanism 31 is used to drive the steering valve 32 based on the control command issued by the controller 1;

[0059] The steering valve 32 is used to control the telescopic length and speed of the steering cylinder 4 based on the drive of the motor transmission mechanism 31, so as to drive the steering rocker arm of the gearbox to change the angle and execute the steering action of the target harvesting machinery.

[0060] Furthermore, the electromechanical control unit 3 is a steering actuator, including a motor transmission mechanism 31 and a steering valve 32. The steering valve 32 is connected to the steering cylinder 4 through a hydraulic oil pipe 6. The extension and contraction of the steering cylinder 4 drives the angle change of the steering rocker arm of the gearbox. Among them, the motor transmission mechanism 31 is a key part of the electromechanical control unit 3, which is responsible for converting electrical energy into mechanical energy to drive the movement of the steering system. After receiving the instruction of the controller 1, the motor transmission mechanism 31 starts to work and drives the steering valve 32 and the steering cylinder 4 and other actuators to operate. The steering valve 32 is a key component for controlling the flow direction of the hydraulic oil. The extension and contraction movement of the steering cylinder 4 is controlled by changing the flow direction and flow rate of the hydraulic oil. The steering valve 32 is connected to the steering cylinder 4 through a hydraulic oil pipe 6. When the main valve core moves, the hydraulic oil flows out of the oil tank, passes through the steering valve 32, and flows into the steering cylinder 4, driving the piston rod in the steering cylinder 4 to extend and contract. The steering cylinder 4 is an important component for converting hydraulic energy into mechanical energy. It drives the steering rocker arm of the gearbox to rotate through the extension and contraction movement, thereby realizing the steering of the wheels. The piston rod of the steering cylinder 4 is connected to the steering rocker arm of the gearbox. When the piston rod is extended or retracted, it will push the steering rocker arm to rotate a certain angle around its axis, and then transmit power to the wheels through the transmission mechanism to achieve steering.

[0061] In an optional embodiment, the motor transmission mechanism 31 includes a motor, a gear 312 and a rack 311, and the gear 312 is meshedly connected with the rack 311;

[0062] The gear 312 is used to drive the rack 311 to perform stepless telescopic action when the motor rotates forward or reversely, so as to push the steering rocker arm of the gearbox to change its angle through the steering valve 32 and the steering cylinder 4 in turn, thereby executing the stepless steering action of the target harvesting machinery.

[0063] In an optional embodiment, the steering valve 32 includes a main valve core and a steering valve body, and the main valve core performs a telescopic action in the steering valve body 324 to realize the telescopic function of the steering cylinder 4;

[0064] The rack 311 of the motor transmission mechanism 31 is rigidly connected to the main valve core of the steering valve 32 so that the main valve core is pushed to perform a telescopic action through the telescopic action of the rack 311 .

[0065] Furthermore, the electromechanical control unit 3 of this embodiment includes a motor transmission mechanism 31 and a steering valve 32. The motor transmission mechanism 31 and the steering valve 32 can be fixed by four screws. Figure 2 The schematic diagram of the structure of the motor transmission mechanism 31 is shown, the gear 312 of the motor transmission mechanism 31 is meshed with the rack 311, when the motor controls the gear 312 to rotate in the forward and reverse directions, the rack 311 moves with the extension and retraction; see Figure 3The schematic diagram of the connection between the motor transmission mechanism 31 and the steering valve 32 is shown. The rack 311 and the main valve core of the steering valve 32 are rigidly connected through the preload spring 322 and the wire retaining ring 321. The wire retaining ring 321 ensures that the ball head of the rack 311 is not pushed out by the preload spring 322. The preload spring 322 presses the rack 311 to ensure that there is no gap between it and the main valve core; the main valve core and the steering valve body 324 are sealed by the sealing ring 323, and the hydraulic oil will not leak into the motor transmission mechanism 31. The steering valve 32 is connected to the steering cylinder 4 through the hydraulic oil pipe 6; when the motor rotates forward and reverse, the gear 312 drives the rack 311 to perform stepless extension and retraction, the rack 311 pushes the main valve core to change its position, and the main valve core can be steplessly adjusted, thereby realizing stepless adjustment of the steering cylinder 4, and then realizing stepless steering.

[0066] The motor in this embodiment is used to provide power and control the rotation of the gear 312 by forward and reverse rotation. The gear 312 is used to be connected to the output shaft of the motor to convert the rotational motion of the motor into the rotation of the gear 312. The rack 311 is meshed with the gear 312, and the rack 311 is used to perform linear telescopic motion when the gear 312 rotates. The main valve core is rigidly connected to the rack 311, and the position of the main valve core in the steering valve body 324 can be changed by the linear motion of the rack 311. The preload spring 322 is used to maintain close contact between the rack 311 and the main valve core to ensure no gap and help resist external pressure. The wire retaining ring 321 is used to prevent the preload spring 322 from pushing out the ball head of the rack 311 to maintain the stability of the connection. The sealing ring 323 is used to ensure the sealing between the main valve core and the steering valve body 324 to prevent the hydraulic oil from leaking into the motor transmission mechanism 31. The steering valve body 324 is the main body of the steering valve 32, and has an oil passage inside to control the flow direction of the hydraulic oil according to the position of the main valve core. The hydraulic oil pipe 6 connects the steering valve 32 and the steering cylinder 4, and is used to transfer hydraulic oil to realize the telescopic movement of the cylinder.

[0067] Furthermore, the electric mechanical control unit 3 of the present embodiment has self-diagnosis and protection functions. The electric mechanical control unit 3 communicates with the controller 1 based on the CAN bus. After power-on, in order to ensure safety, the electric mechanical control unit 3 must first return to the middle position before allowing extension and retraction actions; when no message is received from the controller 1 within the set time, the electric mechanical control unit 3 will automatically return to the middle position, and when the communication is restored to normal, it will respond to the corresponding command again; during the operation of the electric mechanical control unit 3, if the resistance is too large and exceeds the rated load of the motor, a message will be sent to prompt an overload alarm; when the working voltage is not within the required range, a message will be sent to prompt that the voltage is too high or too low; when the ambient temperature is not within the required range, a message will also be sent to prompt that the temperature is too high or too low; after a fault occurs, the electric mechanical control unit 3 will automatically return to the middle position for safety and will no longer respond to the command of the controller 1, and will continue to work when the fault is eliminated.

[0068] In an optional embodiment, the display interactive screen 5 is used to display at least one of the state of the micro-motion device, the real-time value of the angle sensor, the current value of the motor transmission mechanism 31, the set target value, the set system parameters and the alarm information;

[0069] The display interactive screen 5 and the controller 1 both include a storage module, and the storage module is used to store specified data in the system. The specified data can be any data displayed by the display interactive screen 5.

[0070] Furthermore, the display interactive screen 5 and the controller 1 of this embodiment can store key data, and the display interactive screen 5 has the function of setting parameter storage and backup. When the controller 1 is replaced, the backup data in the display interactive screen 5 can be sent to the controller 1. The controller 1 can also include a function of setting parameter storage. When the display interactive screen 5 is replaced, the stored data in the controller 1 can be uploaded to the display interactive screen 5. Such two-way data storage makes it unnecessary to set the data again when the display interactive screen 5 or the controller 1 is replaced. When the display interactive screen 5 fails, the controller 1 can also work normally, which is convenient for users.

[0071] Further, the display interactive screen 5 is mainly used to query, set and calibrate system parameters. In this embodiment, the display interactive screen 5 can display the state of the micro-switch button, the real-time value of the angle sensor, the current value of the motor adjustment mechanism, the set target value and the alarm information of the corresponding components. The display interactive screen 5 can also set the sensitivity of fine-tuning steering (in the range of 0-100%), calibrate the median value of the steering handle 2, the maximum value of left turn and the maximum value of right turn, and set the left differential starting position, right differential starting position and brake position length of the motor and the rack 311. These setting values ​​are sent to the controller 1 through the CAN bus, so that the system can be personalized according to the mechanical state, so that each machine can achieve the best performance. In other words, the operator can set the sensitivity of fine-tuning steering on the display interactive screen 5, and calibrate the median value of the steering handle 2 and the maximum value of left and right turn. At the same time, the left and right differential starting positions and brake position lengths of the motor and the rack 311 are set. These settings and values ​​are sent to the controller 1 via the CAN bus, that is, the interactive display screen 5 can display the system parameters set by the user, including the sensitivity of fine-tuning steering, the median value of the steering handle 2, the maximum left turn of the steering handle 2, the maximum right turn of the steering handle 2, the left differential starting position of the motor and the rack 311, the right differential starting position of the motor and the rack 311, and the brake position length. In addition, the interactive display screen 5 can also display the current driving mode set by the user.

[0072] Furthermore, the steering control system of this embodiment is provided with input and output protection functions and automatic calibration mechanisms. When the power is on, it is detected that the button corresponding to the micro-motion device has been pressed, and it is judged as a button failure. The controller 1 controls the electromechanical control unit 3 not to respond to the button action; when the button corresponding to the micro-motion device is detected to be pressed again after power is on, it will respond to the relevant action; when the left turn micro-motion button 22 and the right turn micro-motion button 23 of the micro-motion device are both pressed, the button action pressed later is responded. The normal output voltage range of the angle sensor 21 of the steering handle 2 can be 0.5V to 4.5V. When the output signal of the angle sensor 21 exceeds 0.25V to 4.75V, it is judged that the angle sensor 21 is faulty. To ensure safety, the controller 1 controls the electromechanical control unit 3 to return to the middle position. The electromechanical control unit 3 will rotate back and forth after power is on, and the gap between the gear 312 and the rack 311 is judged, and it is automatically calibrated. That is to say, the controller 1 of this embodiment has a button fault detection module, an angle sensor 21 monitoring module and an automatic calibration module. The button fault detection module is used to perform button fault detection when the system is powered on. If it is detected that the button has been pressed when the power is on, it will be regarded as a button fault. At this time, the controller 1 will not respond to any button action. Only when the button is detected to be pressed again after power-on, the relevant operation will be performed. In addition, when the left turn micro button 22 and the right turn micro button 23 are pressed at the same time, the last pressed button will be responded to first. The normal output voltage range of the angle sensor 21 is 0.5V to 4.5V. The angle sensor 21 monitoring module is used to determine that the angle sensor 21 is faulty when the output voltage of the angle sensor 21 exceeds the range of 0.25V to 4.75V. In this case, the controller 1 will adjust the electric drive unit back to the middle position to ensure safe operation. The automatic calibration module is used to make the electromechanical control unit 3 rotate back and forth after power-on to determine the gap between the gear 312 and the rack 311, and automatically calibrate.

[0073] In actual application, the steering control system of this embodiment has differential steering with button fine-tuning, differential and brake steering functions controlled by the steering handle 2, and provides multiple driving modes such as comfort, standard, and sports. The operator can flexibly choose according to driving habits and needs to obtain the most suitable driving mode. When the target harvesting machinery is traveling in a straight line and the steering deviation is small, the left turn micro-motion button 22 and the right turn micro-motion button 23 on the steering handle 2 or the small angle output signal of the angle sensor 21 on the steering handle 2 can be used for correction to achieve large radius steering; when the steering deviation is large or turning is required, the steering handle 2 can be used to achieve variable small radius steering. This steering control system is suitable for steering control of crawler harvesting machinery.

[0074] During the harvesting process, if the driving direction and the position of the crop to be harvested deviate by an angle small, it is only necessary to fine-tune the driving direction in a large radius. When fine-tuning to the left, press the left turn micro-motion button 22; when fine-tuning to the right, press the right turn micro-motion button 23; when the controller 1 receives the left turn micro-motion button signal or the right turn micro-motion button signal, the target direction, extension amount and movement speed of the rack 311 of the motor transmission mechanism 31 are calculated according to the driving mode set by the display interactive screen 5 and the calibration system parameters, and then the required rotation direction, number of rotations and rotation speed of the motor are obtained. The controller 1 controls the motor transmission mechanism 31 to move to the target value at the set speed through the CAN bus, and the rack 311 of the motor transmission mechanism 31 moves and drives the valve stem to move in the corresponding direction. The valve stem movement controls the steering valve 32 oil circuit to be cut off and opened, and further drives the steering cylinder 4 to extend or retract to the left or right. The extension and retraction of the steering cylinder 4 directly drives the steering rocker arm angle change, so that the power on one side of the gearbox output shaft is separated and the other side is driven normally. The track speeds on both sides are not synchronized, and the vehicle body deviates to the side with slow rotation speed, thereby realizing differential steering. When the driving mode changes, the extension and retraction of the rack 311 will be adjusted synchronously, and the amplitude of the differential steering will change accordingly. The closer the mode is to motion, the extension and retraction of the rack 311 will increase step by step, and the speed will also increase synchronously, driving the steering cylinder 4 to increase its extension length, and then the steering rocker arm angle increases, and the differential steering amplitude becomes more obvious.

[0075] When a variable small radius differential or brake steering is required, the steering handle 2 is placed in the left or right position. As the angle of the handle away from the middle position gradually increases, the steering gradually changes from differential steering to brake steering; according to the set driving mode, the adjustment speed and sensitivity of the differential steering to brake steering will change accordingly. For example, the adjustment speed of the comfort mode is slow and the sensitivity is low. When the handle approaches the calibrated limit value, the brake steering is achieved, and the steering process is relatively gentle; the adjustment speed of the sports mode is fast and the sensitivity is high. When the handle reaches the target position of the calibrated limit value (such as 1 / 2 position of the limit value), it will become brake steering, and the steering process is relatively flexible. The variable small radius steering process is similar to fine adjustment. As the angle of the handle away from the middle position becomes larger and larger, the extension amount of the rack 311 will gradually increase, the valve stem of the steering valve 32 will be driven to control the oil circuit to be cut off and opened, the extension distance of the steering cylinder 4 will increase, the steering rocker arm angle will increase, and the drive of one side of the gearbox will gradually change from separation to braking, and the speed of the other side will remain unchanged; for the crawler machine, the speed of one side will gradually decrease until braking, and the speed of the other side will remain unchanged. This steering method is very gentle, and there will be no steering instability even on hard ground. When the steering handle 2 and the inching button are operated at the same time, the steering handle 2 can have a higher priority than the inching button. That is, if the operator operates the steering handle 2 and the inching button at the same time, the system will perform steering control based on the instructions of the steering handle 2, ensuring accuracy and safety in high-intensity or emergency steering operations.

[0076] That is to say, in this embodiment, the differential steering is controlled by the button fine adjustment of the micro-motion device, and the differential steering and brake steering are controlled by the steering handle 2. When the harvesting machine has a small steering deviation during straight driving, the operator can easily make fine adjustments through the left or right turn micro-motion button 23 on the handle. This fine adjustment function is based on the principle of differential steering. By controlling the slight extension and contraction of the steering cylinder 4, the speed of the crawler tracks on both sides is slightly different, thereby achieving smooth steering with a large radius. When a large angle of steering or turning is required, the operator can place the steering handle 2 in the left or right position. As the angle of the handle deviates from the middle position increases, the system will gradually transition from differential steering to brake steering. This design makes the steering process more flexible and controllable, and can meet different steering requirements. This embodiment also provides a variety of driving modes such as comfort, standard, and sports, and each mode corresponds to different steering sensitivity and speed. The operator can choose the appropriate mode according to personal driving habits and working environment to obtain the best driving experience and work efficiency. For the controller 1, when the micro-button or steering handle 2 issues a steering command, the controller 1 will calculate the target direction, extension amount and movement speed of the rack 311 of the motor transmission mechanism 31 according to the driving mode and calibration parameters set on the display interactive screen 5. The controller 1 sends the command to the motor transmission mechanism 31 through the CAN bus, driving it to move to the target value at the set speed. The movement of the motor transmission mechanism 31 further drives the valve stem of the steering valve 32 to control the extension and retraction of the steering cylinder 4. The extension and retraction of the steering cylinder 4 directly drives the angle change of the steering rocker arm, so that one side of the gearbox output shaft is powered off or braked, and the other side is driven normally, thereby realizing differential steering or brake steering.

[0077] In summary, the present invention provides dual-mode operation, which can make fine directional adjustments through a micro-motion device, which is suitable for small corrections, and can make larger directional adjustments through a steering handle, which is suitable for curved driving or quick turns. While realizing dual-mode operation, the present invention has little mechanical structure design change, and can be upgraded and installed without significantly changing the existing harvesting machinery structure, thereby reducing the cost and time of transformation. In addition, the optimized harvesting machinery structure also ensures the softness of the steering operation, reduces mechanical wear and vibration, and extends the service life of the equipment. The steering operation is smooth, which reduces the impact and fatigue on the driver, improves driving comfort, and can be set according to different machine types and the driver's driving habits to achieve the best driving experience. By precisely controlling the steering, the operating accuracy and efficiency of the harvester are improved. Automated steering control reduces the repeated operations that the driver needs to perform and reduces labor intensity. The operation process of the harvesting machinery is optimized, fuel efficiency and operating efficiency are improved, and operating costs are reduced.

[0078] In this embodiment, an electromechanical steering control method is provided. Figure 1The controller 1 in the electromechanical steering control system shown in the figure executes, Figure 4 is a flow chart of an electromechanical steering control method according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0079] Step S401, obtaining the output signal of the micro-motion device, the output signal of the angle sensor 21 and the system parameters displayed on the interactive screen 5;

[0080] Step S402, based on the output signal of the micro-motion device, the output signal of the angle sensor 21 and / or the system parameters displayed in the interactive screen 5, a control strategy is determined, and based on the control strategy, the electromechanical control unit 3 is controlled to drive the steering cylinder 4 to perform the steering action of the target harvesting machinery.

[0081] In an optional implementation, the present embodiment also obtains the current driving mode selected by the user through the display interactive screen 5; the driving mode includes a comfort mode, a standard mode and a sports mode; according to the current driving mode, the control strategy is determined; the control strategy includes the target direction, the extension amount and the movement speed of the motor transmission mechanism 31 of the electromechanical control unit 3. That is, step S402 includes:

[0082] Get the current driving mode;

[0083] According to the current driving mode, the system parameters, the swing angle of the steering handle 2 and / or the output signal of the micro-motion device, the target direction, the extension amount and the movement speed of the motor transmission mechanism 31 of the electromechanical control unit 3 are obtained;

[0084] Based on the target direction, the telescopic amount and the movement speed, a control instruction is sent to the motor transmission mechanism 31 through the CAN bus, so that the motor transmission mechanism 31 moves to a specified position based on the target direction, the telescopic amount and the movement speed, so as to drive the steering valve 32 to push the steering cylinder 4 and perform the steering action of the target harvesting machinery.

[0085] Further, in this embodiment, first, the controller 1 will monitor the status of the micro-button and the steering handle 2 in real time. Once a steering command or output signal (whether fine-tuning or large-angle steering) is detected, the controller 1 will immediately enter the working state. These commands or output signals will be captured and analyzed by the controller 1 to determine the steering intention of the operator. At the same time, the controller 1 will read the current driving mode and calibrated system parameters set on the display interactive screen 5. The driving mode (such as comfort mode, sports mode, etc.) determines the sensitivity and response speed of the steering, while the system parameters (such as maximum steering angle, steering sensitivity adjustment coefficient, etc.) can provide the specific values ​​required by the control algorithm. Based on the steering command, driving mode and system parameters, the controller 1 calculates the target values ​​such as the target direction, telescopic amount and movement speed of the rack 311 of the motor transmission mechanism 31. After calculating the target value, the controller 1 will send the control command to the motor transmission mechanism 31 through the CAN bus. After receiving the control command, the motor transmission mechanism 31 will drive its internal mechanical structure to perform corresponding movements according to the target direction, telescopic amount and movement speed in the command, thereby achieving precise steering control.

[0086] In an optional implementation manner, this embodiment further includes:

[0087] When the target harvesting machine is in a straight line and needs to perform a large-radius steering correction, the current movement direction of the target harvesting machine is corrected based on the output signal of the micro-motion device or the output signal of the angle sensor 21, and the steering valve 32 is controlled to work in a separate steering mode to perform a large-radius steering action of the target harvesting machine;

[0088] When the target harvester is turning and needs to perform a variable small radius steering correction, the current movement direction of the target harvester is corrected based on the output signal of the angle sensor 21, and the steering valve 32 is controlled to transition from the separation steering mode to the braking steering mode to execute the variable small radius steering action of the target harvester.

[0089] Further, when the target harvesting machinery is in a straight-line driving state and needs to be corrected with a large radius steering (such as the detected steering deviation is less than the first threshold), it can be considered that the current steering deviation is small, and only fine-tuning is required to maintain straight-line driving. At this time, a large radius steering correction is preferentially performed based on the output signal of the micro-motion device or the small-angle output signal of the angle sensor, and the steering valve 32 is controlled to work in a separate steering mode. The micro-motion device provides more sophisticated steering control, which is suitable for small-range, high-precision steering adjustments, so that the target harvesting machinery can accurately maintain driving in a straight line. On the contrary, when the target harvesting machinery is in a turning driving state and needs to be corrected with a variable small radius steering (such as the detected steering deviation is greater than the second threshold, and the first threshold is less than or equal to the second threshold), it can be considered that the current steering deviation is large, and a larger steering adjustment is required to ensure the accuracy of the driving trajectory. At this time, a variable small radius steering correction can be performed based on the output signal of the angle sensor 21. As the angle of the angle sensor 21 gradually increases, the steering valve 32 gradually transitions from the separation steering mode to the brake steering mode to achieve a variable radius steering action; the angle sensor 21 can reflect the angle changes of the steering handle 2 in real time, thereby providing more direct and accurate steering instructions, achieving a larger amplitude push on the steering cylinder 4, and enabling the target harvesting machinery to travel according to the predetermined turning radius.

[0090] In summary, the present invention provides dual-mode operation, and can make fine direction adjustments through a micro-motion device, which is suitable for small corrections, and can make larger-range direction adjustments through the steering handle 2, which is suitable for curve driving or quick turns. While realizing dual-mode operation, the present invention has little mechanical structure design change of the system, and can be upgraded and installed without significantly changing the existing harvesting machinery structure, thereby reducing the cost and time of transformation. In addition, the optimized harvesting machinery structure also ensures the softness of the steering operation, reduces mechanical wear and vibration, and extends the service life of the equipment. The steering operation is smooth, which reduces the impact and fatigue on the driver, improves the driving comfort, and can be set according to different machine types and the driver's driving habits to achieve the best driving experience. By precisely controlling the steering, the operation accuracy and efficiency of the harvester are improved. Automated steering control reduces the repeated operations that the driver needs to perform and reduces the labor intensity. The operation process of the harvesting machinery is optimized, the fuel efficiency and operation efficiency are improved, and the operating cost is reduced.

[0091] In this embodiment, an electromechanical steering control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0092] This embodiment provides an electromechanical steering control device, which comprises the above Figure 1 The controller 1 in the electromechanical steering control system shown in FIG. Figure 5 As shown, including:

[0093] The parameter acquisition module 501 is used to acquire the output signal of the micro-motion device, the output signal of the angle sensor 21 and the system parameters displayed on the interactive screen 5;

[0094] The steering action execution module 502 is used to determine the control strategy based on the output signal of the micro-motion device, the output signal of the angle sensor 21 and / or the system parameters displayed in the interactive display screen 5, and control the electromechanical control unit 3 to drive the steering cylinder 4 based on the control strategy to execute the steering action of the target harvesting machinery.

[0095] In some optional embodiments, the device is also used for:

[0096] The current driving mode selected by the user is obtained through the display interactive screen 5; the driving modes include comfort mode, standard mode and sports mode; the control strategy is determined according to the current driving mode; the control strategy includes the target direction, extension amount and movement speed of the motor transmission mechanism 31 of the electromechanical control unit 3.

[0097] In an optional embodiment, the device is further used for:

[0098] When the target harvesting machine is in a straight line and needs to perform a large-radius steering correction, the current movement direction of the target harvesting machine is corrected based on the output signal of the micro-motion device or the output signal of the angle sensor 21, and the steering valve 32 is controlled to work in a separate steering mode to perform a large-radius steering action of the target harvesting machine;

[0099] When the target harvester is turning and needs to perform a variable small radius steering correction, the current movement direction of the target harvester is corrected based on the output signal of the angle sensor 21, and the steering valve 32 is controlled to transition from the separation steering mode to the braking steering mode to execute the variable small radius steering action of the target harvester.

[0100] In summary, the present invention provides dual-mode operation, and can make fine direction adjustments through a micro-motion device, which is suitable for small corrections, and can make larger-range direction adjustments through the steering handle 2, which is suitable for curve driving or quick turns. While realizing dual-mode operation, the present invention has little mechanical structure design change of the system, and can be upgraded and installed without significantly changing the existing harvesting machinery structure, thereby reducing the cost and time of transformation. In addition, the optimized harvesting machinery structure also ensures the softness of the steering operation, reduces mechanical wear and vibration, and extends the service life of the equipment. The steering operation is smooth, which reduces the impact and fatigue on the driver, improves the driving comfort, and can be set according to different machine types and the driver's driving habits to achieve the best driving experience. By precisely controlling the steering, the operation accuracy and efficiency of the harvester are improved. Automated steering control reduces the repeated operations that the driver needs to perform and reduces the labor intensity. The operation process of the harvesting machinery is optimized, the fuel efficiency and operation efficiency are improved, and the operating cost is reduced.

[0101] See also Figure 6 , Figure 6 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 6 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0102] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0103] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0104] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0105] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0106] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0107] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0108] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0109] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the defined scope.

Claims

1. An electromechanical steering control system, characterized in that: The system includes: a steering handle, a controller, an electromechanical control unit, and a display interactive screen; The steering handle is provided with a micro-motion device for controlling fine-tuning of the steering, and an angle sensor for detecting the swing angle of the steering handle; The output end of the micro-motion device and the output end of the angle sensor are respectively connected to the input end of the controller, and the signal line end of the controller, the signal line end of the interactive display screen and the signal line end of the electromechanical control unit are connected to each other through a CAN bus; The controller is used to determine a control strategy based on the output signal of the micro-motion device, the output signal of the angle sensor and / or the system parameters displayed in the interactive screen, and control the electromechanical control unit to drive the steering cylinder based on the control strategy to perform the steering action of the target harvesting machinery.

2. The system according to claim 1, characterized in that The angle sensor is connected to the steering handle via a mechanical swing rod, and the output end of the angle sensor is connected to the first input end of the controller.

3. The system according to claim 1, characterized in that The micro-motion device comprises a left-turn micro-motion button and a right-turn micro-motion button, wherein the output end of the left-turn micro-motion button is connected to the second input end of the controller, and the output end of the right-turn micro-motion button is connected to the third input end of the controller.

4. The system according to claim 1, characterized in that The electromechanical control unit includes a motor transmission mechanism and a steering valve; The motor transmission mechanism is mechanically connected to the steering valve, and the steering valve is connected to the steering cylinder via a hydraulic oil pipe; The motor transmission mechanism is used to drive the steering valve based on the control command issued by the controller; The steering valve is used to control the telescopic length and speed of the steering cylinder based on the drive of the motor transmission mechanism, so as to drive the steering rocker arm of the gearbox to change the angle and execute the steering action of the target harvesting machinery.

5. The system according to claim 4, characterized in that The motor transmission mechanism comprises a motor, a gear and a rack, and the gear is meshingly connected with the rack; The gear is used to drive the rack to perform stepless extension and retraction when the motor rotates forward and reverse, so as to push the steering rocker arm of the gearbox to change its angle through the steering valve and the steering cylinder in turn, thereby executing the stepless steering action of the target harvesting machinery.

6. The system according to claim 5, characterized in that The steering valve comprises a main valve core and a steering valve body, wherein the main valve core performs telescopic movement in the steering valve body to realize the telescopic function of the steering cylinder; The rack of the motor transmission mechanism is rigidly connected to the main valve core of the steering valve, so that the main valve core is pushed to perform a telescopic action through the telescopic action of the rack.

7. The system according to claim 1, characterized in that The interactive display screen is used to display at least one of the state of the micro-motion device, the real-time value of the angle sensor, the current value of the motor transmission mechanism, the set target value, the set system parameters and the alarm information; The display interactive screen and the controller both include a storage module, and the storage module is used to store specified data in the system.

8. An electromechanical steering control method, characterized in that: The method is executed by a controller in an electromechanical steering control system according to any one of claims 1 to 7, and the method comprises: Obtaining the output signal of the micro-motion device, the output signal of the angle sensor, and the system parameters displayed on the interactive screen; Based on the output signal of the micro-motion device, the output signal of the angle sensor and / or the system parameters displayed in the interactive screen, a control strategy is determined, and based on the control strategy, the electromechanical control unit is controlled to drive the steering cylinder to perform the steering action of the target harvesting machinery.

9. The method according to claim 8, characterized in that The method further comprises: The current driving mode selected by the user is obtained through the display interactive screen; the driving modes include comfort mode, standard mode and sports mode; the control strategy is determined according to the current driving mode; the control strategy includes the target direction, extension amount and movement speed of the motor transmission mechanism of the electromechanical control unit.

10. The method according to claim 8 or 9, characterized in that: The method further comprises: When the target harvesting machine is in a straight line and needs to perform a large-radius steering correction, the current movement direction of the target harvesting machine is corrected based on the output signal of the micro-motion device or the output signal of the angle sensor, and the steering valve is controlled to work in a separate steering mode to perform a large-radius steering action of the target harvesting machine; When the target harvesting machinery is turning and a variable small radius steering correction is required, the current movement direction of the target harvesting machinery is corrected based on the output signal of the angle sensor, and the steering valve is controlled to transition from the separation steering mode to the braking steering mode to execute the variable small radius steering action of the target harvesting machinery.

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