Harvester walking control method, harvester and electronic equipment

Abstract

The invention discloses a harvester walking control method, a harvester and electronic equipment, and relates to the technical field of agricultural machinery. The harvester walking control method comprises the steps that in response to an automatic control instruction, engine output power and walking handle angle information are obtained in real time; on the basis of the engine output power, a speed adjusting type is determined and obtained; on the basis of the walking handle angle information, a speed adjusting value is determined and obtained; and controlling the walking speed of the harvester based on the speed regulation type and the speed regulation value. The walking electric control of the harvester is realized, the intelligent level of the harvester is improved, the control is simple and convenient, the output power of the engine is taken as a reference target, the walking speed is automatically adjusted, and when the output power of the engine is relatively high, the harvester can be automatically decelerated and adjusted, so that the high-load operation can be effectively reduced, and the working efficiency is improved. And the blockage probability of the harvester during working is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and specifically to a harvester walking control method, a harvester and an electronic device. Background Art

[0002] A harvester is a mechanical device used to harvest various crops in agricultural production. It can effectively improve agricultural production efficiency and reduce the labor intensity of farmers. For example: rice harvester, fruit harvester, vegetable harvester, etc.

[0003] Most of the existing harvesters are controlled manually by hydraulic pressure. The harvesting operation is completely controlled by the driver. The harvesting is basically at full speed and only relies on the operator's manual judgment and intervention. Especially for new operators, it is impossible to control accurately and is more prone to blockage. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a harvester travel control method, a harvester and an electronic device, so as to solve the problem in the prior art that the harvesting operation is entirely controlled by the driver, and the harvesting is basically carried out at full speed, relying only on the operator's manual judgment and intervention. Especially for new operators, accurate control is impossible and blockage is more likely to occur.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a harvester walking control method, comprising:

[0006] Responding to automatic control instructions, real-time acquisition of engine output power and travel handle angle information;

[0007] Based on the engine output power, determining a speed regulation type;

[0008] Based on the walking handle angle information, determining a speed adjustment value;

[0009] Based on the speed adjustment type and the speed adjustment value, the walking speed of the harvester is controlled.

[0010] In the embodiment of the present application, determining the speed regulation type based on the engine output power includes:

[0011] Obtain the parameters of the travel proportional valve and the working clutch state parameters;

[0012] Based on the walking handle angle information, determining whether the walking handle meets a preset walking handle condition;

[0013] Based on the travel proportional valve parameters, determining whether the travel proportional valve is in a normal state;

[0014] Based on the working clutch state parameter, determining whether the working clutch is engaged;

[0015] When it is determined that the travel handle satisfies a preset travel handle condition, the travel proportional valve is in a normal state, and the working clutch is closed, a speed regulation type is determined based on the engine output power.

[0016] In the embodiment of the present application, determining the speed adjustment value based on the walking handle angle information includes:

[0017] Get adjustment time;

[0018] A speed adjustment value is determined based on the walking handle angle information and the adjustment time.

[0019] In an embodiment of the present application, controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value includes:

[0020] Based on the speed adjustment value, determining the adjustment step length of the travel proportional valve opening;

[0021] Based on the speed regulation type, the opening of the travel proportional valve is adjusted according to the adjustment step of the opening of the travel proportional valve to control the travel speed of the harvester.

[0022] In this embodiment, controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value includes:

[0023] Based on the engine output power, the adjustment gear is matched in the preset gear adjustment rules;

[0024] Based on the adjustment gear and the walking handle angle information, determining an angle adjustment range;

[0025] Within the angle adjustment range, the walking speed of the harvester is controlled based on the speed adjustment type and the speed adjustment value.

[0026] In this embodiment, after controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value, the method further includes:

[0027] Based on the angle adjustment range, determining an angle adjustment extreme value;

[0028] Determine whether the current engine output power is within the power range corresponding to the adjustment gear position;

[0029] When it is determined that the current engine output power is within the power range corresponding to the adjustment gear, a new speed adjustment value is obtained based on the angle adjustment extreme value, and the walking speed of the harvester is controlled based on the new speed adjustment value and the speed adjustment type.

[0030] In the embodiment of the present application, it also includes:

[0031] When it is determined that the walking handle does not satisfy a preset walking handle condition, a first alarm message is generated based on the walking handle angle information.

[0032] In the embodiment of the present application, it also includes:

[0033] When it is determined that the travel proportional valve is in an abnormal state, second alarm information is generated based on the travel proportional valve parameters.

[0034] A second aspect of the present application provides a harvester, which uses the above-mentioned harvester walking control method to control the walking speed.

[0035] A third aspect of the present application provides an electronic device, the electronic device comprising:

[0036] at least one processor;

[0037] a memory connected to the at least one processor;

[0038] Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned harvester walking control method by executing the instructions stored in the memory.

[0039] Through the above technical scheme, by responding to the automatic control instruction, the engine output power and the walking handle angle information are obtained in real time; based on the engine output power, the speed adjustment type is determined; based on the walking handle angle information, the speed adjustment value is determined; based on the speed adjustment type and the speed adjustment value, the walking speed of the harvester is controlled. The engine output power reflects the ability of the engine to convert the chemical energy of the fuel into mechanical energy and output it to the outside. When the engine output power is large, the harvester can be decelerated to reduce the risk of blockage under high-speed harvesting; when the engine output power is small, the harvester can be accelerated to improve the working efficiency. The speed adjustment type can be determined by the engine output power, that is, acceleration or deceleration, and the speed adjustment value can be determined by the walking handle angle information, that is, the speed adjustment amount, so that the walking speed of the harvester is automatically adjusted according to the speed adjustment type and the speed adjustment amount, realizing the electronic control of the walking of the harvester, improving the intelligent level of the harvester, and the control is simple and convenient. The walking speed is automatically adjusted with the engine output power as the reference target. When the engine output power is large, the harvester can be automatically decelerated, which can effectively reduce high-load operation and reduce the probability of blockage when the harvester is working.

[0040] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0042] Figure 1 A schematic diagram of a process flow of a harvester walking control method according to an embodiment of the present application is schematically shown;

[0043] Figure 2 The overall network architecture diagram of the automatic control of a rice harvester according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0044] In order 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 specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0045] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0046] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0048] Figure 1 The flowchart of a method for controlling the travel of a harvester according to an embodiment of the present application is schematically shown. Figure 1 As shown, the embodiment of the present application provides a harvester walking control method, which may include the following steps:

[0049] Step 210: Responding to the automatic control instruction, obtaining engine output power and travel handle angle information in real time;

[0050] In this embodiment, the above automatic control instructions can be obtained by input from the operator, for example, the vehicle control unit (VCU) of the harvester is connected to the display screen, and the option of the automatic control mode is displayed on the display screen. The operator selects the option of the automatic control mode by pressing a button or touching the display screen, and then issues the automatic control instructions. After obtaining the automatic control instruction, the vehicle control unit determines to enable the automatic control mode to control the harvester, and then obtains the engine output power in real time. The engine output power refers to the work done by the engine per unit time, and the power that the engine can provide to the vehicle or other equipment. The harvester needs to consume a lot of power during operations such as harvesting, conveying, and threshing. The greater the engine output power, the more it can ensure that the harvester can complete the operation at a higher speed and efficiency under different crop conditions and operating environments, such as harvesting large areas of crops faster, improving the efficiency of threshing and cleaning, etc. The above walking handle angle information includes walking handle angle data and walking handle working data, which can be obtained through an angle sensor. It should be noted that the walking handle mentioned in this embodiment can be implemented by using an ordinary handle + angle sensor, or a CAN bus handle, which is not limited in this embodiment.

[0051] In some embodiments, the real-time acquisition of engine output power includes the following steps:

[0052] First, the actual torque percentage, reference torque and engine speed of the engine are obtained in real time;

[0053] In this embodiment, the VCU can be connected to the engine electronic control unit (ECU) through the controller area network (CAN) bus. The engine ECU, as the control core of the engine, stores and processes a large amount of data related to the engine operating status, such as the actual engine torque percentage, reference torque and engine speed, etc. These data can be collected in real time through the CAN bus, and the engine output power can be calculated using the corresponding formula, so that we can grasp the working status of the engine in real time.

[0054] Then, the engine output power is calculated based on the actual torque percentage of the engine, the reference torque and the engine speed.

[0055] In this embodiment, the engine output power can be calculated based on the actual torque percentage, reference torque, and engine speed on the CAN bus. These three data come from different CAN frames of the ECU and can be directly calculated and sent by the ECU manufacturer. The above calculation of the engine output power is first based on the actual torque percentage and reference torque of the engine collected. After obtaining the actual torque of the engine, the engine output power can be calculated.

[0056] By acquiring the actual torque percentage, reference torque and engine speed of the engine in real time, the current engine output power can be calculated more accurately based on the actual torque percentage, reference torque and engine speed of the engine, which helps to control the harvester more accurately.

[0057] Step 220: Determine a speed regulation type based on the engine output power;

[0058] In this embodiment, the speed adjustment type includes acceleration and deceleration. When determining the speed adjustment type, the engine output power can be compared with a preset power threshold, and the speed adjustment type is determined according to the comparison result. For example, when the engine output power is ≥90kW, the speed adjustment type is determined to be deceleration; when the engine output power is <90kW, the speed adjustment type is determined to be acceleration.

[0059] In some embodiments, the determining of the speed regulation type based on the engine output power includes:

[0060] The first step is to obtain the parameters of the travel proportional valve and the working clutch state parameters;

[0061] In this embodiment, the above-mentioned travel proportional valve parameters may include the corresponding recovery current value and travel proportional valve duty ratio setting under different proportional valve output conditions. The above-mentioned travel proportional valve includes a forward proportional valve. The operation clutch state parameter may be closed or open.

[0062] The second step is to determine whether the walking handle satisfies a preset walking handle condition based on the walking handle angle information;

[0063] In this embodiment, the preset walking handle condition can be set in advance according to the actual situation, for example, the walking handle is in a non-action state, the walking handle angle meets the preset angle requirement, and the walking handle works normally. The preset angle requirement can be that the walking handle angle is greater than 50%, indicating that the operator wants the harvester to move at a relatively fast speed, wherein the walking handle angle refers to the handle output angle of the manual control hydrostatic transmission (HST), ranging from 0 to 100%, 0% means stop; 100% means full speed forward. The judgment of the non-action state can be to judge whether the angle change of the walking handle meets the preset angle change requirement, for example: the angle change does not exceed 10%, and the duration is 1 second. The judgment of the normal operation of the walking handle can be to detect whether the voltage value of the walking handle is within the normal range (for example: 0.01V to 5.5V), and to judge whether the gear is calibrated correctly, for example (the gear must meet 5.5V> forward maximum gear> neutral gear> backward maximum gear> 0.05V). The gear calibration can be obtained by collecting the analog input signal of the walking handle angle and calibrating it. According to the walking handle angle data, it can be determined whether the walking handle is in a non-action state and whether it meets the preset angle requirements. According to the walking handle working data, it can be determined whether the walking handle is working normally. When the walking handle is in a non-action state, the walking handle angle meets the preset angle requirements, and the walking handle works normally, it is determined that the walking handle meets the preset walking handle conditions. If the walking handle is not in a non-action state or the walking handle angle does not meet the preset angle requirements or the walking handle is not working normally, the walking handle does not meet the preset walking handle conditions.

[0064] The third step is to determine whether the travel proportional valve is in a normal state based on the travel proportional valve parameters;

[0065] In this embodiment, the above-mentioned judgment of whether the walking proportional valve is in a normal state includes: judging whether the output state of the walking proportional valve is normal and whether the duty cycle setting of the walking proportional valve is correct. Among them, judging whether the output state of the walking proportional valve is normal can be judging whether the recovery current is 0 when the walking proportional valve has no output (that is, the output of the proportional valve is 0); when the walking proportional valve has output (that is, the output of the proportional valve is greater than 0), whether the recovery current is 0. When the walking proportional valve has no output (=0), the recovery current is not 0; or when the walking proportional valve has output (>0), the recovery current is 0, indicating that the output state of the walking proportional valve is an abnormal state, otherwise, it is a normal state. Judging whether the duty cycle setting of the walking proportional valve is correct can be judging whether the duty cycle limit meets the preset setting requirements, for example: the duty cycle limit needs to meet the maximum duty cycle>minimum duty cycle>0. If the duty cycle limit is not set or is set incorrectly, it means that the duty cycle setting of the walking proportional valve is incorrect, otherwise, it means that the setting is correct. When the output state of the travel proportional valve is normal and the duty cycle of the travel proportional valve is set correctly at the same time, it is determined that the travel proportional valve is in a normal state; otherwise, it is determined that the travel proportional valve is in an abnormal state.

[0066] Step 4: judging whether the operating clutch is engaged based on the operating clutch state parameter;

[0067] In this embodiment, the above-mentioned working clutch state parameter refers to whether the current working clutch is in a closed position or an open position, thereby determining whether the working clutch is closed.

[0068] The fifth step is to determine the speed regulation type based on the engine output power when it is determined that the travel handle meets the preset travel handle conditions, the travel proportional valve is in a normal state, and the working clutch is closed.

[0069] In this embodiment, only when the walking handle meets the preset walking handle conditions, the walking proportional valve is in a normal state, and the working clutch is closed, it is determined that the harvester meets the automatic adjustment conditions, and the speed adjustment type is determined based on the engine output power. Otherwise, it means that it is not satisfied. When the automatic adjustment conditions are not met, the walking speed can be controlled by the walking handle, and the display screen can also give an alarm prompt.

[0070] By judging whether the walking handle meets the preset walking handle conditions based on the walking handle angle information; judging whether the walking proportional valve is in a normal state based on the walking proportional valve parameters; and judging whether the working clutch is closed based on the working clutch state parameters, it is possible to more accurately and comprehensively determine whether the harvester meets the automatic adjustment conditions, which helps to ensure the reliability of walking control.

[0071] Step 230: Determine a speed adjustment value based on the walking handle angle information;

[0072] In this embodiment, a default adjustment time may be pre-set in the system, and the handle angle data of the walking handle angle information may be divided by the default adjustment time to determine the speed adjustment value.

[0073] In some embodiments, the determining of the speed adjustment value based on the walking handle angle information includes:

[0074] First, obtain the adjustment time;

[0075] In this embodiment, the adjustment time can be input by an operator according to actual needs, for example, it can be 5 seconds.

[0076] Then, based on the walking handle angle information and the adjustment time, a speed adjustment value is determined.

[0077] In this embodiment, the speed adjustment value may be obtained by dividing the handle angle data in the walking handle angle information by the adjustment time to calculate the angle adjustment value per unit time.

[0078] By obtaining the adjustment time, the operator can set the adjustment time according to actual needs, so that the speed adjustment value can be flexibly set, making the control more flexible and convenient.

[0079] Step 240: Based on the speed adjustment type and the speed adjustment value, control the walking speed of the harvester.

[0080] In this embodiment, the speed adjustment type can determine whether it is acceleration or deceleration, and the speed adjustment value can determine the size of the adjustment speed, so that the walking speed of the harvester can be accurately adjusted. Specifically, the proportional valve opening of the HST can be controlled by pulse width modulation (PWM), thereby controlling the flow and direction of the hydraulic oil entering the HST, and finally achieving the control of the walking speed of the harvester, which belongs to the prior art and will not be described in detail here.

[0081] In some embodiments, controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value includes:

[0082] Firstly, based on the speed adjustment value, the adjustment step length of the travel proportional valve opening is determined;

[0083] In this embodiment, the speed adjustment value refers to the angle adjustment value per unit time. The walking proportional valve opening corresponding to the walking handle angle can be pre-calibrated to obtain the walking proportional valve opening corresponding to the speed adjustment value, which is the adjustment step of the walking proportional valve opening.

[0084] Then, based on the speed regulation type, the opening of the travel proportional valve is adjusted according to the adjustment step length of the opening of the travel proportional valve to control the travel speed of the harvester.

[0085] In this embodiment, if the speed adjustment type is acceleration, the opening of the current travel proportional valve is superimposed according to the adjustment step; if the speed adjustment type is deceleration, the opening of the current travel proportional valve is decremented according to the adjustment step, so as to control the travel speed of the harvester.

[0086] By determining the adjustment step of the travel proportional valve opening based on the speed adjustment value, and adjusting the opening of the travel proportional valve according to the adjustment step based on the speed adjustment type, the travel speed of the harvester can be controlled more accurately.

[0087] In the above implementation process, by responding to the automatic control instruction, the engine output power and the walking handle angle information are obtained in real time; based on the engine output power, the speed adjustment type is determined; based on the walking handle angle information, the speed adjustment value is determined; based on the speed adjustment type and the speed adjustment value, the walking speed of the harvester is controlled. The engine output power reflects the ability of the engine to convert the chemical energy of the fuel into mechanical energy and output it to the outside. When the engine output power is large, the harvester can be decelerated to reduce the risk of blockage under high-speed harvesting; when the engine output power is small, the harvester can be accelerated to improve the working efficiency. The speed adjustment type can be determined by the engine output power, that is, acceleration or deceleration, and the speed adjustment value can be determined by the walking handle angle information, that is, the speed adjustment amount, so that the walking speed of the harvester is automatically adjusted according to the speed adjustment type and the speed adjustment amount, realizing the electronic control of the walking of the harvester, improving the intelligent level of the harvester, and the control is simple and convenient. The walking speed is automatically adjusted with the engine output power as the reference target. When the engine output power is large, the harvester can be automatically decelerated, which can effectively reduce high-load operation and reduce the probability of blockage when the harvester is working.

[0088] In some embodiments, controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value includes:

[0089] Firstly, based on the engine output power, the adjustment gear is matched in the preset gear adjustment rules;

[0090] In this embodiment, the above-mentioned preset gear adjustment rules can be set in advance according to actual needs. Different engine output powers correspond to different gears. The preset gear adjustment rules can include deceleration gears and acceleration gears. Furthermore, the deceleration gears and acceleration gears can be further subdivided into multiple gears. For example: the preset gear adjustment rules are: when the engine output power is ≥90kW, the corresponding adjustment gear is the first gear for deceleration; when the engine output power is ≥100kW, the corresponding adjustment gear is the second gear for deceleration; when the engine output power is <90kW, the corresponding adjustment gear is the acceleration gear. The current engine output power is 95kW, and the corresponding adjustment gear matched is: the first gear for deceleration.

[0091] Then, based on the adjustment gear and the walking handle angle information, an angle adjustment range is determined;

[0092] In this embodiment, when setting the preset grade adjustment rules, an acceleration or deceleration amplitude range can be set for each adjustment gear. For example, in the above example, for the first gear of deceleration, the maximum reduction can be set to 15% based on the handle output angle corresponding to the current HST. For example, the handle output angle corresponding to the current HST is 50%, that is, the handle output angle corresponding to the HST is reduced to 50%*(1-15%) at the lowest; for the second gear of deceleration, the maximum reduction can be set to 30% based on the handle output angle corresponding to the current HST. For example, the handle output angle corresponding to the current HST is 50%, that is, the handle output angle corresponding to the HST is reduced to 50%*(1-30%) at the lowest; for the acceleration gear, the maximum can be set to the walking handle angle position, that is, the handle output angle corresponding to the HST is 100%. After obtaining the corresponding adjustment gear, the angle adjustment range can be calculated according to the walking handle angle information.

[0093] Finally, within the angle adjustment range, the walking speed of the harvester is controlled based on the speed adjustment type and the speed adjustment value.

[0094] In this embodiment, the angle adjustment range is the range of the handle output angle, and the walking speed is controlled within the angle adjustment range to ensure that it does not exceed the range of the handle output angle.

[0095] By setting the gear adjustment rules, the corresponding adjustment gear can be matched according to the engine output power, and then the angle adjustment range of different gears can be determined according to the adjustment gear and the walking handle angle information. The walking speed can be controlled within the angle adjustment range, and the speed adjustment will not exceed the angle adjustment range, thereby avoiding stopping and helping to better control walking.

[0096] In some embodiments, after controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value, the method further includes:

[0097] Firstly, based on the angle adjustment range, an angle adjustment extreme value is determined;

[0098] In this embodiment, the maximum value or minimum value in the above angle adjustment range is the angle adjustment extreme value. For example, in the above example, the current handle output angle corresponding to the HST is 50%, that is, the handle output angle corresponding to the HST is reduced to 50%*(1-15%), that is, the angle adjustment extreme value is 50%*(1-15%); for the second gear of deceleration, the maximum reduction can be set to 30% based on the current handle output angle corresponding to the HST, for example, the current handle output angle corresponding to the HST is 50%, that is, the handle output angle corresponding to the HST is reduced to 50%*(1-30%), that is, the angle adjustment extreme value is 50%*(1-15%); for the acceleration gear, the maximum can be set to the walking handle angle position, that is, the handle output angle corresponding to the HST is 100%, that is, the angle adjustment extreme value is 100%.

[0099] Then, determining whether the current engine output power is within the power range corresponding to the adjustment gear position;

[0100] In this embodiment, after adjustment, it can be determined whether the current adjustment gear is still in place based on the engine output power obtained in real time.

[0101] Then, when it is determined that the current engine output power is within the power range corresponding to the adjustment gear, a new speed adjustment value is obtained based on the angle adjustment extreme value, and the walking speed of the harvester is controlled based on the new speed adjustment value and the speed adjustment type.

[0102] In this embodiment, if the current engine output power is not within the power range corresponding to the adjustment gear, the speed adjustment type and speed adjustment value are re-determined to perform speed control; if the current engine output power is still within the power range corresponding to the adjustment gear, the angle adjustment extreme value can be directly used as the current handle angle to calculate the new speed adjustment value, and then the walking speed of the harvester is controlled according to the speed adjustment type and speed adjustment value. For example, in the above example, the current handle output angle corresponding to HST is 50%, that is, the handle output angle corresponding to HST is reduced to 50%*(1-30%) at the lowest, and the adjustment time is set to 5 seconds. After adjusting according to the speed adjustment value of 50% / 5, it is found that the current engine power is still not less than 100kW, and it is meaningless to continue to adjust according to the above speed adjustment value. Then, 50%*(1-30%) can be used as the handle output angle, and the new speed adjustment value is [50%*(1-30%)] / 5, and then the speed is reduced according to the new speed adjustment value.

[0103] After controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value, it is determined whether the current engine output power is within the power range corresponding to the adjustment gear; when it is determined that the current engine output power is within the power range corresponding to the adjustment gear, it means that the previous adjustment effect is not very good, then a new speed adjustment value can be obtained based on the angle adjustment extreme value, and the walking speed of the harvester can be controlled based on the new speed adjustment value and the speed adjustment type, so that the harvester can complete the deceleration or deceleration faster and better.

[0104] In some embodiments, the method further includes: generating a first alarm message based on the walking handle angle information when it is determined that the walking handle does not meet a preset walking handle condition.

[0105] In this embodiment, when the voltage value of the walking handle is not within the normal range (for example: 0.01V ~ 5.5V), the walking handle angle is set to 0, and the walking handle is in an abnormal state, and the first alarm information can be generated that the walking handle angle sensor value detected is abnormal. When the detection gear is not calibrated or calibrated correctly, the first alarm information can be generated that the walking handle angle sensor is not calibrated.

[0106] By generating the first alarm information based on the walking handle angle information when the walking handle does not meet the preset walking handle conditions, it is helpful to inform the user of the state of the walking handle in time.

[0107] In some embodiments, the method further includes: generating a second alarm message based on the travel proportional valve parameters when it is determined that the travel proportional valve is in an abnormal state.

[0108] In this embodiment, when the travel proportional valve is in an abnormal state, if the output of the travel proportional valve does not satisfy output = 0 and current = 0 or does not satisfy output> 0 and current> 0, a second alarm message is generated for travel electric proportional valve feedback failure. Whether the proportional valve setting is correct is determined based on the travel proportional valve parameters. When it is determined that the proportional valve setting is wrong, a second alarm message is generated for travel proportional valve duty cycle setting error.

[0109] For example: when the forward proportional valve has no output (=0), the recovery current is not 0; or when the proportional valve has output (>0), the recovery current is 0. At this time, the automatic adjustment conditions are not met. The travel handle can be used for control, and the display screen will give an alarm prompt; when the backward travel proportional valve has no output (=0), the recovery current is not 0; or when the backward travel proportional valve has output (>0), the recovery current is 0. At this time, the automatic adjustment conditions are not met. The travel handle can be used for control, and the display screen will give an alarm prompt.

[0110] By generating the second alarm information based on the travel proportional valve parameters when the travel proportional valve is in an abnormal state, it is helpful to inform the user of the state of the travel proportional valve in a timely manner.

[0111] The following takes a rice harvester as an example to explain the solution in detail. Figure 2 , Figure 2 The overall network architecture diagram of the automatic control of a rice harvester according to an embodiment of the present application is schematically shown.

[0112] The VCU collects the actual engine torque percentage, reference torque, and engine speed of the engine ECU in real time through the CAN bus to calculate the engine output power. The handle of the rice harvester adopts a walking handle + angle sensor solution to replace the sensor mechanical handle. The VCU collects the handle angle analog input signal. After calibration, it controls the opening of the HST forward / reverse electric proportional valve through PWM to achieve electronic control of walking. When the automatic control mode is enabled, the VCU adjusts the output of the walking proportional valve in stages according to the engine output power. The display screen can detect the walking-related parameters, status, and activation / disabling of the automatic control function in real time.

[0113] Please refer to Table 1, which is a self-adaptive control table of the rice harvester operating load. The rice harvester can be controlled according to the control logic shown in Table 1.

[0114] Table 1 Rice harvester operating load adaptive control table

[0115]

[0116]

[0117]

[0118]

[0119] If the handle angle sensor data is abnormal, that is, the detected voltage value is not within the normal range (0.01V~5.5V), the walking control output is 0 and the display screen prompts a fault;

[0120] If the HST handle is not calibrated, that is, the three-gear calibration value is 0 or the calibration is wrong (it must meet 5.5V> forward maximum gear> neutral> reverse maximum gear> 0.05V), the travel control output is 0 at this time, and the display screen will give a fault prompt;

[0121] If the duty cycle of the travel proportional valve is set incorrectly, that is, the duty cycle limit is not set or is set incorrectly (the maximum duty cycle > minimum duty cycle > 0 must be satisfied), the travel control output is 0 and the display screen prompts a fault;

[0122] If there is a feedback failure of the forward travel proportional valve, that is, when the proportional valve has no output (=0), the recovery current is not 0; or when the proportional valve has output (>0), the recovery current is 0, and the automatic adjustment conditions are not met, the travel speed of the harvester is manually controlled by the handle, and the display screen gives an alarm prompt;

[0123] If there is a feedback failure of the walking and retreating proportional valve, that is, when the proportional valve has no output (=0), the recovery current is not 0; or when the proportional valve has output (>0), the recovery current is 0, and the automatic adjustment conditions are not met, the walking speed of the harvester is manually controlled by the handle, and the display screen gives an alarm prompt;

[0124] If the display screen turns off the automatic control and the automatic adjustment conditions are not met, the walking speed of the harvester is manually controlled through the handle;

[0125] If the threshing clutch is in the "open" position and the automatic adjustment conditions are not met, the walking speed of the harvester is manually controlled by the handle;

[0126] If the walking handle moves, it can be specifically judged as no movement, wherein the no movement judgment means that the angle change does not exceed 10% and lasts for 1 second. At this time, the automatic adjustment condition is not met, and the walking speed of the harvester is manually controlled by the handle;

[0127] If the walking handle angle is ≤50%, the automatic adjustment condition is not met, and the walking speed of the harvester is manually controlled by the handle;

[0128] If none of the above situations occur, the automatic adjustment conditions are met. When the engine output power is ≥90kW, the I gear deceleration adjustment is executed (the deceleration time is set by the display screen, with a maximum reduction of 15%); when the engine output power is ≥100kW, the II gear deceleration adjustment is executed (the deceleration time is set by the display screen, with a maximum reduction of 30%); when the engine output power is <90kW, the acceleration adjustment is executed (the acceleration time is set by the display screen, with a maximum handle angle position).

[0129] This embodiment provides a harvester, which uses the above-mentioned harvester walking control method to control the walking speed.

[0130] In this embodiment, the harvester can be a rice harvester, a fruit harvester, a vegetable harvester, etc. By responding to the automatic control instruction, the engine output power and the walking handle angle information are obtained in real time; based on the engine output power, the speed adjustment type is determined; based on the walking handle angle information, the speed adjustment value is determined; based on the speed adjustment type and the speed adjustment value, the walking speed of the harvester is controlled. By obtaining the engine output power and automatically adjusting the walking speed of the harvester, the walking electronic control of the harvester is realized, the intelligent level of the harvester is improved, the control is simple and convenient, the walking speed is automatically adjusted with the engine output power as the reference target, and when the engine output power is large, the harvester can be automatically decelerated and adjusted, thereby effectively reducing high-load operation and reducing the probability of blockage when the harvester is working.

[0131] An embodiment of the present application provides an electronic device, which includes: at least one processor; a memory connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned harvester walking control method by executing the instructions stored in the memory, and the processor implements the following steps when executing the instructions:

[0132] Responding to automatic control instructions, real-time acquisition of engine output power and travel handle angle information;

[0133] Based on the engine output power, determining a speed regulation type;

[0134] Based on the walking handle angle information, determining a speed adjustment value;

[0135] Based on the speed adjustment type and the speed adjustment value, the walking speed of the harvester is controlled.

[0136] In one embodiment, determining the speed regulation type based on the engine output power includes:

[0137] Obtain the parameters of the travel proportional valve and the working clutch state parameters;

[0138] Based on the walking handle angle information, determining whether the walking handle meets a preset walking handle condition;

[0139] Based on the travel proportional valve parameters, determining whether the travel proportional valve is in a normal state;

[0140] Based on the working clutch state parameter, determining whether the working clutch is engaged;

[0141] When it is determined that the travel handle satisfies a preset travel handle condition, the travel proportional valve is in a normal state, and the working clutch is closed, a speed regulation type is determined based on the engine output power.

[0142] In one embodiment, the determining of the speed adjustment value based on the walking handle angle information includes:

[0143] Get adjustment time;

[0144] A speed adjustment value is determined based on the walking handle angle information and the adjustment time.

[0145] In one embodiment, controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value includes:

[0146] Based on the speed adjustment value, determining the adjustment step length of the travel proportional valve opening;

[0147] Based on the speed regulation type, the opening of the travel proportional valve is adjusted according to the adjustment step of the opening of the travel proportional valve to control the travel speed of the harvester.

[0148] In one embodiment, controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value includes:

[0149] Based on the engine output power, the adjustment gear is matched in the preset gear adjustment rules;

[0150] Based on the adjustment gear and the walking handle angle information, determining an angle adjustment range;

[0151] Within the angle adjustment range, the walking speed of the harvester is controlled based on the speed adjustment type and the speed adjustment value.

[0152] In one embodiment, after controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value, the method further includes:

[0153] Based on the angle adjustment range, determining an angle adjustment extreme value;

[0154] Determine whether the current engine output power is within the power range corresponding to the adjustment gear position;

[0155] When it is determined that the current engine output power is within the power range corresponding to the adjustment gear, a new speed adjustment value is obtained based on the angle adjustment extreme value, and the walking speed of the harvester is controlled based on the new speed adjustment value and the speed adjustment type.

[0156] In one embodiment, it further includes:

[0157] When it is determined that the walking handle does not satisfy a preset walking handle condition, a first alarm message is generated based on the walking handle angle information.

[0158] In one embodiment, it further includes:

[0159] When it is determined that the travel proportional valve is in an abnormal state, second alarm information is generated based on the travel proportional valve parameters.

[0160] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0161] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0162] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0163] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0164] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0165] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0166] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0167] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0168] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A harvester walking control method, characterized in that: include: Responding to automatic control instructions, real-time acquisition of engine output power and travel handle angle information; Based on the engine output power, determining a speed regulation type; Based on the walking handle angle information, determining a speed adjustment value; Based on the speed adjustment type and the speed adjustment value, the walking speed of the harvester is controlled.

2. The method according to claim 1, characterized in that The determining of the speed regulation type based on the engine output power includes: Obtain the parameters of the travel proportional valve and the working clutch state parameters; Based on the walking handle angle information, determining whether the walking handle meets a preset walking handle condition; Based on the travel proportional valve parameters, determining whether the travel proportional valve is in a normal state; Based on the working clutch state parameter, determining whether the working clutch is engaged; When it is determined that the travel handle satisfies a preset travel handle condition, the travel proportional valve is in a normal state, and the working clutch is closed, a speed regulation type is determined based on the engine output power.

3. The method according to claim 1, characterized in that The determining of the speed adjustment value based on the walking handle angle information includes: Get adjustment time; A speed adjustment value is determined based on the walking handle angle information and the adjustment time.

4. The method according to claim 1, characterized in that: The step of controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value includes: Based on the speed adjustment value, determining the adjustment step length of the travel proportional valve opening; Based on the speed regulation type, the opening of the travel proportional valve is adjusted according to the adjustment step of the opening of the travel proportional valve to control the travel speed of the harvester.

5. The method according to claim 1, characterized in that The step of controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value includes: Based on the engine output power, the adjustment gear is matched in the preset gear adjustment rules; Based on the adjustment gear and the walking handle angle information, determining an angle adjustment range; Within the angle adjustment range, the walking speed of the harvester is controlled based on the speed adjustment type and the speed adjustment value.

6. The method according to claim 5, characterized in that After controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value, the method further includes: Based on the angle adjustment range, determining an angle adjustment extreme value; Determine whether the current engine output power is within the power range corresponding to the adjustment gear position; When it is determined that the current engine output power is within the power range corresponding to the adjustment gear, a new speed adjustment value is obtained based on the angle adjustment extreme value, and the walking speed of the harvester is controlled based on the new speed adjustment value and the speed adjustment type.

7. The method according to claim 1, characterized in that Also includes: When it is determined that the walking handle does not satisfy a preset walking handle condition, a first alarm message is generated based on the walking handle angle information.

8. The method according to claim 2, characterized in that: Also includes: When it is determined that the travel proportional valve is in an abnormal state, second alarm information is generated based on the travel proportional valve parameters.

9. A harvester, characterized in that: The harvester controls the walking speed by using the harvester walking control method described in any one of claims 1 to 8.

10. An electronic device, characterized in that: The electronic device includes: at least one processor; a memory connected to the at least one processor; Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the harvester walking control method described in any one of claims 1 to 8 by executing the instructions stored in the memory.

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