Harvester travel control method, harvester, and electronic device

Abstract

The application discloses a harvester walking control method, a harvester and an electronic device, and relates to the technical field of agricultural machinery. The harvester walking control method comprises the following steps: in response to an automatic control instruction, acquiring engine output power and walking handle angle information in real time; determining a speed adjustment type based on the engine output power; determining a speed adjustment value based on the walking handle angle information; and controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value. The walking of the harvester is realized in an electric control manner, the intelligent level of the harvester is improved, and the control is simple and convenient. The walking speed is automatically adjusted with the engine output power as a reference target. When the engine output power is large, the harvester can be automatically decelerated and adjusted, so that high-load operation can be effectively reduced, and the probability of blockage of the harvester during operation is reduced.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, specifically to a harvester walking control method, a harvester, and an electronic device. Background Technology

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

[0003] Most existing harvesters rely on hydraulic manual control for movement, and the harvesting operation depends entirely on the operator's control. They harvest at almost full speed, relying solely on the operator's judgment and intervention. This is especially problematic for novice operators who cannot accurately control the machine, making them more prone to blockages. Summary of the Invention

[0004] The purpose of this application is to provide a harvester walking control method, a harvester, and an electronic device to solve the problem that in the prior art, harvesting operations rely entirely on the operator's control, harvesting at almost full speed, and relying solely on the operator's manual judgment and intervention. This is especially problematic for novice operators, who cannot accurately control the machine and are more prone to blockages.

[0005] To achieve the above objectives, the first aspect of this application provides a harvester walking control method, comprising:

[0006] In response to automatic control commands, it acquires engine output power and travel handle angle information in real time;

[0007] Based on the engine output power, the speed regulation type is determined;

[0008] Based on the angle information of the walking handle, the speed adjustment value is determined;

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

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

[0011] Obtain the travel proportional valve parameters and the operating clutch status parameters;

[0012] Based on the walking handle angle information, determine whether the walking handle meets the preset walking handle conditions;

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

[0014] Based on the operation clutch state parameters, determine whether the operation clutch is engaged;

[0015] If the travel handle meets the preset travel handle conditions, the travel proportion valve is in normal condition, and the working clutch is engaged, the speed regulation type is determined based on the engine output power.

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

[0017] Obtain the adjustment time;

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

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

[0020] Based on the speed adjustment value, the adjustment step size of the walking proportional valve opening is determined;

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

[0022] In this embodiment, controlling the travel 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 and obtained in the preset gear adjustment rules;

[0024] Based on the adjustment gear and the angle information of the walking handle, the angle adjustment range is determined;

[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 travel speed of the harvester based on the speed adjustment type and the speed adjustment value, the method further includes:

[0027] Based on the aforementioned angle adjustment range, the extreme value of the angle adjustment is determined;

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

[0029] Given 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 this embodiment of the application, it also includes:

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

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

[0033] If the travel proportional valve is determined to be in an abnormal state, a second alarm message is generated based on the parameters of the travel proportional valve.

[0034] A second aspect of this application provides a harvester, wherein the harvester uses the above-described harvester walking control method to control its walking speed.

[0035] A third aspect of this 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] 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 above by executing the instructions stored in the memory.

[0039] The above technical solution, in response to automatic control commands, acquires real-time information on engine output power and travel handle angle; determines the speed adjustment type based on engine output power; determines the speed adjustment value based on travel handle angle information; and controls the harvester's travel speed based on the speed adjustment type and value. Engine output power reflects the engine's ability to convert fuel chemical energy into mechanical energy and output it externally. When the engine output power is high, the harvester can be decelerated to reduce the risk of blockage during high-speed harvesting; when the engine output power is low, the harvester can be accelerated to improve operating efficiency. The engine output power determines the speed adjustment type (acceleration or deceleration), and the travel handle angle information determines the speed adjustment value (speed adjustment amount). Therefore, the harvester's travel speed is automatically adjusted based on the speed adjustment type and amount, achieving electronic control of the harvester's movement, improving its intelligence level, and providing simple and convenient control. Using engine output power as a reference target, the travel speed is automatically adjusted. When the engine output power is high, the harvester can be automatically decelerated, effectively reducing high-load operation and lowering the probability of blockage during harvester operation.

[0040] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0041] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0042] Figure 1 The schematic diagram illustrates a flow chart of a harvester walking control method according to an embodiment of this application;

[0043] Figure 2 The diagram illustrates the overall network architecture of the automatic control system for a rice harvester according to an embodiment of this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort 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 all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0046] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0047] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0048] Figure 1 The illustration shows a schematic flowchart of a harvester walking control method according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a harvester walking control method, which may include the following steps:

[0049] Step 210: In response to automatic control commands, acquire engine output power and travel handle angle information in real time;

[0050] In this embodiment, the aforementioned automatic control commands can be input by the operator. For example, the harvester's Vehicle Control Unit (VCU) is connected to a display screen, which shows options for automatic control modes. The operator selects the automatic control mode option via buttons or a touchscreen display, and then issues the automatic control commands. After receiving the automatic control commands, the VCU determines to activate the automatic control mode to control the harvester, and then obtains the engine output power in real time. Engine output power refers to the work done by the engine per unit time, the amount of power the engine can provide to the vehicle or other equipment. Harvesters consume a lot of power during harvesting, conveying, and threshing operations. The greater the engine output power, the better the harvester can complete operations at a higher speed and efficiency under different crop conditions and operating environments, such as harvesting large areas of crops faster and improving threshing and cleaning efficiency. The aforementioned travel handle angle information includes travel handle angle data and travel handle working data, which can be obtained through an angle sensor. It should be noted that the travel handle mentioned in this embodiment can be implemented using a regular handle + angle sensor, or it can be a CAN bus handle; this embodiment does not limit this.

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

[0052] First, the engine's actual torque percentage, reference torque, and engine speed are acquired in real time.

[0053] In this embodiment, the VCU can be connected to the Engine Electronic Control Unit (ECU) via a Controller Area Network (CAN) bus. The ECU, as the engine's control core, stores and processes a large amount of data related to the engine's operating status, such as the actual torque percentage, reference torque, and engine speed. This data can be collected in real time via the CAN bus, and the engine output power can be calculated using corresponding formulas, allowing us to monitor the engine's operating status in real time.

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

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

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

[0057] Step 220: Determine the 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 can be determined based on 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, determining the speed regulation type based on the engine output power includes:

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

[0061] In this embodiment, the parameters of the travel proportional valve may include the corresponding recovery current value and the duty cycle setting of the travel proportional valve under different proportional valve output conditions. The travel proportional valve includes a forward proportional valve. The operating clutch status parameter can be either closed or open.

[0062] The second step is to determine whether the walking handle meets the preset walking handle conditions based on the walking handle angle information.

[0063] In this embodiment, the preset conditions for the travel handle can be set in advance according to actual conditions. For example, the travel handle can be in a non-active state, the travel handle angle can meet preset angle requirements, or the travel handle can be working normally. The preset angle requirement can be that the travel handle angle is greater than 50%, indicating that the operator wants the harvester to move at a relatively fast speed. Here, the travel handle angle refers to the handle output angle of the manual control hydrostatic transmission (HST) system, ranging from 0% to 100%, where 0% indicates stop and 100% indicates full speed forward. The determination of a non-active state can be based on whether the change in the travel handle angle meets preset angle change requirements, such as: the angle change does not exceed 10%, and the duration is 1 second. The determination of normal travel handle operation can be based on whether the voltage value of the travel handle is within the normal range (e.g., 0.01V to 5.5V), and whether the gear is correctly calibrated, such as (the gear must meet 5.5V > maximum forward gear > neutral > maximum reverse gear > 0.05V). Gear calibration can be obtained by collecting the analog input signal of the travel handle angle and calibrating it. The angle data of the travel handle can be used to determine whether the travel handle is inactive and whether it meets the preset angle requirements. The working data of the travel handle can be used to determine whether the travel handle is working normally. If the travel handle is inactive, meets the preset angle requirements, and is working normally, then the travel handle meets the preset travel handle conditions. If the travel handle is inactive, does not meet the preset angle requirements, or is not working normally, then the travel handle does not meet the preset travel handle conditions.

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

[0065] In this embodiment, determining whether the travel proportional valve is in a normal state includes: determining whether the output state of the travel proportional valve is normal and whether the duty cycle setting of the travel proportional valve is correct. Determining whether the output state of the travel proportional valve is normal can be done by checking whether the sampling current is 0 when the travel proportional valve has no output (i.e., the output of the proportional valve is 0); and whether the sampling current is 0 when the travel proportional valve has output (i.e., the output of the proportional valve is greater than 0). If the sampling current is not 0 when the travel proportional valve has no output (=0), or if the sampling current is 0 when the travel proportional valve has output (>0), it indicates that the output state of the travel proportional valve is abnormal; otherwise, it indicates that it is in a normal state. Determining whether the duty cycle setting of the travel proportional valve is correct can be done by checking whether the duty cycle limit meets the preset setting requirements, such as: the duty cycle limit must meet the requirement that maximum duty cycle > minimum duty cycle > 0. If the duty cycle limit is not set or is set incorrectly, it indicates that the duty cycle setting of the travel proportional valve is incorrect; otherwise, it indicates that the setting is correct. If both the output state of the travel proportional valve and the duty cycle setting of the travel proportional valve are normal, the travel proportional valve is determined to be in a normal state; otherwise, the travel proportional valve is determined to be in an abnormal state.

[0066] The fourth step is to determine whether the operation clutch is engaged based on the operation clutch status parameters.

[0067] In this embodiment, the above-mentioned operation clutch status parameter refers to whether the current operation clutch is in the engaged or disengaged position, thereby determining whether the operation clutch is engaged.

[0068] Fifth step: If the travel handle meets the preset travel handle conditions, the travel proportion valve is in normal state and the working clutch is engaged, the speed regulation type is determined based on the engine output power.

[0069] In this embodiment, the harvester is determined to meet the automatic adjustment conditions only when the travel handle meets preset travel handle conditions, the travel proportion valve is in the normal state, and the operating clutch is engaged. Based on the engine output power, the speed adjustment type is then determined. Conversely, if these conditions are not met, the harvester is not satisfied. In cases where the automatic adjustment conditions are not met, the travel speed can be controlled via the travel handle, and the display screen can also provide an alarm prompt.

[0070] By determining whether the travel handle meets the preset travel handle conditions based on the travel handle angle information, whether the travel proportional valve is in a normal state based on the travel proportional valve parameters, and whether the operating clutch is engaged based on the operating clutch status 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 travel control.

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

[0072] In this embodiment, a default adjustment time can be preset in the system, and the speed adjustment value can be determined by dividing the handle angle data of the walking handle angle information by the default adjustment time.

[0073] In some embodiments, determining 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 the 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, the speed adjustment value is determined.

[0077] In this embodiment, the speed adjustment value can 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, operators can set the adjustment time according to actual needs, thereby flexibly setting the speed adjustment value, making control more flexible and convenient.

[0079] Step 240: Control the walking speed of the harvester based on the speed adjustment type and the speed adjustment value.

[0080] In this embodiment, the speed adjustment type can be determined as acceleration or deceleration, and the speed adjustment value can determine the magnitude of the adjustment speed, thereby accurately adjusting the harvester's traveling speed. Specifically, this can be achieved by controlling the opening of the proportional valve of the HST through pulse width modulation (PWM), thereby controlling the flow rate and direction of the hydraulic oil entering the HST, ultimately realizing the control of the harvester's traveling speed. This is existing technology and will not be elaborated further here.

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

[0082] First, based on the speed adjustment value, the adjustment step size of the walking proportional valve opening is determined;

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

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

[0085] In this embodiment, if the speed adjustment type is acceleration, the speed is increased by adding steps based on the current opening of the travel proportional valve; if the speed adjustment type is deceleration, the speed is decreased by adding steps based on the current opening of the travel proportional valve. This achieves control over the harvester's travel speed.

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

[0087] In the above implementation process, the engine output power and travel handle angle information are acquired in real time in response to automatic control commands. Based on the engine output power, the speed adjustment type is determined; based on the travel handle angle information, the speed adjustment value is determined; and based on the speed adjustment type and speed adjustment value, the harvester's travel speed is controlled. Engine output power reflects the engine's ability to convert fuel chemical energy into mechanical energy and output it externally. When the engine output power is high, the harvester can be decelerated to reduce the risk of blockage under high-speed harvesting; when the engine output power is low, the harvester can be accelerated to improve operating efficiency. The engine output power determines the speed adjustment type (acceleration or deceleration), and the travel handle angle information determines the speed adjustment value (speed adjustment amount). Therefore, the harvester's travel speed is automatically adjusted according to the speed adjustment type and amount, realizing the electronic control of the harvester's movement, improving the harvester's intelligence level, and providing simple and convenient control. Using engine output power as a reference target, the travel speed is automatically adjusted. When the engine output power is high, the harvester can be automatically decelerated, effectively reducing high-load operation and lowering the probability of blockage during harvester operation.

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

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

[0090] In this embodiment, the preset gear adjustment rules can be pre-set according to actual needs. Different engine output power corresponds to different gears. The preset gear adjustment rules can include deceleration gears and acceleration gears. Furthermore, 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 deceleration gear 1; when the engine output power is ≥100kW, the corresponding adjustment gear is deceleration gear 2; when the engine output power is <90kW, the corresponding adjustment gear is acceleration gear. The current engine output power is 95kW, so the corresponding adjustment gear is deceleration gear 1.

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

[0092] In this embodiment, when setting the preset adjustment rules, an acceleration or deceleration range can be set for each adjustment level. For example, in the above example, for deceleration level one, the maximum deceleration can be set to 15% based on the handle output angle corresponding to the current HST. For example, if the handle output angle corresponding to the current HST is 50%, then the handle output angle corresponding to the HST will be reduced to a minimum of 50%*(1-15%). For deceleration level two, the maximum deceleration can be set to 30% based on the handle output angle corresponding to the current HST. For example, if the handle output angle corresponding to the current HST is 50%, then the handle output angle corresponding to the HST will be reduced to a minimum of 50%*(1-30%). For acceleration level, the maximum can be set to the position of the walking handle angle, that is, the handle output angle corresponding to the HST will be reduced to 100%. After obtaining the corresponding adjustment level, the angle adjustment range can be calculated based on 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 aforementioned angle adjustment range is the range of the angle that can be output by the handle. The walking speed is controlled within the angle adjustment range to ensure that it does not exceed the range of the handle's output angle.

[0095] By setting the gear adjustment rules, the corresponding adjustment gear can be matched according to the engine output power. Then, based on the adjustment gear and the angle information of the travel handle, the angle adjustment range of different gears can be determined. The travel 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 the travel.

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

[0097] First, based on the angle adjustment range, the extreme value of the angle adjustment is determined;

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

[0099] Then, determine whether the current engine output power is within the power range corresponding to the adjusted gear;

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

[0101] Then, after determining 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 redefined for speed control. If the current engine output power is still within the power range corresponding to the adjustment gear, the extreme value of the angle adjustment can be directly used as the current handle angle to calculate a new speed adjustment value. 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, if the handle output angle corresponding to the current HST is 50%, then the handle output angle corresponding to the HST should be reduced to at least 50%*(1-30%). 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. Therefore, it is meaningless to continue adjusting according to the above speed adjustment value. So, 50%*(1-30%) can be used as the handle output angle, and the new speed adjustment value is [50%*(1-30%)] / 5. Then, the speed is reduced according to the new speed adjustment value.

[0103] After controlling the harvester's travel speed based on the speed adjustment type and speed adjustment value, it is determined whether the current engine output power is within the power range corresponding to the adjustment gear. If 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. The harvester's travel speed can be controlled based on the new speed adjustment value and speed adjustment type, so that the harvester can complete the deceleration or slowdown faster and better.

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

[0105] In this embodiment, when the voltage value of the travel handle is outside the normal range (e.g., 0.01V to 5.5V) and the travel handle angle is set to 0, the travel handle is in an abnormal state, and a first alarm message can be generated indicating that the detected travel handle angle sensor value is abnormal. When the detection gear is not calibrated or is correctly calibrated, a first alarm message can be generated indicating that the travel handle angle sensor is not calibrated.

[0106] By generating a first alarm message based on the angle information of the walking handle when the walking handle does not meet the preset walking handle conditions, it helps to promptly inform the user of the status of the walking handle.

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

[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, then a second alarm message is generated indicating a travel proportional valve feedback fault. The travel proportional valve parameters are used to determine if the proportional valve setting is correct. If it is determined that the proportional valve setting is incorrect, then a second alarm message is generated indicating an incorrect travel proportional valve duty cycle setting.

[0109] For example: when the proportional valve has no output (=0) during the current travel, the recovery current is not 0; or when the proportional valve has output (>0), the recovery current is 0. In this case, the automatic adjustment conditions are not met, and the travel handle can be used for control, with the display screen providing an alarm prompt. When the proportional valve has no output (=0) during the reverse travel, the recovery current is not 0; or when the proportional valve has output (>0) during the reverse travel, the recovery current is 0. In this case, the automatic adjustment conditions are not met, and the travel handle can be used for control, with the display screen providing an alarm prompt.

[0110] By generating a second alarm message based on the parameters of the travel proportional valve when the travel proportional valve is in an abnormal state, it helps to promptly inform the user of the status of the travel proportional valve.

[0111] The following section uses a rice harvester as an example to explain the solution in detail. Please refer to... Figure 2 , Figure 2 The diagram illustrates the overall network architecture of the automatic control system for a rice harvester according to an embodiment of this application.

[0112] The VCU (Vehicle Control Unit) collects the engine's actual torque percentage, reference torque, and engine speed from the engine ECU in real time via the CAN bus, and calculates the engine output power. The rice harvester's handle uses a travel handle + angle sensor solution, replacing the mechanical sensor handle. The VCU collects the analog input signal of the handle angle, and after calibration, controls the opening of the HST forward / reverse proportional valve via PWM, thus achieving electronic control of the travel. When automatic control mode is enabled, the VCU adjusts the travel proportional valve output in stages according to the engine output power. The display screen can monitor travel-related parameters, status, and the activation / deactivation of automatic control functions in real time.

[0113] Please refer to Table 1, which is the adaptive control table for the working load of rice harvesters. When controlling the rice harvester, the control logic shown in Table 1 can be followed.

[0114] Table 1 Adaptive Control Table for Rice Harvester Operating Load

[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 will be 0, and the display screen will show a fault message.

[0120] If the HST handle is not calibrated, that is, the calibration value of the three gears is 0 or the calibration is incorrect (it must meet the following conditions: 5.5V > maximum forward gear > neutral gear > maximum reverse gear > 0.05V), the walking control output will be 0, and the display screen will show a fault message.

[0121] If the duty cycle setting of the travel proportional valve is incorrect, i.e. the duty cycle limit is not set or is set incorrectly (the maximum duty cycle must be greater than the minimum duty cycle and the minimum duty cycle must be greater than 0), the travel control output will be 0 and the display screen will show a fault message.

[0122] If a feedback fault occurs in the forward proportional valve, that is, when the proportional valve has no output (=0) and the recovery current is not 0; or when the proportional valve has output (>0) and the recovery current is 0, the automatic adjustment conditions are not met. In this case, the walking speed of the harvester is manually controlled by the handle, and the display screen will issue an alarm prompt.

[0123] If a feedback fault occurs in the walking backward proportional valve, that is, when the proportional valve has no output (=0) and the recovery current is not 0; or when the proportional valve has output (>0) and the recovery current is 0, the automatic adjustment conditions are not met. In this case, the walking speed of the harvester is manually controlled by the handle, and the display screen will issue an alarm prompt.

[0124] If the automatic control is turned off on the display screen, and the automatic adjustment conditions are not met, the walking speed of the harvester can be manually controlled by the handle.

[0125] If the threshing clutch is in the "disengaged" position, the automatic adjustment conditions are not met, and the harvester's travel speed is manually controlled by the handle.

[0126] If the walking handle moves, it can be determined by a no-movement judgment. The no-movement judgment means that the angle change does not exceed 10% and lasts for 1 second. If the automatic adjustment condition is not met, the walking speed of the harvester is manually controlled by the handle.

[0127] If the angle of the travel handle is ≤50%, the automatic adjustment conditions are not met, and the travel speed of the harvester is manually controlled by the handle.

[0128] If none of the above conditions occur, the automatic adjustment conditions are met. When the engine output power is ≥90kW, the first 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 second 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, up to the handle angle position).

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

[0130] In this embodiment, the harvester can be a rice harvester, fruit harvester, vegetable harvester, etc. By responding to automatic control commands, the machine acquires real-time information on engine output power and travel handle angle; based on the engine output power, it determines the speed adjustment type; based on the travel handle angle information, it determines the speed adjustment value; and based on the speed adjustment type and speed adjustment value, it controls the harvester's travel speed. By acquiring the engine output power and automatically adjusting the harvester's travel speed, the machine's travel is electronically controlled, improving its intelligence level. Control is simple and convenient. Using engine output power as a reference target, the machine automatically adjusts its travel speed. When the engine output power is high, it can automatically decelerate, effectively reducing high-load operation and lowering the probability of blockage during harvester operation.

[0131] This application provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the above-described harvester walking control method by executing the instructions stored in the memory. When the processor executes the instructions, it performs the following steps:

[0132] In response to automatic control commands, it acquires engine output power and travel handle angle information in real time;

[0133] Based on the engine output power, the speed regulation type is determined;

[0134] Based on the angle information of the walking handle, the speed adjustment value is determined;

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

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

[0137] Obtain the travel proportional valve parameters and the operating clutch status parameters;

[0138] Based on the walking handle angle information, determine whether the walking handle meets the preset walking handle conditions;

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

[0140] Based on the operation clutch state parameters, determine whether the operation clutch is engaged;

[0141] If the travel handle meets the preset travel handle conditions, the travel proportion valve is in normal condition, and the working clutch is engaged, the speed regulation type is determined based on the engine output power.

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

[0143] Obtain the adjustment time;

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

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

[0146] Based on the speed adjustment value, the adjustment step size of the walking proportional valve opening is determined;

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

[0148] In one embodiment, controlling the travel 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 and obtained in the preset gear adjustment rules;

[0150] Based on the adjustment gear and the angle information of the walking handle, the angle adjustment range is determined;

[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 travel speed of the harvester based on the speed adjustment type and the speed adjustment value, the method further includes:

[0153] Based on the aforementioned angle adjustment range, the extreme value of the angle adjustment is determined;

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

[0155] Given 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 also includes:

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

[0158] In one embodiment, it also includes:

[0159] If the travel proportional valve is determined to be in an abnormal state, a second alarm message is generated based on the parameters of the travel proportional valve.

[0160] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0161] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0162] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The function specified in one or more boxes.

[0163] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

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

[0167] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0168] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the walking of a harvester, characterized in that, include: In response to automatic control commands, it acquires engine output power and travel handle angle information in real time; Based on the engine output power, the speed regulation type is determined; Based on the angle information of the walking handle, the speed adjustment value is determined; The walking speed of the harvester is controlled based on the speed adjustment type and the speed adjustment value. 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 and obtained in the preset gear adjustment rules; Based on the adjustment gear and the angle information of the walking handle, the angle adjustment range is determined; Within the angle adjustment range, the walking speed of the harvester is controlled based on the speed adjustment type and the speed adjustment value; The method further includes, after controlling the walking speed of the harvester based on the speed adjustment type and the speed adjustment value: Based on the aforementioned angle adjustment range, the extreme value of the angle adjustment is determined; Determine whether the current engine output power is within the power range corresponding to the adjusted gear; Given 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.

2. The method according to claim 1, characterized in that, The determination of the speed regulation type based on the engine output power includes: Obtain the travel proportional valve parameters and the operating clutch status parameters; Based on the walking handle angle information, determine whether the walking handle meets the preset walking handle conditions; Based on the parameters of the travel proportional valve, determine whether the travel proportional valve is in a normal state; Based on the operation clutch state parameters, determine whether the operation clutch is engaged; If the travel handle meets the preset travel handle conditions, the travel proportion valve is in normal condition, and the working clutch is engaged, the speed regulation type is determined based on the engine output power.

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

4. The method according to claim 1, characterized in that, The method 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, the adjustment step size of the walking proportional valve opening is determined; Based on the speed adjustment type, the opening of the walking proportional valve is adjusted according to the adjustment step size of the walking proportional valve opening to control the walking speed of the harvester.

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

6. The method according to claim 2, characterized in that, Also includes: If the travel proportional valve is determined to be in an abnormal state, a second alarm message is generated based on the parameters of the travel proportional valve.

7. A harvester, characterized in that, The harvester uses the harvester walking control method described in any one of claims 1-6 to control its walking speed.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; A memory connected to the at least one processor; 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 according to any one of claims 1 to 6 by executing the instructions stored in the memory.

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