Tractor tool turning lifting control method, system and equipment and storage medium

Abstract

The invention relates to the technical field of tractor control, and particularly discloses a tractor tool turning lifting control method, system and device and a storage medium, and the method comprises the steps: responding to a starting automatic control signal, based on the multi-dimensional operation parameters, collected in real time, of a target tractor, judging whether the target tractor is in a to-be-turned state or not, obtaining a judgment result; and when the judgment result is yes, a lifting control signal is generated based on the current turning type of the target tractor, and a lifter is driven by an execution mechanism of the target tractor according to the lifting control signal to lift a machine tool of the target tractor. According to the invention, the workload of manually operating the lifting machine tool can be reduced, and the operation safety can be improved while the automatic lifting of the machine tool is realized; the machine tool loss can be effectively reduced, the land rolling compaction can be reduced, the turning flexibility can be obviously improved, and the operation efficiency is further improved.

Description

Background Art

[0002] In the field of agricultural production, tractors, as important operation tools, undertake heavy tasks such as plowing, sowing, and harvesting. However, in the traditional operation mode, when the tractor driver turns at the end of the field or during the operation each time, they must manually operate to lift the farming implements. This process is not only cumbersome but also greatly increases the driver's operation burden. Long-term high-intensity operation is likely to cause driver fatigue, affecting the operation accuracy and safety. At the same time, the delay and inaccuracy of manual operation have also caused a series of problems. On the one hand, the farming implements are prone to scraping and colliding with the ground and obstacles due to failure to be lifted in time, resulting in damage and increasing the maintenance cost; on the other hand, the excessive rolling of the farming implements on the land during turning destroys the soil structure and affects the growth of crops. In addition, frequent manual operation makes the turning less flexible and efficient, slowing down the overall operation rhythm.

[0003] Therefore, there is an urgent need to provide a technical solution to solve the above problems. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a tractor farming implement turning and lifting control method, system, device, and storage medium.

[0005] In the first aspect, the present invention provides a tractor farming implement turning and lifting control method, and the technical solution of this method is as follows:

[0006] In response to the start of the automatic control signal, based on the multi-dimensional operation parameters of the target tractor collected in real time, it is judged whether the target tractor is in a state to be turned, and a judgment result is obtained;

[0007] When the judgment result is yes, a lifting control signal is generated based on the current turning type of the target tractor, and the actuator of the target tractor drives the lifter to perform a lifting operation on the farming implements of the target tractor according to the lifting control signal.

[0008] The beneficial effects of a tractor farming implement turning and lifting control method of the present invention are as follows:

[0009] The method of the present invention can reduce the operation burden of manually operating to lift the farming implements. While realizing the automatic lifting of the farming implements, it can also improve the operation safety; it can not only effectively reduce the wear of the farming implements and reduce the land rolling, but also significantly improve the turning flexibility, thereby improving the operation efficiency.

[0010] On the basis of the above solution, a tractor farming implement turning and lifting control method of the present invention can also be improved as follows.

[0011] In an alternative manner, the multi-dimensional operating parameters at least include: vehicle speed value, front wheel steering angle value, acceleration value, and front wheel steering angle change value; the step of determining whether the target tractor is in a state of waiting to turn based on the real-time collected multi-dimensional operating parameters of the target tractor includes:

[0012] When the vehicle speed value is less than a first threshold and the front wheel steering angle value is greater than a second threshold, it is determined that the target tractor is in the state of waiting to turn and the current turning type is a headland turn; or, when the acceleration value is greater than a third threshold and the front wheel steering angle change value is greater than a fourth threshold, it is determined that the target tractor is in the state of waiting to turn and the current turning type is a mid-course turn;

[0013] Otherwise, it is determined that the target tractor is not in the state of waiting to turn.

[0014] In an alternative manner, the lifting control signal is: a pulse width modulation signal; the step of driving a lifter to lift the implement of the target tractor according to the lifting control signal through an actuator of the target tractor includes:

[0015] When the lifter is in an unlocked state and in an operating mode, send the pulse width modulation signal to the actuator, and control the actuator to drive the lifter to act at a stepped lifting rate according to the pulse width modulation signal to lift the implement of the target tractor.

[0016] In an alternative manner, it further includes:

[0017] In response to a stop automatic control signal or detecting that the turning of the target tractor ends, control the lifter to reset to the operating mode.

[0018] In a second aspect, the present invention provides a tractor implement turning and lifting control system, and the technical solution of this system is as follows:

[0019] It includes: a judgment module and a control module;

[0020] The judgment module is configured to: in response to a start automatic control signal, based on the real-time collected multi-dimensional operating parameters of the target tractor, determine whether the target tractor is in a state of waiting to turn, and obtain a judgment result;

[0021] The control module is configured to: when the judgment result is yes, generate a lifting control signal based on the current turning type of the target tractor, and drive a lifter to lift the implement of the target tractor according to the lifting control signal through an actuator of the target tractor.

[0022] The beneficial effects of a tractor implement turning and lifting control system of the present invention are as follows:

[0023] The system of the present invention can reduce the operation burden of manually operating the lifting implement. While realizing the automatic lifting of the implement, it can also improve the operation safety; it can not only effectively reduce the implement wear and land rolling, but also significantly improve the turning flexibility, thereby improving the operation efficiency.

[0024] On the basis of the above solution, a tractor implement turning and lifting control system of the present invention can also be improved as follows.

[0025] In an optional manner, the multi-dimensional operation parameters at least include: vehicle speed value, front wheel steering angle value, acceleration value, and front wheel steering angle change value; the judgment module is specifically configured to:

[0026] When the vehicle speed value is less than the first threshold and the front wheel steering angle value is greater than the second threshold, it is determined that the target tractor is in the to-be-turned state and the current turning type is headland turning; or, when the acceleration value is greater than the third threshold and the front wheel steering angle change value is greater than the fourth threshold, it is determined that the target tractor is in the to-be-turned state and the current turning type is in-course turning;

[0027] Otherwise, it is determined that the target tractor is not in the to-be-turned state.

[0028] In an optional manner, the lifting control signal is: a pulse width modulation signal; the control module is specifically configured to:

[0029] When the lift is in the unlocked state and in the operation mode, send the pulse width modulation signal to the actuator, and control the actuator to drive the lift to act at a stepped lifting rate according to the pulse width modulation signal, so as to perform a lifting operation on the implement of the target tractor.

[0030] In an optional manner, it further includes: a stop control module;

[0031] The stop control module is configured to: in response to a stop automatic control signal or detecting that the turning of the target tractor ends, control the lift to reset to the operation mode.

[0032] In a third aspect, the technical solution of an electronic device of the present invention is as follows:

[0033] It includes a memory, a processor, and a program stored on the memory and running on the processor. When the processor executes the program, it implements the steps of the tractor implement turning and lifting control method of the present invention.

[0034] Fourthly, a technical solution of a computer-readable storage medium provided by the present invention is as follows:

[0035] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium is caused to execute the steps of the tractor implement turning and lifting control method of the present invention.

[0036] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented in accordance with the content of the description. And in order to make the above and other objects, features and advantages of the present invention more obvious and understandable, the following specific embodiments of the present invention are specifically given. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings are only used to illustrate the embodiments and are not considered to limit the present invention. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0038] Figure 1 is a schematic flowchart of an embodiment of a tractor implement turning and lifting control method of the present invention;

[0039] Figure 2 is a schematic diagram of the principle of tractor implement turning and lifting control;

[0040] Figure 3 is a schematic diagram of the overall process of tractor implement turning and lifting control;

[0041] Figure 4 is a schematic structural diagram of an embodiment of a tractor implement turning and lifting control system of the present invention;

[0042] Figure 5 is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The exemplary embodiments of the present invention will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein.

[0044] Figure 1 shows a schematic flowchart of an embodiment of a tractor implement turning and lifting control method provided by the present invention. The tractor implement turning and lifting control method is performed by a controller (HCU electronic control unit).

[0045] As Figure 1 shown, it includes the following steps:

[0046] S1. In response to the start of the automatic control signal, based on the multi-dimensional operating parameters of the target tractor collected in real time, determine whether the target tractor is in a state of waiting to turn, and obtain a judgment result.

[0047] Among them, the target tractor is the tractor that needs to perform the turning and lifting control of the implement in this embodiment, and the specific model is not limited here. The multi-dimensional operating parameters at least include: vehicle speed value, front wheel steering angle value, acceleration value, and front wheel steering angle change value. The front wheel steering angle value can be collected by a front wheel steering angle sensor, the vehicle speed value can be collected by a wheel speed sensor, the acceleration value can be collected by an acceleration sensor, and the front wheel steering angle change value can be determined according to the difference between the front wheel steering angle value at the current moment and the front wheel steering angle value at the previous moment. The state of waiting to turn indicates the state where the tractor is about to turn or has just turned, corresponding to changes in parameters such as vehicle speed and steering angle.

[0048] Among them, the start of the automatic control signal can be generated by clicking the function button arranged on the target tractor. After receiving the start of the automatic control signal, the step of collecting the multi-dimensional operating parameters of the target tractor in real time is then executed, so that the user can decide whether to automatically control the lifting when the tractor implement turns according to the needs.

[0049] It should be noted that, as Figure 2 shown, the HCU electronic control unit and the actuator are connected through CAN communication. The HCU electronic control unit and each sensor and function button are connected through hard wires.

[0050] S2. When the judgment result is yes, generate a lifting control signal based on the current turning type of the target tractor, and drive the lifter to perform a lifting operation on the implement of the target tractor according to the lifting control signal through the actuator of the target tractor.

[0051] Among them, the turning types include: turning at the end of the field and turning on the way; the current turning type is any one of the above turning types.

[0052] In an optional manner, the step of determining whether the target tractor is in a state of waiting to turn based on the multi-dimensional operating parameters of the target tractor collected in real time includes:

[0053] When the vehicle speed value is less than the first threshold and the front wheel steering angle value is greater than the second threshold, it is determined that the target tractor is in the state of waiting to turn and the current turning type is turning at the end of the field; or, when the acceleration value is greater than the third threshold and the front wheel steering angle change value is greater than the fourth threshold, it is determined that the target tractor is in the state of waiting to turn and the current turning type is turning on the way;

[0054] Otherwise, it is determined that the target tractor is not in the to-be-turned state.

[0055] Among them, the first threshold is defaulted to 0.5 m / s. The value range of the first threshold is usually 0 - 0.5 m / s, and it can also be adjusted according to actual requirements without limitation here. The second threshold is defaulted to 45°. The value range of the second threshold is usually 30° - 60°, and it is specifically adjusted according to the tractor model and operation scenario. The third threshold is defaulted to 10%. The value range of the third threshold is usually 5% - 10%, and it can also be adjusted according to actual requirements without limitation here. The fourth threshold is defaulted to 10°. The value range of the fourth threshold is usually 5° - 10°, and it can also be adjusted according to actual requirements without limitation here.

[0056] Among them, headland turning usually occurs in farm operations. When the tractor needs to turn from one plot to another, or when making a U-turn at the end of the field. The site for headland turning is usually relatively narrow, and the turning radius is limited. In-course turning refers to the turning operation when the tractor is driving on the road to change the driving direction. The road for in-course turning may be wide or narrow, and the turning radius may be large or small. Different turning types correspond to different lift control signals, and different lift control signals correspond to different implement lift heights and positions. The lift control signal corresponding to headland turning is the first lift control signal, and the lift control signal corresponding to in-course turning is the second lift control signal. The first lift control signal corresponds to a first height value, and the second lift control signal corresponds to a second height value. The specific values of the first height value and the second height value can be determined according to the vehicle model and the environment without limitation here.

[0057] The actuator is defaulted to the EMA actuator. The EMA actuator is an electromechanical actuator, which is a type of actuator that drives the load to move through electric energy. It is integrated with components such as a permanent magnet synchronous motor, a harmonic reducer, a driver, and a controller, and has the characteristics of compact structure, high power density, high torque density, short response time, and high control accuracy. The working principle of the EMA actuator is based on the driving principle of the motor. Through the control of the motor by the controller, precise motion control of the mechanical load is achieved. The implement of the tractor is connected to the tractor through a connection mechanism (two-point hitch, three-point hitch, etc.). The types of implements include but are not limited to: tillage machinery (plow, tiller, rotary tiller, subsoiler, etc.), seeding machinery (drill seeder, hill-drop seeder, broadcaster, etc.), harvesting machinery (grain harvester, corn harvester, potato harvester, etc.).

[0058] It should be noted that both the first height value and the second height value are the target height values to which the lifter needs to be adjusted. The actual adjustment height value can be determined according to the difference between the current height value of the lifter and the first height value (second height value), and the current height value can be collected by an angle sensor. For example, if the current height value of the lifter is 1 m, the current turning type of the target tractor is a headland turn, and the first height value is 3 m, then the actual adjustment height value of the lifter is 2 m. There is a mapping relationship (such as 1:1) between the height value of the lifter and the height value of the implement, which can also be adjusted according to the actual situation and is not restricted here.

[0059] In an alternative embodiment, the lift control signal is a pulse width modulation signal. The pulse width modulation signal is a PWM signal with a variable duty cycle, and the stepped lift rate control defaults to adjusting the lift rate by adjusting the duty cycle every 100 ms.

[0060] The steps of driving the lifter to lift the implement of the target tractor according to the lift control signal by the actuator of the target tractor include:

[0061] When the lifter is in the unlocked state and in the operation mode, send the pulse width modulation signal to the actuator, and control the actuator to drive the lifter to act at a stepped lift rate according to the pulse width modulation signal, so as to lift the implement of the target tractor.

[0062] Among them, the state of the lifter can be: locked state or unlocked state. In the locked state, the lifter does not perform any operations, and in the unlocked state, the implement can be lifted and controlled.

[0063] Among them, the working modes of the lifter include but are not limited to: operation mode, transportation mode, turning mode (in this embodiment, the turning mode is adopted when the implement turns) and emergency pause mode. The operation mode refers to the set of operating states of the lifter when the implement of the target tractor is in the normal farm operation state. The definition of the working modes of the lifter is shown in Table 1 below:

[0064] Table 1:

[0065]

[0066] In an alternative embodiment, it further includes:

[0067] In response to the stop automatic control signal or detecting the end of the turn of the target tractor, control the lifter to reset to the operation mode.

[0068] Among them, the stop automatic control signal can be generated by long - pressing a function button for a preset duration. After receiving the stop automatic control signal, the lifting control of the implement of the target tractor is stopped. The conditions for determining the end of the turn of the target tractor are: ① The steering angle returns to zero (such as the steering wheel return signal); ② The data of the body attitude sensor (such as the gyroscope detects straight - line driving for 3 seconds); ③ The GNSS trajectory judgment (such as the path curvature radius > threshold). For example, when any of the following conditions is detected, the control is executed to reset the lifter to the working mode: ① The steering angle returns to zero and lasts for ≥3 seconds; ② The GNSS trajectory curvature radius > 50m; ③ The implement height sensor detects the lifting state and the vehicle speed > 0.8m / s lasts for 5 seconds.

[0069] Among them, the ways to control the reset of the lifter to the working mode include: ① Directly reset to the default tillage height; ② Dynamically adjust the reset speed according to the soil hardness (such as through a pressure sensor).

[0070] In an alternative way, it further includes:

[0071] During the lifting process of the implement, continuously monitor the tire slip rate of the target tractor. When the tire slip rate is greater than the fifth threshold, drive the lifter through the actuator to reduce the lifting rate until the tire slip rate returns to the safe range.

[0072] Among them, the tire slip rate characterizes the deviation degree between the actual movement of the tire and the theoretical pure - rolling state. The calculation formula of the tire slip rate is: S represents the tire slip rate, V 实际 represents the actual forward speed of the target tractor (real - time vehicle speed value), V 理论 represents the theoretical linear speed of the tire of the target tractor, V 理论 Calculated based on the wheel speed sensor and the tire radius. The value range of the fifth threshold is defaulted to 15% - 25%, and it is specifically adjusted according to the soil hardness, slope, and working mode, without limitation here.

[0073] It should be noted that, as Figure 3 shown, in this embodiment, in addition to the automatic control mode, it further includes: manual mode and semi - automatic mode, which can be specifically selected according to the actual needs of the user and through the buttons on the target tractor.

[0074] The technical solution of this embodiment can reduce the operation burden of manually operating the lifting implement. While realizing the automatic lifting of the implement, it can also improve the operation safety; it can not only effectively reduce the implement wear and land rolling, but also significantly improve the turning flexibility, thereby improving the operation efficiency.

[0075] Figure 4 Fig. shows the structural schematic diagram of an embodiment of a tractor implement turning and lifting control system 200 provided by the present invention. AsFigure 4 As shown in Figure 4 , the system 200 includes a judgment module 210 and a control module 220;

[0076] The judgment module 210 is configured to: in response to a start automatic control signal, based on multi-dimensional operation parameters of the target tractor collected in real time, judge whether the target tractor is in a state of waiting to turn, and obtain a judgment result;

[0077] The control module 220 is configured to: when the judgment result is yes, generate a lifting control signal based on the current turning type of the target tractor, and drive a lifter through an actuator of the target tractor to perform a lifting operation on a implement of the target tractor according to the lifting control signal.

[0078] In an optional manner, the multi-dimensional operation parameters at least include: a vehicle speed value, a front wheel steering angle value, an acceleration value, and a front wheel steering angle change value; specifically, the judgment module 210 is configured to:

[0079] When the vehicle speed value is less than a first threshold and the front wheel steering angle value is greater than a second threshold, determine that the target tractor is in the state of waiting to turn and the current turning type is a headland turn; or, when the acceleration value is greater than a third threshold and the front wheel steering angle change value is greater than a fourth threshold, determine that the target tractor is in the state of waiting to turn and the current turning type is a mid-course turn.

[0080] In an optional manner, the lifting control signal is: a pulse width modulation signal; specifically, the control module 220 is configured to:

[0081] When the lifter is in an unlocked state and in an operation mode, send the pulse width modulation signal to the actuator, and control the actuator to drive the lifter to act at a stepped lifting rate according to the pulse width modulation signal, so as to perform a lifting operation on a implement of the target tractor.

[0082] In an optional manner, it further includes: a stop control module;

[0083] The stop control module is configured to: in response to a stop automatic control signal or detecting that the target tractor has finished turning, control the lifter to reset to the operation mode.

[0084] It should be noted that the beneficial effects of the tractor implement turning and lifting control system provided in the above embodiments are the same as those of the tractor implement turning and lifting control method described above, and will not be elaborated here. In addition, when implementing its functions, the system provided in the above embodiments is only illustrated by dividing the above functions into respective function modules. In practical applications, the above functions can be allocated to different function modules according to needs, that is, the system can be divided into different function modules according to actual situations to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be elaborated here.

[0085] Among them, the tractor implement turning and lifting control system of the present invention can be a computer program (including program code) running in a computer device. For example, the tractor implement turning and lifting control system of the present invention is an application software that can be used to execute the corresponding steps in the tractor implement turning and lifting control method of the present invention.

[0086] In some embodiments, the tractor implement turning and lifting control system of the present invention can be implemented in a combination of software and hardware. As an example, the tractor implement turning and lifting control system of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the tractor implement turning and lifting control method of the present invention. For example, the processor in the form of a hardware decoding processor can use one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs) or other electronic components.

[0087] Among them, the modules involved in the embodiments of the present invention can be implemented by software or by hardware. Among them, the name of the module does not constitute a limitation to the module itself in some cases.

[0088] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned tractor implement turning and lifting control method is implemented. That is to say, an electronic device according to an embodiment of the present invention may include, but is not limited to: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the tractor implement turning and lifting control method shown in any embodiment of the present invention by calling the computer program.

[0089] In an alternative embodiment, an electronic device is provided, as Figure 5 shown Figure 5 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. Among them, the processor 4001 and the memory 4003 are connected, such as connected through a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 may be used for data interaction between this electronic device and other electronic devices, such as sending and / or receiving data, etc. It should be noted that in practical applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation to the embodiments of the present invention.

[0090] The processor 4001 may be a CPU (Central Processing Unit, central processor), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application-specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in connection with the disclosure of the present invention. The processor 4001 may also be a combination that realizes computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0091] The bus 4002 may include a path for transmitting information between the above-mentioned components. The bus 4002 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture, extended industry standard structure) bus, etc. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5The bus 4002 is represented by only a thick line in the figure, but it does not mean that there is only one bus or one type of bus.

[0092] The memory 4003 can be a ROM (Read Only Memory), or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory), or other types of dynamic storage devices that can store information and instructions. It can also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0093] The memory 4003 is used to store the application program code (computer program) for implementing the solution of the present invention and is controlled by the processor 4001 for execution. The processor 4001 is used to execute the application program code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0094] Among them, the electronic device can also be a terminal device. The terminal device can be any terminal device that can install an application and access a web page through the application, including at least one of a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart vehicle-mounted device.

[0095] It should be noted that Figure 5 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0096] A computer-readable storage medium according to an embodiment of the present invention has a computer program stored thereon. When the computer program is executed by a processor, it implements any one of the above tractor implement turning and lifting control methods.

[0097] Optionally, the computer-readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0098] In an exemplary embodiment, a computer program product or a computer program is further provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the above-mentioned tractor implement turning and lifting control method.

[0099] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0100] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0101] The computer-readable storage medium provided by the embodiments of the present invention may be, but is not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared ray, or semiconductor, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program, and this program may be used by or in combination with an instruction execution system, device or component.

[0102] The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed by the electronic device, the electronic device is caused to execute the method shown in the above embodiments.

[0103] The above description is only a preferred embodiment of the present invention and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solution formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solution formed by mutually replacing the above features with the (but not limited to) technical features having similar functions disclosed in the present invention.

[0104] It should be noted that the terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, and represent a limitation on a specific order or sequence. Under appropriate circumstances, the use order of similar objects may be interchanged so that the embodiments of this application described herein can be implemented in an order other than the illustrated or described order.

[0105] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, that is: it can be completely hardware, can also be completely software (including firmware, resident software, microcode, etc.), and can also be in the form of a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" in this article. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable media contains computer-readable program code.

[0106] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A tractor implement turning and lifting control method, characterized in that: include: In response to the start-up automatic control signal, based on the multi-dimensional operating parameters of the target tractor collected in real time, determining whether the target tractor is in a waiting-to-turn state, and obtaining a determination result; When the judgment result is yes, a lifting control signal is generated based on the current turning type of the target tractor, and the actuator of the target tractor drives the lifter to lift the implement of the target tractor according to the lifting control signal.

2. The tractor implement turning and lifting control method according to claim 1, characterized in that: The multi-dimensional operating parameters at least include: vehicle speed value, front wheel steering angle value, acceleration value and front wheel steering angle change value; based on the multi-dimensional operating parameters of the target tractor collected in real time, the step of judging whether the target tractor is in a state of waiting to turn includes: When the vehicle speed value is less than a first threshold value and the front wheel steering angle value is greater than a second threshold value, it is determined that the target tractor is in the waiting-to-turn state and the current turning type is a headland turn; or, when the acceleration value is greater than a third threshold value and the front wheel steering angle change value is greater than a fourth threshold value, it is determined that the target tractor is in the waiting-to-turn state and the current turning type is a mid-turn; Otherwise, it is determined that the target tractor is not in the waiting-to-turn state.

3. The tractor implement turning and lifting control method according to claim 1, characterized in that: The lifting control signal is a pulse width modulation signal; the step of driving the lifter to lift the implement of the target tractor according to the lifting control signal through the actuator of the target tractor comprises: When the lifter is in an unlocked state and in an operating mode, the pulse width modulation signal is sent to the actuator, and the actuator is controlled to drive the lifter at a stepped lifting rate according to the pulse width modulation signal to perform a lifting operation on the implement of the target tractor.

4. The tractor implement turning and lifting control method according to claim 3, characterized in that: Also includes: In response to stopping the automatic control signal or detecting that the target tractor has completed turning, the lifter is controlled to reset to the working mode.

5. A tractor implement turning and lifting control system, characterized in that: include: Judgment module and control module; The judgment module is used to: in response to the start-up automatic control signal, judge whether the target tractor is in a waiting-to-turn state based on the multi-dimensional operating parameters of the target tractor collected in real time, and obtain a judgment result; The control module is used to: when the judgment result is yes, generate a lifting control signal based on the current turning type of the target tractor, and drive the lifter to lift the implement of the target tractor according to the lifting control signal through the actuator of the target tractor.

6. The tractor implement turning and lifting control system according to claim 5, characterized in that: The multi-dimensional operating parameters at least include: vehicle speed value, front wheel steering angle value, acceleration value and front wheel steering angle change value; the judgment module is specifically used for: When the vehicle speed value is less than a first threshold value and the front wheel steering angle value is greater than a second threshold value, it is determined that the target tractor is in the waiting-to-turn state and the current turning type is a headland turn; or, when the acceleration value is greater than a third threshold value and the front wheel steering angle change value is greater than a fourth threshold value, it is determined that the target tractor is in the waiting-to-turn state and the current turning type is a mid-turn; Otherwise, it is determined that the target tractor is not in the waiting-to-turn state.

7. The tractor implement turning and lifting control system according to claim 5, characterized in that: The boost control signal is a pulse width modulation signal; the control module is specifically used for: When the lifter is in an unlocked state and in an operating mode, the pulse width modulation signal is sent to the actuator, and the actuator is controlled to drive the lifter at a stepped lifting rate according to the pulse width modulation signal to perform a lifting operation on the implement of the target tractor.

8. The tractor implement turning and lifting control system according to claim 7, characterized in that: Also includes: Stop the control module; The stop control module is used to control the lifter to reset to the working mode in response to a stop automatic control signal or detecting that the target tractor has finished turning.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the tractor implement turning and lifting control method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the tractor implement turning and lifting control method according to any one of claims 1 to 4.

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