Crawler-type harvester and operation control method thereof

Abstract

The invention provides a crawler-type harvester and an operation control method thereof.The crawler-type harvester comprises a linear chassis and a vehicle control unit, the linear chassis comprises a plurality of execution systems, the execution systems comprise a walking execution system, a steering execution system and a chassis lifting execution system, and the method comprises the steps that vehicle operation signals are collected; according to the control type to which the vehicle operation signal belongs, a target execution system and a target control execution strategy corresponding to the vehicle operation signal are determined, and the control type comprises walking control, steering control and chassis lifting control; and driving the target execution system to act according to the target control execution strategy. Through the linear chassis integrating walking, steering and chassis lifting functions, harvester operation control is achieved, the production cost is reduced, the control logic is simplified, and meanwhile the reliability and stability of the whole control system are improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural devices, and in particular, to a crawler harvester and an operation control method thereof. Background Art

[0002] However, the current crawler harvesters provided are mostly in the research and development or experimental stage in terms of chassis lifting and dual-pump dual-motor drive control. The vast majority of the existing crawler harvesters in use are single-pump two-motor hydraulic systems, and the dual-pump dual-motor hydraulic system is more complex than the single-pump two-motor hydraulic system, with higher production costs and more complex control. At present, for reducing the turning radius of crawler machines, a dual-pump dual-motor hydraulic system is mostly used, and its technical concept mainly focuses on optimizing the PID algorithm to shorten the control time, emphasizing software development while ignoring the reliability, stability, and production costs of hardware. Summary of the Invention

[0003] In view of this, the purpose of the present application is to provide at least a crawler harvester and an operation control method thereof. By using a linear chassis that integrates functions of traveling, steering, and chassis lifting to achieve the operation control of the harvester, while reducing production costs and simplifying the control logic, the reliability and stability of the entire control system are improved.

[0004] The present application mainly includes the following aspects:

[0005] In a first aspect, an embodiment of the present application provides an operation control method for a crawler harvester, which is applied to a vehicle control unit in the crawler harvester. The crawler harvester further includes a linear chassis, and the linear chassis includes a plurality of execution systems. The plurality of execution systems include a traveling execution system, a steering execution system, and a chassis lifting execution system. Among them, the method includes: collecting vehicle operation signals; determining a target execution system and a target control execution strategy corresponding to the vehicle operation signal according to the control type to which the vehicle operation signal belongs, and the control types include traveling control, steering control, and chassis lifting control; driving the target execution system to act according to the target control execution strategy.

[0006] In a possible implementation, the crawler harvester further includes a travel operation acquisition sensor, a steering operation acquisition sensor, and a control panel. The vehicle operation signals include travel operation signals, steering operation signals, and chassis lifting operation signals. The control execution strategies include a travel control strategy, a steering control strategy, and a chassis lifting control strategy. Among them, the method further includes: respectively collecting the travel operation signals generated by the travel handle through the travel operation acquisition sensor, collecting the steering operation signals generated by the steering handle through the steering operation acquisition sensor, and in response to the chassis lifting control operation input by the user to the control panel, collecting the corresponding chassis lifting operation signals; for the travel operation signals, determining the travel control signals for the travel execution system according to the travel control strategy, and driving the travel execution system through the travel control signals; for the steering operation signals, determining the steering control signals for the steering execution system according to the steering control strategy, and driving the steering execution system through the steering control signals; for the chassis lifting operation signals, determining the chassis lifting control signals for the chassis lifting execution system according to the chassis lifting control strategy, and driving the chassis lifting execution system through the chassis lifting control signals.

[0007] In a possible implementation, the travel execution system includes a forward proportional valve and a reverse proportional valve. The travel control signals include the forward control signal corresponding to the forward proportional valve and the reverse control signal corresponding to the reverse proportional valve. Among them, the travel execution system is driven in the following manner: determining the travel signal interval to which the travel operation signal belongs; if the travel operation signal is in the forward signal interval, then according to the forward proportional valve dead zone current, the travel operation signal, the minimum signal of the forward signal interval, the maximum signal of the forward signal interval, and the maximum current of the forward proportional valve, determining the forward control signal and making the reverse control signal output zero; if the travel operation signal is in the reverse signal interval, then according to the reverse proportional valve dead zone current, the travel operation signal, the minimum signal of the reverse signal interval, the maximum signal of the reverse signal interval, and the maximum current of the reverse proportional valve, determining the reverse control signal and making the forward control signal output zero; if the travel operation signal is in the travel neutral signal interval or the invalid travel signal interval, then making both the forward control signal and the reverse control signal output zero; respectively driving the forward proportional valve through the forward control signal and driving the reverse proportional valve through the reverse control signal to complete the travel control.

[0008] In a possible implementation, if the travel operation signal is in the forward signal interval, the forward control signal is determined by the following formula:

[0009]

[0010] C forward represents the forward control signal, I dead_forward represents the forward proportional valve dead zone current, Signal walk represents the travel operation signal, min(Gforward ) represents the minimum signal of the forward signal range, max(G forward ) represents the maximum signal of the forward signal range, I max_forward represents the maximum current of the forward proportional valve;

[0011] If the traveling operation signal is within the reverse signal range, the reverse control signal is determined by the following formula:

[0012]

[0013] C backward represents the reverse control signal, C backward represents the dead zone current of the reverse proportional valve, min(G backward ) represents the minimum signal of the reverse signal range, max(G backward ) represents the maximum signal of the reverse signal range, I max_backward represents the maximum current of the reverse proportional valve.

[0014] In a possible implementation, the steering execution system includes a left steering clutch switch valve, a right steering clutch switch valve, a steering mode switching proportional valve, and a steering radius control proportional valve. The steering control signal includes a left steering control signal, a right steering control signal, a steering mode switching signal, and a steering radius control signal. Among them, the steering execution system is driven in the following manner: Obtain the current steering mode corresponding to the harvester and determine the steering signal range to which the steering operation signal belongs; if the steering operation signal is within the steering neutral signal range or the invalid steering signal range, then make both the left steering control signal and the right steering control signal be closed signals, and make both the steering mode switching signal and the steering radius control signal output zero; if the steering operation signal is within the left turn signal range, determine the steering mode switching signal according to the current steering mode, make the left steering control signal be conductive and the right steering control signal be closed, and determine the steering radius control signal according to the dead zone current of the steering radius control proportional valve, the steering operation signal, the maximum signal of the left turn signal range, the minimum signal of the left turn signal range, and the maximum current of the steering radius control proportional valve; if the steering operation signal is within the right turn signal range, determine the steering mode switching signal according to the current steering mode, make the right steering control signal be conductive and the right steering control signal be closed, and determine the steering radius control signal according to the dead zone current of the steering radius control proportional valve, the steering operation signal, the maximum signal of the right turn signal range, the minimum signal of the right turn signal range, and the maximum current of the steering radius control proportional valve; drive the left steering clutch switch valve through the left steering control signal, drive the right steering clutch switch valve through the right steering control signal, drive the steering mode switching proportional valve through the steering mode switching signal, and drive the steering radius control proportional valve through the steering radius control signal to complete the steering control of the harvester.

[0015] In a possible implementation, the step of determining the steering mode switching signal according to the current steering mode includes: if the current steering mode is differential steering, the steering mode switching signal outputs a preset differential steering gear signal; if the current steering mode is braking steering, the steering mode switching signal outputs a preset braking steering gear signal; if the current steering mode is in-situ steering, the steering mode switching signal outputs a preset in-situ steering gear signal.

[0016] In a possible implementation, if the steering operation signal is within the left turn signal range, the steering radius control signal is determined by the following formula:

[0017]

[0018] In this formula, C turnR represents the steering radius control signal, Signal turn represents the steering operation signal, I dead_turnR represents the dead zone current of the steering radius control proportional valve, min(G left ) represents the minimum signal in the left turn signal range, max(G left ) represents the maximum signal in the left turn signal range, I max_turnR represents the maximum current of the steering radius control proportional valve;

[0019] If the steering operation signal is within the right turn signal range, the steering radius control signal is determined by the following formula:

[0020]

[0021] In this formula, C turnR represents the steering radius control signal, Signal turn represents the steering operation signal, I dead_turnR represents the dead zone current of the steering radius control proportional valve, min(G rignht ) represents the minimum signal in the right turn signal range, max(G rignht ) represents the maximum signal in the right turn signal range, I max_turnR represents the maximum current of the steering radius control proportional valve.

[0022] In a possible implementation, the chassis lifting execution system includes a left chassis lifting solenoid valve, a left chassis lowering solenoid valve, a right chassis lifting solenoid valve, a right chassis lowering solenoid valve, and a left oil cylinder and a right oil cylinder with CAN communication function. Among them, the chassis lifting execution system is driven in the following ways: If the chassis lifting operation signal is a chassis simultaneous lifting signal, then simultaneously control the left chassis lifting solenoid valve and the right chassis lifting solenoid valve to open, so that the left oil cylinder and the right oil cylinder extend simultaneously, and the chassis rises synchronously; If the chassis lifting operation signal is a chassis simultaneous lowering signal, then simultaneously control the left chassis lowering solenoid valve and the right chassis lowering solenoid valve to open, so that the left oil cylinder and the right oil cylinder contract simultaneously, and the chassis descends synchronously; If the chassis lifting operation signal is a left chassis lifting signal, then simultaneously open the left chassis lifting solenoid valve and the right chassis lowering solenoid valve, so that the left oil cylinder extends and the right oil cylinder contracts, and the left side of the chassis rises; If the chassis lifting operation signal is a right chassis lifting signal, then simultaneously open the left chassis lowering solenoid valve and the right chassis lifting solenoid valve, so that the left oil cylinder contracts and the right oil cylinder extends, and the right side of the chassis rises.

[0023] In a possible implementation, the tracked harvester linear chassis further includes a vehicle body attitude sensor installed on the vehicle control unit. Among them, the method further includes: determining that the vehicle is detected to press the main clutch, then real-time detecting the vehicle body tilt angle and the oil cylinder telescopic length fed back by the vehicle body attitude sensor, and determining the difference between the vehicle body tilt angle and the reference balance angle as the balance deviation; performing chassis automatic leveling: If the balance deviation > the first deviation angle, it is determined that the chassis is in a left-tilt state, and simultaneously open the left chassis lifting solenoid valve and the right chassis lowering solenoid valve to adjust the chassis to the balanced state; If the balance deviation is greater than the second deviation angle and less than or equal to the first deviation angle, it is determined that the chassis is in a left-tilt state, and alternately open the left chassis lifting solenoid valve and the right chassis lowering solenoid valve to adjust the chassis attitude to the balanced state; If the balance deviation is greater than or equal to the third deviation angle and less than or equal to the second deviation angle, it is determined that the chassis is in a balanced state, and control the left chassis lifting solenoid valve, the left chassis lowering solenoid valve, the right chassis lifting solenoid valve, and the right chassis lowering solenoid valve to stop output; If the balance deviation is less than the fourth deviation angle, it is determined that the chassis is in a right-tilt state, and simultaneously open the right chassis lifting solenoid valve and the left chassis lowering solenoid valve to adjust the chassis to the balanced state; If the balance deviation is less than or equal to the fourth deviation angle and less than the third deviation angle, it is determined that the chassis is in a right-tilt state, and alternately open the right chassis lifting solenoid valve and the left chassis lowering solenoid valve to adjust the chassis attitude to the balanced state; During the automatic leveling process, if it is detected that the oil cylinder telescopic length has reached the telescopic limit position, stop the current action of the oil cylinder.

[0024] In a possible implementation, a crawler harvester includes a linear chassis and a vehicle control unit. The linear chassis includes a plurality of execution systems, and the plurality of execution systems include a traveling execution system, a steering execution system, and a chassis lifting execution system. The vehicle control unit is applied to the operation control method provided in any one of the above embodiments.

[0025] A crawler harvester and its operation control method provided by an embodiment of the present application. The crawler harvester includes a linear chassis and a vehicle control unit. The linear chassis includes a plurality of execution systems, and the plurality of execution systems include a traveling execution system, a steering execution system, and a chassis lifting execution system. The method includes: collecting vehicle operation signals; determining a target execution system and a target control execution strategy corresponding to the vehicle operation signals according to the control type to which the vehicle operation signals belong, where the control types include traveling control, steering control, and chassis lifting control; driving the target execution system to act according to the target control execution strategy. The present application realizes the operation control of the harvester through a linear chassis integrating traveling, steering, and chassis lifting functions, reduces production costs and simplifies the control logic, while improving the reliability and stability of the entire control system.

[0026] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0028] Figure 1 Shows a flowchart of an operation control method for a crawler harvester provided by an embodiment of the present application;

[0029] Figure 2 Shows a hardware configuration block diagram of a drive-by-wire chassis provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. It should be understood that the accompanying drawings in this application are only for the purposes of illustration and description, and are not used to limit the protection scope of this application. Additionally, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of this application. It should be understood that the operations in the flowchart may not be implemented in sequence, and steps without a logical context relationship may be reversed or implemented simultaneously. Furthermore, those skilled in the art may add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of this application.

[0031] In addition, the described embodiments are only some embodiments of this application, rather than all of the embodiments. The components of the embodiments of this application usually described and illustrated in the accompanying drawings here may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application that is required to be protected, but only represents the selected embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of this application.

[0032] Currently, in the fields related to agricultural mechanization, crawler harvesters are widely used due to their advantages of high harvesting efficiency, strong adaptability, and stable structure. The operating terrains of crawler harvesters mainly include paddy fields, mountains, hills, etc. Among them, paddy fields are the main operating environments for crawler harvesters. Although the land has been leveled after soil puddling, due to uneven irrigation in the early stage, the mud depths are different, the irregular ridges at the edges of the plots are relatively high, and the mud is deeper due to long-term water storage at the edges of the fields. When the harvesting machinery reaches the end of the field, it is difficult to turn due to the large turning radius. Some existing solutions are to use a double-pump and double-motor system to independently control the forward and backward movement of each track to achieve in-situ turning operations and reduce the turning radius.

[0033] However, currently, the chassis lifting and double-pump and double-motor drive control of the provided crawler harvesters are mostly in the research and development or experimental stage. The vast majority of the existing crawler harvesters that have been put into use are single-pump and two-motor hydraulic systems. Moreover, the double-pump and double-motor hydraulic system is more complex than the single-pump and two-motor hydraulic system, with higher production costs, more complex control, and the design of the double-pump and double-motor hydraulic system results in high hydraulic costs. It is easy to have a speed difference when independently controlling the speed of each track, which makes it difficult for the vehicle to move straight. In addition, the double-pump and double-motor system will increase the vehicle's own weight, making the vehicle's passability on muddy ground worse.

[0034] The dual-pump and dual-motor hydraulic system also relies on sensors to detect and ensure the vehicle speed and straight running. The reliability of the sensors has become a major risk point in the dual-pump and dual-motor solution. On the one hand, currently, for crawler machines to reduce the turning radius, a dual-pump and dual-motor hydraulic system is mostly used. Its technical concept mainly focuses on optimizing the PID algorithm to shorten the control time, emphasizing software development while ignoring the reliability, stability, and production cost of the hardware.

[0035] On the other hand, for the design of the lifting chassis, the current solution mainly uses a telescopic cylinder plus an external angle sensor. The angle sensor calculates the telescopic length of the cylinder, and further calculates the real-time telescopic amount of the cylinder. However, such a solution takes up a large amount of space, has high requirements for the level of sensor manufacturing technology and the assembly accuracy of components. In the actual production process, it takes a long time to calibrate the data, which increases the design cost of the entire harvester. And currently, there is no mature crawler harvester product that combines chassis lifting and in-situ steering.

[0036] Based on this, the embodiments of the present application provide a crawler harvester and its operation control method. The operation control of the harvester is realized through a linear chassis that integrates walking, steering, and chassis lifting functions. While reducing production costs and simplifying the control logic, the reliability and stability of the entire control system are improved. Specifically as follows:

[0037] Please refer to Figure 1 , Figure 1 which shows a flowchart of an operation control method for a crawler harvester provided by an embodiment of the present application. Please refer to Figure 2 , Figure 2 which shows a hardware configuration block diagram of a wire-controlled chassis provided by an embodiment of the present application. As shown in Figure 1 and Figure 2 ,the method provided by the embodiments of the present application is applied to the vehicle control unit in the crawler harvester. The crawler harvester further includes a linear chassis. The linear chassis includes a plurality of execution systems. The plurality of execution systems include a walking execution system, a steering execution system, and a chassis lifting execution system. Specifically, the method provided by the present application includes the following steps:

[0038] S100. Collect vehicle operation signals.

[0039] S200. Determine the target execution system and the target control execution strategy corresponding to the vehicle operation signal according to the control type to which the vehicle operation signal belongs.

[0040] The control types include walking control, steering control, and chassis lifting control.

[0041] S300. Drive the target execution system to act according to the target control execution strategy.

[0042] Preferably, the crawler harvester also includes a walking operation collection sensor, a steering operation collection sensor and a control panel respectively connected to the vehicle control power supply, the vehicle operation signal includes a walking operation signal, a steering operation signal and a chassis lifting operation signal, and the control execution strategy includes a walking control strategy, a steering control strategy and a chassis lifting control strategy.

[0043] In a preferred embodiment, the method provided by the present application further includes:

[0044] The walking operation signal generated by the walking handle is collected by the walking operation collection sensor, the steering operation signal generated by the steering handle is collected by the steering operation collection sensor, and in response to the chassis lifting control operation entered by the user on the control panel, the corresponding chassis lifting operation signal is collected; for the walking operation signal, the walking control signal for the walking execution system is determined according to the walking control strategy, and the walking execution system is driven by the walking control signal; for the steering operation signal, the steering control signal for the steering execution system is determined according to the steering control strategy, and the steering execution system is driven by the steering control signal; for the chassis lifting operation signal, the chassis lifting control signal for the chassis lifting execution system is determined according to the chassis lifting control strategy, and the chassis lifting execution system is driven by the chassis lifting control signal.

[0045] In a specific embodiment, the walking execution system of the present application is an electronically controlled HST system, the steering control system is a gearbox, and the vehicle operation signal is divided into a walking operation signal, a steering operation signal and a chassis lifting operation signal according to the execution system to which it belongs. Specifically, the walking operation signal is generated by the operation performed by the operator on the walking handle, the steering operation signal is generated by the operation performed by the operator on the steering handle, the control panel provides a chassis lifting operation interface, and the chassis lifting operation signal is generated by the chassis lifting operation performed by the operator on the chassis lifting operation interface.

[0046] like Figure 2 As shown, the walking execution system includes a forward proportional valve and a backward proportional valve, and the walking control signal includes a forward control signal corresponding to the forward proportional valve and a backward control signal corresponding to the backward proportional valve.

[0047] In a preferred embodiment, the walking execution system is driven in the following manner:

[0048] S4001. Determine a walking signal interval to which a walking operation signal belongs.

[0049] Preferably, the walking operation signal is a voltage signal, and the walking operation signal is pre-calibrated with multiple walking signal intervals according to the voltage range corresponding to the walking operation acquisition sensor. The multiple walking signal intervals include a forward signal interval, a backward signal interval, a walking median signal interval and an invalid walking signal interval.

[0050] S4002. If it is determined that the traveling operation signal is within the forward signal range, determine the forward control signal according to the forward proportional valve dead zone current, the traveling operation signal, the minimum signal of the forward signal range, the maximum signal of the forward signal range, and the maximum current of the forward proportional valve, and set the output of the reverse control signal to zero.

[0051] In a specific embodiment, if it is determined that the traveling operation signal is within the forward signal range, determine the forward control signal through the following formula:

[0052]

[0053] In formula (1), C forward represents the forward control signal corresponding to the forward proportional valve, I dead_forward represents the forward proportional valve dead zone current, Signal walk represents the traveling operation signal, min(G forward ) represents the minimum signal of the forward signal range, max(G forward ) represents the maximum signal of the forward signal range, I max_forward represents the maximum current of the forward proportional valve. The minimum signal of the forward signal range refers to the minimum voltage signal of the forward signal range. Similarly, the maximum signal of the forward signal range refers to the maximum voltage signal of the forward signal range.

[0054] Specifically, if it is determined that the traveling operation signal is within the forward signal range, determine the forward control signal C corresponding to the forward proportional valve through formula (1) forward , and set the reverse control signal C corresponding to the reverse proportional valve backward = 0.

[0055] S4003. If it is determined that the traveling operation signal is within the reverse signal range, determine the reverse control signal according to the reverse proportional valve dead zone current, the traveling operation signal, the minimum signal of the reverse signal range, the maximum signal of the reverse signal range, and the maximum current of the reverse proportional valve, and set the output of the forward control signal to zero.

[0056] In a specific embodiment, if it is determined that the traveling operation signal is within the reverse signal range, determine the reverse control signal through the following formula:

[0057]

[0058] In formula (2), C backward represents the reverse control signal corresponding to the reverse proportional valve, C backward represents the reverse proportional valve dead zone current, min(C backward ) represents the minimum signal of the reverse signal range, max(G backward ) represents the maximum signal of the reverse signal range, I max_backwardIndicates the maximum current of the reverse proportional valve. The minimum signal in the reverse signal range refers to the minimum voltage signal in the reverse signal range. Similarly, the maximum signal in the reverse signal range refers to the maximum voltage signal in the reverse signal range.

[0059] Specifically, if it is determined that the travel operation signal is within the reverse signal range, the reverse control signal C corresponding to the reverse proportional valve is determined through formula (2). backward , and let the forward control signal C corresponding to the forward proportional valve forward = 0.

[0060] S4004: If it is determined that the travel operation signal is within the travel neutral signal range or the travel invalid signal range, then set both the forward control signal and the reverse control signal output to zero.

[0061] Specifically, the travel invalid signal range indicates that the travel operation signal exceeds the upper limit value of the forward signal range or the lower limit value of the reverse signal range. The travel neutral signal range indicates that the tracked harvester is in a travel stop state at this time, that is, the travel handle is in the parking gear.

[0062] When the travel operation signal is within the travel neutral signal range or the travel invalid signal range, set the reverse control signal C corresponding to the reverse proportional valve backward = 0, and set the forward control signal C forward = 0.

[0063] S4005: Drive the forward proportional valve through the forward control signal and drive the reverse proportional valve through the reverse control signal respectively to complete the travel control.

[0064] In this application, the forward control signal and the reverse control signal are current signals. When the forward control signal C forward changes from 0 or the reverse control signal C backward changes from 0, to improve the control stability, the current cannot change suddenly, that is, the current needs to increase or decrease sequentially. Therefore, the forward control signal and the reverse control signal of this application need to be output through a ramp function. The ramp step size can be set through the control panel. Through the control panel, the user can adjust the increasing / decreasing ramp step sizes corresponding to the forward control signal and the reverse control signal to appropriate values to achieve the uniform change of the forward control signal and the reverse control signal and ensure the control stability.

[0065] In another specific embodiment, at the same moment, only one of the forward proportional valve and the reverse proportional valve can have an output.

[0066] Preferably, as Figure 2, the steering execution system includes a left steering clutch switch valve, a right steering clutch switch valve, a steering mode switching proportional valve, and a steering radius control proportional valve, and the steering control signals include a left steering control signal, a right steering control signal, a steering mode switching signal, and a steering radius control signal.

[0067] In a preferred embodiment, the steering execution system is driven in the following manner:

[0068] S5001. Obtain the current steering mode corresponding to the harvester and determine the steering signal interval to which the steering operation signal belongs.

[0069] Preferably, the steering operation signal is a voltage signal. According to the voltage range corresponding to the steering operation acquisition sensor, multiple steering signal intervals are pre-calibrated. The multiple steering signal intervals include a left turn signal interval, a right turn signal interval, a steering neutral signal interval, and an invalid steering signal interval.

[0070] S5002. If the steering operation signal is in the steering neutral signal interval or the invalid steering signal interval, make both the left steering control signal and the right steering control signal be off signals, and make both the steering mode switching signal and the steering radius control signal output zero.

[0071] Preferably, the steering neutral signal interval indicates that the crawler harvester is in a steering stop state, that is, the steering handle is in neutral. When the steering operation signal is in the steering neutral signal interval or the invalid steering signal interval, make both the left steering control signal and the right steering control signal be off signals, that is, close the left steering clutch solenoid valve and the right steering clutch solenoid valve, steering mode switching signal = 0, steering radius control signal = 0. The steering mode switching signal and the steering radius control signal are current signals, and the left steering control signal and the right steering control signal are switch signals.

[0072] S5003. If it is determined that the steering operation signal is in the left turn signal interval, determine the steering mode switching signal according to the current steering mode, make the left steering control signal be on and the right steering control signal be off, and determine the steering radius control signal according to the dead zone current of the steering radius control proportional valve, the steering operation signal, the maximum signal of the left turn signal interval, the minimum signal of the left turn signal interval, and the maximum current of the steering radius control proportional valve.

[0073] In a specific embodiment, the step of determining the steering mode switching signal according to the current steering mode includes: if the current steering mode is differential steering, make the steering mode switching signal output a preset differential steering gear signal; if the current steering mode is braking steering, make the steering mode switching signal output a preset braking steering gear signal; if the current steering mode is in-situ steering, make the steering mode switching signal output a preset in-situ steering gear signal.

[0074] Preferably, the steering gear position signals corresponding to different steering modes are all pre-given. The steering gear position signal is a current signal. Among them, when the current steering mode is differential steering, the current output by the steering mode switching proportional valve is the differential steering gear position current; when the current steering mode is braking steering, the current output by the steering mode switching proportional valve is the braking steering gear position current; when the current steering mode is in-situ steering, the steering mode switching signal outputs a preset in-situ steering gear position current.

[0075] In another preferred embodiment, if the steering operation signal is within the left turn signal range, the steering radius control signal is determined by the following formula:

[0076]

[0077] In formula (3), C turnR represents the steering radius control signal, Signal turn represents the steering operation signal, I dead_turnR represents the dead zone current of the steering radius control proportional valve, min(G left ) represents the minimum signal in the left turn signal range, max(G left ) represents the maximum signal in the left turn signal range, I max_turnR represents the maximum current of the steering radius control proportional valve, and the steering handle signal is a current signal.

[0078] S5004. If the steering operation signal is within the right turn signal range, the steering mode switching signal is determined according to the current steering mode, the right steering control signal is made conductive, the right steering control signal is made non-conductive, and the steering radius control signal is determined according to the dead zone current of the steering radius control proportional valve, the steering operation signal, the maximum signal in the right turn signal range, the minimum signal in the right turn signal range, and the maximum current of the steering radius control proportional valve.

[0079] In a preferred embodiment, when the steering operation signal is within the right turn signal range, the steering radius control signal is determined by the following formula:

[0080]

[0081] In this formula, C turnR represents the steering radius control signal, Signal turn represents the steering operation signal, I dead_turnR represents the dead zone current of the steering radius control proportional valve, min(G rignht ) represents the minimum signal in the right turn signal range, max(G rignht ) represents the maximum signal in the right turn signal range, I max_turnR represents the maximum current of the steering radius control proportional valve.

[0082] S5005. Drive the left steering clutch switch valve through the left steering control signal, drive the right steering clutch switch valve through the right steering control signal, drive the steering mode switching proportional valve through the steering mode switching signal, and drive the steering radius control proportional valve through the steering radius control signal to complete the steering control of the harvester.

[0083] Preferably, the chassis lifting execution system provided in this application includes a chassis left lifting solenoid valve, a chassis left lowering solenoid valve, a chassis right lifting solenoid valve, a chassis right lowering solenoid valve, and left and right hydraulic cylinders with CAN communication function. The solenoid valves related to chassis lifting are on-off valves, and the synchronization of left and right lifting actions is ensured by installing throttle joints and overflow valves in the hydraulic pipelines.

[0084] In a preferred embodiment, the chassis lifting execution system is driven in the following manner:

[0085] S6001. If the chassis lifting operation signal is the chassis simultaneous lifting signal, then simultaneously control the chassis left lifting solenoid valve and the chassis right lifting solenoid valve to open, so that the left and right hydraulic cylinders extend simultaneously, and the chassis rises synchronously.

[0086] Among them, it takes a preset time period, such as 5S, to rise from the lowest position of the chassis to the highest position of the chassis.

[0087] S6002. If the chassis lifting operation signal is the chassis simultaneous lowering signal, then simultaneously control the chassis left lowering solenoid valve and the chassis right lowering solenoid valve to open, so that the left and right hydraulic cylinders contract simultaneously, and the chassis descends synchronously.

[0088] It takes a preset time period to descend from the highest position of the chassis to the lowest position of the chassis.

[0089] S6003. If the chassis lifting operation signal is the chassis left lifting signal, then simultaneously open the chassis left lifting solenoid valve and the chassis right lowering solenoid valve, so that the left hydraulic cylinder extends and the right hydraulic cylinder contracts, and the chassis lifts on the left.

[0090] When the chassis lifts on the left, the chassis slowly tilts to the right, and it takes a preset time period from the lowest position of the chassis to the right-tilt position of the chassis.

[0091] S6004. If the chassis lifting operation signal is the chassis right lifting signal, then simultaneously open the chassis left lowering solenoid valve and the chassis right lifting solenoid valve, so that the left hydraulic cylinder contracts and the right hydraulic cylinder extends, and the chassis lifts on the right.

[0092] When the chassis lifts on the right, the chassis slowly tilts to the left, and it takes a preset time period from the lowest position of the chassis to the left-tilt position of the chassis.

[0093] Preferably, the linear chassis of the tracked harvester further includes a vehicle body attitude sensor installed on the vehicle control unit. In this application, the chassis automatic leveling function is realized through the vehicle body attitude sensor.

[0094] In a preferred embodiment, the method further includes:

[0095] S7001. Determine that the vehicle presses the main clutch, and then detect in real time the body tilt angle and the cylinder telescopic length fed back by the body attitude sensor, and determine the difference between the body tilt angle and the reference balance angle as the balance deviation.

[0096] Preferably, the user can freely set a reference balance angle (default is 0°) through the control panel in advance, and the maximum left and right tilt angles are 7°. When it is detected that the grain elevator or the residue elevator has a rotational speed, it is determined that the vehicle presses the main clutch.

[0097] S7002. Execute automatic chassis leveling: If the balance deviation > the first deviation angle, it is determined that the chassis is in a left-tilted state, and the left chassis lift solenoid valve and the right chassis lower solenoid valve are opened simultaneously to adjust the chassis to a balanced state.

[0098] Preferably, the first deviation angle can be set to 1°.

[0099] S7003. If the second deviation angle < the balance deviation ≤ the first deviation angle, it is determined that the chassis is in a left-tilted state, and the left chassis lift solenoid valve and the right chassis lower solenoid valve are alternately opened to adjust the chassis attitude to a balanced state.

[0100] Among them, the second deviation angle can be set to 0.5°.

[0101] S7004. If the third deviation angle ≤ the balance deviation ≤ the second deviation angle, it is determined that the chassis is in a balanced state, and the left chassis lift solenoid valve, the left chassis lower solenoid valve, the right chassis lift solenoid valve, and the right chassis lower solenoid valve are controlled to stop output.

[0102] The third deviation angle can be set to -0.5°.

[0103] S7005. If the balance deviation < the fourth deviation angle, it is determined that the chassis is in a right-tilted state, and the right chassis lift solenoid valve and the left chassis lower solenoid valve are opened simultaneously to adjust the chassis to a balanced state.

[0104] The fourth deviation angle can be set to -1°.

[0105] S7006. If the fourth deviation angle ≤ the balance deviation < the third deviation angle, it is determined that the chassis is in a right-tilted state, and the right chassis lift solenoid valve and the left chassis lower solenoid valve are alternately opened to adjust the chassis attitude to a balanced state.

[0106] Specifically, during the process of alternately opening the right chassis lift solenoid valve and the left chassis lower solenoid valve, the action time for each time is less than 0.5 seconds.

[0107] S7007. During the automatic leveling process, if it is detected that the telescopic length of the oil cylinder has reached the telescopic limit position, stop the current action of the oil cylinder.

[0108] In this application, after the automatic leveling function is turned off, the chassis will automatically descend to the lowest position of the chassis.

[0109] Based on the same inventive concept, an embodiment of this application also provides a crawler harvester. The crawler harvester includes a linear chassis and a vehicle control unit. The linear chassis includes multiple execution systems, and the multiple execution systems include a traveling execution system, a steering execution system, and a chassis lifting execution system. The vehicle control unit is applied to the operation control method provided in any of the above embodiments. Since the principle of the vehicle control unit in the embodiment of this application to solve problems is similar to the operation control method of the above embodiments of this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0110] The advantages of this application are as follows:

[0111] (1) Steering control is implemented by relying on the gearbox or the steering execution system, and traveling control is achieved through the traveling execution system (i.e., the electronically controlled HST). The installation occupies a small space, the control logic is simple, the cost is low, and the vehicle body weight is reduced.

[0112] (2) The steering execution system can realize the function switching of straight running, differential steering, braking steering, and in-situ steering, and has stronger functions than the traditional gearbox.

[0113] (3) The wire-controlled chassis integrates practical and highly demanded electronically controlled functions such as traveling, steering, and chassis lifting, has strong versatility, and can reduce the R & D cost and production cost.

[0114] (4) It is convenient to repair and the repair cost is low.

[0115] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0116] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, can exist separately physically for each unit, or two or more units can be integrated in one unit.

[0118] If the above function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0119] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A running control method for a crawler harvester, characterized in that A vehicle control unit applied to a crawler harvester, the crawler harvester further includes a linear chassis, the linear chassis includes a plurality of execution systems, and the plurality of execution systems include a traveling execution system, a steering execution system, and a chassis lifting execution system. Wherein, the method includes: Collect vehicle operation signals; According to the control type to which the vehicle operation signal belongs, determine the target execution system and the target control execution strategy corresponding to the vehicle operation signal, and the control types include traveling control, steering control, and chassis lifting control; Drive the target execution system to act according to the target control execution strategy.

2. The method according to claim 1, wherein The crawler harvester further includes a traveling operation acquisition sensor, a steering operation acquisition sensor, and a control panel. The vehicle operation signals include traveling operation signals, steering operation signals, and chassis lifting operation signals. The control execution strategies include a traveling control strategy, a steering control strategy, and a chassis lifting control strategy. Wherein, the method further includes: Collect the traveling operation signals generated by the traveling handle through the traveling operation acquisition sensor respectively, collect the steering operation signals generated by the steering handle through the steering operation acquisition sensor, and in response to the chassis lifting control operation input by the user for the control panel, collect the corresponding chassis lifting operation signals; For the traveling operation signals, determine the traveling control signals for the traveling execution system according to the traveling control strategy, and drive the traveling execution system through the traveling control signals; For the steering operation signals, determine the steering control signals for the steering execution system according to the steering control strategy, and drive the steering execution system through the steering control signals; For the chassis lifting operation signals, determine the chassis lifting control signals for the chassis lifting execution system according to the chassis lifting control strategy, and drive the chassis lifting execution system through the chassis lifting control signals.

3. The method according to claim 2, wherein The traveling execution system includes a forward proportional valve and a reverse proportional valve, and the traveling control signals include a forward control signal corresponding to the forward proportional valve and a reverse control signal corresponding to the reverse proportional valve. Wherein, the traveling execution system is driven in the following manner: Determine the traveling signal interval to which the traveling operation signal belongs; If the traveling operation signal is in the forward signal interval, determine the forward control signal according to the forward proportional valve dead zone current, the traveling operation signal, the minimum signal of the forward signal interval, the maximum signal of the forward signal interval, and the maximum current of the forward proportional valve, and set the reverse control signal output to zero; If the traveling operation signal is in the reverse signal interval, determine the reverse control signal according to the reverse proportional valve dead zone current, the traveling operation signal, the minimum signal of the reverse signal interval, the maximum signal of the reverse signal interval, and the maximum current of the reverse proportional valve, and set the forward control signal output to zero; If the traveling operation signal is in the traveling middle position signal interval or the invalid traveling signal interval, set both the forward control signal and the reverse control signal outputs to zero; Drive the forward proportional valve through the forward control signal and drive the reverse proportional valve through the reverse control signal respectively to complete the traveling control.

4. The method according to claim 3, wherein If the traveling operation signal is in the forward signal interval, determine the forward control signal through the following formula: C forward represents the forward control signal, I dead_forward represents the dead zone current of the forward proportional valve, Signal walk represents the traveling operation signal, min(G forward ) represents the minimum signal in the forward signal range, max(G forward ) represents the maximum signal in the forward signal range, I max_forward represents the maximum current of the forward proportional valve; If the walking operation signal is within the reverse signal range, the reverse control signal is determined by the following formula: C backward Indicates the reverse control signal, C backward Indicates the dead zone current of the reverse proportional valve, min(G backward ) Indicates the minimum signal in the reverse signal range, max(G backward ) Indicates the maximum signal in the reverse signal range, I max_backward Indicates the maximum current of the reverse proportional valve.

5. The method according to claim 2, wherein The steering execution system includes a left steering clutch switch valve, a right steering clutch switch valve, a steering mode switching proportional valve, and a turning radius control proportional valve. The steering control signal includes a left steering control signal, a right steering control signal, a steering mode switching signal, and a turning radius control signal. Among them, the steering execution system is driven in the following manner: Obtain the current steering mode corresponding to the harvester and determine the steering signal range to which the steering operation signal belongs; If the steering operation signal is within the steering neutral signal range or the invalid steering signal range, both the left steering control signal and the right steering control signal are set to the off signal, and both the steering mode switching signal and the turning radius control signal output are set to zero; If the steering operation signal is within the left turn signal range, determine the steering mode switching signal according to the current steering mode, set the left steering control signal to on and the right steering control signal to off, and determine the turning radius control signal according to the dead zone current of the turning radius control proportional valve, the steering operation signal, the maximum signal in the left turn signal range, the minimum signal in the left turn signal range, and the maximum current of the turning radius control proportional valve; If the steering operation signal is within the right turn signal range, determine the steering mode switching signal according to the current steering mode, set the right steering control signal to on and the right steering control signal to off, and determine the turning radius control signal according to the dead zone current of the turning radius control proportional valve, the steering operation signal, the maximum signal in the right turn signal range, the minimum signal in the right turn signal range, and the maximum current of the turning radius control proportional valve; Drive the left steering clutch switch valve through the left steering control signal, drive the right steering clutch switch valve through the right steering control signal, drive the steering mode switching proportional valve through the steering mode switching signal, and drive the turning radius control proportional valve through the turning radius control signal to complete the steering control of the harvester.

6. The method according to claim 5, wherein The step of determining the steering mode switching signal according to the current steering mode includes: If the current steering mode is differential steering, the steering mode switching signal outputs a preset differential steering gear signal; If the current steering mode is braking steering, the steering mode switching signal outputs a preset braking steering gear signal; If the current steering mode is in-situ steering, the steering mode switching signal outputs a preset in-situ steering gear signal.

7. The method according to claim 5, wherein If the steering operation signal is within the left turn signal range, the turning radius control signal is determined by the following formula: In this formula, C turnR represents the turning radius control signal, Signal turn represents the steering operation signal, I dead_turnR represents the dead zone current of the turning radius control proportional valve, min(G left ) represents the minimum signal in the left turn signal interval, max(G left ) represents the maximum signal in the left turn signal interval, I max_turnR represents the maximum current of the turning radius control proportional valve; When the steering operation signal is within the right turn signal range, the turning radius control signal is determined by the following formula: In this formula, C turnR represents the turning radius control signal, Signal turn represents the steering operation signal, I dead_turnR represents the dead zone current of the turning radius control proportional valve, min(G rignht ) represents the minimum signal in the right turn signal interval, max(G rignht ) represents the maximum signal in the right turn signal interval, I max_turnR represents the maximum current of the turning radius control proportional valve.

8. The method according to claim 2, wherein The chassis lifting execution system includes a chassis left lifting solenoid valve, a chassis left lowering solenoid valve, a chassis right lifting solenoid valve, a chassis right lowering solenoid valve, and left and right cylinders with CAN communication function. Among them, the chassis lifting execution system is driven in the following manner: If the chassis lifting operation signal is a chassis synchronous lifting signal, simultaneously control the chassis left lifting solenoid valve and the chassis right lifting solenoid valve to open, so that the left and right cylinders extend simultaneously, and the chassis rises synchronously. If the chassis lifting operation signal is a chassis simultaneous lowering signal, then simultaneously control the opening of the left chassis lowering solenoid valve and the right chassis lowering solenoid valve, so that the left oil cylinder and the right oil cylinder contract simultaneously, and the chassis descends synchronously; If the chassis lifting operation signal is a left chassis rising signal, then simultaneously open the left chassis rising solenoid valve and the right chassis lowering solenoid valve, so that the left oil cylinder extends and the right oil cylinder contracts, and the left side of the chassis rises; If the chassis lifting operation signal is a right chassis rising signal, then simultaneously open the left chassis lowering solenoid valve and the right chassis rising solenoid valve, so that the left oil cylinder contracts and the right oil cylinder extends, and the right side of the chassis rises.

9. The method according to claim 8, characterized in that The linear chassis of the crawler harvester further includes a vehicle body attitude sensor installed on the vehicle control unit, Wherein, the method further includes: Determine that the vehicle is detected to press the main clutch, then real-time detect the vehicle body tilt angle and the oil cylinder telescopic length feedback by the vehicle body attitude sensor, and determine the difference between the vehicle body tilt angle and the reference balance angle as the balance deviation; Execute chassis automatic leveling: If the balance deviation is greater than the first deviation angle, then determine that the chassis is in a left-tilt state, and simultaneously open the left chassis rising solenoid valve and the right chassis lowering solenoid valve to adjust the chassis to a balanced state; If the balance deviation is greater than the second deviation angle and less than or equal to the first deviation angle, then determine that the chassis is in a left-tilt state, and alternately open the left chassis rising solenoid valve and the right chassis lowering solenoid valve to adjust the chassis attitude to a balanced state; If the balance deviation is greater than or equal to the third deviation angle and less than or equal to the second deviation angle, then determine that the chassis is in a balanced state, and control the left chassis rising solenoid valve, the left chassis lowering solenoid valve, the right chassis rising solenoid valve and the right chassis lowering solenoid valve to stop output; If the balance deviation is less than the fourth deviation angle, then determine that the chassis is in a right-tilt state, and simultaneously open the right chassis rising solenoid valve and the left chassis lowering solenoid valve to adjust the chassis to a balanced state; If the balance deviation is less than or equal to the fourth deviation angle and less than the third deviation angle, then determine that the chassis is in a right-tilt state, and alternately open the right chassis rising solenoid valve and the left chassis lowering solenoid valve to adjust the chassis attitude to a balanced state; During the automatic leveling process, if it is detected that the oil cylinder telescopic length has reached the telescopic limit position, then stop the current action of the oil cylinder.

10. A crawler harvester, characterized in that, The crawler harvester includes a linear chassis and a vehicle control unit. The linear chassis includes a plurality of execution systems. The plurality of execution systems include a traveling execution system, a steering execution system and a chassis lifting execution system. The vehicle control unit is applied to the operation control method according to any one of claims 1-9.

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