Method, device and equipment for controlling field running speed of tractor and medium

Abstract

The invention relates to the field of agricultural instruments, and particularly discloses a method, a device, equipment and a medium for controlling the field running speed of a tractor, and the method comprises the following steps: S1, obtaining real-time terrain parameters through a vehicle-mounted sensor, the terrain parameters comprising a slope angle theta and soil hardness H; s2, acquiring preset operation type parameters through the man-machine interaction interface, wherein the operation type parameters comprise the tillage depth and the sowing line spacing; according to the invention, the seeding line spacing parameter depth is integrated into the speed decision model, a speed reduction compensation mechanism is automatically triggered for narrow line spacing operation, the limitation that a traditional system only depends on topographic parameters is broken through, and the precision seeding quality is guaranteed from the source; through the synergistic effect of soil hardness logarithmic compensation and gradient linear compensation, the interference of environmental factors on a power system is effectively counteracted, and the power distribution efficiency is intelligently improved under the hard soil working condition; through a speed-line spacing matching mechanism, the problem of non-uniform seed distribution caused by high-speed sowing is eliminated.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery, and in particular relates to a method, device, equipment and medium for controlling the speed of a tractor traveling in a field. Background Art

[0002] Traditional tractor speed control in field operations relies primarily on terrain sensing and engine load regulation. Using slope sensors and soil resistance sensors to obtain surface information, combined with real-time engine load data, the system dynamically adjusts power output to prevent slippage or overload. While this technology can address basic terrain changes, the decision-making model is based solely on the machine's operating conditions.

[0003] With the increasing adoption of precision agronomic techniques such as close-row spacing and dense planting, seeding operations are placing stringent demands on speed control. Narrow-row spacing requires strict limits on maximum speed to ensure uniform seeding, and micro-topographic fluctuations can easily lead to variations in seeding depth. Existing systems treat agronomic parameters such as row spacing and seeding depth as fixed set points and fail to integrate them into a real-time control loop.

[0004] Current mainstream control technologies suffer from fundamental flaws. Agronomic needs and machine control are disconnected, resulting in an inability to automatically trigger speed limits when operating in narrow row spacing. Operators are forced to manually reduce speed, sacrificing efficiency or experiencing a significant decrease in seeding quality, severely hindering the implementation of precision agriculture technologies. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a method, device, equipment and medium for controlling the field driving speed of a tractor, so as to solve the problem in the prior art that the operating speed control of the tractor is separated from the agronomic requirements, resulting in difficulty in ensuring the quality of precision seeding.

[0006] A method for controlling the speed of a tractor traveling in a field comprises the following steps:

[0007] S1. Acquire real-time terrain parameters through vehicle-mounted sensors, wherein the terrain parameters include slope angle θ and soil hardness H;

[0008] S2. Obtaining preset operation type parameters through a human-computer interaction interface, wherein the operation type parameters include tillage depth and sowing row spacing;

[0009] S3, input the terrain parameters and operation type parameters into the pre-trained speed decision model, and output the target speed range [V min ,V max ];

[0010] S4: Real-time acquisition of driving wheel speed and conversion to actual driving speed V actual ;

[0011] S5. Real-time acquisition of the load rate L output by the engine control unit ECUengine ;

[0012] S6, when V actual <V min And L engine When it is less than 85%, a hydraulic system pressure boost command is generated to increase the displacement ratio by ΔQ;

[0013] S7, when V actual >V max or L engine When the load is ≥90%, a transmission downshift command is generated and the proportional valve brake is activated;

[0014] S8. Sending the control instruction to the power transmission system for execution;

[0015] S9 returns to S4 for closed-loop feedback after a delay of Δt, where Δt is adjustable from 200ms to 500ms.

[0016] Preferably, in step S3, the target speed upper limit V in the speed decision model max The calculation formula is:

[0017] V max =V base -α·(H-H0)-β·|θ|

[0018] in:

[0019] V base is the reference speed, which is determined by the operation type parameters: tillage operation V base =6.0km / h, sowing operation V base =8.5km / h;

[0020] H is the real-time soil hardness, and H0 = 30 kPa is the calibration threshold;

[0021] θ is the slope angle;

[0022] α=0.025(km / h) / kPa, β=0.24(km / h) / °.

[0023] Preferably, in step S6, the calculation formula for the displacement ratio increase ΔQ is:

[0024] ΔQ=k·(V min -V actual )·e -t / τ

[0025] in:

[0026] k = 0.8 is the gain coefficient;

[0027] t is the continuous adjustment time (seconds);

[0028] τ=2.0s is the time constant of the hydraulic system.

[0029] Preferably, in step S7, the gearbox downshift condition is additionally subject to a slip rate constraint, and a forced downshift occurs when the driving wheel slip rate η satisfies the following conditions:

[0030]

[0031] in:

[0032] V wheel is the theoretical linear speed of the driving wheel;

[0033] V actual The speed is measured by GPS.

[0034] A tractor field travel speed control device, comprising:

[0035] Sensor module, used to obtain real-time terrain parameters;

[0036] Human-computer interaction module, used to obtain preset operation type parameters;

[0037] Decision operation module, used for speed decision model;

[0038] A closed-loop execution module for generating and sending control instructions to the power transmission system;

[0039] The delay control module is used to implement the closed-loop feedback delay Δt.

[0040] Preferably, the decision operation module has a built-in soil hardness compensation unit that performs the following calculations:

[0041]

[0042] in:

[0043] H ref =50kPa is the reference soil hardness;

[0044] γ = 1.2 km / h is the attenuation coefficient;

[0045] Final V max =V max +ΔV H .

[0046] Preferably, the delay time Δt of the closed-loop execution module is dynamically adjusted according to mass inertia, and the calculation formula is:

[0047]

[0048] in:

[0049] m is the mass of the currently hung implement;

[0050] m0=500kg is the calibration mass;

[0051] t0=300ms is the reference delay.

[0052] An intelligent tractor control device, comprising:

[0053] processor;

[0054] a memory storing a computer program;

[0055] Communication interface, connecting to the tractor ISOBUS system via ISO11783 protocol;

[0056] When the program is executed, a method for controlling the speed of the tractor traveling in the field is implemented.

[0057] Preferably, the memory is a wide-temperature FLASH chip with an operating temperature range of -40°C to +105°C, and is packaged in an aluminum alloy vibration-resistant housing.

[0058] A non-transitory computer-readable storage medium stores computer instructions, which, when executed by a processor, control a tractor to implement a method for controlling the tractor's field travel speed;

[0059] The medium is an on-board SD card or EEPROM chip, and the data read and write cycle is ≥ 100,000 times.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] By deeply integrating seeding row spacing parameters into the speed decision model, a speed reduction compensation mechanism is automatically triggered for narrow row spacing operations, breaking through the limitations of traditional systems that rely solely on terrain parameters and fundamentally ensuring precision seeding quality.

[0062] The synergistic effect of soil hardness logarithmic compensation and slope linear compensation effectively offsets the interference of environmental factors on the power system and intelligently improves power distribution efficiency under hard soil conditions;

[0063] Through the speed-row spacing matching mechanism, the problem of uneven seed distribution caused by high-speed sowing is eliminated, and narrow-row dense planting agronomy can be accurately implemented, significantly improving the uniformity of seedling emergence and crop yield potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0066] like Figure 1 As shown:

[0067] Embodiment 1: A method for controlling the speed of a tractor traveling in a field, comprising the following steps:

[0068] S1. Acquire real-time terrain parameters through vehicle-mounted sensors, wherein the terrain parameters include slope angle θ and soil hardness H;

[0069] Specifically, the vehicle-mounted tilt sensor detects a slope angle of θ = 0.5°, and the soil hardness probe measures the hardness of the cultivated layer as 42 kPa. After mean filtering, the data is output as: θ = 0.5°, H = 42 kPa;

[0070] S2. Obtaining preset operation type parameters through a human-computer interaction interface, wherein the operation type parameters include tillage depth and sowing row spacing;

[0071] Specifically, the driver selects the "precision seeding" mode on the ISOBUS terminal and sets the key parameters:

[0072] Tillage depth: 5cm, sowing row spacing: 15cm;

[0073] The system automatically associates the line spacing parameters with the speed decision model;

[0074] S3, input the terrain parameters and operation type parameters into the pre-trained speed decision model, and output the target speed range [V min ,V max ];

[0075] Specifically, the control unit integrates the row spacing parameters to calculate the target speed: the base speed for seeding operation is 8.5 km / h;

[0076] Line spacing compensation: For a 15cm line spacing, the speed is reduced by 0.8km / h for every 5cm reduction (baseline 20cm), with a cumulative speed reduction of 0.8km / h;

[0077] Soil compensation: 42kPa is below the threshold of 50kPa, and the logarithmic model produces a positive compensation of +0.28km / h;

[0078] Slope compensation can be ignored (θ<1°), and the target speed range is finally generated: [6.0km / h, 7.0km / h]. The upper limit of 7.0km / h ensures the seeding accuracy of narrow row spacing.

[0079] S4: Real-time acquisition of driving wheel speed and conversion to actual driving speed V actual ;

[0080] S5. Real-time acquisition of the load rate L output by the engine control unit ECU engine ;

[0081] Specifically, during the job startup phase:

[0082] The theoretical speed converted from the driving wheel speed is 2.05 m / s (7.38 km / h);

[0083] RTK-GPS measured speed 1.92m / s (6.91km / h);

[0084] Engine load factor 72% (light load state);

[0085] Slip ratio calculation: (1-2.05 / 1.92)×100%=6.8%;

[0086] S6, when V actual <V min And L engine When it is less than 85%, a hydraulic system pressure boost command is generated to increase the displacement ratio by ΔQ;

[0087] Specifically, when the actual speed is 6.91 km / h, close to the target lower limit of 6.0 km / h, but the load rate is 72% < 85%, the boost condition is triggered:

[0088] Calculate displacement ratio increment: ΔQ = 0.8 × (7.0-6.91) × e (-0.5 / 2.0) =0.052;

[0089] The hydraulic valve opening is increased by 5.2%;

[0090] 3 seconds after execution, the speed increases to 7.05km / h;

[0091] S7, when V actual >V max or L engine When the load is ≥90%, a transmission downshift command is generated and the proportional valve brake is activated;

[0092] Specifically, at a speed of 7.05 km / h, within the target range of [6.0, 7.0], with a load factor of 74% < 90% and a slip ratio of 7.1% < the safety threshold, no braking condition is triggered. The system maintains the current gear (H4).

[0093] S8. Sending the control instruction to the power transmission system for execution;

[0094] Specifically, the hydraulic boost command is transmitted via the CAN bus, and the electronically controlled hydraulic valve adjusts the displacement ratio from 62% to 67.2% within 80ms, and the pressure sensor confirms that the execution is in place.

[0095] S9, after a delay of Δt, returns to S4 for closed-loop feedback, where Δt is adjustable from 200ms to 500ms;

[0096] Specifically, dynamic delay calculation:

[0097] Suspension mass 380kg (seeder + seeds)

[0098]

[0099] Post-delay monitoring:

[0100] The speed is stable at 7.02km / h (measured by GPS);

[0101] The load factor increased slightly to 75%;

[0102] The system maintains the current control parameters.

[0103] The agronomic effect comparison between this method and traditional control scheme is shown in the following table:

[0104]

[0105] The technical indicators of this method and the traditional control scheme are compared in the following table:

[0106]

[0107] Specifically, in step S3, the target speed upper limit V in the speed decision model max The calculation formula is:

[0108] V max =V base -α·(H-H0)-β·|θ|

[0109] in:

[0110] V base is the reference speed, which is determined by the operation type parameters: tillage operation V base =6.0km / h, sowing operation V base =8.5km / h;

[0111] H is the real-time soil hardness, and H0 = 30 kPa is the calibration threshold;

[0112] θ is the slope angle;

[0113] α=0.025(km / h) / kPa, β=0.24(km / h) / °.

[0114] Specifically, in step S6, the calculation formula for the displacement ratio increase ΔQ is:

[0115] ΔQ=k·(V min -V actual )·e -t / τ

[0116] in:

[0117] k = 0.8 is the gain coefficient;

[0118] t is the continuous adjustment time (seconds);

[0119] τ=2.0s is the time constant of the hydraulic system.

[0120] Specifically, in step S7, the gearbox downshift condition is additionally subject to a slip rate constraint, and a forced downshift occurs when the driving wheel slip rate η satisfies the following conditions:

[0121]

[0122] in:

[0123] V wheel is the theoretical linear speed of the driving wheel;

[0124] V actual The speed is measured by GPS.

[0125] Embodiment 2: A tractor field travel speed control device, comprising:

[0126] Sensor module, used to obtain real-time terrain parameters;

[0127] Human-computer interaction module, used to obtain preset operation type parameters;

[0128] A decision operation module, configured to execute the speed decision model according to claim 1;

[0129] A closed-loop execution module for generating and sending control instructions to the power transmission system;

[0130] A delay control module is used to implement the closed-loop feedback delay Δt as claimed in claim 1.

[0131] Specifically, the decision operation module has a built-in soil hardness compensation unit that performs the following calculations:

[0132]

[0133] in:

[0134] H ref =50kPa is the reference soil hardness;

[0135] γ = 1.2 km / h is the attenuation coefficient;

[0136] Final V max =V max +ΔV H .

[0137] Specifically, the delay time Δt of the closed-loop execution module is dynamically adjusted according to the mass inertia, and the calculation formula is:

[0138]

[0139] in:

[0140] m is the mass of the currently hung implement;

[0141] m0=500kg is the calibration mass;

[0142] t0=300ms is the reference delay.

[0143] Embodiment 3: An intelligent tractor control device, comprising:

[0144] processor;

[0145] a memory storing a computer program;

[0146] Communication interface, connecting to the tractor ISOBUS system via ISO11783 protocol;

[0147] When the program is executed, a method for controlling the speed of the tractor traveling in the field is implemented.

[0148] Specifically, the memory is a wide-temperature FLASH chip with an operating temperature range of -40°C to +105°C, and is packaged in an aluminum alloy vibration-resistant housing.

[0149] Embodiment 4: A non-transitory computer-readable storage medium stores computer instructions, which, when executed by a processor, controls a tractor to implement a method for controlling a tractor's field travel speed;

[0150] The medium is an on-board SD card or EEPROM chip, and the data read and write cycle is ≥ 100,000 times.

[0151] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0152] In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0153] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling the speed of a tractor in a field, characterized in that: The following steps are involved: S1. Acquire real-time terrain parameters through vehicle-mounted sensors, wherein the terrain parameters include slope angle θ and soil hardness H; S2. Obtaining preset operation type parameters through a human-computer interaction interface, wherein the operation type parameters include tillage depth and sowing row spacing; S3, input the terrain parameters and operation type parameters into the pre-trained speed decision model, and output the target speed range [V min ,V max ]; S4: Real-time acquisition of driving wheel speed and conversion to actual driving speed V actual ; S5. Real-time acquisition of the load rate L output by the engine control unit ECU engine ; S6, when V actual <V min And L engine When it is less than 85%, a hydraulic system pressure boost command is generated to increase the displacement ratio by ΔQ; S7, when V actual >V max or L engine When the load is ≥90%, a transmission downshift command is generated and the proportional valve brake is activated; S8. Sending the control instruction to the power transmission system for execution; S9 returns to S4 for closed-loop feedback after a delay of Δt, where Δt is adjustable from 200ms to 500ms.

2. The method according to claim 1, wherein: In step S3, the target speed upper limit V in the speed decision model is max The calculation formula is: V max =V base -α·(H-H0)-β·∣θ∣ in: V base is the reference speed, which is determined by the operation type parameters: tillage operation V base =6.0km / h, sowing operation V base =8.5km / h; H is the real-time soil hardness, and H0 = 30 kPa is the calibration threshold; θ is the slope angle; α=0.025(km / h) / kPa, β=0.24(km / h) / °.

3. The method according to claim 1, wherein: In step S6, the calculation formula for the displacement ratio increase ΔQ is: ΔQ=k·(V min -V actual )·e -t / τ in: k = 0.8 is the gain coefficient; t is the continuous adjustment time (seconds); τ=2.0s is the time constant of the hydraulic system.

4. The method according to claim 1, wherein: In step S7, the gearbox downshift condition is additionally subject to a slip rate constraint, and a forced downshift occurs when the driving wheel slip rate η satisfies the following conditions: in: V wheel is the theoretical linear speed of the driving wheel; V actual The speed is measured by GPS.

5. A tractor field travel speed control device, characterized in that: include: Sensor module, used to obtain real-time terrain parameters; Human-computer interaction module, used to obtain preset operation type parameters; A decision operation module, configured to execute the speed decision model according to claim 1; A closed-loop execution module for generating and sending control instructions to the power transmission system; A delay control module is used to implement the closed-loop feedback delay Δt as claimed in claim 1.

6. The device according to claim 5, characterized in that: The decision-making operation module has a built-in soil hardness compensation unit that performs the following calculations: in: H ref =50kPa is the reference soil hardness; γ = 1.2 km / h is the attenuation coefficient; Final V max =V max +ΔV H .

7. The device according to claim 5, characterized in that: The delay time Δt of the closed-loop execution module is dynamically adjusted according to the mass inertia, and the calculation formula is: in: m is the mass of the currently hung implement; m0=500kg is the calibration mass; t0=300ms is the reference delay.

8. An intelligent tractor control device, characterized in that: include: processor; a memory storing a computer program; Communication interface, connecting to the tractor ISOBUS system via ISO11783 protocol; When the program is executed, the method according to any one of claims 1 to 4 is implemented.

9. The device according to claim 8, characterized in that: The memory is a wide-temperature FLASH chip with an operating temperature range of -40°C to +105°C, and is packaged in an aluminum alloy vibration-resistant housing.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: When the instructions are executed by the processor, the tractor is controlled to implement the method according to any one of claims 1 to 4; The medium is an on-board SD card or EEPROM chip, and the data read and write cycle is ≥ 100,000 times.

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