Automatic gear engaging method and device of combine harvester, electronic equipment and medium
By combining self-learning methods with gear position sensors, automatic gear shifting of the combine harvester was achieved, solving the problem of low efficiency of manual mechanical gear shifting and improving shifting efficiency and driving experience.
Patent Information
- Application Number
- CN202510890366.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-30
- Publication Date
- 2025-10-17
AI Technical Summary
The existing combine harvesters use a manual mechanical shifting method, which is inefficient and difficult to adapt to the needs of high-intensity continuous harvesting operations.
A self-learning method is used to predetermine the gear ranges corresponding to different gears, obtain the current signal through the gear sensor, and automatically shift gears in combination with the gear range, including obtaining the driver's gear shift request, controlling the gear lever position, turning on the solenoid valve, and judging whether it is in the target gear range through the gear sensor.
It realizes automatic gear shifting of the combine harvester, improves gear shifting efficiency and accuracy, and enhances the driving experience.
Smart Images
Figure CN120799077A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of agricultural machinery, in particular, the present application relates to an automatic gear hanging method, device, electronic equipment and medium of a combine harvester. BACKGROUND
[0002] In recent years, the market of large harvesters has developed rapidly, at the same time, the intensification of land cultivation promotes the increase of large farms, and the demand for high-efficiency, high-intelligence and high-comfort large horsepower harvesters is increasing. As part of the walking control of the harvester, the importance of gear shifting mode is increasingly important. At present, the domestic mainstream harvester adopts manual mechanical gear shifting, which is low in efficiency and long in time, and is difficult to adapt to the demand of high-intensity continuous harvesting operation. SUMMARY
[0003] The technical problem to be solved by the present application is to provide an automatic gear hanging method, device, electronic equipment and medium of a combine harvester, which aims to solve at least one of the above technical problems.
[0004] In a first aspect, the technical solution of the present application to solve the above technical problem is as follows: an automatic gear hanging method of a combine harvester, the method comprising: S1, obtaining a gear hanging request of a driver to the combine harvester, the gear hanging request comprising a target gear position; S2, according to the gear hanging request, controlling the position of the gear lever of the combine harvester to the N gear position, and turning on the target gear electromagnetic valve and the N gear electromagnetic valve corresponding to the target gear position; S3, judging whether the current signal obtained by the gear position sensor is in the gear position interval corresponding to the target gear position within a first set time length; S4, if the current signal is in the gear position interval corresponding to the target gear position within the first set time length, it is determined that the gear hanging is successful.
[0005] The beneficial effects of the present application are: the present application adopts a self-learning method to determine the gear position interval corresponding to different gear positions in advance, the current signal obtained by the gear position sensor can accurately reflect the current gear position, and the automatic gear hanging can be accurately realized according to the gear hanging request by combining the gear position interval corresponding to different gear positions.
[0006] On the basis of the above technical solution, the present application can also be improved as follows.
[0007] Further, if the target gear position is not N gear, the method further comprises: If the current signal is not in the gear position interval corresponding to the target gear position within the first set time length, the target gear electromagnetic valve is closed and the N gear electromagnetic valve is opened, so that the position of the gear lever is switched to the N gear position; The target gear electromagnetic valve and the N gear electromagnetic valve are turned on again, a new current signal is obtained through the gear sensor again, and step S3 is repeatedly executed; If the new current signal is in the gear interval corresponding to the target gear within the first set time length, it is determined that the gear engagement is successful. If the new current signal is not in the gear interval corresponding to the target gear within the first set time length, and the number of times of repeatedly executing step S3 is a set number of times, it is determined that the gear engagement fails.
[0008] Further, if the gear sensor cannot obtain the current signal, the method further comprises: The position of the gear lever is controlled to the N gear position; After the target gear electromagnetic valve and the N gear electromagnetic valve are turned on for a second set time length, it is determined that the gear is engaged to the target gear.
[0009] Further, the gear interval corresponding to the target gear is determined based on the following method: When the gear self-learning condition is met, the N gear electromagnetic valve and the target gear are controlled to be powered on, a plurality of first signals obtained through the 1 / 2 gear sensor and a plurality of second signals obtained through the 3 gear sensor are obtained, and each time the first signal and the second signal are a group of signals; It is judged whether the difference between the two signals in each group of signals within a third set time length is less than a set signal value; If the difference corresponding to each group of signals within the third set time length is less than the set signal value, a third signal obtained through the 1 / 2 gear sensor and a fourth signal obtained through the 3 gear sensor are obtained, and the third signal and the fourth signal are taken as target signals; If there is any difference that is not less than the set signal value in the difference corresponding to each group of signals within the third set time length, the fifth signal and the sixth signal are taken as target signals.
[0010] Based on the target signal and a preset error value, the gear interval corresponding to the target gear is determined.
[0011] Further, the method further comprises: When the electric control handle of the combine harvester is not in the stop position, the combine harvester is controlled to act according to the gear corresponding to the previous walking state of the current walking state, wherein the current walking state is the walking state corresponding to the time when the electric control handle is not in the stop position.
[0012] In a second aspect, the present application also provides an automatic gear engagement device for a combine harvester, which comprises: The obtaining module is used to obtain a gear engagement request of a driver to the combine harvester, and the gear engagement request comprises a target gear; The switching-on module is configured to control the position of the gear lever of the combine harvester to the N-gear position according to the gear engagement request, and switch on a target-gear corresponding target-gear solenoid valve and an N-gear solenoid valve. The first judging module is configured to judge whether the current signal obtained by the gear position sensor within the first set time length is in the gear position interval corresponding to the target gear position. The gear engagement module is configured to determine that the gear engagement is successful if the current signal is in the gear position interval corresponding to the target gear position within the first set time length.
[0013] In a third aspect, the present application provides an electronic device to solve the above technical problems, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to realize the automatic gear engagement method of the combine harvester.
[0014] In a fourth aspect, the present application provides a computer readable storage medium to solve the above technical problems, which stores a computer program, and the computer program is executable on the processor to realize the automatic gear engagement method of the combine harvester.
[0015] In a fifth aspect, the present application provides a combine harvester to solve the above technical problems, which comprises the automatic gear engagement device of the combine harvester as described in the second aspect.
[0016] Additional aspects and advantages of the present application will be made apparent by the following description. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced.
[0018] Figure 1 A flowchart of an automatic gear engagement method of a combine harvester provided by an embodiment of the present application; Figure 2 A schematic diagram of an electric control 1 / 2 gear system provided by an embodiment of the present application; Figure 3 A structural schematic diagram of an automatic gear engagement device of a combine harvester provided by an embodiment of the present application; Figure 4 A structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION
[0019] The principles and features of the present application are described below, and the examples are only used to explain the present application, and are not used to limit the scope of the present application.
[0020] The following describes in detail the technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems using specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following embodiments of the present invention are described in conjunction with the accompanying drawings.
[0021] The solution provided by the embodiment of the present invention can be applied to any application scenario of agricultural machinery that requires automatic gear shifting. The solution provided by the embodiment of the present invention can be executed by any electronic device, for example, it can be a control device of agricultural machinery.
[0022] The embodiment of the present invention provides a possible implementation method, such as Figure 1 As shown in FIG, a flowchart of a method for automatically shifting gears of a combine harvester is provided. The method can be executed by a control device of an agricultural machine. For ease of description, the method provided by the embodiment of the present invention will be described below using the control device as an example of the execution subject. Figure 1 As shown in the flowchart, the method may include the following steps: S1, obtaining a gear shift request from a driver for the combine harvester, wherein the gear shift request includes a target gear position; S2, according to the gear shift request, controls the position of the gear lever of the combine harvester to the N gear position, and connects the target gear solenoid valve and the N gear solenoid valve corresponding to the target gear position; S3, determining whether the current signal obtained by the gear sensor is in the gear range corresponding to the target gear within a first set time period; S4: If the current signal is in the gear range corresponding to the target gear within the first set time period, it is determined that the gear is engaged successfully.
[0023] This solution uses a self-learning method to pre-determine the gear ranges corresponding to different gears. The current signal obtained by the gear sensor can accurately reflect the current gear position. Combined with the gear ranges corresponding to different gears, automatic gear shifting can be accurately achieved according to the gear shifting request.
[0024] The solution of the present invention is further described below in conjunction with the following specific embodiments. In this embodiment, in order to deepen the understanding of the automatic gear shifting method of a combine harvester provided by this embodiment, the electronically controlled 1 / 2 gear system involved in this solution is first introduced in this embodiment: See also Figure 2 The above-mentioned electronically controlled 1 / 2 gear system includes the following parts: Electric control handle: used to determine the combine harvester's travel state according to its actual position, which can be forward, backward or stopped; Gear shifting panel: used for user to actually operate input target gear, to realize 1st gear, 2nd gear, 3rd gear and neutral gear switching; Gear sensor: can be 5V analog voltage type sensor, used for feeding back real-time position of gear lever; in the scheme, it includes 1 / 2 gear sensor and 3rd gear sensor.
[0025] Gear shifting electromagnetic valve: used for gear shifting output, wherein, when Nth gear electromagnetic valve is powered alone, gear lever performs Nth gear operation, when other gears are switched, corresponding gear electromagnetic valve is powered, at the same time, Nth gear electromagnetic valve is also powered. In the scheme, gear shifting electromagnetic valve includes Nth gear electromagnetic valve, 1st gear electromagnetic valve, 2nd gear electromagnetic valve and 3rd gear electromagnetic valve.
[0026] High-voltage on-off valve: powered during gear shifting, to reduce gear shifting resistance caused by front motor.
[0027] Based on the system, in the scheme, gear position self-learning is performed in advance to determine gear position interval of different gears, in the scheme, learning instruction of automatic learning can be generated by triggering "self-learning" button in intelligent display terminal, based on the self-learning instruction, the following self-learning process is performed: S11, when gear position self-learning condition is met, control Nth gear electromagnetic valve and target gear to be powered, acquire a plurality of first signals acquired through 1 / 2 gear sensor and a plurality of second signals acquired through 3rd gear sensor, first signal and second signal acquired at each time are a group of signals; Wherein, the above gear position self-learning condition can be set based on actual demand, in the scheme, it can be that vehicle starts and electric control handle is in stop position, and vehicle speed is less than 0.5km / h; wherein, vehicle speed can be acquired based on vehicle speed sensor in real time.
[0028] If gear sensor is 5V analog voltage type sensor, signal acquired through gear sensor is voltage signal.
[0029] In the scheme, a group of signals can be acquired through gear sensor every certain period of time, for example, acquired once every 1000ms.
[0030] It should be noted that target gear can be Nth gear, at this time, controlling Nth gear electromagnetic valve and target gear to be powered essentially means controlling Nth gear electromagnetic valve to be powered.
[0031] S12, determining whether the difference between two signals in each group of signals in a third set time length is less than a set signal value; wherein the third set time length refers to a period of time, and the purpose of determining whether the difference is less than the set signal value in the period of time is to determine whether the change of each group of signals is stable in the period of time. If it is stable, the calibration is successful, otherwise, the calibration fails. Optionally, the third set time length can be 30s. For each group of signals, first calculate the difference between two signals in the group of signals, usually take the absolute value first, then compare the absolute value of the difference with the set signal value, wherein the set signal value can be 50mv.
[0032] S13, if the difference corresponding to each group of signals in the third set time length is less than the set signal value, obtaining a third signal acquired by the 1 / 2 gear sensor and a fourth signal acquired by the 3 gear sensor, and taking the third signal and the fourth signal as target signals; S14, if there is any difference corresponding to each group of signals in the third set time length which is not less than the set signal value, taking a preset fifth signal and a sixth signal as target signals.
[0033] S15, determining the gear interval corresponding to the target gear based on the target signals and a preset error value.
[0034] Wherein the error value can be Zmv, and one implementation of S15 is: On the basis of the target signals, add and subtract the error value respectively to obtain two signal values; determine the gear interval corresponding to the target gear based on the two signal values, wherein the signal value obtained by subtracting the error value is the start value of the gear interval, and the signal value obtained by adding the error value is the end value of the gear interval.
[0035] In the present application, the self-learning process can be performed in sequence according to the learning order of different gears, and the learning order is: N gear learning-back N gear-1 gear learning-back N gear-2 gear learning-back N gear-3 gear learning-back N gear.
[0036] As an example, the target gear can be any one of 1 gear, 2 gear, 3 gear or N gear; and the self-learning process of the gear interval of different gears can be specifically described as: 1) Neutral learning process: N range solenoid is powered on, every 1000 ms, the difference between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is obtained, if the difference between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is less than 50mv within 30s, then the calibration is successful, and the current signals X0 and Y0 obtained by the 1 / 2 range sensor and the 3 range sensor are recorded; if any of the differences between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is greater than 50mv within 30s, then the neutral calibration fails, and the calibration position X0, Y0 adopts the default value; 2) 1 range learning process: 1 range solenoid and N range solenoid are powered on, every 1000 ms, the difference between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is obtained, if the difference between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is less than 50mv within 30s, then the calibration is successful, and the current signals X1 and Y1 obtained by the 1 / 2 range sensor and the 3 range sensor are recorded; if any of the differences between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is greater than 50mv within 30s, then the 2 range calibration fails, and the calibration position X1, Y1 adopts the default value; 3) 2 range learning process: 2 range solenoid and N range solenoid are powered on, every 1000 ms, the difference between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is obtained, if the difference between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is less than 50mv within 30s, then the calibration is successful, and the current signals X2 and Y2 obtained by the 1 / 2 range sensor and the 3 range sensor are recorded; if any of the differences between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is greater than 50mv within 30s, then the 2 range calibration fails, and the calibration position X2, Y2 adopts the default value; 4) 3 range learning process: 3 range solenoid and N range solenoid are powered on, every 1000 ms, the difference between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is obtained, if the difference between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is less than 50mv within 30s, then the calibration is successful, and the current signals X3 and Y3 obtained by the 1 / 2 range sensor and the 3 range sensor are recorded; if any of the differences between the signal obtained by the 1 / 2 range sensor and the signal obtained by the 3 range sensor is greater than 50mv within 30s, then the 3 range calibration fails, and the calibration position adopts the default value X3, Y3; Considering the error in actual use, ±Zmv is added to the calibration value as the corresponding range interval of the corresponding range, as shown in Table 1.
[0037] Table 1 Based on the above processing process, the automatic gear engagement method of the combine harvester provided by the embodiment can include the following steps: S1, obtaining a gear engagement request of the combine harvester from a driver, the gear engagement request including a target gear position; The gear engagement request can be triggered based on a gear shifting panel. The driver can input the target gear position on the gear shifting panel, and the gear engagement request indicates that the driver wants to switch from the current gear position to the target gear position. The current gear position is different from the target gear position.
[0038] Before performing S1, the combine harvester needs to meet a gear engagement condition, wherein the gear engagement condition can be that the whole vehicle is started and the electric control handle is in a stop position, and the vehicle speed is less than 0.5 km / h.
[0039] S2, according to the gear engagement request, controlling the position of the gear lever of the combine harvester to the N gear position, and turning on the target gear electromagnetic valve and the N gear electromagnetic valve corresponding to the target gear position, and the on time can be a first set time length, for example, 5s; Optionally, one implementation of the above control of the position of the gear lever of the combine harvester to the N gear position is: First, open the N gear electromagnetic valve for a period of time (for example, 5s), and if the signal obtained by the gear position sensor in this period of time is within the gear position interval corresponding to the N gear, reset the N gear electromagnetic valve in advance, and control the position of the gear lever to the N gear position.
[0040] S3, determining whether the current signal obtained by the gear position sensor is within the gear position interval corresponding to the target gear position within the first set time length; S4, if the current signal is within the gear position interval corresponding to the target gear position within the first set time length, it indicates that the current signal has been stabilized, and the gear engagement can be performed, and it is determined that the gear engagement is successful.
[0041] Optionally, if the target gear position is not the N gear, the method further includes: S5, if the current signal is not within the gear position interval corresponding to the target gear position within the first set time length, turn off the target gear electromagnetic valve and turn on the N gear electromagnetic valve to switch the position of the gear lever to the N gear position; S6, re-engage the target gear electromagnetic valve and the N gear electromagnetic valve, and re-obtain a new current signal by the gear position sensor, and repeat step S3; S7, if the new current signal is within the gear position interval corresponding to the target gear position within the first set time length, it is determined that the gear engagement is successful; S8, if the new current signal is not within the gear position interval corresponding to the target gear position within the first set time length, and the number of repeated execution of step S3 is a set number of times (for example, 3 times), it is determined that the gear engagement fails.
[0042] If the target gear is N gear, the method further comprises: If the current signal is not in the gear interval corresponding to the target gear within the first set time length, the target gear solenoid valve is closed, the N gear solenoid valve is reconnected, and the new current signal is obtained again through the gear sensor. Step S3 is repeated. If the new current signal is in the gear interval corresponding to the target gear within the first set time length, it is determined that the gear engagement is successful. If the new current signal is not in the gear interval corresponding to the target gear within the first set time length, and the number of times of repeating step S3 is a set number of times (for example, 3 times), it is determined that the gear engagement fails.
[0043] Optionally, if the gear sensor cannot obtain the current signal, i.e., the gear sensor fails, the method further comprises: controlling the position of the gear lever to the N gear position, specifically, first opening the N gear solenoid valve 5S, and then resetting the N gear solenoid valve after 5S. At this time, it is defaulted that the position of the gear lever returns to the N gear position. After the target gear solenoid valve and the N gear solenoid valve are connected for a second set time length (for example, 5S), it is determined that the gear is engaged to the target gear.
[0044] Optionally, to prevent the gear sensor from being abnormal during walking, causing the gear to fail, affecting the walking motor displacement of the motor, and reducing the driving experience, the method further comprises: When the electric control handle of the combine harvester is not in the stop position, the combine harvester is controlled to act according to the gear corresponding to the previous walking state of the current walking state, wherein the current walking state is the walking state corresponding to the time when the electric control handle is not in the stop position.
[0045] Optionally, in the scheme of the present application, the vehicle-mounted control unit EEPROM records the gear position each time the gear is changed. If the gear sensor fails after the next power-on, the gear can be displayed and calculated according to the recorded value. After the gear is changed again, it is displayed and calculated according to the actual state.
[0046] Optionally, during the gear engagement process, if there is an abnormality, an alarm prompt information can be generated and displayed on the intelligent display terminal and / or the gear shifting panel.
[0047] In order to better illustrate and understand the principle of the method provided by the present application, the scheme of the present application will be described below in combination with an optional specific embodiment. It should be noted that the specific implementation manner of each step in the specific embodiment should not be understood as a limitation on the scheme of the present application. On the basis of the principle of the scheme provided by the present application, other implementation manners that can be thought of by those skilled in the art should also be regarded as within the protection scope of the present application.
[0048] In the present embodiment, the gear engagement method is described for different target gears: 1) Gear engagement condition: Gear engagement condition: the vehicle is started and the electric control handle is in the stop position, and the vehicle speed is less than 0.5km / h; 2) Engage 1st gear When the gear engagement request of engaging 1st gear is received, when the current gear is in 2nd gear or 3rd gear, first open the N-gear electromagnetic valve 5S, if the signal obtained by the 5S internal gear position sensor is in the gear position interval corresponding to N-gear, then reset the N-gear electromagnetic valve in advance, the position of the gear lever returns to the N-gear position, then turn on the 1st gear electromagnetic valve and the N-gear electromagnetic valve 5S, if the signal obtained by the 5S internal gear position sensor is in the gear position interval corresponding to 1st gear, then the gear engagement is successful. Otherwise, turn off the 1st gear electromagnetic valve while turning on the N-gear electromagnetic valve 5S, the position of the gear lever returns to the N-gear position, re-engage the 1st gear electromagnetic valve and the N-gear electromagnetic valve, re-obtain the signal obtained by the gear position sensor, repeat the above judgment operation that the signal obtained by the 5S internal gear position sensor is in the gear position interval corresponding to 1st gear, if the operation is repeated for 3 times, the signal obtained by the gear position sensor is still not in the corresponding gear position interval, then the gear engagement fails.
[0049] When the gear sensor fails, switch to the following strategy: When the gear engagement request of engaging 1st gear is received, first open the N-gear electromagnetic valve 5S, reset the N-gear electromagnetic valve after 5S, at this time the position of the gear lever returns to the N-gear position by default, then turn on the 1st gear electromagnetic valve and the N-gear electromagnetic valve 5S, after 5S ends, it is defaulted to engage 1st gear.
[0050] 3) Engage 2nd gear When the gear engagement request of engaging 2nd gear is received, when the current gear is in 1st gear or 3rd gear, first open the N-gear electromagnetic valve 5S, if the signal obtained by the 5S internal gear position sensor is in the gear position interval corresponding to N-gear, then reset the N-gear electromagnetic valve in advance, the position of the gear lever returns to the N-gear position, turn on the 2nd gear electromagnetic valve and the N-gear electromagnetic valve 5S, if the signal obtained by the 5S internal gear position sensor is in the gear position interval corresponding to 2nd gear, then the gear engagement is successful. Otherwise, turn off the 2nd gear electromagnetic valve while turning on the N-gear electromagnetic valve 5S, the position of the gear lever returns to the N-gear position, re-engage the 2nd gear electromagnetic valve and the N-gear electromagnetic valve; re-obtain the signal obtained by the gear position sensor, repeat the above judgment operation that the signal obtained by the 5S internal gear position sensor is in the gear position interval corresponding to 2nd gear, if the operation is repeated for 3 times, the signal obtained by the gear position sensor is still not in the corresponding gear position interval, then the gear engagement fails.
[0051] When the gear sensor fails, switch to the following strategy: When the gear engagement request of engaging 2nd gear is received, first open the N-gear electromagnetic valve 5S, reset the N-gear electromagnetic valve after 5S, at this time the position of the gear lever returns to the N-gear position by default, then turn on the 2nd gear electromagnetic valve and the N-gear electromagnetic valve 5S, after 5S ends, it is defaulted to engage 2nd gear.
[0052] 4) 3rd gear is engaged When the request of engaging 3rd gear is received, if the current gear is 1st or 2nd gear, first open the Nth gear solenoid 5S, if the signal obtained by the gear sensor in 5S is in the gear interval corresponding to Nth gear, the Nth gear solenoid is reset in advance, the position of the gear lever returns to the Nth gear position, the 3rd gear solenoid and the Nth gear solenoid 5S are connected, if the signal obtained by the gear sensor in 5S is in the gear interval corresponding to 3rd gear, the engagement is successful. Otherwise, the 3rd gear solenoid is closed and the Nth gear solenoid 5S is opened, the position of the gear lever returns to the Nth gear position, the 3rd gear solenoid and the Nth gear solenoid are connected again; the signal obtained by the gear sensor is obtained again, and the above-mentioned judgment operation of whether the signal obtained by the gear sensor in 5S is in the gear interval corresponding to 3rd gear is repeated, if the operation is repeated for 3 times, the signal obtained by the gear sensor is still not in the corresponding gear interval, and the engagement fails.
[0053] When any of the gear shift sensors fails, the following strategy is switched to: When the request of engaging 3rd gear is received, first open the Nth gear solenoid 5S, reset the Nth gear solenoid after 5S, at this time, the position of the gear lever returns to the Nth gear position by default, then connect the 3rd gear solenoid and the Nth gear solenoid 5S, and after 5S, the 3rd gear is engaged by default.
[0054] 5) Nth gear is engaged When the request of engaging Nth gear is received, connect the Nth gear solenoid 5S, if the signal obtained by the gear sensor in 5S is in the gear interval corresponding to Nth gear, the engagement is successful. Otherwise, disconnect the Nth gear solenoid 5S, connect the Nth gear solenoid again; the signal obtained by the gear sensor is obtained again, and the above-mentioned judgment operation of whether the signal obtained by the gear sensor in 5S is in the gear interval corresponding to Nth gear is repeated, if the operation is repeated for 3 times, the signal obtained by the gear sensor is still not in the corresponding gear interval, and the engagement fails.
[0055] When the gear shift sensor fails, the following strategy is switched to: When the request of engaging Nth gear is received, open the Nth gear solenoid 5S, reset the Nth gear solenoid after 5S, at this time, the Nth gear is engaged by default.
[0056] Through the scheme of the present application, the gear position of the gearbox is controlled by adopting an electro-hydraulic control mode, and the gear position is detected by a displacement sensor (i.e., a gear sensor) built in a gear shift oil cylinder. In order to make up for the precision and wear of the gearbox parts, a gear self-learning method is proposed, and the accuracy of gear shifting is improved. Meanwhile, in the use process, in order to exclude the driving experience caused by the value fluctuation or failure of the sensor in the walking process, a gear shift and gear position reporting abnormality processing is introduced, and the driving experience is improved.
[0057] Based on the same principle as shown in the method in Figure 1 The embodiment of the present application also provides an automatic gear engagement device 20 of a combine harvester, likeFigure 3 The automatic gear engagement device 20 of the combine harvester can include an acquisition module 210, an on module 220, a first judgment module 230, and a gear engagement module 240, as shown in the figure. The acquisition module 210 is configured to acquire a gear engagement request of the driver for the combine harvester, the gear engagement request including a target gear position. The on module 220 is configured to control the position of the gear lever of the combine harvester to the N-gear position according to the gear engagement request, and turn on the target-gear electromagnetic valve and the N-gear electromagnetic valve corresponding to the target gear position. The first judgment module 230 is configured to judge whether the current signal acquired by the gear position sensor is in the gear position interval corresponding to the target gear position within a first set time length. The gear engagement module 240 is configured to determine that the gear engagement is successful if the current signal is in the gear position interval corresponding to the target gear position within the first set time length.
[0058] Optionally, if the target gear position is not the N-gear, the device further includes: The processing module is configured to close the target-gear electromagnetic valve and open the N-gear electromagnetic valve if the current signal is not in the gear position interval corresponding to the target gear position within the first set time length, so as to switch the position of the gear lever to the N-gear position. The re-on module is configured to re-engage the target-gear electromagnetic valve and the N-gear electromagnetic valve, re-acquire a new current signal by the gear position sensor, and repeat the processing process of the first judgment module. The second judgment module is configured to determine that the gear engagement is successful if the new current signal is in the gear position interval corresponding to the target gear position within the first set time length, and determine that the gear engagement fails if the new current signal is not in the gear position interval corresponding to the target gear position within the first set time length and the number of repeated execution of the processing process of the first judgment module is a set number.
[0059] Optionally, if the gear position sensor cannot acquire the current signal, the device further includes: The abnormal processing module is configured to control the position of the gear lever to the N-gear position, and determine that the gear engagement is to the target gear position after turning on the target-gear electromagnetic valve and the N-gear electromagnetic valve for a second set time length.
[0060] Optionally, the gear position interval corresponding to the target gear position is determined based on the following method: When the gear self-learning condition is met, the N-gear electromagnetic valve and the target-gear electromagnetic valve are controlled to be powered on, a plurality of first signals acquired by the 1 / 2 gear position sensor and a plurality of second signals acquired by the 3-gear sensor are acquired, and each time the first signal and the second signal are a group of signals. It is judged whether the difference between the two signals in each group of signals within a third set time length is less than a set signal value. If the difference corresponding to each group of signals in the third set time is less than the set signal value, the third signal obtained by the 1 / 2 gear sensor and the fourth signal obtained by the 3 gear sensor are obtained, and the third signal and the fourth signal are taken as the target signal. If any of the differences corresponding to each group of signals in the third set time is not less than the set signal value, the preset fifth signal and the sixth signal are taken as the target signal.
[0061] Based on the target signal and the preset error value, the gear interval corresponding to the target gear is determined.
[0062] Optionally, the apparatus further comprises: The control module is configured to control the combine harvester to act according to the gear corresponding to the previous walking state of the current walking state when the electric control handle of the combine harvester is not in the stop position, wherein the current walking state is the walking state corresponding to the time when the electric control handle is not in the stop position.
[0063] The automatic gear engagement device of the combine harvester according to the embodiments of the present application can execute the automatic gear engagement method of the combine harvester provided by the embodiments of the present application, and the implementation principles are similar. The actions performed by each module and unit in the automatic gear engagement device of the combine harvester in each embodiment of the present application correspond to the steps in the automatic gear engagement method of the combine harvester in each embodiment of the present application. For detailed descriptions of the functions of each module of the automatic gear engagement device of the combine harvester, please refer to the descriptions of the corresponding automatic gear engagement method of the combine harvester provided in the foregoing, which will not be described here again.
[0064] The automatic gear engagement device of the combine harvester can be a computer program (including program code) running in a computer device, for example, the automatic gear engagement device of the combine harvester is an application software. The apparatus can be used to execute the corresponding steps in the method provided by the embodiments of the present application.
[0065] In some embodiments, the automatic gear engagement device of the combine harvester provided by the embodiments of the present application can be implemented in a combination of software and hardware. For example, the automatic gear engagement device of the combine harvester provided by the embodiments of the present application can be a hardware decoding processor programmed to execute the method for automatically engaging gears of a combine harvester provided by the embodiments of the present application. For example, the hardware decoding processor can be 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 elements.
[0066] In some other embodiments, the automatic gear engagement device of the combine harvester provided by the embodiments of the present application can be implemented in software, Figure 3 The automatic gear engagement device of the combine harvester stored in the memory is shown, which can be software in the form of programs and plug-ins, and includes a series of modules, including an acquisition module 210, an on module 220, a first judgment module 230, and a gear engagement module 240, for implementing the method for automatically engaging gears of a combine harvester provided by the embodiments of the present application.
[0067] The modules described in the embodiments of the present application can be implemented in software or hardware. In some cases, the name of the module does not constitute a limitation on the module itself.
[0068] Based on the same principles as the method shown in the embodiments of the present application, the embodiments of the present application also provide an electronic device, which can 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 method shown in any of the embodiments of the present application by calling the computer program.
[0069] In an optional embodiment, an electronic device is provided, as shown in Figure 4 Figure 4 The electronic device 4000 shown includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 can also include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception, etc. It should be noted that the transceiver 4004 is not limited to one in actual application, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.
[0070] The processor 4001 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the present disclosure. The processor 4001 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.
[0071] The bus 4002 can include a path for transmitting information between the above-mentioned components. The bus 4002 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 4002 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience, Figure 4 In the figure, only one thick line is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.
[0072] The memory 4003 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.
[0073] The memory 4003 is configured to store application code (computer program) for implementing the scheme of the present application, and the processor 4001 is configured to control the execution. The processor 4001 is configured to execute the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.
[0074] The electronic device can also be a terminal device, Figure 4 The electronic device shown is only an example, and should not limit the functions and use range of the embodiments of the present application.
[0075] The embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is run on a computer, the computer can execute the corresponding content in the foregoing method embodiments.
[0076] According to another aspect of the present application, a computer program product or computer program is also provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to make the computer device execute the method provided in the various implementation manners of the above embodiments.
[0077] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).
[0078] It should be understood that the flowchart and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of various embodiments of the present application. In this regard, each block in the flowchart and block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.
[0079] The computer readable storage medium of the present application embodiment can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium that contains or stores a program and / or data used by an instruction execution system, apparatus, or device to create a machine.
[0080] The computer readable storage medium described above bears one or more programs, when the one or more programs are executed by the electronic device, cause the electronic device to execute the method shown in the above embodiment.
[0081] The above description is merely the preferred embodiments of the present application and the explanation of the applied technical principles. It should be understood by those skilled in the art that the disclosed range of the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by any combinations of the above technical features or their equivalent features without departing from the disclosed concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features disclosed in the present application (but not limited to) having similar functions.
Claims
1. A method for automatically shifting gears for a combine harvester, characterized in that: The following steps are involved: S1, obtaining a gear shift request from a driver for a combine harvester, wherein the gear shift request includes a target gear position; S2, controlling the position of the gear lever of the combine harvester to the N gear position according to the gear shift request, and connecting the target gear solenoid valve and the N gear solenoid valve corresponding to the target gear position; S3, determining whether the current signal obtained by the gear sensor is in the gear range corresponding to the target gear within a first set time period; S4: If the current signal is within the gear range corresponding to the target gear within the first set time period, it is determined that the gear is engaged successfully.
2. The method according to claim 1, characterized in that If the target gear is not the N gear, the method further includes: if the current signal is not within the gear range corresponding to the target gear within a first set time period, closing the target gear solenoid valve and opening the N gear solenoid valve to switch the gear lever to the N gear position; Reconnecting the target gear solenoid valve and the N gear solenoid valve, obtaining a new current signal through the gear position sensor, and repeating step S3; If within the first set time length, the new current signal is in the gear range corresponding to the target gear, it is determined that the gear is engaged successfully; if within the first set time length, the new current signal is not in the gear range corresponding to the target gear, and the number of times step S3 is repeated is the set number, it is determined that the gear is engaged unsuccessfully.
3. The method according to claim 1, characterized in that If the gear position sensor cannot obtain the current signal, the method further includes: Controlling the position of the gear lever to the N gear position; After the target gear solenoid valve and the N gear solenoid valve are turned on for a second set time, it is determined that the gear is engaged to the target gear.
4. The method according to any one of claims 1 to 3, characterized in that The gear range corresponding to the target gear is determined based on the following method: When the gear self-learning condition is met, the N gear solenoid valve and the target gear are controlled to be energized, and a plurality of first signals obtained by the 1 / 2 gear sensors and a plurality of second signals obtained by the 3 gear sensor are obtained, where the first signal and the second signal obtained at each time constitute a group of signals; determining whether a difference between two signals in each group of signals within a third set time period is less than a set signal value; If the difference values corresponding to each group of signals within the third set time period are all less than the set signal value, obtaining the third signal currently obtained by the 1 / 2 gear position sensor and the fourth signal currently obtained by the 3 gear position sensor, and using the third signal and the fourth signal as the target signal; If any of the difference values corresponding to each group of signals within the third set time period is not less than the set signal value, the preset fifth signal and the sixth signal are used as target signals; Based on the target signal and a preset error value, a gear range corresponding to the target gear is determined.
5. The method according to any one of claims 1 to 3, characterized in that The method further comprises: When the electric control handle of the combine harvester is not in the stop position, the combine harvester is controlled to move according to the gear corresponding to the previous walking state of the current walking state, wherein the current walking state is the walking state corresponding to when it is not in the stop position.
6. An automatic gear shifting device for a combine harvester, characterized in that: include: an acquisition module, configured to acquire a gear shifting request from a driver for the combine harvester, wherein the gear shifting request includes a target gear position; a connecting module, configured to control the position of the gear lever of the combine harvester to the N gear position according to the gear shifting request, and connect the target gear solenoid valve and the N gear solenoid valve corresponding to the target gear position; a first determining module, configured to determine whether a current signal acquired by the gear sensor is within a gear range corresponding to the target gear within the first set time period; The gear shifting module is used to determine that the gear shifting is successful if the current signal is in the gear range corresponding to the target gear within a first set time period.
7. The device according to claim 6, characterized in that If the target gear position is not the N gear, the device further includes: a processing module configured to close the target gear solenoid valve and open the N gear solenoid valve simultaneously if the current signal is not within the gear range corresponding to the target gear position within a first set time period, so as to switch the position of the gear lever to the N gear position; a reconnection module, configured to reconnect the target gear solenoid valve and the N gear solenoid valve, reacquire a new current signal through the gear position sensor, and repeat the processing of the first judgment module; The second judgment module is used to determine that the gear shifting is successful if the new current signal is in the gear range corresponding to the target gear within the first set time length; if the new current signal is not in the gear range corresponding to the target gear within the first set time length, and the number of times the processing process of the first judgment module is repeated is the set number of times, then determine that the gear shifting has failed.
8. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 5 when executing the computer program.
9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.
10. A combine harvester, characterized in that: The invention comprises an automatic gear shifting device for a combine harvester as claimed in claim 8.