Control method and turning control system of crawler-type harvester
By employing adaptive turning control methods and optimal vehicle speed models, tracked harvesters achieve stable steering in irregular farmland terrain, solving steering difficulties and safety issues, and improving the stability and safety of tracked harvesters.
Patent Information
- Application Number
- CN202511525888.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-24
- Publication Date
- 2026-01-20
AI Technical Summary
Tracked harvesters have difficulty turning in irregular farmland terrain and are prone to tipping over or getting stuck due to excessive speed. Existing steering methods rely on manual operation and are unstable.
The control method of tracked harvesters is adopted. By judging the turning radius and road conditions, the optimal speed and steering angle are selected. Combined with AI path planning algorithm and optimal vehicle speed model, adaptive turning control is achieved, including position confirmation, turning speed calculation and speed distribution.
It improves the stability and safety of tracked harvesters during turning, avoids tipping over and getting stuck, and ensures smooth driving under different road conditions.
Smart Images
Figure CN121361450A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of intelligent control technology of agricultural machinery, in particular to a control method and a turning control system of a tracked harvester, and corresponding computer program product and storage medium. BACKGROUND
[0002] The tracked harvester is an agricultural machine integrating functions of harvesting, threshing, cleaning and the like, and is widely used in the harvesting of grain seeds such as wheat, rice and corn. The working principle is that the crops are cut down by a cutting table and transported to a threshing device, and after threshing, separation and cleaning, the grain is collected into a grain tank, while the straw and sundries are discharged.
[0003] As the main agricultural harvesting equipment, the tracked harvester is widely used in the mechanized harvesting process of field crops. Since it usually needs to travel on irregular farmland terrain, it is difficult for the harvester to turn. The traditional harvester relies on manual operation of the steering wheel to turn, which is affected by factors such as the driver's experience and field of vision, resulting in problems such as failure to turn, body rollover or deep sinking due to excessive turning speed and radius. SUMMARY
[0004] In order to solve the technical problem that the harvester cannot adaptively select the turning mode according to the actual road conditions in the prior art, the present application provides a control method and a turning control system of a tracked harvester, a computer program product and a storage medium.
[0005] The present application adopts the following technical scheme: a control method of a tracked harvester, which comprises judging whether the turning radius of the tracked harvester is less than the maximum turning radius in a turning area when the tracked harvester moves to the turning area, if yes, the tracked harvester turns at the optimal speed and the maximum turning angle after reaching turning point A; if not, a multiple-turning mode is adopted. Wherein, the multiple-turning mode is: S1, the tracked harvester stops at turning point A and adjusts the heading of the tracked harvester to turn by θ towards the turning area, then drives the tracked harvester to move forward by a distance a at the optimal speed under the current road conditions and reaches point B and stops, a > d. S2, judging whether the turning radius of the tracked harvester at point B is less than the maximum turning radius allowed in the turning area and making the following judgments: if yes, controlling the tracked harvester to turn through the turning area at the optimal speed under the current road conditions and at the set turning angle threshold; if not, repeating step S1 until the tracked harvester can turn through the turning area at the set turning angle threshold after adjusting the heading angle multiple times.
[0006] As a further improvement of the present application, the control method further comprises controlling the optimal vehicle speed of the crawler harvester based on the actual road condition; the control process of the optimal vehicle speed is as follows: the load of the crawler harvester, the slope of the road and the friction coefficient of the road are collected, and the optimal vehicle speed of the crawler harvester under the current road condition is calculated according to the optimal vehicle speed model corresponding to the current weather.
[0007] As a further improvement of the present application, the optimal vehicle speed model comprises an optimal vehicle speed model I and an optimal vehicle speed model II, the optimal vehicle speed model I is used to obtain the optimal vehicle speed of the crawler harvester in the weather without rain and snow, and the optimal vehicle speed model II is used to obtain the optimal vehicle speed of the crawler harvester in the weather with rain and snow.
[0008] The optimal vehicle speed model I is as follows: ; In the formula, V is the optimal vehicle speed of the crawler harvester under different loads and different slopes, V 1 is the maximum vehicle speed of the crawler harvester in the state of empty load on a flat slope; T 1 is the full load of the crawler harvester; T 2 is the empty load of the crawler harvester; T is the actual load of the crawler harvester; V 2 is the optimal vehicle speed of the crawler harvester in the state of full load on a flat slope, S 1 is the maximum slope, S 2 is the minimum slope, S is the actual slope, V 3 is the optimal vehicle speed of the crawler harvester in the state of full load on the maximum slope.
[0009] The optimal vehicle speed model II is as follows: ; In the formula, f is the actual friction coefficient of the road in the weather with rain and snow; f 3 is the friction coefficient of the road in the weather without rain and snow; k 1 is a proportional coefficient; x is a road wet coefficient; f 1 is the maximum friction coefficient of the road in the weather with rain and snow; f 2 is the minimum friction coefficient of the road in the weather with rain and snow; V 4To determine the optimal speed of the crawler harvester under full load, uphill and rainy and snowy weather.
[0010] As a further improvement of the present application, the maximum turning radius of the turning area is obtained as follows: the moving path of the crawler harvester is obtained based on the AI path planning algorithm, and the maximum turning radius of each turning area on the moving path is determined through the obtained moving path.
[0011] As a further improvement of the present application, in each turning mode, the crawler harvester needs to determine the front wheel speed and rear wheel speed at the turning point of the crawler harvester entering the turning area according to the maximum turning radius of the current turning area, the angle value of the central angle of the turning area, and the distance between the front and rear wheels of the crawler harvester.
[0012] As a further improvement of the present application, the deceleration curve of the crawler harvester is constructed according to the current position and speed of the crawler harvester, the position of the next turning area to be entered, and the front wheel speed and rear wheel speed at the turning point, and the speed is distributed to the front and rear wheels of the crawler harvester according to the constructed deceleration curve, until the crawler harvester transitions to the turning point of the turning area at a smooth speed.
[0013] The present application also includes a turning control system for a crawler harvester, which comprises a position confirmation module, a turning-in speed calculation module, and a speed distribution module. The position confirmation module is used to determine the current turning area of the crawler harvester. The turning-in speed calculation module is used to determine the front wheel speed and rear wheel speed at the turning point of the crawler harvester entering the turning area according to the maximum turning radius of the current turning area, the angle value of the central angle of the turning area, and the distance between the front and rear wheels of the crawler harvester. The speed distribution module is used to distribute the front wheel speed and rear wheel speed at the turning point to the front and rear wheels of the crawler harvester, respectively, when the crawler harvester enters the turning area.
[0014] As a further improvement of the present application, the turning control system further comprises a deceleration module, which is used to construct the deceleration curve of the crawler harvester according to the current position and speed of the crawler harvester, the position of the next turning area to be entered, and the front wheel speed and rear wheel speed at the turning point, and distribute the speed to the front and rear wheels of the crawler harvester according to the constructed deceleration curve, until the crawler harvester transitions to the turning point of the turning area at a smooth speed.
[0015] The present application also includes a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the control method of the crawler harvester as described above, thereby completing the control of the crawler harvester when turning in the harvesting scenario.
[0016] The application further comprises a storage medium comprising a memory, a processor and a computer program stored on the memory and running on the processor. When the processor executes the computer program, the control method of the tracked harvester as described above is realized.
[0017] The technical solution provided by the application has the following beneficial effects: (1) The control method of the tracked harvester provided by the application enables the tracked harvester to adaptively select different turning modes according to the specific conditions of the turning area where the tracked harvester needs to turn, and to turn at the optimal vehicle speed according to the specific road conditions, thereby improving the stability of the tracked harvester during turning.
[0018] (2) The control method of the tracked harvester provided by the application constructs an optimal vehicle speed model by combining the load, road slope and road friction coefficient of the tracked harvester, and can accurately control the vehicle speed of the tracked harvester according to the road conditions through the optimal vehicle speed model, thereby avoiding the situation of rollover due to excessive vehicle speed during turning, and improving the stability of the tracked harvester during operation. BRIEF DESCRIPTION OF DRAWINGS
[0019] Figure 1 The step flowchart of the control method of the tracked harvester provided in Embodiment 1 of the application.
[0020] Figure 2 The step flowchart of the multiple-turning mode in the control method of the tracked harvester provided in Embodiment 1 of the application.
[0021] Figure 3 The module simplification diagram of the connection of various components when the tracked harvester provided in Embodiment 1 of the application adopts pure electric driving.
[0022] Figure 4 The module flowchart of the turning control system of the tracked harvester provided in Embodiment 2 of the application. DETAILED DESCRIPTION
[0023] In the following, the application will be further described in conjunction with specific embodiments. It should be noted that, under the premise of no conflict, the following described embodiments or technical features can be combined to form new embodiments.
[0024] In the description of the present application, it should be noted that, for orientation words, such as the terms "center", "transverse", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation and positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and cannot be understood as limiting the specific protection scope of the present application. The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. The terms "include" and "have" and any variations thereof in the specification and claims of the present application are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to only those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0025] Embodiment 1 The present embodiment provides a control method of a track harvester, please refer to Figure 1 The method comprises the following steps: When the track harvester moves to a turning area, it is determined whether the turning radius of the track harvester is less than the maximum turning radius in the turning area. If yes, the track harvester turns at the optimal vehicle speed and the maximum steering angle after reaching the turning point A; if not, the multiple turning mode is adopted. By using the above criterion, the track harvester can select the appropriate turning mode according to the turning radius of the actual turning area, so that the track harvester can stably turn.
[0026] It can be understood that the track harvester can obtain the moving path of the track harvester based on the AI path planning algorithm when driving, and determine the maximum turning radius of each turning area on the moving path through the obtained moving path. The AI path planning algorithm can use any one of the grid method, the genetic algorithm and the A* algorithm.
[0027] Among them, please refer to Figure 2, the specific steps of the multiple-turn mode are as follows: S1, the crawler harvester reaches a turning point A, stops, and adjusts the heading of the crawler harvester at the turning area to turn by θ, and then drives the crawler harvester to move straight backward by a distance d; then drives the crawler harvester to move forward by a distance a at the set turning angle threshold and the optimal speed under the current road condition, and reaches a point B and stops, a > d. S2, judges whether the turning radius of the crawler harvester at the point B is less than the maximum turning radius allowed by the turning area, and makes the following judgment: if yes, controls the crawler harvester to turn through the turning area at the set turning angle threshold and the optimal speed under the current road condition; if no, repeats step S1 until the crawler harvester can turn through the turning area at the set turning angle threshold after adjusting the heading multiple times. In this embodiment, the set turning angle threshold cannot exceed the maximum turning angle of the crawler harvester, and in the actual setting process, the turning angle threshold is generally set to be less than the maximum turning angle of the crawler harvester, and the purpose of this setting is to protect the turning system of the crawler harvester. For the multiple-turn mode, the above operation enables the crawler harvester to adaptively adjust the turning angle according to the actual situation of the turning area, so that the crawler harvester can smoothly turn. It can be understood that the control method provided in the scheme enables the crawler harvester to adaptively select different turning modes according to the turning radius of different turning areas, and improves the stability of the crawler harvester in the turning process.
[0028] The control method further comprises controlling the optimal vehicle speed of the crawler harvester based on the actual road condition. The control process of the optimal vehicle speed is as follows: the load of the crawler harvester, the slope of the road to be passed by the crawler harvester, and the friction coefficient of the road are collected, and a corresponding optimal vehicle speed model is selected according to the weather on the day to calculate the optimal vehicle speed of the crawler harvester under the current road condition. Among them, the load T of the crawler harvester can be collected in real time through a pressure sensor, the slope S of the driving path of the crawler harvester can be collected in fact through a slope sensor, and the friction coefficient f of the road can be collected through a road friction sensor. In combination with the actual weather, a suitable optimal vehicle speed model is selected, so that the optimal vehicle speed of the crawler harvester under the road condition can be calculated. The calculation of the vehicle speed fully considers the complex road condition of the driving path, can realize accurate calculation of the vehicle speed, and improves the stability of the operation of the crawler harvester. The road condition sensor can adopt an optical or ultrasonic sensor, which can be installed at the front end or the bottom of the crawler harvester, for detecting the road friction coefficient and transmitting it to the ECU of the crawler harvester. The crawler harvester can also be provided with a vehicle speed sensor, which can be installed on the wheel or the output shaft of the gearbox. The vehicle speed sensor is used to monitor the vehicle driving speed of the crawler harvester in real time and transmit it to the ECU. The ECU is provided with a processor and a storage medium, and the storage medium can store the optimal vehicle speed model. The optimal vehicle speed model comprises an optimal vehicle speed model I and an optimal vehicle speed model II. Both the optimal vehicle speed model I and the optimal vehicle speed model II are models trained based on a large amount of related data of the crawler harvester driving under different road conditions. The optimal vehicle speed model I is used to obtain the optimal vehicle speed of the crawler harvester in the weather without rain and snow; and the optimal vehicle speed model II is used to obtain the optimal vehicle speed of the crawler harvester in the weather with rain and snow. Wherein, the optimal vehicle speed model I is: ; In the formula, V is the optimal vehicle speed of the crawler harvester under different loads and different slopes, V 1 is the maximum vehicle speed of the crawler harvester in the empty load state on the flat slope; T 1 is the full load of the crawler harvester; T 2 is the empty load of the crawler harvester; T is the actual load of the crawler harvester; V 2 is the optimal vehicle speed of the crawler harvester in the full load state on the flat slope, S 1 is the maximum slope, S 2 is the minimum slope, S is the actual slope, V 3 is the optimal vehicle speed of the crawler harvester in the full load state on the maximum slope.
[0029] The second optimal vehicle speed model is: ; In the formula, f is the actual friction coefficient of the road surface in rainy and snowy weather; f 3 is the friction coefficient of the road surface in non-rainy and non-snowy weather; k 1 is a proportional coefficient; x is a road surface wet coefficient; f 1 is the maximum friction coefficient of the road surface in rainy and snowy weather; f 2 is the minimum friction coefficient of the road surface in rainy and snowy weather; V 4 is the optimal vehicle speed of the track-type harvester under full load, uphill and in rainy and snowy weather.
[0030] It can be understood that, regardless of which optimal vehicle speed model is used, the load of the track-type harvester, the road surface slope and the road surface friction coefficient are considered in the calculation process, so that the calculated optimal vehicle speed meets the needs of the current driving conditions of the track-type harvester. Therefore, the above design can improve the stability of the track-type harvester during driving. Furthermore, the optimal vehicle speed model can be dynamically adjusted according to the driving conditions of the track-type harvester, ensuring that the track-type harvester can drive at the optimal vehicle speed under any road conditions, thereby significantly reducing the difficulty of driving the track-type harvester under complex road conditions.
[0031] In each turning mode, the track-type harvester needs to determine the front wheel speed and rear wheel speed at the turning point of the track-type harvester entering the turning area according to the maximum turning radius of the current turning area, the angle value of the central angle of the turning area and the distance between the front and rear wheels of the track-type harvester. The present scheme distributes the driving speed of the front and rear wheels when the track-type harvester turns, avoids the push-pull phenomenon between the front and rear wheels of the track-type harvester when turning, thereby improving the stability of the track-type harvester when turning, and also avoids the wear and tear of the track-type harvester when turning.
[0032] According to the current position of the track-type harvester and the speed of operation and the position of the next turning area to be entered and the front wheel speed and rear wheel speed at the turning point, a deceleration curve of the track-type harvester is constructed, and the speed is distributed to the front and rear wheels of the track-type harvester according to the constructed deceleration curve, until the track-type harvester transitions to the turning point of the turning area at a stable speed.
[0033] The track-type harvester provided in the embodiment can control the movement of the wheels on both sides by separate motors. The two motors are arranged to drive the wheels on both sides to achieve the purpose of turning the track-type harvester in place. The specific operation is as follows: when the track-type harvester needs to turn right in place, the motor close to the outside of the turning side is powered to make the outside wheel turn, and the motor close to the turning side is used to drive the inside wheel to reverse at low speed. Through this operation, the track-type harvester can turn stably, and the ECU of the track-type harvester can control the two motors to drive the wheels on both sides to move forward, so that the track-type harvester can move forward. The two motors are used to control the wheels on both sides separately, so that the motor driving the outside wheel to turn is more labor-saving when the track-type harvester turns, thereby improving the stability of the track-type harvester when turning.
[0034] The motor can adopt a strong aluminum alloy body to enhance its own heat dissipation, and the end of the motor can be provided with an internal circulation impeller, which can further accelerate the heat dissipation of the motor. In the embodiment, the output shaft of the motor can be about 10 mm thicker than the output shaft of the existing motor to enhance the torsional strength of the motor and improve the service life of the motor. The motor can also adopt a permanent magnet motor.
[0035] The track-type harvester can also be provided with a control lever. The control lever is not improved in the scheme, so it will not be described in detail. The control lever can be connected to the motor by a wire to control the operation of the motor by the control lever. When the control lever returns to the center position, the four-way power is cut off, and the machine is in a stopped state. When turning to the left or right, the operator only needs to push the lever to the desired direction, and then the motor can operate at the speed specified by the operator under the control of the ECU of the track-type harvester. That is, one motor can be used to safely and slowly turn, and the other motor can also start to slowly reverse at the speed specified by us, which can directly reduce the power consumption of the opposite motor, make the turning more flexible, and not make the ground into a pit-shaped to keep the field flat. When the operator needs to move forward, the control lever is directly pushed forward to the center, and then the two motors are connected to the high and low speed line holes with the same output power, so that the two motors can keep synchronous operation and move forward. When reversing, the operator pulls the handle back to automatically connect the power supply of the opposite line to the forward direction, so that the motor can reverse to realize reversing.
[0036] The track-type harvester provided in the embodiment can be driven in an all-electric manner. Please refer to Figure 3The battery pack can adopt a new energy battery with large capacity to provide power supply for the whole vehicle. The general switch can adopt a DC special molded case circuit breaker, which can disconnect the circuit power supply when the track-type harvester is overloaded or short-circuited. The control system is used to control the operation of the track-type harvester. The control system can collect and monitor the data of each system of the track-type harvester in real time, and control the operation of each driving unit of the track-type harvester. The working motor M4 is used to control the track-type harvester to perform the harvesting operation; the permanent magnet synchronous motor M1 is used to control the left wheel of the track-type harvester, and the permanent magnet synchronous motor M2 is used to control the right wheel of the track-type harvester. Figure 3 The analog quantity in the track-type harvester is used to collect the current and voltage data of the track-type harvester, and the switching quantity signal is used to display the state of the frequency converter during operation; when the switching quantity signal is displayed as “DO1” or “RELAY1”, it can represent that the frequency converter is in operation at this time; if the switching quantity signal is displayed as “DO2” or “RELAY2”, it can represent that the frequency converter fails at this time. Figure 3 The communication in the track-type harvester is used to collect the data of each frequency converter and transmit to the touch screen for display. The touch screen is used to display the state of each system of the whole vehicle, such as the total current, the total voltage, the current and speed of each motor, and the state of each motor. The touch screen can also input control parameters, such as the speed of each motor. During operation: first, start the machine, and the system first performs self-checking, and if everything is normal, it can be started. The vehicle is controlled by the rocker handle to move forward, backward and turn. When the M1 motor and the M2 motor rotate forward at the same time, the whole vehicle moves forward; when the M1 motor and the M2 motor rotate backward at the same time, the whole vehicle moves backward; when the M1 motor rotates forward and the M2 motor rotates backward, the whole vehicle turns left; and vice versa, the whole vehicle turns right. When the hydraulic start button is pressed, the M3 motor starts, and the hydraulic control of the whole vehicle is also controlled by the original hydraulic switch handle. When the working motor start button is pressed, the M4 motor starts to work. When a fault occurs, stop the motor operation, and display the fault point through the touch screen.
[0037] It can be understood that the control method of the track-type harvester provided by the embodiment can also be applied to the track-type rotary cultivator, and the pure electric driving mode described above can also be applied to the track-type rotary cultivator.
[0038] Embodiment 2 The embodiment is based on the track-type harvester of embodiment 1 to provide a turning control system of the track-type harvester, please refer to Figure 4The turning control system comprises a position confirmation module, an entry turning speed calculation module and a speed distribution module. The position confirmation module is configured to determine a current turning area of the track-type harvester. The entry turning speed calculation module is configured to determine a front wheel speed and a rear wheel speed of the track-type harvester at a turning point of the turning area according to a maximum turning radius of the current turning area, a central angle value of the turning area and a distance between the front wheel and the rear wheel of the track-type harvester. The speed distribution module is configured to distribute the front wheel speed and the rear wheel speed at the turning point to the front wheel and the rear wheel of the track-type harvester respectively when the track-type harvester enters the turning area.
[0039] In the present solution, when the maximum turning radius of the curve is R, the distance between the front wheel and the rear wheel of the track-type harvester is H, the central angle value of the turning area is a, and the curve arc length corresponding to the distance between the front wheel and the rear wheel is L. The central angle radian value b of the turning area can be calculated by b = 2 * a sin (H / 2R); the curve arc length L corresponding to the front wheel and the rear wheel is b*R, and the speed ratio of the front wheel and the rear wheel can be H / L.
[0040] The turning control system further comprises a deceleration module. The deceleration module is configured to construct a deceleration curve of the track-type harvester according to the current position of the track-type harvester, the running speed, the next position to enter the turning area and the front wheel speed and the rear wheel speed at the turning point, and distribute the speed to the front wheel and the rear wheel of the track-type harvester according to the constructed deceleration curve until the track-type harvester transitions to the turning point of the turning area at a smooth speed.
[0041] Embodiment 3 A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the control method of the track-type harvester according to Embodiment 1 are implemented.
[0042] The computer device can be a smartphone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server or a cabinet server (including a standalone server or a server cluster composed of multiple servers), etc. which can execute programs. The computer device of the present embodiment at least comprises but is not limited to a memory and a processor which can be connected to each other for communication through a system bus.
[0043] The memory (i.e., the readable storage medium) in the embodiment includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory can be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory can also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device. Of course, the memory can include both the internal storage unit and the external storage device of the computer device. In the embodiment, the memory is generally used to store an operating system and various application software installed on the computer device, etc. In addition, the memory can also be used to temporarily store various data that have been output or will be output.
[0044] The processor in some embodiments can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor is generally used to control the overall operation of the computer device. In the embodiment, the processor is used to run the program code or process the data stored in the memory to implement the steps of the control method of the track-type harvester in embodiment 1.
[0045] Embodiment 4 The embodiment discloses a readable storage medium, and the readable storage medium stores computer program instructions. When the computer program instructions are read and run by a processor, the steps of the control method of the track-type harvester in embodiment 1 are executed.
[0046] The control method of the track-type harvester in embodiment 1 can be applied in the form of software, such as a program designed to be independently run on a computer readable storage medium. The computer readable storage medium can be a U disk, and the U disk is designed to start the entire method by external triggering.
[0047] The above describes the basic principles, main features and advantages of the present application. It should be understood by those skilled in the art that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection claimed by the present application is defined by the appended claims and their equivalents.
Claims
1. A control method of a track-type harvester characterized by comprising: It comprises: When the track-type harvester moves to a certain turning area, it is determined whether the turning radius of the track-type harvester is less than the maximum turning radius in the turning area, if yes, the track-type harvester turns at the optimal speed and the maximum steering angle after reaching the turning point A; if not, the multiple turning mode is adopted; Wherein, the multiple turning mode is: S1, the track-type harvester stops at the turning point A and adjusts the heading of the track-type harvester to turn by θ after the turning area, and then drives the track-type harvester to move forward by a distance a at the optimal speed under the current road condition and reaches the B point and stops, a>d; S2, it is determined whether the turning radius of the track-type harvester at the B point is less than the maximum turning radius allowed by the turning area, and the following judgment is made: if yes, the track-type harvester is controlled to turn through the turning area at the set steering angle threshold and the optimal speed under the current road condition; if not, step S1 is repeated until the track-type harvester can turn through the turning area at the set steering angle threshold after adjusting the heading angle multiple times.
2. The control method of a track-type harvester according to claim 1, characterized by, The control method further comprises controlling the optimal speed of the track-type harvester based on the actual road condition; the control process of the optimal speed is as follows: the load of the track-type harvester, the slope of the road and the friction coefficient of the road are collected, and the optimal speed of the track-type harvester under the current road condition is calculated according to the optimal speed model corresponding to the current weather.
3. The control method of a track-type harvester according to claim 2, characterized by, The optimal speed model comprises an optimal speed model one and an optimal speed model two, the optimal speed model one is used to obtain the optimal speed of the track-type harvester in the weather without rain and snow, and the optimal speed model two is used to obtain the optimal speed of the track-type harvester in the weather with rain and snow; Wherein, the optimal speed model one is: ； wherein, V is the optimal vehicle speed of the tracked harvester under different loads and different slopes, V 1 is the maximum vehicle speed of the tracked harvester under the condition of empty load on flat slope; T 1 is the full load of the tracked harvester; T 2 is the empty load of the tracked harvester; T is the actual load of the tracked harvester; V 2 is the optimal vehicle speed of the tracked harvester under the condition of full load on flat slope, S 1 is the maximum slope, S 2 is the minimum slope, S is the actual slope, V 3 is the optimal vehicle speed of the tracked harvester under the condition of full load on the maximum slope; Wherein, the optimal speed model two is: ； wherein f is the actual friction coefficient of the road surface in rainy and snowy weather; f 3 is the friction coefficient of the road surface in dry weather; k 1 is a proportionality coefficient; x is the road surface wetness coefficient; f 1 is the maximum friction coefficient of the road surface in rainy and snowy weather; f 2 is the minimum friction coefficient of the road surface in rainy and snowy weather; V 4 is the optimal vehicle speed of the tracked harvester in full load, uphill and rainy and snowy weather.
4. The control method of a track-type harvester according to Claim 1, characterized by, The maximum turning radius of the turning area is obtained as follows: the moving path of the track-type harvester is obtained based on the AI path planning algorithm, and the maximum turning radius of each turning area on the moving path is determined through the obtained moving path.
5. The control method of a track-type harvester according to Claim 1, wherein, In each turning mode, the front wheel speed and the rear wheel speed of the track-type harvester at the turning point entering the turning area are determined according to the maximum turning radius of the current turning area, the angle value of the central angle of the turning area and the distance between the front wheel and the rear wheel of the track-type harvester.
6. The control method of a track-type harvester according to Claim 2, characterized by, According to the current position of the track-type harvester and the speed, and the position of the next turning area to be entered and the front wheel speed and the rear wheel speed at the turning point, a deceleration curve of the track-type harvester is constructed, and the speed is distributed to the front wheel and the rear wheel of the track-type harvester according to the constructed deceleration curve, until the track-type harvester transits to the turning point of the turning area at a smooth speed.
7. A turning control system for a track-type harvester, characterized by It comprises: A position confirmation module for determining the current turning area of the track-type harvester; A turning-in speed calculation module for determining the front wheel speed and the rear wheel speed of the track-type harvester at the turning point entering the turning area according to the maximum turning radius of the current turning area, the central angle angle value of the turning area and the distance between the front wheel and the rear wheel of the track-type harvester; a speed distribution module for distributing a front wheel speed and a rear wheel speed at a turning point to the front wheels and the rear wheels of the track-type harvester respectively when the track-type harvester enters a turning area.
8. The turning control system for a track-type harvester as set forth in claim 7, wherein, The turning control system further comprises a deceleration module for constructing a deceleration curve of the track-type harvester according to a current position and a running speed of the track-type harvester and a next position requiring entering a turning area and the front wheel speed and the rear wheel speed at a turning point, and distributing the speed to the front wheels and the rear wheels of the track-type harvester according to the constructed deceleration curve until the track-type harvester transitions to the turning point of the turning area at a smooth speed.
9. A computer program product comprising a computer program, characterised in that, The computer program, when executed by the processor, implements the steps of the control method of the track-type harvester according to any one of claims 1-6, thereby completing the control of the track-type harvester when turning in a harvesting scenario.
10. A storage medium comprising a memory, a processor, a computer program stored on the memory and running on the processor, characterized in that, The processor, when executing the computer program, implements the control method of the track-type harvester according to any one of claims 1-6.