Electromechanical steering control system

Abstract

The utility model relates to the technical field of steering control, in particular to an electromechanical steering control system which comprises a steering handle, a controller and an electromechanical control unit. The steering handle is provided with a micro-motion device used for controlling fine-tuning steering and an angle sensor used for detecting the swing angle of the steering handle. The output end of the micro-motion device and the output end of the angle sensor are connected to the input end of the controller, and the signal line end of the controller and the signal line end of the electromechanical control unit are connected through a CAN bus. And the controller controls the electromechanical control unit to drive the steering oil cylinder based on an output signal of the micro-motion device and / or an output signal of the angle sensor so as to execute the steering action of the target harvesting machine. According to the utility model, the softness and sensitivity of the steering operation are ensured, and the individual requirements of operators on the steering control experience are met.

Description

Technical Field

[0001] This utility model relates to the field of steering control technology, specifically to an electromechanical steering control system. Background Technology

[0002] The steering mechanism of harvesting machinery refers to the system or device used in harvesting equipment to control its direction of travel. It allows the operator to change the machine's travel path as needed, achieving precise control over the travel path.

[0003] Steering mechanisms in harvesting machinery can be categorized into two types: mechanical control and electro-hydraulic control. Mechanical control systems combine traditional mechanical levers with manual valves. This relies on a mechanical lever structure, where manual operation of the lever directly adjusts the valve stem position of the steering valve, thereby controlling the opening and closing of the steering hydraulic cylinder to achieve steering. Electro-hydraulic control systems combine electronic and hydraulic control. This system uses a controller to monitor changes in the angle of the control lever in real time and calculates and controls the output of the left and right steering switch solenoid valves and pressure solenoid valves based on these changes, thus achieving steering. Currently, mechanical control remains the dominant steering mechanism in harvesting machinery, with a small number employing electro-hydraulic control devices. Both traditional types of steering mechanisms have significant drawbacks: mechanical control requires high steering effort and is prone to fatigue, while electro-hydraulic control is highly dependent on the quality of the hydraulic fluid and is susceptible to valve core jamming.

[0004] In the above solutions, both mechanical and electro-hydraulic control types have the problem that the sensitivity or smoothness of steering cannot be adjusted, which limits the operator's personalized needs for steering control experience. Utility Model Content

[0005] In view of this, the present invention provides an electromechanical steering control system to solve the problem that the sensitivity or smoothness of steering is not adjustable in existing steering control methods, which limits the operator's personalized needs for steering control experience.

[0006] In a first aspect, this utility model provides an electromechanical steering control system, the system comprising: a steering handle, a controller, and an electromechanical control unit;

[0007] The steering handle is equipped with a micro-motion device for controlling fine-tuning of the steering, and an angle sensor for detecting the swing angle of the steering handle.

[0008] The output terminals of the micro-motion device and the angle sensor are respectively connected to the input terminal of the controller, and the signal lines of the controller and the electromechanical control unit are interconnected via a CAN bus.

[0009] The controller is used to control the electromechanical control unit to drive the steering cylinder to perform the steering action of the target harvesting machinery based on the output signal of the micro-motion device and / or the output signal of the angle sensor.

[0010] The aforementioned solution offers dual-mode operation: fine-tuning via a micro-motion device for minor corrections, and larger-range directional adjustments via a steering handle for curved driving or rapid turns. While achieving dual-mode operation, the system requires minimal modifications to its mechanical structure, allowing for upgrades without significantly altering existing harvesting machinery, thus reducing modification costs and time. Furthermore, the optimized harvesting machinery structure ensures smooth steering, reducing mechanical wear and vibration, and extending equipment lifespan. Smooth steering reduces driver impact and fatigue, improving driving comfort. Parameter settings can be customized based on different machine types and driver habits to achieve the optimal driving experience.

[0011] In one alternative implementation, the angle sensor is connected to the steering handle via a mechanical lever, and the output of the angle sensor is connected to the first input of the controller.

[0012] In one optional embodiment, the micro-motion device includes a left-turn micro-motion button and a right-turn micro-motion button, the output of the left-turn micro-motion button is connected to the second input of the controller, and the output of the right-turn micro-motion button is connected to the third input of the controller.

[0013] In one alternative embodiment, the electromechanical control unit includes a motor drive mechanism and a steering valve;

[0014] The motor transmission mechanism is mechanically connected to the steering valve, and the steering valve is connected to the steering cylinder via a hydraulic oil pipe;

[0015] The motor drive mechanism is used to drive the steering valve based on the control commands issued by the controller;

[0016] The steering valve is used to control the extension and retraction length and speed of the steering cylinder based on the drive of the motor transmission mechanism, so as to drive the steering rocker arm of the gearbox to change the angle and perform the steering action of the target harvesting machinery.

[0017] In one optional embodiment, the motor transmission mechanism includes a motor, a gear, and a rack, wherein the gear meshes with the rack.

[0018] The gear is used to drive the rack to perform a stepless extension and retraction action when the motor rotates forward and backward, so as to push the steering rocker arm of the gearbox to change the angle through the steering valve and the steering cylinder in sequence, thereby performing the stepless steering action of the target harvesting machinery.

[0019] In one optional embodiment, the steering valve includes a main valve core, a sealing ring, a preload spring, a wire retaining ring, and a steering valve body, wherein the main valve core and the steering valve body are connected by the sealing ring.

[0020] The rack of the motor drive mechanism and the main valve core of the steering valve are rigidly connected by the preload spring and the wire retaining ring.

[0021] The technical solution provided by this utility model can include the following beneficial effects:

[0022] This invention provides dual-mode operation, allowing for precise directional adjustments via a micro-motion device, suitable for minor corrections, and larger directional adjustments via a steering handle, suitable for curved driving or rapid turns. While achieving dual-mode operation, the system requires minimal modification to its mechanical structure, allowing for upgrades without significantly altering existing harvesting machinery, thus reducing modification costs and time. Furthermore, the optimized harvesting machinery structure ensures smooth steering, reducing mechanical wear and vibration, and extending equipment lifespan. Smooth steering reduces driver impact and fatigue, improving driving comfort. Parameter settings can be customized according to different machine types and driver habits for optimal driving experience. Precise steering control improves the harvester's operational accuracy and efficiency. Automated steering control reduces repetitive driver operations, lowering labor intensity. Optimized harvesting machinery operation processes improve fuel efficiency and operational efficiency, reducing operating costs. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of an electromechanical steering control system according to an embodiment of the present utility model;

[0025] Figure 2 This is a schematic diagram of the structure of the motor transmission mechanism according to an embodiment of the present utility model;

[0026] Figure 3 This is a schematic diagram of the connection between the motor drive mechanism and the steering valve according to an embodiment of the present utility model. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0028] According to an embodiment of the present invention, an electromechanical steering control system embodiment is provided. Figure 1 This is a schematic diagram of the structure of an electromechanical steering control system according to an embodiment of the present utility model, as shown below. Figure 1 As shown, the system includes: a steering handle 2, a controller 1, and an electromechanical control unit 3;

[0029] The steering handle 2 is equipped with a micro-motion device for controlling fine-tuning of the steering, and an angle sensor 21 for detecting the swing angle of the steering handle 2;

[0030] The output terminal of the micro-motion device and the output terminal of the angle sensor 21 are respectively connected to the input terminal of the controller 1. The signal line terminal of the controller 1 and the signal line terminal of the electromechanical control unit 3 are interconnected through the CAN bus.

[0031] The controller 1 is used to control the electromechanical control unit 3 to drive the steering cylinder 4 based on the output signal of the micro-motion device and / or the output signal of the angle sensor 21, so as to perform the steering action of the target harvesting machinery (exemplarily, the steering action of the target harvesting machinery can be the steering action control of tracked harvesting machinery, and may also include walking control, header control, reel control, grain bin control, unloading hopper control, etc.). The steering control system can be installed in the target harvesting machinery.

[0032] In one optional embodiment, the micro-motion device includes a left-turn micro-motion button 22 and a right-turn micro-motion button 23, the output of which is connected to the second input of the controller 1 (i.e., Figure 1 Input 2), the output of the right turn micro switch 23 is connected to the third input of the controller 1 (i.e., input 2), Figure 1 Input 3 in the middle).

[0033] Furthermore, to avoid the drawbacks of both mechanical and electro-hydraulic steering methods, this embodiment designs an electromechanical steering control system, mainly including a steering handle 2, an angle sensor 21, an electromechanical control unit 3, a controller 1, and a steering cylinder 4, as follows: Figure 1 As shown.

[0034] The upper end of the steering handle 2 is equipped with a micro-motion device, including a left-turn micro-motion button 22 and a right-turn micro-motion button 23. The lower end of the steering handle 2 is equipped with an angle sensor 21, which is linked to the steering handle 2 via a mechanical rocker arm to detect the swing angle of the steering handle 2 in real time. The output signals of the left-turn micro-motion button 22, the right-turn micro-motion button 23, and the angle sensor 21 are connected to the controller 1, which is connected to the electromechanical control unit 3 via a CAN bus. The high-level signal line of the controller 1 and the electromechanical control unit 3 (i.e., Figure 1 The CANH in the controller 1 and the electromechanical control unit 3 are interconnected via the CAN bus; the low-level signal lines of the controller 1 and the electromechanical control unit 3 (i.e., Figure 1 The CAN bus in this embodiment connects the controller 1 to the electromechanical control unit 3 via the CAN bus, enabling high-speed and reliable data transmission and improving the overall performance and stability of the system. The controller 1 is the core of the system. The left-turn micro-switch 22, the right-turn micro-switch 23, and the angle sensor 21 linked to the steering handle 2 input the collected signals to the controller 1. Based on the output signals of the micro-switch and / or the angle sensor 21, the controller 1 makes decisions according to a predetermined control strategy, controlling the speed and stroke of the electromechanical control unit 3, and further driving the extension and retraction of the steering cylinder 4. The steering cylinder 4 directly pushes the steering rocker arm to change its angle, thereby achieving the purpose of steering.

[0035] Furthermore, the left-turn micro-motion button 22 and the right-turn micro-motion button 23 on the steering handle 2 provide precise, small-amplitude steering control, suitable for scenarios requiring fine adjustments. By pressing the corresponding buttons, the operator can make minute adjustments to the steering handle 2, thereby controlling the steering direction and angle of the target harvesting machinery. This not only improves driving convenience but also significantly enhances driving accuracy and safety. In scenarios requiring frequent steering adjustments or precise alignment, such as cargo handling and agricultural operations, the left-turn micro-motion button 22 and the right-turn micro-motion button 23 help operators reduce operational errors and collision risks. In addition, operators can freely adjust the steering amplitude and speed according to actual conditions and needs to adapt to different driving environments and operational requirements.

[0036] In one optional embodiment, the angle sensor 21 is connected to the steering handle 2 via a mechanical lever, and the output of the angle sensor 21 is connected to the first input of the controller 1 (i.e., Figure 1 Input 1 in the middle).

[0037] Furthermore, in this embodiment, the angle sensor 21 is linked to the steering handle 2 via a mechanical rocker arm to detect the swing angle of the steering handle 2 in real time, ensuring accurate transmission of steering commands. The mechanical rocker arm acts as a bridge connecting the steering handle 2 and the angle sensor 21, moving with the swing of the steering handle 2. When the operator turns the steering handle 2, the mechanical rocker arm deflects accordingly, and this deflection angle is consistent with the swing angle of the steering handle 2. The angle sensor 21 is mounted on the mechanical rocker arm or a connected structure, sensing the deflection angle of the mechanical rocker arm through an internal sensitive element (such as a resistive, photoelectric, or magnetic sensor) and converting it into an electrical signal output. This electrical signal is then transmitted to the controller 1 through the first input terminal. The controller 1 determines the swing angle and direction of the steering handle 2 based on the received signal magnitude and direction, and then generates corresponding control commands according to a preset control strategy. These control commands can be transmitted via a CAN bus (e.g., Figure 1 As shown, the two physical endpoints of the CAN bus are each connected to a 120-ohm resistor to maintain signal quality on the CAN bus. Communication methods such as [unspecified methods] are used to send signals to the electromechanical control unit 3, which drives the motor transmission mechanism 31 to work, ultimately controlling the extension and retraction of the steering cylinder 4 to achieve steering of the target harvesting machinery. Because the linkage between the mechanical lever and the steering handle 2 is mechanical, it features accurate transmission and rapid response. Simultaneously, the high-precision measurement of the angle sensor 21 ensures the accurate transmission of steering commands, which not only improves the control accuracy and stability of the steering system but also enhances driving comfort and safety.

[0038] In one alternative embodiment, the electromechanical control unit 3 includes a motor drive mechanism 31 and a directional valve 32;

[0039] The motor drive mechanism 31 is mechanically connected to the steering valve 32, and the steering valve 32 is connected to the steering cylinder 4 through a hydraulic oil pipe 5;

[0040] The motor drive mechanism 31 is used to drive the steering valve 32 based on the control commands issued by the controller 1;

[0041] The steering valve 32 is used to control the extension and retraction length and speed of the steering cylinder 4 based on the drive of the motor transmission mechanism 31, so as to push the steering rocker arm of the gearbox to change the angle and perform the steering action of the target harvesting machinery.

[0042] Furthermore, the electromechanical control unit 3 is the steering actuator, comprising a motor drive mechanism 31 and a steering valve 32. The steering valve 32 is connected to the steering cylinder 4 via a hydraulic oil pipe 5. The extension and retraction of the steering cylinder 4 changes the angle of the steering rocker arm of the gearbox. The motor drive mechanism 31 is a key component of the electromechanical control unit 3, responsible for converting electrical energy into mechanical energy to drive the steering system. Upon receiving a command from the controller 1, the motor drive mechanism 31 begins operation, actuating the steering valve 32 and the steering cylinder 4. The steering valve 32 is a crucial component controlling the flow of hydraulic oil. By changing the flow direction and volume of the hydraulic oil, it controls the extension and retraction of the steering cylinder 4. The steering valve 32 is connected to the steering cylinder 4 via the hydraulic oil pipe 5. When the main valve core moves, hydraulic oil flows from the reservoir, passes through the steering valve 32, and flows into the steering cylinder 4, pushing the piston rod inside the steering cylinder 4 to extend and retract. The steering cylinder 4 is an important component converting hydraulic energy into mechanical energy. Through its extension and retraction, it drives the steering rocker arm of the gearbox to rotate, thereby achieving wheel steering. The piston rod of the steering cylinder 4 is connected to the steering rocker arm of the gearbox. When the piston rod extends or retracts, it pushes the steering rocker arm to rotate around its axis by a certain angle, and then transmits power to the wheels through the transmission mechanism to achieve steering.

[0043] In one optional embodiment, the motor transmission mechanism 31 includes a motor, a gear 312, and a rack 311, wherein the gear 312 is meshed with the rack 311.

[0044] The gear 312 is used to drive the rack 311 to perform stepless extension and retraction when the motor rotates forward and backward, so as to push the steering rocker arm of the gearbox to change angle through the steering valve 32 and the steering cylinder 4 in turn, thereby performing the stepless steering action of the target harvesting machinery.

[0045] In one optional embodiment, the steering valve 32 includes a main valve core, a sealing ring 323, a preload spring 322, a wire retaining ring 321, and a steering valve body 324, wherein the main valve core and the steering valve body 324 are connected by the sealing ring 323.

[0046] The rack 311 of the motor transmission mechanism 31 and the main valve core of the steering valve 32 are rigidly connected through the preload spring 322 and the wire retaining ring 321.

[0047] Furthermore, the electromechanical control unit 3 of this embodiment includes a motor drive mechanism 31 and a directional valve 32. The motor drive mechanism 31 and the directional valve 32 can be fixed by four screws. Please refer to [link to relevant documentation]. Figure 2 The schematic diagram of the motor transmission mechanism 31 shown illustrates that the gear 312 of the motor transmission mechanism 31 is meshed with the rack 311. When the motor controls the gear 312 to rotate in both forward and reverse directions, the rack 311 extends and retracts accordingly. Please refer to [link to previous text]. Figure 3The diagram shows the connection between the motor drive mechanism 31 and the steering valve 32. The rack 311 and the main valve core of the steering valve 32 are rigidly connected by the preload spring 322 and the wire retaining ring 321. The wire retaining ring 321 ensures that the ball head of the rack 311 is not pushed out by the preload spring 322. The preload spring 322 presses the rack 311 to ensure that there is no gap between it and the main valve core. The main valve core and the steering valve body 324 are sealed by the sealing ring 323, so that hydraulic oil will not leak into the motor drive mechanism 31. The steering valve 32 is connected to the steering cylinder 4 through the hydraulic oil pipe 5. When the motor rotates in both directions, the gear 312 drives the rack 311 to extend and retract infinitely. The rack 311 pushes the main valve core to change position. The main valve core can be infinitely adjusted, thereby realizing the infinitely adjustable steering cylinder 4, and thus realizing infinitely variable steering.

[0048] In this embodiment, the motor provides power and controls the rotation of gear 312 by forward and reverse rotation. Gear 312 is connected to the output shaft of the motor, converting the rotational motion of the motor into the rotation of gear 312. Rack 311 meshes with gear 312 and performs linear extension and retraction motion when gear 312 rotates. The main valve core is rigidly connected to rack 311, and its position in the steering valve body 324 can be changed by the linear motion of rack 311. Preload spring 322 maintains tight contact between rack 311 and main valve core, ensuring no gaps and helping to resist external pressure. Wire retaining ring 321 prevents preload spring 322 from pushing out the ball head of rack 311, maintaining connection stability. Sealing ring 323 ensures a seal between the main valve core and steering valve body 324, preventing hydraulic oil leakage into motor drive mechanism 31. Steering valve body 324, as the main body of steering valve 32, has internal oil passages and controls the flow direction of hydraulic oil according to the position of main valve core. Hydraulic oil pipe 5 connects steering valve 32 and steering cylinder 4, and is used to transmit hydraulic oil to realize the extension and retraction movement of the cylinder.

[0049] Furthermore, the electromechanical control unit 3 in this embodiment has self-diagnostic and protection functions. The electromechanical control unit 3 communicates with the controller 1 via a CAN bus. After power-on, to ensure safety, the electromechanical control unit 3 must first return to the neutral position before allowing the extension and retraction actions. If no message is received from the controller 1 within a set time, the electromechanical control unit 3 will automatically return to the neutral position. When communication is restored, it will respond to the corresponding command again. During the operation of the electromechanical control unit 3, if the resistance is too high and exceeds the rated load of the motor, an overload alarm message will be issued. If the operating voltage is not within the required range, a message will be issued indicating that the voltage is too high or too low. If the ambient temperature is not within the required range, a message will also be issued indicating that the temperature is too high or too low. After a fault occurs, the electromechanical control unit 3 will automatically return to the neutral position for safety and will no longer respond to the commands of the controller 1. It will continue to work after the fault is cleared.

[0050] Furthermore, the steering control system of this embodiment is equipped with input / output protection functions and an automatic calibration mechanism. When powered on, if the button corresponding to the micro-motion device is detected to be pressed, it is determined to be a button malfunction, and the controller 1 controls the electromechanical control unit 3 not to respond to the button action. When the button corresponding to the micro-motion device is detected to be pressed again after power-on, the relevant action will be responded to. When both the left turn micro-motion button 22 and the right turn micro-motion button 23 of the micro-motion device are pressed, the action of the pressed button will be responded to. The normal output voltage range of the angle sensor 21 of the steering handle 2 can be 0.5V to 4.5V. When the output signal of the angle sensor 21 exceeds 0.25V to 4.75V, the angle sensor 21 is determined to be malfunctioning. To ensure safety, the controller 1 controls the electromechanical control unit 3 to return to the neutral position. After being powered on, the electromechanical control unit 3 will rotate back and forth to judge the gap between the gear 312 and the rack 311 and automatically calibrate. In other words, the controller 1 in this embodiment has a button fault detection module, an angle sensor monitoring module, and an automatic calibration module. The button fault detection module is used to detect button faults when the system is powered on. If it detects that a button has been pressed when the system is powered on, it will be considered a button fault, and the controller 1 will not respond to any button action. Only when the button is detected to be pressed again after power-on will the relevant operation be performed. In addition, when the left turn micro switch 22 and the right turn micro switch 23 are pressed at the same time, the last pressed button will be responded to first. The normal output voltage range of the angle sensor 21 is 0.5V to 4.5V. The angle sensor monitoring module is used to determine that the angle sensor 21 is faulty when the output voltage of the angle sensor 21 exceeds the range of 0.25V to 4.75V. In this case, the controller 1 will adjust the electric drive unit back to the neutral position to ensure safe operation. The automatic calibration module is used to make the electromechanical control unit 3 rotate back and forth after power-on to determine the gap between the gear 312 and the rack 311 and automatically perform calibration.

[0051] In one alternative implementation, the system may further include an interactive display screen for displaying at least one of the following: the status of the micro-motion device, the real-time value of the angle sensor, the current value of the motor drive mechanism, the set target value, the set system parameters, and alarm information.

[0052] The signal terminals of the interactive display screen, the controller 1, and the electromechanical control unit 3 are interconnected via a CAN bus.

[0053] In one optional implementation, both the interactive display screen and the controller 1 include a storage module for storing specified data in the system. This specified data may be at least one of the following: micro-motion device status, real-time angle sensor value, current value of the motor drive mechanism, set target value, set system parameters, and alarm information.

[0054] Furthermore, both the interactive display screen and controller 1 in this embodiment can store critical data. The interactive display screen has setting parameter storage and backup functions. When replacing controller 1, the backup data in the interactive display screen can be sent to controller 1. Controller 1 may also include setting parameter storage functions. When replacing the interactive display screen, the stored data in controller 1 can be uploaded to the interactive display screen. This bidirectional data storage eliminates the need to re-set data when replacing the interactive display screen or controller 1. Even if the interactive display screen malfunctions, controller 1 can still function normally, providing convenience for users.

[0055] Furthermore, the interactive display screen is mainly used to query, set, and calibrate system parameters. In this embodiment, the interactive display screen can display the status of the micro-motion button, the real-time value of the angle sensor, the current value of the motor adjustment mechanism, the set target value, and alarm information of the corresponding components. The interactive display screen can set the sensitivity of fine-tuning the steering (range 0-100%), calibrate the center value, maximum left turn value, and maximum right turn value of the steering handle 2, and set the starting position of the left differential, the starting position of the right differential, and the braking position length of the motor and rack 311. These settings are sent to the controller 1 via the CAN bus, allowing the system to be customized according to the mechanical state, so that each machine can achieve optimal performance. That is to say, the operator can set the sensitivity of fine-tuning the steering on the interactive display screen, and calibrate the center value and maximum left and right turn values ​​of the steering handle 2. At the same time, the starting position of the left and right differential and the braking position length of the motor and rack 311 can be set. These settings and values ​​are transmitted to controller 1 via the CAN bus. The interactive display screen can show the system parameters set by the user, including the sensitivity of the fine-tuning steering, the center position of steering lever 2, the maximum left turn value of steering lever 2, the maximum right turn value of steering lever 2, the starting position of the left differential of the motor and rack 311, the starting position of the right differential of the motor and rack 311, and the brake position length. Furthermore, the interactive display screen can also show the current driving mode set by the user.

[0056] In practical applications, the steering control system of this embodiment features differential steering with button fine-tuning, differential and brake steering controlled by steering handle 2, and provides multiple driving modes such as comfort, standard, and sport. Operators can flexibly select the most suitable driving mode according to their driving habits and needs. When the target harvesting machinery is traveling in a straight line and the steering deviation is small, the left turn micro-motion button 22 and the right turn micro-motion button 23 on steering handle 2 can be used for correction to achieve a large-radius steering; when the steering deviation is large or a turn is required, the steering handle 2 can be used to achieve a small-radius steering. This steering control system is suitable for steering control of tracked harvesting machinery.

[0057] During the harvesting process, if the deviation angle between the driving direction and the position of the crop to be harvested is small, only a small adjustment of the driving direction is needed. When adjusting to the left, press the left turn micro-motion button 22; when adjusting to the right, press the right turn micro-motion button 23. When the controller 1 receives the left turn micro-motion button signal or the right turn micro-motion button signal, it calculates the target direction, extension and retraction amount and action speed of the rack 311 of the motor transmission mechanism 31 according to the driving mode set on the interactive display screen and the calibration system parameters, and then obtains the required rotation direction, number of rotations and rotation speed of the motor. The controller 1 controls the motor transmission mechanism 31 to move to the target value at the set speed through the CAN bus. The rack 311 of the motor transmission mechanism 31 moves and drives the valve stem to move in the corresponding direction. The valve stem action controls the oil circuit of the steering valve 32 to be cut off or opened, and further drives the steering cylinder 4 to extend or retract to the left or right. The extension and retraction of the steering cylinder 4 directly pushes the steering rocker arm angle to change, so that the power is separated on one side of the gearbox output shaft, and the other side is driven normally. The speeds of the two tracks are not synchronized, and the vehicle body will lean towards the side with slower speed, thus realizing differential steering. When the driving mode changes, the extension and retraction of rack 311 will be adjusted synchronously, and the differential steering amplitude will change accordingly. The closer the mode is to sport, the more the extension and retraction of rack 311 will increase step by step, and the speed will also increase synchronously. The extension length of drive steering cylinder 4 will increase, which in turn will increase the steering rocker arm angle, and the differential steering amplitude will be more obvious.

[0058] When small-radius differential or brake steering is required, place the steering handle 2 in the left or right position. As the angle of the handle away from the center position gradually increases, the steering gradually changes from differential steering to brake steering. Depending on the set driving mode, the adjustment speed and sensitivity of the differential steering to brake steering will vary. For example, in comfort mode, the adjustment speed is slower and the sensitivity is lower; brake steering is only achieved when the handle approaches the calibrated limit value, resulting in a smoother steering process. In sport mode, the adjustment speed is faster and the sensitivity is higher; brake steering is achieved when the handle reaches the target position of the calibrated limit value (e.g., half the limit value), resulting in a more flexible steering process. The small-radius steering process is similar to fine-tuning. As the angle of the handle away from the center position increases, the extension and retraction of the rack 311 gradually increases. This drives the steering valve 32 to control the oil circuit to close or open, increasing the extension distance of the steering cylinder 4, increasing the steering rocker arm angle, and gradually switching the drive on one side of the gearbox from disengagement to braking, while the speed on the other side remains constant. For tracked vehicles, this manifests as one side's speed gradually decreasing until braking, while the speed on the other side remains constant. This steering method is very smooth and will not cause steering instability even on hard surfaces. When steering handle 2 and the micro switch are operated simultaneously, steering handle 2 can have higher priority than the micro switch. That is, if the operator operates steering handle 2 and the micro switch at the same time, the system will take the instruction of steering handle 2 as the standard for steering control, ensuring accuracy and safety in high-intensity or emergency steering operations.

[0059] In other words, this embodiment uses a micro-motion device to fine-tune the differential steering via buttons, and the steering handle 2 controls both differential steering and brake steering. When the harvesting machinery experiences a small steering deviation while traveling in a straight line, the operator can easily make fine adjustments using the left or right micro-motion buttons 23 on the handle. This fine-tuning function is based on the differential steering principle, controlling the slight extension and retraction of the steering cylinder 4 to create a slight difference in the speed of the two tracks, thereby achieving smooth steering with a large radius. When a larger angle of steering or turning is required, the operator can place the steering handle 2 to the left or right position. As the angle of the handle deviating from the center position increases, the system gradually transitions from differential steering to brake steering. This design makes the steering process more flexible and controllable, meeting different steering needs. This embodiment also provides multiple driving modes, such as Comfort, Standard, and Sport, each corresponding to different steering sensitivity and speed. Operators can select the appropriate mode according to their personal driving habits and working environment to obtain the best driving experience and work efficiency. For controller 1, when a steering command is issued by the micro-motion button or steering handle 2, controller 1 calculates the target direction, extension / retraction amount, and operating speed of the rack 311 of the motor drive mechanism 31 based on the driving mode and calibration parameters set on the interactive display screen. Controller 1 sends the command to the motor drive mechanism 31 via the CAN bus, driving it to move to the target value at the set speed. The movement of the motor drive mechanism 31 further drives the valve stem of the steering valve 32 to actuate, controlling the extension / retraction of the steering cylinder 4. The extension / retraction of the steering cylinder 4 directly changes the angle of the steering rocker arm, causing power separation or braking on one side of the transmission output shaft, while the other side continues normal drive, thereby achieving differential steering or brake steering.

[0060] In summary, this invention provides dual-mode operation, allowing for precise directional adjustments via a micro-motion device, suitable for minor corrections, and larger directional adjustments via a steering handle, suitable for curved driving or rapid turns. While achieving dual-mode operation, the system requires minimal modifications to its mechanical structure, allowing for upgrades without significantly altering existing harvesting machinery, thus reducing modification costs and time. Furthermore, the optimized harvesting machinery structure ensures smooth steering, reduces mechanical wear and vibration, and extends equipment lifespan. Smooth steering reduces driver impact and fatigue, improving driving comfort. Parameter settings can be customized according to different machine types and driver habits for optimal driving experience. Precise steering control improves the harvester's operational accuracy and efficiency. Automated steering control reduces repetitive driver operations, lowering labor intensity. Optimized harvesting machinery operation processes improve fuel efficiency and operational efficiency, reducing operating costs.

[0061] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and all such modifications and variations fall within the defined scope.

Claims

1. An electromechanical steering control system, characterized in that, The system includes: a steering handle, a controller, and an electromechanical control unit; The steering handle is equipped with a micro-motion device for controlling fine-tuning of the steering, and an angle sensor for detecting the swing angle of the steering handle. The output terminals of the micro-motion device and the angle sensor are respectively connected to the input terminal of the controller, and the signal lines of the controller and the electromechanical control unit are interconnected via a CAN bus. The controller is used to control the electromechanical control unit to drive the steering cylinder to perform the steering action of the target harvesting machinery based on the output signal of the micro-motion device and / or the output signal of the angle sensor.

2. The system according to claim 1, characterized in that, The angle sensor is connected to the steering handle via a mechanical lever, and the output of the angle sensor is connected to the first input of the controller.

3. The system according to claim 1, characterized in that, The micro-motion device includes a left-turn micro-motion button and a right-turn micro-motion button. The output of the left-turn micro-motion button is connected to the second input of the controller, and the output of the right-turn micro-motion button is connected to the third input of the controller.

4. The system according to any one of claims 1 to 3, characterized in that, The electromechanical control unit includes a motor drive mechanism and a directional valve; The motor transmission mechanism is mechanically connected to the steering valve, and the steering valve is connected to the steering cylinder via a hydraulic oil pipe; The motor drive mechanism is used to drive the steering valve based on the control commands issued by the controller; The steering valve is used to control the extension and retraction length and speed of the steering cylinder based on the drive of the motor transmission mechanism, so as to drive the steering rocker arm of the gearbox to change the angle and perform the steering action of the target harvesting machinery.

5. The system according to claim 4, characterized in that, The motor transmission mechanism includes a motor, a gear, and a rack, wherein the gear meshes with the rack. The gear is used to drive the rack to perform a stepless extension and retraction action when the motor rotates forward and backward, so as to push the steering rocker arm of the gearbox to change the angle through the steering valve and the steering cylinder in sequence, thereby performing the stepless steering action of the target harvesting machinery.

6. The system according to claim 5, characterized in that, The steering valve includes a main valve core and a steering valve body. The main valve core extends and retracts within the steering valve body to realize the extension and retraction function of the steering cylinder. The rack of the motor drive mechanism is rigidly connected to the main valve core of the steering valve, so that the main valve core is pushed to extend or retract by the extension or retraction of the rack.

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