CN110989615A - Control method and device for agricultural vehicle - Google Patents
Control method and device for agricultural vehicle Download PDFInfo
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- CN110989615A CN110989615A CN201911326294.6A CN201911326294A CN110989615A CN 110989615 A CN110989615 A CN 110989615A CN 201911326294 A CN201911326294 A CN 201911326294A CN 110989615 A CN110989615 A CN 110989615A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000001514 detection method Methods 0.000 claims abstract description 122
- 238000003306 harvesting Methods 0.000 claims description 14
- 238000005259 measurement Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 8
- 229920000742 Cotton Polymers 0.000 description 2
- 241000209149 Zea Species 0.000 description 2
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 2
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 235000005822 corn Nutrition 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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Abstract
The embodiment of the invention discloses a control method and a control device for an agricultural vehicle. Wherein, agricultural vehicle is provided with at least one contact distance sensor, and contact distance sensor is used for detecting the distance between agricultural vehicle's header and the ground, and this control method includes: controlling the header to move until a first distance is reserved between the header and the flat ground, so that contact ends of all contact distance sensors are in contact with the ground; acquiring and storing a high position detection signal detected by each contact type distance sensor; controlling the header to move until a second distance is formed between the header and the flat ground, wherein the second distance is smaller than the first distance; a low position detection signal detected by each contact distance sensor is acquired and stored. The technical scheme provided by the embodiment of the invention can realize the recalibration of the measurement interval of the contact type distance sensor on the agricultural vehicle, and ensure that the signal range of the contact type distance sensor on the agricultural vehicle is consistent with the distance range between the header and the ground.
Description
Technical Field
The invention relates to the technical field of agricultural automation, in particular to a control method and a control device for an agricultural vehicle.
Background
The agricultural vehicles such as the cotton picker, the corn harvester and the like are provided with the profiling angle sensor, and the relative position of the cutting table and the ground can be measured. The profiling angle sensor comprises a spring linkage device and an arc tentacle. During the harvesting operation of the agricultural vehicle, the tentacles of the profiling angle sensor can be constantly contacted with the ground, and when the ground rises, the arc tentacles are compressed and lifted; when the ground descends, the arc tentacles descend along with the arc tentacles, so that the angle of the profiling angle sensor changes correspondingly, and finally the distance between the header and the ground can be fed back by the angle value of the profiling angle sensor.
Due to the fault of the copying angle sensor or the maintenance of the copying angle sensor, the copying angle sensor needs to be reinstalled, but the installation of the copying angle sensor has the problem of consistency, and the signal range of the copying angle sensor at the same position of each trolley and the distance range between the cutting table and the ground cannot be completely consistent.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device for an agricultural vehicle, which are used for re-calibrating a measurement interval of a contact type distance sensor on the agricultural vehicle and ensuring that a signal range detected by the contact type distance sensor on the agricultural vehicle is consistent with a distance range between a header and the ground.
In a first aspect, an embodiment of the present invention provides a control method for an agricultural vehicle, where the agricultural vehicle is provided with at least one contact distance sensor, and the contact distance sensor is used for detecting a distance between a header of the agricultural vehicle and the ground, and the control method includes:
controlling the header to move until a first distance is reserved between the header and the flat ground, so that contact ends of all contact distance sensors are in contact with the ground;
acquiring and storing a high position detection signal detected by each contact type distance sensor;
controlling the header to move until a second distance is formed between the header and the flat ground, wherein the second distance is smaller than the first distance;
a low position detection signal detected by each contact distance sensor is acquired and stored.
Further, the control method further includes:
controlling the header to move until a third distance is formed between the header and the flat ground, wherein the third distance is greater than the second distance and smaller than the first distance;
an expected position detection signal detected by the contact distance sensor is acquired and stored.
Further, the control method further includes:
controlling the agricultural vehicle to run and carrying out harvesting operation;
acquiring a current detection signal detected by each contact type distance sensor in real time;
and controlling the header to ascend or descend according to a high position detection signal, a low position detection signal, an expected position detection signal and a current detection signal detected by the contact distance sensor.
Further, the number of the contact distance sensors is plural,
according to high position detected signal, low position detected signal, anticipated position detected signal and the current detected signal that contact distance sensor detected, control header rise or descend and include:
obtaining expected position percentage of contact distance sensor
B is a high position detection signal detected by the contact distance sensor, c is a low position detection signal detected by the contact distance sensor, and d is an expected position detection signal detected by the contact distance sensor;
obtaining the actual position percentage of each contact distance sensor
Wherein, f is a current detection signal detected by the contact distance sensor;
acquiring a first preset operation value in the actual position percentages of the plurality of contact type distance sensors, wherein the first preset operation value comprises a maximum value, a minimum value or an average value;
and controlling the header to ascend or descend according to the expected position percentage of the contact type distance sensor and the first preset operation value.
Further, controlling the header to ascend or descend according to the expected position percentage of the contact distance sensor and the first preset operation value comprises:
if the expected position percentage of the contact distance sensor is larger than a first preset operation value, controlling the header to ascend;
and if the expected position percentage of the contact distance sensor is smaller than a first preset operation value, controlling the header to descend.
Furthermore, the number of the contact distance sensors is a plurality of, and the plurality of contact distance sensors are distributed in at least one row, wherein the row direction is perpendicular to the direction that the head of the agricultural vehicle points to the tail of the vehicle, and the control method further comprises the following steps:
obtaining a maximum value and a minimum value in the percentage of actual positions of the plurality of contact distance sensors, the percentage of actual positions
B is a high position detection signal detected by the contact distance sensor, c is a low position detection signal detected by the contact distance sensor, and f is a current detection signal detected by the contact distance sensor;
and if the difference value between the maximum value and the minimum value is larger than a preset threshold value, alarming.
Further, the agricultural vehicle is also provided with two first multiplex function buttons,
before control header removes for first distance between header and the level and smooth ground, still include:
controlling the header to rise until the contact ends of all the contact distance sensors are separated from the flat ground;
the control header removes and includes for first distance between header and the level and smooth ground:
when two first multiplexing function buttons are monitored to simultaneously generate trigger signals, the header is controlled to descend;
when two first multiplexing function buttons are monitored to stop generating trigger signals, the header is controlled to stop moving, and a first distance is formed between the header and the flat ground;
the agricultural vehicle is also provided with two second multiplex function buttons,
the control header removes and includes for the second distance between header and the level and smooth ground:
when two second multiplexing function buttons are monitored to simultaneously generate trigger signals, the header is controlled to descend;
when the two second multiplexing function buttons stop generating trigger signals, the header is controlled to stop moving, and a second distance is formed between the header and the flat ground.
Furthermore, the agricultural vehicle is also provided with two third multiplexing function buttons;
the control header removes and includes for the third distance between header and the level and smooth ground:
when two third multiplexing function buttons are monitored to simultaneously generate trigger signals, the header is controlled to ascend or descend;
when the two third multiplexing function buttons stop generating trigger signals, the header is controlled to stop moving, and a third distance is formed between the header and the flat ground.
Further, the contact distance sensor includes a profile angle sensor.
In a second aspect, an embodiment of the present invention further provides a control device for an agricultural vehicle, where the agricultural vehicle is provided with at least one contact distance sensor, and the contact distance sensor is used for detecting a distance between a header of the agricultural vehicle and the ground, and the control device includes:
the first control module is used for controlling the header to move until a first distance is reserved between the header and the flat ground, so that contact ends of all contact type distance sensors are in contact with the ground;
the first acquisition module is used for acquiring and storing a high position detection signal detected by each contact type distance sensor;
the second control module is used for controlling the header to move until a second distance is formed between the header and the flat ground, and the second distance is smaller than the first distance;
and the second acquisition module is used for acquiring and storing the low position detection signal detected by each contact type distance sensor.
The control method for the agricultural vehicle in the technical scheme of the embodiment of the invention comprises the following steps: controlling the header to move until a first distance is reserved between the header and the flat ground, so that contact ends of all contact distance sensors are in contact with the ground; acquiring and storing a high position detection signal detected by each contact type distance sensor; controlling the header to move until a second distance is formed between the header and the flat ground, wherein the second distance is smaller than the first distance; the low position detection signals detected by each contact type distance sensor are acquired and stored, namely the high position detection signals and the low position detection signals respectively correspond to two extreme positions of a measurement interval, so that the measurement interval of the contact type distance sensor on the agricultural vehicle can be recalibrated, the detection signal range of the contact type distance sensor on the agricultural vehicle is ensured to correspond to the actual distance range of the header and the ground, and the situation that the detection signal range of the reinstalled contact type distance sensor is inconsistent with the distance range of the header and the ground is avoided.
Drawings
FIG. 1 is a flow chart of a control method for an agricultural vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of a partial structure of an agricultural vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic view of a portion of another agricultural vehicle according to an embodiment of the present invention;
FIG. 4 is a flow chart of yet another control method for an agricultural vehicle provided by an embodiment of the present invention;
fig. 5 is a partial schematic structural diagram of another agricultural vehicle provided in an embodiment of the present invention.
FIG. 6 is a flow chart of yet another control method for an agricultural vehicle provided by an embodiment of the present invention;
FIG. 7 is a flow chart of yet another control method for an agricultural vehicle provided by an embodiment of the present invention;
FIG. 8 is a flow chart of yet another control method for an agricultural vehicle provided by an embodiment of the present invention;
FIG. 9 is a flow chart of yet another control method for an agricultural vehicle provided by an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a control device for an agricultural vehicle according to an embodiment of the invention;
fig. 11 is a schematic structural diagram of another control device for an agricultural vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a control method for an agricultural vehicle. Fig. 1 is a flowchart of a control method for an agricultural vehicle according to an embodiment of the present invention. The embodiment can be used for realizing the recalibration of the measuring interval of the contact distance sensor on the agricultural vehicle, and ensuring that the signal range of the contact distance sensor on the agricultural vehicle is consistent with the distance range of the header and the ground. The agricultural vehicle may be a cotton picker, a corn harvester, or the like. The agricultural vehicle is provided with at least one contact distance sensor for detecting the distance between the header of the agricultural vehicle and the ground. The control method specifically comprises the following steps:
and step 110, controlling the header to move until the header is a first distance away from the flat ground, so that contact ends of all contact distance sensors are in contact with the ground.
Wherein, optionally, the contact distance sensor comprises a profiling angle sensor. The contact end can be a feeler of the profiling angle sensor. Fig. 2 is a schematic partial structural diagram of an agricultural vehicle according to an embodiment of the present invention. Fig. 2 illustrates that the contact ends 2 of all the contact distance sensors are just in contact with the ground, and at this time, the first distance H1 between the header 1 and the flat ground may be the maximum distance that the contact distance sensors can detect. The detection signal of the contact distance sensor is in a linear relationship with the distance to be detected, and illustratively, the distance to be detected y is kx + m, where x is the detection signal output by the contact distance sensor, k is the slope, and m is the intercept. If the contact type distance sensor fails, the signal range of the reinstalled contact type distance sensor is different from that of the original contact type distance sensor, and the magnitude of detection signals output by the reinstalled contact type distance sensor is different from that of detection signals output by the original contact type distance sensor at the same distance, so that the reinstallation is needed. Before recalibration, the agricultural vehicle needs to be placed on a level ground. The header 1 can be controlled to ascend until the contact end 2 of the contact type distance sensor is separated from the ground, then the header 1 is controlled to descend, and when the contact end 2 is just contacted with the ground, the header 1 is controlled to stop moving, so that the first distance H1 is formed between the header and the flat ground. The agricultural vehicle drives the header to ascend and descend through a driving mechanism of the agricultural vehicle.
And step 120, acquiring and storing a high position detection signal detected by each contact distance sensor.
The detection signal of the contact distance sensor may be a voltage signal. When the header is a first distance H1 from the flat ground, the detection signal of the contact distance sensor is a high position detection signal. Each contact distance sensor may perform multiple samples to take the average of the multiple samples as the final high position detection signal.
And step 130, controlling the header to move until a second distance exists between the header and the flat ground, wherein the second distance is smaller than the first distance.
Fig. 3 is a partial schematic structural diagram of another agricultural vehicle according to an embodiment of the present invention. Fig. 3 illustrates that the contact end 2 of the contact distance sensor is in contact with the ground and the contact end 2 reaches the contraction limit and cannot be shortened any longer, and at this time, the second distance H2 between the header 1 and the flat ground may be the minimum distance that the contact distance sensor can detect. The header 1 may be controlled to gradually descend after steps 110 and 120, and when it is observed that the contact end 2 is fully in contact with the ground to the extent that the contact end 2 reaches the contraction limit, the header 1 is controlled to stop moving so that the header is at a second distance H2 from the flat ground.
Step 140, a low position detection signal detected by each touch distance sensor is acquired and stored.
When the header is a second distance H2 from the flat ground, the detection signal of the contact distance sensor is a low position detection signal. Each contact distance sensor may perform multiple samples to take an average of the multiple samples as a final low position detection signal.
The control method for the agricultural vehicle in the technical scheme of the embodiment comprises the following steps: controlling the header to move until a first distance is reserved between the header and the flat ground, so that contact ends of all contact distance sensors are in contact with the ground; acquiring and storing a high position detection signal detected by each contact type distance sensor; controlling the header to move until a second distance is formed between the header and the flat ground, wherein the second distance is smaller than the first distance; the low position detection signals detected by each contact type distance sensor are acquired and stored, namely the high position detection signals and the low position detection signals respectively correspond to two extreme positions of a measurement interval, so that the measurement interval of the contact type distance sensor on the agricultural vehicle can be recalibrated, the detection signal range of the contact type distance sensor on the agricultural vehicle is ensured to correspond to the actual distance range of the header and the ground, and the situation that the detection signal range of the reinstalled contact type distance sensor is inconsistent with the distance range of the header and the ground is avoided.
Fig. 4 is a flowchart of another control method for an agricultural vehicle according to an embodiment of the present invention. On the basis of the above embodiment, the control method includes:
and step 210, controlling the header to move until the header is a second distance away from the flat ground.
Step 220, acquiring and storing the low position detection signal detected by each contact distance sensor.
And step 230, controlling the header to move until a first distance exists between the header and the flat ground, so that the contact ends of all the contact distance sensors are in contact with the ground, and the second distance is smaller than the first distance.
And step 240, acquiring and storing the high position detection signal detected by each contact distance sensor.
And step 250, controlling the header to move until a third distance is formed between the header and the flat ground, wherein the third distance is greater than the second distance and smaller than the first distance.
Fig. 5 is a partial schematic structural diagram of another agricultural vehicle according to an embodiment of the present invention. Fig. 5 shows an exemplary third distance H3 between the header 1 and the flat ground. The header 1 may be controlled to gradually ascend after steps 210 and 220, and when the distance between the header 1 and the ground is observed to approach the desired height, the header 1 is controlled to stop moving such that the header 1 is at a third distance H3 from the flat ground. Alternatively, the header 1 may be controlled to gradually descend after steps 230 and 240, and the header 1 is controlled to stop moving when the distance between the header 1 and the ground is observed to approach the desired height, so that the header 1 is at a third distance H3 from the flat ground.
The expected position detection signal detected by the contact distance sensor is acquired and stored, step 260.
When the header is a third distance H3 from the flat ground, the detection signal of the contact distance sensor is an expected position detection signal. The contact distance sensor may perform multiple samplings to take the average of the multiple samplings as the final expected position detection signal. Optionally, if the agricultural vehicle is provided with a contact distance sensor, when the agricultural vehicle is harvesting, the header is controlled to ascend or descend by comparing the current detection signal and the expected position detection signal of the contact distance sensor in real time, so that the height between the header of the agricultural vehicle and the ground is kept at a desired third distance, the consistency of the height of the cut stubble is improved, and the influence of unevenness on the ground on the height of the cut stubble is reduced.
Fig. 6 is a flowchart of another control method for an agricultural vehicle according to an embodiment of the present invention. On the basis of the above embodiment, the control method includes:
and step 310, controlling the header to move until the header is a first distance away from the flat ground, so that contact ends of all contact distance sensors are in contact with the ground.
And step 320, acquiring and storing the high position detection signal detected by each contact distance sensor.
And step 330, controlling the header to move until a second distance exists between the header and the flat ground, wherein the second distance is smaller than the first distance.
Step 340, acquiring and storing the low position detection signal detected by each contact distance sensor.
And 350, controlling the header to move until a third distance exists between the header and the flat ground, wherein the third distance is greater than the second distance and smaller than the first distance.
And step 360, acquiring and storing an expected position detection signal detected by the contact distance sensor.
And step 370, controlling the agricultural vehicle to run and performing harvesting operation.
And 380, acquiring a current detection signal detected by each contact distance sensor in real time.
And 390, controlling the header to ascend or descend according to the high position detection signal, the low position detection signal, the expected position detection signal and the current detection signal detected by the contact distance sensor.
Optionally, if the agricultural vehicle is provided with a contact distance sensor, when the agricultural vehicle is harvesting, the header is controlled to ascend or descend by comparing the actual position percentage of the contact distance sensor with the expected position percentage in real time, so that the height between the header of the agricultural vehicle and the ground is kept at a desired third distance, the consistency of the stubble cutting height is improved, and the influence of unevenness on the ground on the stubble cutting height is reduced. Wherein the percentage of actual position
Percentage of expected location
Wherein f is a current detection signal detected by the contact distance sensor, b is a high position detection signal detected by the contact distance sensor, c is a low position detection signal detected by the contact distance sensor, and d is an expected position detection signal detected by the contact distance sensor. Wherein,
wherein H4 is the actual distance between the cutting platform and the ground when the agricultural vehicle carries out the harvesting operation.
Fig. 7 is a flowchart of another control method for an agricultural vehicle according to an embodiment of the present invention. On the basis of the above-described embodiments, the number of contact distance sensors is multiple, and multiple contact distance sensors may be used to detect the distance between multiple different positions of the header and the ground. The control method comprises the following steps:
and step 410, controlling the header to move until the header is a first distance away from the flat ground, so that contact ends of all contact distance sensors are in contact with the ground.
And step 420, acquiring and storing a high position detection signal detected by each contact distance sensor.
Wherein the slope k and intercept m may be different for different touch distance sensors. In addition, when the header is at the first distance H1 from the flat ground, the high position detection signals detected by different contact distance sensors are different, and the high position detection signal detected by each contact distance sensor needs to be acquired and stored to acquire a limit value of the measurement interval of each contact distance sensor.
And step 430, controlling the header to move until a second distance exists between the header and the flat ground, wherein the second distance is smaller than the first distance.
Step 440, acquiring and storing the low position detection signal detected by each touch distance sensor.
When the second distance H2 exists between the header and the flat ground, the low position detection signals detected by different contact distance sensors are different, and the low position detection signal detected by each contact distance sensor needs to be acquired and stored to acquire another limit value of the measurement interval of each contact distance sensor.
And step 450, controlling the header to move until a third distance exists between the header and the flat ground, wherein the third distance is greater than the second distance and smaller than the first distance.
Step 460, acquiring and storing the expected position detection signal detected by the contact distance sensor.
Wherein, when the header is a third distance H3 from the flat ground, an expected position detection signal detected by at least one contact distance sensor is acquired and stored to acquire an expected position percentage of the contact distance sensors, wherein the expected position percentage of all contact distance sensors is equal.
And 470, controlling the agricultural vehicle to run and performing harvesting operation.
And step 480, acquiring a current detection signal detected by each contact type distance sensor in real time.
Step 490, obtain the expected position percentage of the touch distance sensor, the expected position percentage
Where b is a high position detection signal detected by the contact distance sensor, c is a low position detection signal detected by the contact distance sensor, and d is an expected position detection signal detected by the contact distance sensor.
Step 500, obtaining the actual position percentage of each touch distance sensor
Wherein f is a current detection signal detected by the contact distance sensor.
And step 510, acquiring a first preset operation value in the actual position percentages of the plurality of contact distance sensors, wherein the first preset operation value comprises a maximum value, a minimum value or an average value.
And step 520, controlling the header to ascend or descend according to the expected position percentage of the contact type distance sensor and the first preset operation value.
If the ground is uneven, the maximum height of the stubble is close to the expected height by comparing the maximum value of the actual position percentages of the plurality of contact distance sensors with the expected position percentage, and the height of the stubble is higher than the expected height as a whole. If the ground is uneven, the minimum height of the stubble cutting is close to the expected height by comparing the minimum value of the actual position percentages of the plurality of contact distance sensors with the expected position percentage, and the height of the stubble cutting is lower than the expected height as a whole. If the ground is uneven, the average height of the stubbles is close to the expected height as much as possible by comparing the average value of the actual position percentages of the plurality of contact distance sensors with the expected position percentage.
Optionally, controlling the header to ascend or descend according to the expected position percentage of the contact distance sensor and the first preset operation value includes: if the expected position percentage of the contact distance sensor is larger than a first preset operation value, the stubble cutting height is too low, and the header is controlled to ascend; and if the expected position percentage of the contact distance sensor is smaller than a first preset operation value, which indicates that the stubble cutting height is too high, controlling the header to descend. If the expected position percentage of the contact distance sensor is equal to the first preset operation value, which indicates that the stubble cutting height meets the requirement, the header does not need to be lifted.
Fig. 8 is a flowchart of another control method for an agricultural vehicle according to an embodiment of the present invention. On the basis of the above embodiment, the plurality of contact distance sensors are distributed in at least one row, wherein the row direction is perpendicular to the direction in which the head of the agricultural vehicle points to the tail of the agricultural vehicle, and the plurality of contact distance sensors are arranged along the width direction of the agricultural vehicle, and the control method comprises the following steps:
and step 610, controlling the header to move until the header is a first distance away from the flat ground, so that contact ends of all contact distance sensors are in contact with the ground.
And step 620, acquiring and storing a high position detection signal detected by each contact distance sensor.
And step 630, controlling the header to move until a second distance exists between the header and the flat ground, wherein the second distance is smaller than the first distance.
And step 640, acquiring and storing a low position detection signal detected by each contact distance sensor.
And 650, controlling the agricultural vehicle to run and performing harvesting operation.
And 660, acquiring a current detection signal detected by each contact distance sensor in real time.
Step 670, obtain the maximum and minimum of the actual position percentages of the plurality of touch distance sensors, the actual position percentage
Wherein, b is a high position detection signal detected by the contact distance sensor, c is a low position detection signal detected by the contact distance sensor, and f is a current detection signal detected by the contact distance sensor.
And step 680, if the difference value between the maximum value and the minimum value is larger than a preset threshold value, alarming.
If the difference value between the maximum value and the minimum value in the actual position percentages of the plurality of contact distance sensors is larger than a preset threshold value, the fact that the degree of the unevenness on the ground is too high at present and is not beneficial to harvesting is indicated, and an alarm is given to inform harvesting operators. For example, if the actual position percentage of the touch distance sensor on the left side of the agricultural vehicle is the largest and the actual position percentage of the touch distance sensor on the right side of the agricultural vehicle is the smallest, the terrain of the ground on the left side of the agricultural vehicle relative to the terrain of the ground on the right side is low, and the ground on the left side of the agricultural vehicle may be concave or the ground on the right side may be convex. If the actual position percentages of the contact distance sensors are equal, the current ground of the agricultural vehicle is flat.
Fig. 9 is a flowchart of another control method for an agricultural vehicle according to an embodiment of the present invention. On the basis of the above embodiment, the agricultural vehicle is further provided with two first multiplex function buttons, the agricultural vehicle is further provided with two second multiplex function buttons, and the agricultural vehicle is further provided with two third multiplex function buttons.
And step 710, controlling the header to ascend until contact ends of all contact type distance sensors are separated from the flat ground.
And 720, controlling the header to descend when the two first multiplexing function buttons are monitored to simultaneously generate trigger signals.
Wherein, operating personnel can press two first multiplex function button in order to produce trigger signal simultaneously, and then realize controlling the header and descend.
And step 730, when the two first multiplexing function buttons stop generating trigger signals, controlling the header to stop moving, wherein a first distance is formed between the header and the flat ground.
Wherein, the operator can release two first multiplex function buttons simultaneously to stop generating the trigger signal, thereby realizing controlling the header to stop moving, and execute step 740.
And step 740, acquiring and storing the high position detection signal detected by each contact distance sensor.
Wherein, pressing a first multiplex function button alone can trigger other functions, but will not trigger the functions corresponding to step 720, step 730 and step 740. Two first multiplexing function buttons are adjacent or are close to each other, so that the operation of an operator is facilitated.
And step 750, controlling the header to descend when the two second multiplexing function buttons are monitored to generate the trigger signals simultaneously.
Wherein, operating personnel can press two multiplexing function button of second simultaneously in order to produce corresponding trigger signal, and then realize controlling the header and descend.
And 760, when the two second multiplexing function buttons stop generating trigger signals, controlling the header to stop moving, wherein a second distance is formed between the header and the flat ground.
Wherein, the operator can release two second multiplex function buttons simultaneously to stop producing trigger signal, and then realize that control header stops moving to execute step 770.
Step 770, acquiring and storing the low position detection signal detected by each contact distance sensor.
Wherein, pressing a second multiplex function button alone can trigger other functions, but will not trigger the functions corresponding to step 750, step 760 and step 770. The two second multiplexing function buttons are adjacent or close to each other, so that the operation of an operator is facilitated.
And step 780, when two third multiplexing function buttons are monitored to simultaneously generate a trigger signal, controlling the header to ascend or descend.
Wherein, operating personnel can press two multiplexing function button of third simultaneously in order to produce trigger signal, and then realize controlling the header and rise or descend. If step 780 is performed after step 730, the header is controlled to descend when it is detected that the two third mux buttons are simultaneously generating the trigger signals. If step 780 is performed after step 760, the header is controlled to ascend when it is detected that the two third multiplex function buttons simultaneously generate the trigger signals.
And step 790, controlling the header to stop moving when the two third multiplexing function buttons stop generating the trigger signals, wherein a third distance is formed between the header and the flat ground.
Wherein, the operator can release two third multiplex function buttons simultaneously to stop generating the trigger signal, thereby realizing that the header is controlled to stop moving, and execute step 800.
Step 800, an expected position detection signal detected by each contact distance sensor is acquired and stored.
Wherein, pressing a third multiplexing function button alone can trigger other functions, but will not trigger the functions corresponding to steps 780, 790 and 800. The two third multiplexing function buttons are adjacent or close to each other, so that the operation of an operator is facilitated.
It should be noted that a single multiplex function button may include one of the following functions: controlling the header to rise quickly, controlling the header to fall quickly, controlling the header to rise slowly or controlling the header to fall slowly, and the like.
The embodiment of the invention provides a control device for an agricultural vehicle. Fig. 10 is a schematic structural diagram of a control device for an agricultural vehicle according to an embodiment of the present invention. The control device for the agricultural vehicle can be used for executing the control method for the agricultural vehicle provided by any embodiment of the invention. The agricultural vehicle is provided with at least one contact distance sensor for detecting the distance between the header of the agricultural vehicle and the ground. The control device 10 for an agricultural vehicle includes: a first control module 810, a first acquisition module 820, a second control module 830, and a second acquisition module 840.
The first control module 810 is configured to control the header to move until a first distance exists between the header and the flat ground, so that contact ends of all the contact distance sensors are in contact with the ground; the first obtaining module 820 is used for obtaining and storing a high position detection signal detected by each contact distance sensor; the second control module 830 is configured to control the movement of the header until a second distance exists between the header and the flat ground, where the second distance is smaller than the first distance; the second acquiring module 840 is configured to acquire and store a low position detection signal detected by each touch distance sensor.
The control device for the agricultural vehicle can execute the control method for the agricultural vehicle provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Optionally, fig. 11 is a schematic structural diagram of another control device for an agricultural vehicle according to an embodiment of the present invention, where the control device further includes: the third control module 850 is configured to control the header to move until a third distance exists between the header and the flat ground, where the third distance is greater than the second distance and smaller than the first distance; the third acquisition module 860 is used to acquire and store the expected position detection signal detected by the contact distance sensor.
Optionally, on the basis of the foregoing embodiment, with continued reference to fig. 11, the control device further includes: a harvesting control module 870, a fourth acquisition module 880 and a distance adjustment module 890, wherein the harvesting control module 870 is configured to control the agricultural vehicle to travel and perform harvesting operations; the fourth acquiring module 880 is configured to acquire a current detection signal detected by each contact distance sensor in real time; the distance adjusting module 890 is configured to control the header to ascend or descend according to the high position detection signal, the low position detection signal, the expected position detection signal, and the current detection signal detected by the contact distance sensor.
Optionally, the number of the contact distance sensors is plural, and based on the above embodiment, with continuing reference to fig. 8, the distance adjusting module 890 includes: a desired position acquisition unit 891, an actual position acquisition unit 892, an arithmetic unit 893, and a distance adjustment unit 894. Wherein the expected position acquisition unit 891 is used for acquiring an expected position percentage of the contact distance sensor
B is a high position detection signal detected by the contact distance sensor, c is a low position detection signal detected by the contact distance sensor, and d is an expected position detection signal detected by the contact distance sensor; the actual position acquisition unit 892 is configured to acquire an actual position percentage of each of the contact distance sensors
Wherein, f is a current detection signal detected by the contact distance sensor; the operation unit 893 is configured to obtain a first preset operation value in the actual position percentages of the plurality of contact distance sensors, where the first preset operation value includes a maximum value, a minimum value, or an average value; the distance adjustment unit 894 is used to control the header ascent or descent according to the expected position percentage of the contact distance sensor and the first preset operation value.
Optionally, the distance adjusting unit 894 is configured to control the header to ascend if the expected position percentage of the contact distance sensor is greater than a first preset operation value; and if the expected position percentage of the contact distance sensor is smaller than a first preset operation value, controlling the header to descend.
Optionally, the number of the contact distance sensors is multiple, and the multiple contact distance sensors are distributed in at least one row, wherein the row direction is perpendicular to the direction in which the head of the agricultural vehicle points to the tail of the vehicle, on the basis of the above embodiment, with continued reference to fig. 11, the control device further includes: a fifth acquiring module 900 and an alarm module 910; the fifth acquiring module 900 is configured to acquire a maximum value and a minimum value of actual position percentages of the plurality of contact distance sensors, where the actual position percentages
B is a high position detection signal detected by the contact distance sensor, c is a low position detection signal detected by the contact distance sensor, and f is a current detection signal detected by the contact distance sensor; the alarm module 910 is configured to alarm if a difference between the maximum value and the minimum value is greater than a preset threshold.
Optionally, on the basis of the foregoing embodiment, with continued reference to fig. 11, the control device further includes: and a fifth control module 920, configured to control the header to ascend until contact ends of all the contact distance sensors are separated from the flat ground before the first control module 810 controls the header to move until the header is a first distance from the flat ground.
Optionally, the agricultural vehicle is further provided with two first multiplex function buttons, and the first control module 810 is configured to control the header to ascend when it is monitored that the two first multiplex function buttons generate a trigger signal at the same time; when the two first multiplexing function buttons stop generating trigger signals, the header is controlled to stop moving, and a first distance is formed between the header and the flat ground.
Optionally, the agricultural vehicle is further provided with two second multiplexing function buttons, and the second control module 830 is configured to control the header to descend when it is monitored that the two second multiplexing function buttons generate the trigger signal at the same time; when the two second multiplexing function buttons stop generating trigger signals, the header is controlled to stop moving, and a second distance is formed between the header and the flat ground.
Optionally, the agricultural vehicle is further provided with two third multiplex function buttons; the third control module 850 is used for controlling the header to ascend or descend when the two third multiplexing function buttons are monitored to simultaneously generate a trigger signal; when the two third multiplexing function buttons stop generating trigger signals, the header is controlled to stop moving, and a third distance is formed between the header and the flat ground.
Optionally, the contact distance sensor comprises a profile angle sensor.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A control method for an agricultural vehicle, characterized in that the agricultural vehicle is provided with at least one contact distance sensor for detecting a distance between a header of the agricultural vehicle and a ground, the control method comprising:
controlling the header to move until a first distance is reserved between the header and the flat ground, so that contact ends of all the contact type distance sensors are in contact with the ground;
acquiring and storing a high position detection signal detected by each contact type distance sensor;
controlling the header to move until a second distance is formed between the header and the flat ground, wherein the second distance is smaller than the first distance;
and acquiring and storing a low position detection signal detected by each contact type distance sensor.
2. The control method according to claim 1, characterized by further comprising:
controlling the header to move until a third distance is formed between the header and the flat ground, wherein the third distance is greater than the second distance and smaller than the first distance;
an expected position detection signal detected by the contact distance sensor is acquired and stored.
3. The control method according to claim 2, characterized by further comprising:
controlling the agricultural vehicle to run and carrying out harvesting operation;
acquiring a current detection signal detected by each contact type distance sensor in real time;
and controlling the header to ascend or descend according to a high position detection signal, a low position detection signal, an expected position detection signal and a current detection signal detected by the contact distance sensor.
4. The control method according to claim 3, wherein the number of the contact distance sensors is plural,
controlling the header to ascend or descend according to a high position detection signal, a low position detection signal, an expected position detection signal and a current detection signal detected by the contact distance sensor, including:
obtaining an expected location percentage of the contact distance sensor, the expected location percentage
Wherein b is a high position detection signal detected by the contact distance sensor, and c is the contact distance sensorA detected low position detection signal, d being an expected position detection signal detected by the contact distance sensor;
obtaining an actual position percentage for each of the contact distance sensors, the actual position percentage
Wherein f is a current detection signal detected by the contact distance sensor;
acquiring a first preset operation value in the actual position percentages of a plurality of contact type distance sensors, wherein the first preset operation value comprises a maximum value, a minimum value or an average value;
controlling the header to ascend or descend according to the expected position percentage of the contact distance sensor and the first preset operation value.
5. The control method according to claim 4, wherein controlling the header to ascend or descend according to the expected position percentage of the contact distance sensor and the first preset operation value comprises:
if the expected position percentage of the contact distance sensor is larger than the first preset operation value, controlling the header to ascend;
and if the expected position percentage of the contact distance sensor is smaller than the first preset operation value, controlling the header to descend.
6. The control method according to claim 1, wherein the number of the contact distance sensors is multiple, and the multiple contact distance sensors are distributed in at least one row, wherein the row direction is perpendicular to the direction in which the head of the agricultural vehicle points to the tail of the vehicle, and the control method further comprises the following steps:
obtaining a maximum value and a minimum value of actual position percentages of the plurality of contact distance sensors, the actual position percentages
Wherein, b is a high position detection signal detected by the contact distance sensor, c is a low position detection signal detected by the contact distance sensor, and f is a current detection signal detected by the contact distance sensor;
and if the difference value between the maximum value and the minimum value is larger than a preset threshold value, alarming.
7. The control method according to claim 1, wherein the agricultural vehicle is further provided with two first multiplex function buttons,
before controlling the header to move until a first distance is between the header and the flat ground, the method further comprises the following steps:
controlling the header to ascend until contact ends of all the contact type distance sensors are separated from the flat ground;
controlling the header to move until a first distance between the header and the flat ground comprises:
when the two first multiplexing function buttons are monitored to simultaneously generate trigger signals, controlling the header to descend;
when the two first multiplexing function buttons stop generating trigger signals, controlling the header to stop moving, wherein a first distance is formed between the header and the flat ground;
the agricultural vehicle is also provided with two second multiplex function buttons,
controlling the header to move until a second distance between the header and the flat ground comprises:
when the two second multiplexing function buttons are monitored to simultaneously generate trigger signals, controlling the header to descend;
and when the two second multiplexing function buttons are monitored to stop generating trigger signals, the header is controlled to stop moving, and a second distance is formed between the header and the flat ground.
8. The control method according to claim 2, wherein the agricultural vehicle is further provided with two third multiplex function buttons;
controlling the header to move until a third distance between the header and the flat ground comprises:
when the two third multiplexing function buttons are monitored to simultaneously generate trigger signals, the header is controlled to ascend or descend;
and when the two third multiplexing function buttons stop generating trigger signals, controlling the header to stop moving, wherein a third distance is formed between the header and the flat ground.
9. The control method of claim 1, wherein the contact distance sensor comprises a profile angle sensor.
10. A control device for an agricultural vehicle, characterized in that the agricultural vehicle is provided with at least one contact distance sensor for detecting the distance between a header of the agricultural vehicle and the ground, the control device comprising:
the first control module is used for controlling the header to move until a first distance is reserved between the header and the flat ground, so that contact ends of all the contact type distance sensors are in contact with the ground;
the first acquisition module is used for acquiring and storing a high position detection signal detected by each contact type distance sensor;
the second control module is used for controlling the header to move until a second distance is formed between the header and the flat ground, and the second distance is smaller than the first distance;
and the second acquisition module is used for acquiring and storing the low position detection signal detected by each contact type distance sensor.
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