CN110989615B - Control method and device for agricultural vehicle - Google Patents
Control method and device for agricultural vehicle Download PDFInfo
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- CN110989615B CN110989615B CN201911326294.6A CN201911326294A CN110989615B CN 110989615 B CN110989615 B CN 110989615B CN 201911326294 A CN201911326294 A CN 201911326294A CN 110989615 B CN110989615 B CN 110989615B
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000001514 detection method Methods 0.000 claims abstract description 135
- 238000003306 harvesting Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 description 7
- 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
- 230000008602 contraction Effects 0.000 description 2
- 235000005822 corn Nutrition 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 101150050759 outI gene Proteins 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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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses a control method and a control device for an agricultural vehicle. Wherein the agricultural vehicle is provided with at least one contact distance sensor for detecting a distance between a header of the agricultural vehicle and the ground, the control method comprising: the cutting table is controlled to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact type distance sensors are contacted with the ground; acquiring and storing high-position detection signals detected by each contact type distance sensor; the cutting table is controlled to move until a second distance is formed between the cutting table and the flat ground, and 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 achieve recalibration of the measuring 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 device for an agricultural vehicle.
Background
The agricultural vehicles such as cotton picker and corn harvester are provided with profiling angle sensors, so that the relative positions of the cutting table and the ground can be measured. The profiling angle sensor comprises a spring link device and an arc-shaped tentacle. In the harvesting operation process of the agricultural vehicle, the feeler of the profiling angle sensor is in contact with the ground at all times, and when the ground rises, the arc feeler is compressed and lifted; when the ground descends, the arc feeler descends along with the arc feeler, so that the angle of the profiling angle sensor changes correspondingly, and finally the angle value of the profiling angle sensor can feed back the distance between the cutting table and the ground.
Because of the reasons such as fault or maintenance of the profiling angle sensor, the profiling angle sensor needs to be reinstalled, but the installation of the profiling angle sensor has the problem of consistency, and the signal range of the profiling angle sensor at the same position of each trolley and the distance range of 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 realizing recalibration of 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, the agricultural vehicle being 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:
the cutting table is controlled to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact type distance sensors are contacted with the ground;
acquiring and storing high-position detection signals detected by each contact type distance sensor;
the cutting table is controlled to move until a second distance is formed between the cutting table and the flat ground, and 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:
the cutting table is controlled to move until a third distance is formed between the cutting table and the flat ground, wherein the third distance is larger 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 current detection signals detected by each contact type distance sensor in real time;
And 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.
Further, the number of the contact type distance sensors is a plurality,
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, the control header ascends or descends comprises:
acquiring the expected position percentage of the contact type distance sensorWherein b is a high position detection signal detected by the contact type distance sensor, c is a low position detection signal detected by the contact type distance sensor, and d is an expected position detection signal detected by the contact type distance sensor;
acquiring the actual position percentage of each contact type distance sensorF is the current detection signal detected by the contact type 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 lifting or descending of the header 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 percentage of the expected positions of the contact type distance sensors is larger than a first preset operation value, the header is controlled to ascend;
and if the expected position percentage of the contact type distance sensor is smaller than the first preset operation value, controlling the header to descend.
Further, the number of the contact distance sensors is a plurality, the plurality of the 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 agricultural vehicle, and the control method further comprises:
obtaining the maximum value and the minimum value in the actual position percentages of the contact distance sensors, wherein the actual position percentagesWherein b is a high position detection signal detected by the contact type distance sensor, c is a low position detection signal detected by the contact type distance sensor, and f is a current detection signal detected by the contact type 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 multiplexing function buttons,
before the control header moves until the first distance is between the header and the flat ground, the method further comprises the following steps:
The header is controlled to ascend until the contact ends of all the contact type distance sensors are separated from the flat ground;
controlling the movement of the header until a first distance is provided between the header and the leveled ground comprises:
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 cutting table is controlled to stop moving, and a first distance is reserved between the cutting table and the flat ground;
the agricultural vehicle is further provided with two second multiplexing function buttons,
controlling the movement of the header until a second distance is between the header and the flat ground comprises:
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 are monitored to stop generating the trigger signal, the cutting table is controlled to stop moving, and a second distance is reserved between the cutting table and the flat ground.
Further, the agricultural vehicle is also provided with two third multiplexing function buttons;
controlling the movement of the header until a third distance is provided between the header and the leveled ground comprises:
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 are monitored to stop generating the trigger signal, the cutting table is controlled to stop moving, and a third distance is reserved between the cutting table and the flat ground.
Further, the contact distance sensor includes a profiling angle sensor.
In a second aspect, an embodiment of the present invention also provides a control device for an agricultural vehicle, the agricultural vehicle being provided with at least one contact distance sensor for detecting a distance between a header of the agricultural vehicle and a ground, the control device comprising:
the first control module is used for controlling the cutting table to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact type distance sensors are contacted with the ground;
the first acquisition module is used for acquiring and storing the high-position detection signals detected by each contact type distance sensor;
the second control module is used for controlling the cutting table to move until a second distance is formed between the cutting table 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 signals 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: the cutting table is controlled to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact type distance sensors are contacted with the ground; acquiring and storing high-position detection signals detected by each contact type distance sensor; the cutting table is controlled to move until a second distance is formed between the cutting table and the flat ground, and 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 zone, so that the recalibration of the measurement zone of the contact type distance sensor on the agricultural vehicle can be realized, the detection signal range of the contact type distance sensor on the agricultural vehicle and the actual distance range of the header and the ground are ensured to correspond, and the occurrence of the condition that the detection signal range of the reinstalled contact type distance sensor and the distance range of the header and the ground are inconsistent 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 partial structure of an agricultural vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic view of a part of an agricultural vehicle according to another 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 schematic partial structure of another agricultural vehicle according to 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 view of a control device for an agricultural vehicle according to an embodiment of the present invention;
fig. 11 is a schematic structural view of a control device for an agricultural vehicle according to still another embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
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 type distance sensor on the agricultural vehicle, ensuring that the signal range of the contact type distance sensor on the agricultural vehicle is consistent with the distance range of the cutting table and the ground, the method can be executed by a control device for the agricultural vehicle, the device can be realized by a mode of software and/or hardware, and the device can be integrated in the agricultural vehicle. The agricultural vehicle may be a cotton picker, corn harvester, or the like. The agricultural vehicle is provided with at least one contact distance sensor for detecting a distance between a header of the agricultural vehicle and the ground. The control method specifically comprises the following steps:
and 110, controlling the cutting table to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact distance sensors are contacted with the ground.
Wherein, optionally, the contact distance sensor comprises a profiling angle sensor. The contact end may be the feeler of a contoured angle sensor. Fig. 2 is a schematic partial structure 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 just contact 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 type distance sensor is in a linear relation with the distance to be detected, and the distance to be detected is exemplified by y=kx+m, wherein x is the detection signal output by the contact type 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 under the same distance, the size of the detection signal output by the reinstalled contact type distance sensor is different from that of the original contact type distance sensor, 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 rise 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 observed to be just contacted with the ground, the header 1 is controlled to stop moving so as to enable a first distance H1 to be formed between the header and the flat ground. The agricultural vehicle drives the header to ascend and descend through the driving mechanism of the agricultural vehicle.
Step 120, obtain and store the 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 first distance H1 is between the header and the flat ground, the detection signal of the contact type distance sensor is a high-position detection signal. Each touch distance sensor may take multiple samples to take the average of the multiple samples as the final high position detection signal.
And 130, controlling the cutting table to move until a second distance is formed between the cutting table and the flat ground, wherein the second distance is smaller than the first distance.
Fig. 3 is a schematic partial structure 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 contacts the ground, and the contact end 2 reaches the contraction limit and cannot be shortened any more, 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. After steps 110 and 120, the header 1 may be controlled to gradually descend, and when the contact end 2 is observed to be in full contact with the ground until the contact end 2 reaches the contraction limit, the header 1 is controlled to stop moving, so that the second distance H2 is between the header and the flat ground.
Step 140, acquiring and storing the low position detection signal detected by each contact distance sensor.
When the second distance H2 is between the cutting table and the flat ground, the detection signal of the contact type distance sensor is a low-position detection signal. Each touch distance sensor may take multiple samples to take the average of the multiple samples as the final low position detection signal.
The control method for the agricultural vehicle in the technical scheme of the embodiment comprises the following steps: the cutting table is controlled to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact type distance sensors are contacted with the ground; acquiring and storing high-position detection signals detected by each contact type distance sensor; the cutting table is controlled to move until a second distance is formed between the cutting table and the flat ground, and 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 zone, so that the recalibration of the measurement zone of the contact type distance sensor on the agricultural vehicle can be realized, the detection signal range of the contact type distance sensor on the agricultural vehicle and the actual distance range of the header and the ground are ensured to correspond, and the occurrence of the condition that the detection signal range of the reinstalled contact type distance sensor and the distance range of the header and the ground are inconsistent is avoided.
Fig. 4 is a flowchart of yet 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:
step 210, the cutting table is controlled to move until a second distance is reserved between the cutting table and the flat ground.
Step 220, obtain and store the low position detection signal detected by each contact distance sensor.
And 230, controlling the cutting table to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact type distance sensors are contacted with the ground, and the second distance is smaller than the first distance.
Step 240, obtain and store the high position detection signal detected by each contact distance sensor.
Step 250, the cutting table is controlled to move until a third distance is formed between the cutting table and the flat ground, wherein the third distance is larger than the second distance and smaller than the first distance.
Fig. 5 is a schematic partial structure of another agricultural vehicle according to an embodiment of the present invention. Fig. 5 illustrates an exemplary case where the third distance H3 is between the header 1 and the flat ground. The header 1 may be controlled to gradually rise after steps 210 and 220, and when it is observed that the distance between the header 1 and the ground approaches a desired height, the header 1 is controlled to stop moving so 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 when it is observed that the distance between the header 1 and the ground approaches a 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.
Step 260, obtain and store the expected position detection signal detected by the contact distance sensor.
When the third distance H3 is between the cutting table and the flat ground, the detection signal of the contact type distance sensor is an expected position detection signal. The touch distance sensor may take a plurality of samples to take an average of the plurality of samples as a final expected position detection signal. Optionally, if the agricultural vehicle is provided with a contact distance sensor, when the agricultural vehicle performs harvesting operation, the current detection signal of the contact distance sensor is compared with the expected position detection signal in real time to control the lifting or lowering of the header, so that the height of 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 the uneven ground on the stubble cutting height is reduced.
Fig. 6 is a flowchart of yet 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 310, controlling the cutting table to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact distance sensors are contacted with the ground.
Step 320, obtain and store the high position detection signal detected by each contact distance sensor.
And 330, controlling the cutting table to move until a second distance is formed between the cutting table and the flat ground, wherein the second distance is smaller than the first distance.
Step 340, obtain and store the low position detection signal detected by each contact distance sensor.
And 350, controlling the cutting table to move until a third distance is formed between the cutting table and the flat ground, wherein the third distance is larger than the second distance and smaller than the first distance.
Step 360, acquiring and storing the expected position detection signal detected by the contact distance sensor.
And 370, controlling the agricultural vehicle to run and carrying out harvesting operation.
Step 380, acquiring current detection signals detected by each contact type distance sensor in real time.
Step 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 type distance sensor, when the agricultural vehicle performs harvesting operation, the actual position percentage of the contact type distance sensor is compared with the expected position percentage in real time to control the lifting or lowering of the header, so that the height of 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 the roughness of the ground on the stubble cutting height is reduced. Wherein the actual position percentage Percentage of expected position->Wherein f is the current detection signal detected by the contact type distance sensor, b is the high position detection signal detected by the contact type distance sensor, c is the low position detection signal detected by the contact type distance sensor, and d is the expected position detection signal detected by the contact type distance sensor. Wherein (1)> Wherein H4 is the cutting table and the ground of the agricultural vehicle when harvesting operation is carried outIs a function of the actual distance of the sensor.
Fig. 7 is a flowchart of yet another control method for an agricultural vehicle according to an embodiment of the present invention. On the basis of the embodiment, the number of the contact type distance sensors is multiple, and the multiple contact type distance sensors can be used for detecting the distances between different positions of the header and the ground. The control method comprises the following steps:
step 410, the header is controlled to move until a first distance is provided between the header and the flat ground, so that the contact ends of all the contact distance sensors are in contact with the ground.
Step 420, obtain and store the high position detection signal detected by each contact distance sensor.
Wherein the slope k and intercept m of different contact distance sensors may be different. In addition, when the first distance H1 is between the header and the flat ground, the high position detection signals detected by different contact distance sensors are different, and it is necessary to acquire and store the high position detection signal detected by each contact distance sensor to acquire one limit value of the measurement interval of each contact distance sensor.
Step 430, the header is controlled to move until a second distance is between the header and the flat ground, wherein the second distance is smaller than the first distance.
Step 440, obtain and store the low position detection signal detected by each contact distance sensor.
When the second distance H2 is 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 450, controlling the cutting table to move until a third distance is formed between the cutting table 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.
And when the third distance H3 is between the cutting table and the flat ground, acquiring and storing an expected position detection signal detected by at least one contact type distance sensor so as to acquire the expected position percentage of the contact type distance sensor, wherein the expected position percentages of all the contact type distance sensors are equal.
And 470, controlling the agricultural vehicle to run and carrying out harvesting operation.
Step 480, acquiring current detection signals detected by each contact type distance sensor in real time.
Step 490, obtain the expected position percentage of the contact distance sensorWherein b is a high position detection signal detected by the contact type distance sensor, c is a low position detection signal detected by the contact type distance sensor, and d is an expected position detection signal detected by the contact type distance sensor.
Step 500, obtaining the actual position percentage of each contact type distance sensor, the actual position percentageWherein f is the current detection signal detected by the contact type distance sensor.
Step 510, obtaining 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.
Step 520, controlling the header to rise or fall according to the expected position percentage of the contact distance sensor and the first preset operation value.
If the ground is rugged, the maximum height of the stubble is close to the expected height, and the height of the stubble is higher than the expected height as a whole by comparing the maximum value of the actual position percentages of the contact distance sensors with the expected position percentage. If the ground is rugged, the minimum value of the actual position percentages of the contact distance sensors is compared with the expected position percentage, so that the minimum height of the stubble cutting is close to the expected height, and the height of the stubble cutting is lower than the expected height as a whole. If the ground is uneven, the average value of the actual position percentages of the contact distance sensors is compared with the expected position percentage, so that the average height of the stubble cutting is as close to the expected height as possible.
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 percentage of the expected positions of the contact type distance sensors is larger than a first preset operation value, indicating that the stubble cutting height is too low, controlling the header to rise; if the expected position percentage of the contact type distance sensor is smaller than the first preset operation value, the stubble cutting height is too high, and the cutting table is controlled to descend. If the percentage of the expected positions of the contact type distance sensors is equal to the first preset operation value, the stubble cutting height meets the requirement, and the cutting table does not need to be lifted.
Fig. 8 is a flowchart of yet 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 in the width direction of the agricultural vehicle, the control method includes:
and 610, controlling the cutting table to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact distance sensors are contacted with the ground.
Step 620, obtain and store the high position detection signal detected by each contact distance sensor.
And 630, controlling the cutting table to move until a second distance is formed between the cutting table and the flat ground, wherein the second distance is smaller than the first distance.
Step 640, obtain and store the low position detection signal detected by each contact distance sensor.
Step 650, controlling the agricultural vehicle to run and carrying out harvesting operation.
Step 660, acquiring current detection signals detected by each contact type distance sensor in real time.
Step 670, obtaining maximum and minimum values of actual position percentages of the plurality of contact distance sensors, the actual position percentagesWherein b is a high position detection signal detected by the contact type distance sensor, c is a low position detection signal detected by the contact type distance sensor, and f is a current detection signal detected by the contact type distance sensor.
Step 680, if the difference between the maximum value and the minimum value is greater than the preset threshold, an alarm is given.
If the difference between the maximum value and the minimum value in the actual position percentages of the contact distance sensors is larger than a preset threshold value, the current degree of the unevenness of the ground is too high, harvesting is not facilitated, and an alarm is given to inform harvesting operators. For example, if the percentage of actual position of the touch distance sensor on the left side of the agricultural vehicle is the greatest and the percentage of actual position of the touch distance sensor on the right side of the agricultural vehicle is the smallest, this indicates that the ground on the left side of the agricultural vehicle is low relative to the ground on the right side, possibly the ground on the left side of the agricultural vehicle is concave or the ground on the right side is convex. If the actual position percentages of the plurality of contact distance sensors are equal, the current ground of the agricultural vehicle is flat.
Fig. 9 is a flowchart of yet 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 multiplexing function buttons, the agricultural vehicle is further provided with two second multiplexing function buttons, and the agricultural vehicle is further provided with two third multiplexing function buttons.
And 710, controlling the header to ascend until the contact ends of all the contact 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.
The operator can press the two first multiplexing function buttons simultaneously to generate a trigger signal, so that the header is controlled to descend.
And 730, when the two first multiplexing function buttons are monitored to stop generating the trigger signal, the cutting table is controlled to stop moving, and a first distance is reserved between the cutting table and the flat ground.
The operator may release the two first multiplexing function buttons simultaneously to stop generating the trigger signal, thereby controlling the header to stop moving, and executing step 740.
Step 740, obtain and store the high position detection signal detected by each contact distance sensor.
Wherein, pressing a first multiplex function button alone may trigger other functions, but may not trigger the functions corresponding to step 720, step 730 and step 740. The two first multiplexing function buttons are adjacent or are closer in distance, so that the operation of operators is facilitated.
Step 750, when two second multiplexing function buttons are monitored to simultaneously generate trigger signals, the header is controlled to descend.
The operator can press the two second multiplexing function buttons simultaneously to generate corresponding trigger signals, so that the header is controlled to descend.
Step 760, when two second multiplexing function buttons are detected to stop generating the trigger signal, the header is controlled to stop moving, and a second distance is formed between the header and the flat ground.
Wherein, the operator can release the two second multiplexing function buttons simultaneously to stop generating the trigger signal, thereby realizing the control of the movement stop of the header, and executing step 770.
Step 770, obtains and stores the low position detection signal detected by each contact distance sensor.
Wherein pressing a second multiplex function button alone may trigger other functions, but may not trigger the functions corresponding to step 750, step 760 and step 770. The two second multiplexing function buttons are adjacent or are closer in distance, so that the operation of operators is facilitated.
And 780, when two third multiplexing function buttons are monitored to generate trigger signals at the same time, controlling the header to ascend or descend.
Wherein, the operating personnel can press two third multiplexing function buttons simultaneously so as to generate trigger signals, and then the ascending or descending of the control header is realized. If step 780 is performed after step 730, the header is controlled to descend when two third multiplexing function buttons are detected to simultaneously generate trigger signals. If step 780 is performed after step 760, then when two third multiplexing function buttons are detected to generate trigger signals simultaneously, the header is controlled to rise.
And step 790, when the two third multiplexing function buttons are monitored to stop generating the trigger signal, the cutting table is controlled to stop moving, and a third distance is reserved between the cutting table and the flat ground.
The operator can release the two third multiplexing function buttons simultaneously to stop generating the trigger signal, so as to control the cutting table to stop moving, and execute step 800.
Step 800, acquiring and storing expected position detection signals detected by each contact distance sensor.
Wherein, pressing a third multiplexing function button alone may trigger other functions, but may not trigger the functions corresponding to step 780, step 790 and step 800. The two third multiplexing function buttons are adjacent or are closer in distance, so that the operation of operators is facilitated.
It should be noted that the single multiplexing function button may include one of the following functions: the control header rises fast, the control header falls fast, the control header rises slowly or the control header falls slowly, etc.
The embodiment of the invention provides a control device for an agricultural vehicle. Fig. 10 is a schematic structural view of a control device for an agricultural vehicle according to an embodiment of the present invention. The control device for an agricultural vehicle may be used to perform the control method for an agricultural vehicle provided by any of the embodiments of the present invention. The agricultural vehicle is provided with at least one contact distance sensor for detecting a distance between a 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 is provided between the header and the flat ground, so that the contact ends of all the contact distance sensors contact the ground; the first acquisition module 820 is configured to acquire and store a high position detection signal detected by each contact distance sensor; the second control module 830 is configured to control the header to move until a second distance is between the header and the flat ground, where the second distance is less than the first distance; the second acquisition module 840 is used to acquire and store the low position detection signal detected by each contact 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 the 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 movement of the header until a third distance is between the header and the flat ground, where the third distance is greater than the second distance and less than the first distance; the third acquisition module 860 is configured to acquire and store an expected position detection signal detected by the contact distance sensor.
Optionally, with continued reference to fig. 11, based on the foregoing embodiment, 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 used for controlling the agricultural vehicle to travel and perform harvesting operation; the fourth obtaining module 880 is configured to obtain, in real time, a current detection signal detected by each contact distance sensor; the distance adjusting module 890 is used for 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, the number of contact distance sensors is plural, and based on the above embodiment, with continued reference to fig. 8, the distance adjustment module 890 includes: anticipation ofA position acquisition unit 891, an actual position acquisition unit 892, an operation unit 893, and a distance adjustment unit 894. Wherein the expected position obtaining unit 891 is configured to obtain an expected position percentage of the contact distance sensorWherein b is a high position detection signal detected by the contact type distance sensor, c is a low position detection signal detected by the contact type distance sensor, and d is an expected position detection signal detected by the contact type distance sensor; the actual position acquiring unit 892 is used for acquiring the actual position percentage of each contact distance sensorF is the current detection signal detected by the contact type 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 adjusting unit 894 is configured to control the header to rise or fall 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 rise if the percentage of the expected positions of the contact distance sensors is greater than a first preset operation value; and if the expected position percentage of the contact type distance sensor is smaller than the first preset operation value, controlling the header to descend.
Optionally, the number of the contact distance sensors is a plurality, and the plurality of the 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 agricultural vehicle, and on the basis of the above embodiment, with continued reference to fig. 11, the control device further includes: a fifth acquisition module 900 and an alarm module 910; wherein the fifth obtaining module 900 is configured to obtain a maximum value and a minimum value of actual position percentages of the plurality of contact distance sensors, the actual position percentagesWherein b is a high position detection signal detected by the contact type distance sensor, c is a low position detection signal detected by the contact type distance sensor, and f is a current detection signal detected by the contact type distance sensor; the alarm module 910 is configured to alarm if the difference between the maximum value and the minimum value is greater than a preset threshold.
Optionally, with continued reference to fig. 11, based on the foregoing embodiment, the control device further includes: and a fifth control module 920, configured to control the header to rise until the 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 a first distance is provided between the header and the flat ground.
Optionally, the agricultural vehicle is further provided with two first multiplexing function buttons, and the first control module 810 is configured to control the header to ascend when the two first multiplexing function buttons are monitored to generate trigger signals at the same time; when the two first multiplexing function buttons are monitored to stop generating the trigger signal, the cutting table is controlled to stop moving, and a first distance is reserved between the cutting table 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 the two second multiplexing function buttons are monitored to generate trigger signals at the same time; when the two second multiplexing function buttons are monitored to stop generating the trigger signal, the cutting table is controlled to stop moving, and a second distance is reserved between the cutting table and the flat ground.
Optionally, the agricultural vehicle is further provided with two third multiplexing function buttons; the third control module 850 is configured to control the header to rise or fall when two third multiplexing function buttons are detected and trigger signals are generated at the same time; when the two third multiplexing function buttons are monitored to stop generating the trigger signal, the cutting table is controlled to stop moving, and a third distance is reserved between the cutting table and the flat ground.
Optionally, the contact distance sensor comprises a profiling angle sensor.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements, combinations, and substitutions can be made by those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (7)
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 cutting table to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact type distance sensors are contacted with the ground;
Acquiring and storing high-position detection signals detected by each contact type distance sensor;
controlling the cutting table to move until a second distance is formed between the cutting table and the flat ground, wherein the second distance is smaller than the first distance;
acquiring and storing a low-position detection signal detected by each contact type distance sensor;
controlling the cutting table to move until a third distance is formed between the cutting table and the flat ground, wherein the third distance is larger than the second distance and smaller than the first distance;
acquiring and storing an expected position detection signal detected by the contact type distance sensor;
controlling the agricultural vehicle to run and carrying out harvesting operation;
acquiring current detection signals detected by each contact type distance sensor in real time;
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 type distance sensor, the header is controlled to ascend or descend;
the number of the contact distance sensors is a plurality,
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 includes:
Acquiring an expected position percentage of the contact distance sensor, the expected position percentageWherein b is a high position detection signal detected by the contact type distance sensor, c is a low position detection signal detected by the contact type distance sensor, and d is an expected position detection signal detected by the contact type distance sensor;
acquiring the actual position percentage of each contact type distance sensor, wherein the actual position percentageF is the current detection signal detected by the contact type 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 lifting or descending of the header according to the expected position percentage of the contact type distance sensor and the first preset operation value.
2. The control method according to claim 1, wherein controlling the header to rise or fall 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 type distance sensor is larger than the first preset operation value, controlling the header to ascend;
And if the expected position percentage of the contact type distance sensor is smaller than the first preset operation value, controlling the header to descend.
3. The control method according to claim 1, wherein the number of the contact distance sensors is plural, the plural contact distance sensors are distributed in at least one row, wherein a row direction is perpendicular to a direction in which a head of the agricultural vehicle is directed toward a tail of the agricultural vehicle, the control method further comprising:
obtaining maximum and minimum values of actual position percentages of the plurality of contact distance sensors, the actual position percentagesWherein b is a high-position detection signal detected by the contact type distance sensor, c is a low-position detection signal detected by the contact type distance sensor, and f is a current detection signal detected by the contact type distance sensor;
and if the difference value between the maximum value and the minimum value is larger than a preset threshold value, alarming.
4. The control method according to claim 1, wherein the agricultural vehicle is further provided with two first multiplexing function buttons,
before controlling the cutting table to move until the cutting table and the flat ground are at a first distance, the method further comprises the following steps:
Controlling the header to ascend until the contact ends of all the contact type distance sensors are separated from the flat ground;
controlling the cutting table to move until a first distance is formed between the cutting table and the flat ground comprises the following steps:
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 are monitored to stop generating the trigger signal, the cutting table is controlled to stop moving, and a first distance is reserved between the cutting table and the flat ground;
the agricultural vehicle is further provided with two second multiplexing function buttons,
controlling the movement of the header until a second distance is formed between the header and the flat ground comprises the following steps:
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 the trigger signal, controlling the cutting table to stop moving, wherein a second distance is reserved between the cutting table and the flat ground.
5. The control method according to claim 1, characterized in that the agricultural vehicle is further provided with two third multiplexing function buttons;
controlling the movement of the header until a third distance is formed 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 are monitored to stop generating the trigger signal, controlling the cutting table to stop moving, wherein a third distance is reserved between the cutting table and the flat ground.
6. The control method of claim 1, wherein the contact distance sensor comprises a profiling angle sensor.
7. A control device 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 the ground, the control device comprising:
the first control module is used for controlling the cutting table to move until a first distance is reserved between the cutting table and the flat ground, so that the contact ends of all the contact type distance sensors are contacted with the ground;
the first acquisition module is used for acquiring and storing the high-position detection signals detected by each contact type distance sensor;
the second control module is used for controlling the cutting table to move until a second distance is formed between the cutting table and the flat ground, and the second distance is smaller than the first distance;
The second acquisition module is used for acquiring and storing the low-position detection signals detected by each contact type distance sensor;
the third control module is used for controlling the cutting table to move until a third distance is formed between the cutting table and the flat ground, wherein the third distance is larger than the second distance and smaller than the first distance;
the third acquisition module is used for acquiring and storing the expected position detection signal detected by the contact type distance sensor;
the harvesting control module is used for controlling the agricultural vehicle to run and harvesting;
the fourth acquisition module is used for acquiring the current detection signal detected by each contact type distance sensor in real time;
the distance adjusting module is used for 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 type distance sensor;
the number of the contact distance sensors is a plurality,
the distance adjustment module includes:
an expected position acquisition unit configured to acquire an expected position percentage of the contact distance sensor, the expected position percentageWherein b is a high position detection signal detected by the contact type distance sensor, c is a low position detection signal detected by the contact type distance sensor, and d is an expected position detection signal detected by the contact type distance sensor;
An actual position acquisition unit for acquiring an actual position of each of the contact distance sensorsPercentage of the actual positionF is the current detection signal detected by the contact type distance sensor;
the computing unit is used for acquiring a first preset computing value in the actual position percentages of the contact type distance sensors, wherein the first preset computing value comprises a maximum value, a minimum value or an average value;
and the distance adjusting unit is used for controlling the lifting or the descending of the header according to the expected position percentage of the contact type distance sensor and the first preset operation value.
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| CN114830918A (en) * | 2022-04-26 | 2022-08-02 | 潍柴雷沃重工股份有限公司 | Intelligent control method, system, medium, equipment and agricultural machine for header and field returning machine |
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Address after: 261061 Shandong city in Weifang province Fu hi tech Industrial Development Zone, East Street No. 197 Patentee after: WEICHAI POWER Co.,Ltd. Patentee after: Weichai Hydraulic Transmission Co.,Ltd. Address before: 261061 Shandong city in Weifang province Fu hi tech Industrial Development Zone, East Street No. 197 Patentee before: WEICHAI POWER Co.,Ltd. Patentee before: LINDE HYDRAULICS (CHINA) Co.,Ltd. |