CN113715822B

CN113715822B - Start-stop control system and method for unmanned agricultural machine

Info

Publication number: CN113715822B
Application number: CN202111115909.8A
Authority: CN
Inventors: 李华杰; 陈星�; 李由; 陈文浩
Original assignee: Shanghai Lianshi Navigation Technology Co ltd
Current assignee: Shanghai Lianshi Navigation Technology Co ltd
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2022-09-02
Anticipated expiration: 2041-09-23
Also published as: CN113715822A; WO2023045665A1

Abstract

The invention discloses a system and a method for controlling starting and stopping of an unmanned agricultural machine. The detection assembly detects the current start-stop state of the start-stop circuit after receiving the start-stop control instruction; the first controller is connected with the start-stop circuit and controls the start-stop circuit to execute corresponding start-stop operation after receiving the start-stop control instruction; the second controller is connected with the start-stop circuit and the detection assembly, receives the current start-stop state and the start-stop control instruction, and controls the start-stop circuit to execute corresponding start-stop operation when the current start-stop state of the start-stop circuit is inconsistent with the start-stop control instruction; the first controller and the second controller jointly control the start-stop circuit to start, and the first controller and the second controller independently control the start-stop circuit to stop. The invention can ensure that the agricultural machine can be normally started and stopped even if human misoperation or control line fault occurs in the unmanned process of the agricultural machine, thereby improving the stability and safety of the unmanned operation of the agricultural machine.

Description

Start-stop control system and method for unmanned agricultural machine

Technical Field

The invention relates to the technical field of unmanned driving, in particular to a start-stop control system and method of an unmanned agricultural machine.

Background

With the continuous development of the automobile industry, the automobile manufacturing industry is focusing on the intelligent driving field on the basis of improving the safety and the driving performance of the automobile driving originally, and although the existing unmanned driving technology cannot be used in daily driving, the unmanned agricultural machinery becomes the mainstream of the existing agricultural driving in the agricultural field due to the low driving speed of the agricultural machinery.

In the existing control method of the unmanned agricultural machine, a tablet personal computer is usually adopted to control the unmanned agricultural machine, and after receiving a remote control command of starting and stopping the agricultural machine, the tablet personal computer can issue a starting and stopping command to a controller. At present, the operation mode has the problems that secondary ignition is caused by artificial misoperation of the agricultural machine in the starting process, and the agricultural machine cannot be damaged by timely flameout when a control circuit fails, and the safety is brought.

In order to solve the problems of damage to the agricultural machinery and safety caused by human misoperation or control line faults in the starting and stopping process of the unmanned agricultural machinery, a starting and stopping control system of the unmanned agricultural machinery is needed at present, so that the agricultural machinery can be started and stopped normally in the unmanned process even if the human misoperation or control line faults occur, and the stability and safety of the unmanned agricultural machinery are improved.

Disclosure of Invention

In order to solve the problems of damage to the agricultural machinery and safety caused by human misoperation or control circuit faults in the starting and stopping process of the unmanned agricultural machinery, the invention provides a starting and stopping control system and method of the unmanned agricultural machinery, and the specific technical scheme is as follows:

the invention provides a start-stop control system of an unmanned agricultural machine, which comprises a start-stop circuit, a detection assembly, a first controller and a second controller.

The detection component is used for detecting the current start-stop state of the start-stop circuit after receiving the start-stop control instruction;

the first controller is connected with the start-stop circuit and used for controlling the start-stop circuit to execute corresponding start-stop operation after receiving the start-stop control instruction;

the second controller is connected with the start-stop circuit and the detection assembly and is used for receiving the current start-stop state and the start-stop control instruction and controlling the start-stop circuit to execute corresponding start-stop operation when the current start-stop state of the start-stop circuit is inconsistent with the start-stop control instruction;

the start-stop circuit is started when the first controller and the second controller jointly control the start-stop circuit to execute a start control instruction, and is flamed out when the first controller and the second controller independently control the start-stop circuit to execute a flameout control instruction.

The start-stop control system of the unmanned agricultural machine provided by the invention controls the start-stop of the unmanned agricultural machine through the first controller and the second controller together according to the current start-stop state of the start-stop circuit, so that the agricultural machine can be started and stopped normally in the unmanned process even if human misoperation or control line faults occur, and the stability and the safety of the unmanned agricultural machine are improved.

Further, the invention also provides a start-stop control system of the unmanned agricultural machine, wherein the detection assembly comprises:

the gyroscope is arranged on the agricultural machine body and used for acquiring a rolling angle, a pitch angle and a yaw angle of the agricultural machine body;

the third controller is connected with the gyroscope and is used for controlling the gyroscope to acquire the roll angle, the pitch angle and the yaw angle of the agricultural machinery body once every preset time within a preset time period after receiving the start-stop control instruction;

and the first processor is connected with the gyroscope and used for judging the current start-stop state of the start-stop circuit according to the roll angle, the pitch angle and the yaw angle of the agricultural machine body.

The invention provides a detection assembly for detecting the starting and stopping states of an agricultural machine through a gyroscope, and the starting and stopping states of the agricultural machine can be simply and efficiently detected according to the characteristic that the agricultural machine vibrates obviously when being started.

Further, the present invention also provides a start-stop control system for an unmanned agricultural machine, wherein the first processor comprises:

the first judging unit is used for judging that the start-stop circuit is in a start state when the difference value of any one corresponding angle of the rolling angle, the pitch angle and the yaw angle of the agricultural machine body, which is detected for a preset number of times, and the previously detected rolling angle, pitch angle and yaw angle of the agricultural machine body is greater than a preset angle threshold value after receiving the start control instruction;

and the second judging unit is used for judging that the start-stop circuit is in a flameout state when the difference value between the rolling angle, the pitching angle and the yaw angle of the agricultural machine body detected by the preset times and any corresponding angle of the rolling angle, the pitching angle and the yaw angle of the agricultural machine body detected by the previous time is smaller than the preset angle threshold value after receiving the flameout control instruction.

The start-stop control system of the unmanned agricultural machine provided by the invention judges the start-stop state of the start-stop circuit by combining the roll angle, the pitch angle and the yaw angle of the agricultural machine body, which are acquired by the gyroscope, of the first judging unit and the second judging unit, and controls the start-stop of the start-stop circuit by matching with the start-stop control system, so that the secondary ignition caused by human misoperation in the starting process is avoided, the agricultural machine cannot be damaged by timely flameout when a control line fails, and the stability and the safety of unmanned agricultural machine are improved.

Further, the invention also provides a start-stop control system of the unmanned agricultural machine, which comprises the following steps:

the start-stop circuit comprises a starter, agricultural machinery control equipment and battery equipment;

the first controller and the second controller are respectively electrically connected with the starter, the agricultural machinery control equipment and the battery equipment;

the first controller and the second controller control the starting and stopping circuit to start by controlling the connection among the starter, the agricultural machinery control equipment and the battery equipment;

the first controller comprises a first relay, the first relay is electrically connected with the positive electrode of the battery equipment, and the first relay is used for controlling the start-stop circuit to execute flameout;

the second controller comprises a second relay, the second relay is connected with the first relay in series and is electrically connected with the positive electrode of the battery equipment, and the second relay is used for controlling the start-stop circuit to execute flameout.

The invention provides a start-stop control system of an unmanned agricultural machine, which discloses a composition structure of a start-stop circuit and a connection relation of the start-stop circuit, a first controller and a second controller, and can control the start-stop circuit to be started when the first controller and the second controller jointly control the start-stop circuit to execute a start control instruction, and the start-stop circuit is flamed out when the first controller and the second controller independently control the start-stop circuit to execute a flameout control instruction, so that the agricultural machine can be normally started and stopped even if artificial operation errors or control line faults occur in the unmanned process of the agricultural machine, and the stability and the safety of the unmanned agricultural machine are improved.

Further, the invention also provides a start-stop control system of the unmanned agricultural machine, and the detection assembly further comprises:

the voltage detection module is used for detecting the voltage of a connecting line between the start-stop circuit and the anode of the battery equipment after receiving the start-stop control instruction;

and the second processor is connected with the voltage detection module and used for judging that the start-stop circuit is in a starting state when the voltage of the start-stop circuit and the voltage of the battery equipment anode connecting circuit are greater than 0V, and judging that the start-stop circuit is in a flameout state when the voltage of the start-stop circuit and the voltage of the battery equipment anode connecting circuit are 0V.

The start-stop control system of the unmanned agricultural machine also provides a detection assembly for judging the start-stop state of the start-stop circuit by detecting the voltage of a connecting line between the start-stop circuit and the anode of the battery equipment, and the start-stop control system is matched to control the start and stop of the start-stop circuit, so that secondary ignition caused by artificial misoperation in the starting process is avoided, the agricultural machine cannot be flamed out in time when the control line fails, and the stability and the safety of unmanned agricultural machine are improved.

Further, the present invention also provides a start-stop control system for an unmanned agricultural machine, further comprising:

the alarm component is connected with the detection component and used for giving an alarm when the start-stop circuit is still in a start state after receiving a flameout control instruction in the start-stop control instruction;

and the emergency stop switch is connected with the first relay and the second relay in series, is electrically connected with the positive electrode of the battery equipment, and is used for independently controlling the start-stop circuit to execute flameout.

According to the start-stop control system of the unmanned agricultural machine, the alarm component and the emergency stop switch are arranged, so that the alarm and the manual brake are given when the unmanned agricultural machine is not normally flamed out, and the unmanned safety of the agricultural machine is improved.

Additionally, the invention also provides a start-stop control method of the unmanned agricultural machine, which comprises a start-stop circuit, a first controller and a second controller, wherein the start-stop circuit is started when the first controller and the second controller jointly control the start-stop circuit to execute a start control instruction, and is flamed out when the first controller and the second controller independently control the start-stop circuit to execute a flameout control instruction, and the method comprises the following steps:

receiving a start-stop control instruction:

detecting the current start-stop state of the start-stop circuit through a detection assembly;

controlling the start-stop circuit to execute corresponding start-stop operation after receiving the start-stop control instruction through the first controller;

and receiving the current start-stop state and the start-stop control instruction through the second controller, and controlling the start-stop circuit to execute corresponding start-stop operation when the current start-stop state of the start-stop circuit does not accord with the start-stop control instruction.

Further, the invention also provides a start-stop control method of the unmanned agricultural machine, wherein the detection of the current start-stop state of the start-stop circuit by the detection component specifically comprises the following steps:

after the start-stop control instruction is received, acquiring the roll angle, the pitch angle and the yaw angle of the agricultural machine body once every preset time within a preset time period through a gyroscope installed on the agricultural machine body;

and judging the current starting and stopping state of the starting and stopping circuit according to the roll angle, the pitch angle and the yaw angle of the agricultural machine body.

Further, the present invention also provides a start-stop control method for an unmanned agricultural machine, wherein the method for judging the current start-stop state of the start-stop circuit according to the roll angle, the pitch angle and the yaw angle of the agricultural machine body specifically comprises:

if the difference value of any one corresponding angle of the rolling angle, the pitch angle and the yaw angle of the agricultural machine body, which is detected for a preset number of times after the start control instruction in the start-stop control instruction is received, and the rolling angle, the pitch angle and the yaw angle of the agricultural machine body, which are detected for the previous time, is larger than a preset angle threshold value, the start-stop circuit is judged to be in a start state;

and if the difference between the rolling angle, the pitch angle and the yaw angle of the agricultural machinery body detected continuously for the preset times and any corresponding angle of the rolling angle, the pitch angle and the yaw angle of the agricultural machinery body detected last time is smaller than the preset angle threshold value after receiving the flameout control instruction in the start-stop control instruction, judging that the start-stop circuit is in a flameout state.

Further, the present invention also provides a start-stop control method for an unmanned agricultural machine, wherein the detecting module detects a current start-stop state of the start-stop circuit, and the method specifically includes:

after receiving the start-stop control instruction, detecting the voltage of a connection circuit between the start-stop circuit and the anode of the battery equipment;

if the voltage of a connecting line between the start-stop circuit and the anode of the battery equipment is greater than 0V, judging that the start-stop circuit is in a starting state;

and if the voltage of a connecting line between the start-stop circuit and the anode of the battery equipment is 0V, judging that the start-stop circuit is in a flameout state.

The invention provides a start-stop control system and method of an unmanned agricultural machine, which at least comprise the following technical effects:

(1) in the unmanned process of the agricultural machine, the agricultural machine can be started and stopped normally even if human misoperation or control line fault occurs, so that the stability and the safety of the unmanned agricultural machine are improved;

(2) the detection component for detecting the starting and stopping states of the agricultural machinery through the gyroscope is used for simply and efficiently detecting the starting and stopping states of the agricultural machinery aiming at the characteristic of obvious vibration when the agricultural machinery is started;

(3) the start-stop state of the start-stop circuit is judged by combining the roll angle, the pitch angle and the yaw angle of the agricultural machine body, the start-stop control system is matched to control the start and stop of the start-stop circuit, secondary ignition caused by human misoperation in the starting process is avoided, the agricultural machine cannot be flameout in time when a control line fails, and the stability and the safety of unmanned driving of the agricultural machine are improved;

(4) the detection assembly judges the starting and stopping state of the starting and stopping circuit by detecting the voltage of a connecting circuit between the starting and stopping circuit and the anode of the battery equipment, and controls the starting and stopping of the starting and stopping circuit by matching with a starting and stopping control system;

(5) through setting up warning subassembly and scram switch, report to the police and manual braking when unmanned agricultural machinery does not normally extinguish, improve agricultural machinery unmanned security.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a block diagram of a start-stop control system for an unmanned agricultural machine according to the present invention;

FIG. 2 is a block diagram of a detection assembly in a start-stop control system of an unmanned agricultural machine according to the present invention;

FIG. 3 is another block diagram of the detection assembly in the start-stop control system of the unmanned agricultural machine of the present invention;

FIG. 4 is a structural diagram of a start-stop circuit in the start-stop control system of the unmanned agricultural machine of the present invention;

FIG. 5 is another structural diagram of a start-stop control system of the unmanned agricultural machine of the present invention;

FIG. 6 is another structural diagram of a start-stop circuit in the start-stop control system of the unmanned agricultural machine according to the present invention;

FIG. 7 is a flow chart of a start-stop control method of an unmanned agricultural machine according to the present invention;

FIG. 8 is another flowchart of the detection of the start-stop circuit in the start-stop control method of the unmanned agricultural machine of the present invention;

FIG. 9 is a flowchart of detecting the current start-stop state of the start-stop circuit in the start-stop control method of the unmanned agricultural machine of the present invention;

fig. 10 is another flowchart of detecting the current start-stop state of the start-stop circuit in the start-stop control method of the unmanned agricultural machine according to the present invention.

Reference numbers in the figures: the system comprises a start-stop circuit-10, a starter-11, an agricultural machinery control device-12, a battery device-13, a detection assembly-20, a gyroscope-21, a third controller-22, a first processor-23, a first judgment unit-23.1, a second judgment unit-23.2, a voltage detection module-24, a second processor-25, a first controller-30, a first relay-31, a circuit-32, a circuit-33, a circuit-34, a second controller-40, a second relay-41, a circuit-42, a circuit-43, a circuit-44, an alarm assembly-50 and an emergency stop switch-60.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically depicted, or only one of them is labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

Example 1

In one embodiment of the present invention, as shown in fig. 1, the present invention provides a start-stop control system for an unmanned agricultural machine, which includes a start-stop circuit 10, a detection assembly 20, a first controller 30, and a second controller 40.

Wherein the detection component 20 is configured to detect a current start-stop state of the start-stop circuit 10 after receiving the start-stop control instruction.

Specifically, the detection component 20 does not detect the current start-stop state of the start-stop circuit 10 when the start-stop control instruction is not received, so that the power consumption of the detection component 20 is reduced. The detection component 20 detects the current start-stop state of the start-stop circuit 10 by using a detection method for detecting the motion condition of the agricultural machine, or by using a detection method for detecting the circuit condition of the agricultural machine.

The first controller 30 is connected to the start-stop circuit 10, and is configured to control the start-stop circuit 10 to perform a corresponding start-stop operation after receiving the start-stop control instruction.

Specifically, the first controller 30 controls the start-stop circuit 10 to start when receiving the start-up control instruction, and the first controller 30 controls the start-stop circuit 10 to stop when receiving the stop-off control instruction.

The second controller 40 is connected to the start-stop circuit 10 and the detection component 20, and is configured to receive a current start-stop state and a start-stop control instruction, and control the start-stop circuit 10 to perform a corresponding start-stop operation when the current start-stop state of the start-stop circuit 10 does not match the start-stop control instruction.

The start-stop circuit 10 is started when the first controller 30 and the second controller 40 jointly control the start-stop circuit 10 to execute a start control command, and is stopped when the first controller 30 and the second controller 40 independently control the start-stop circuit 10 to execute a stop control command.

Specifically, after the second controller 40 receives the start control instruction, if the start-stop circuit 10 is in the start state, the second controller 40 does not control the start-stop circuit 10 to execute the start, and since the first controller 30 and the second controller 40 control the start-stop circuit 10 to execute the start, the start-stop circuit is started, so that the start-stop circuit is not started at this time.

After the second controller 40 receives the start control instruction, if the start-stop circuit 10 is in a flameout state, the second controller 40 controls the start-stop circuit 10 to execute start, and since the first controller 30 and the second controller 40 jointly control the start-stop circuit 10 to execute start, the start-stop circuit is started, at this time, the first controller 30 and the second controller 40 control the start-stop circuit to start.

After the second controller 40 receives the flameout control instruction, if the start-stop circuit 10 is in a flameout state, the second controller 40 does not control the start-stop circuit 10 to perform flameout, and since the first controller 30 and the second controller 40 independently control the start-stop circuit 10 to perform flameout, the start-stop circuit will flameout, so that the first controller 30 controls the start-stop circuit to flameout at this time.

After the second controller 40 receives the flameout control instruction, if the start-stop circuit 10 is in the start state, the second controller 40 controls the start-stop circuit 10 to flameout, and since the first controller 30 and the second controller 40 independently control the start-stop circuit 10 to flameout, the start-stop circuit will flameout, so that the second controller 30 controls the start-stop circuit to flameout at this time.

After the first controller 30 and the second controller 40 receive the start-stop control instruction at the same time, corresponding start-stop operations are executed at the same time, and there is no logical execution sequence.

The start-stop control system of unmanned agricultural machinery that this embodiment provided opens and stops the state according to the current start-stop state that opens and stops the circuit, through the start-stop of first controller and second controller common control unmanned agricultural machinery, makes the agricultural machinery at unmanned driving in-process, even human misoperation or control circuit trouble appear, still can normally open and stop, improves unmanned stability and the security of agricultural machinery.

Example 2

Based on embodiment 1, as shown in fig. 2 and 3, the detection component 20 in the start-stop control system of the unmanned agricultural machine provided by the invention comprises a gyroscope 21, a third controller 22 and a first processor 23.

The gyroscope 21 is mounted on the agricultural machinery body and used for acquiring the roll angle, the pitch angle and the yaw angle of the agricultural machinery body.

Specifically, the gyroscope 21 acquires an angle of the agricultural machine body in the x-axis direction as a roll angle, an angle in the y-axis direction as a pitch angle, and an angle in the z-axis direction as a yaw angle.

The third controller 22 is connected to the gyroscope 21, and is configured to control the gyroscope 21 to acquire a roll angle, a pitch angle, and a yaw angle of the agricultural machinery body at preset intervals within a preset time period after receiving the start/stop control instruction.

Illustratively, the preset time may be set to 0.05s, 0.1s, 0.2s, 0.5s, and the like.

The first processor 23 is connected to the gyroscope 21, and is configured to determine a current start-stop state of the start-stop circuit 10 according to a roll angle, a pitch angle, and a yaw angle of the agricultural machinery body.

Further, the first processor 23 comprises a first determining unit 23.1 and a second determining unit 23.2.

The first judging unit 23.1 is configured to, after receiving the start control instruction, judge that the start-stop circuit 10 is in the start state when the difference between the roll angle, the pitch angle, and the yaw angle of the agricultural machinery body and any one of the corresponding angles of the roll angle, the pitch angle, and the yaw angle of the agricultural machinery body detected in the previous time is detected for a preset number of times and is greater than a preset angle threshold.

The second judging unit 23.2 is configured to, after receiving the flameout control instruction, judge that the start-stop circuit 10 is in a flameout state when the difference between the roll angle, the pitch angle, and the yaw angle of the agricultural machinery body detected for the consecutive preset times and any one of the corresponding roll angle, the pitch angle, and the yaw angle of the agricultural machinery body detected for the previous time is smaller than a preset angle threshold.

Specifically, the preset number of times may be set to 3 times, 5 times, 10 times, and so on, and the preset angle threshold may be set to 0.1 °, 0.2 °, 0.5 °, and so on.

Illustratively, when the preset time is 0.1s, the preset times are 5 times, and the preset angle threshold is 0.2 °, the roll angle of the agricultural machinery body is acquired for the first time at a certain time and is 5 °, the pitch angle is 10 °, the yaw angle is 15 °, the roll angle of the agricultural machinery body is acquired for the second time after 0.1s is 5.1 °, the pitch angle is 10.5 °, the yaw angle is 14.8 °, the roll angle of the agricultural machinery body is acquired for the third time after 0.1s is 5.5 °, the pitch angle is 10.1 °, the yaw angle is 14.3 °, the roll angle of the agricultural machinery body is acquired for the fourth time after 0.1s is 5.1 °, the pitch angle is 9.7 °, the yaw angle is 14.9 °, the pitch angle of the agricultural machinery body is acquired for the fifth time after 0.1s is 4.7 °, the yaw angle is 10.4 °, and the yaw angle is 14.6 °. And acquiring any one of the roll angle, the pitch angle and the yaw angle of the agricultural machinery body five times continuously, and acquiring the corresponding angle difference of the roll angle, the pitch angle and the yaw angle of the agricultural machinery body in the previous time, wherein the corresponding angle difference exceeds a preset angle threshold value by 0.2 degrees, so that the agricultural machinery is judged to be in a starting state at the moment.

Optionally, as shown in fig. 3, the detection assembly 20 includes a voltage detection module 24 and a second processor 25.

The voltage detection module 24 is configured to detect a voltage of a connection line between the start-stop circuit 10 and the positive electrode of the battery device after receiving the start-stop control instruction.

Specifically, the voltage detection module 24 detects the voltage of the start loop and the voltage of the control loop in the start-stop circuit 10.

The second processor 25 is connected to the voltage detection module 24, and is configured to determine that the start-stop circuit 10 is in a start state when the voltage of the positive connection line of the battery device in the start-stop circuit 10 is greater than 0V, and determine that the start-stop circuit 10 is in a shutdown state when the voltage of the positive connection line of the battery device in the start-stop circuit 10 is 0V.

Specifically, when the voltage of any one of the start loop and the control loop in the start-stop circuit 10 is greater than 0V, it is determined that the start-stop circuit 10 is in the start state, and when the voltages of both the start loop and the control loop in the start-stop circuit 10 are equal to 0V, it is determined that the start-stop circuit 10 is in the flameout state.

The start-stop control system of unmanned agricultural machinery that this embodiment provided passes through the detection components that gyroscope detection agricultural machinery opened the start-stop state, shake obvious characteristics when starting to agricultural machinery, the simple high efficiency detects out the start-stop state of agricultural machinery, in addition still provide one kind through detecting in the start-stop circuit with the anodal interconnecting link's of battery equipment voltage judgement start-stop circuit start-stop state's detection components, cooperation start-stop control system control opens the start-stop of starting the circuit, avoid producing artificial misoperation secondary ignition in the start-up process, and can't in time put out the fire when control scheme trouble and harm agricultural machinery, improve unmanned stability and the security of agricultural machinery.

Example 3

Based on any one of embodiments 1 to 2, as shown in fig. 4 to 6, the start-stop circuit 10 in the start-stop control system for the unmanned agricultural machine provided by the invention includes a starter 11, an agricultural machine control device 12 and a battery device 13.

The first controller 30 and the second controller 40 are respectively electrically connected with the starter 11, the agricultural machinery control device 12 and the battery device 13, and the first controller 30 and the second controller 40 control the starter 11, the agricultural machinery control device 12 and the battery device 13 to be connected with each other, so as to control the start-stop circuit 10 to execute starting.

Illustratively, the first controller 30 includes a circuit 32, a circuit 33, and a circuit 34. The first controller 30 is connected to the starter 11 via a circuit 32, the first controller 30 is connected to the agricultural machinery control device 12 via a circuit 33, and the first controller 30 is connected to the battery device 13 via a circuit 34. The first controller 30 is connected with the circuit 34 through the control circuit 32 and the circuit 33, so that the connection among the starter 11, the agricultural machinery control device 12 and the battery device 13 is realized, when the starter 11 is connected with the agricultural machinery control device 12, the agricultural machinery control loop is started, and at the moment, the starter 11 is connected with the battery device 13, so that the agricultural machinery is started.

The second controller 40 includes a circuit 42, a circuit 43, and a circuit 44. The second controller 40 is connected to the starter 11 via a circuit 42, the second controller 40 is connected to the agricultural machinery control device 12 via a circuit 43, and the second controller 40 is connected to the battery device 13 via a circuit 44. The second controller 40 is connected between the control circuit 42, the circuit 43 and the circuit 44, so as to realize the connection among the starter 11, the agricultural machinery control device 12 and the battery device 13.

The first controller 30 and the second controller 40 are connected in a loop among the start-stop circuit 10, the starter 11, the agricultural machinery control device 12 and the battery device 13, and the first controller 30 and the second controller 40 are connected in series.

When the first controller 30 receives the start instruction, the circuit 32, the circuit 33, and the circuit 34 are connected. When receiving the start instruction and detecting that the current start-stop state of the start-stop circuit 10 is not extinguished, the second controller 40 turns on the

circuits

32, 33 and 34 connected between the first controller 30 and the start-stop circuit 10.

When the first controller 30 receives a flameout instruction and detects that the current start-stop state of the start-stop circuit 10 is started, the circuit 32 connected between the first controller 30 and the start-stop circuit 10 is cut off. When the second controller 40 receives a flameout instruction and detects that the current start-stop state of the start-stop circuit 10 is started, the circuit 42 connected between the second controller 40 and the start-stop circuit 10 is cut off.

Alternatively, a third relay controlled by the first controller 30 is connected in series in the circuit 42, and when the first controller 30 and the second controller 40 receive a start instruction, the first controller 30 controls the second controller 40 to communicate the circuit 42, the circuit 43 and the circuit 44 through the third relay.

The first controller 30 comprises a first relay 31, the first relay 31 is electrically connected with the positive pole of the battery device 13, the first relay 31 is used for controlling the start-stop circuit 10 to execute flameout, the second controller 40 comprises a second relay 41, the second relay 41 is connected with the first relay 31 in series and is electrically connected with the positive pole of the battery device 13, and the second relay 41 is used for controlling the start-stop circuit 10 to execute flameout.

Optionally, the start-stop control system for the unmanned agricultural machine provided by the invention further comprises an alarm component 50 and an emergency stop switch 60.

As shown in fig. 5, the alarm component 50 is connected to the detection component 20, and is used for alarming when the start-stop circuit 10 is still in the start state after the fire-off control command is received in the start-stop control command.

Illustratively, the alarm component 50 is an audible and visual alarm device, and if the start-stop circuit 10 is detected to be still in a start state after receiving a stop control instruction in the start-stop control instruction, the existing electric control system of the agricultural machinery is judged to be out of operation, and the alarm component 50 is started to perform audible and visual alarm at the moment.

As shown in fig. 6, the emergency stop switch 60 is connected in series with the first relay 31 and the second relay 41, and is electrically connected to the positive electrode of the battery device 13, for independently controlling the start-stop circuit 10 to perform the fire extinguishing.

Specifically, the scram switch 60 is manually deactivated in the event that all electronically controlled deactivation functions are disabled, or in other circumstances where desired.

The start-stop control system of unmanned agricultural machinery that this embodiment provided discloses a constitute and structure of starting and stopping the circuit, and start-stop circuit, the relation of connection of first controller and second controller, can control to start to stop the circuit and start when first controller and second controller control start-stop circuit execution start control instruction jointly, stop fire when first controller and second controller independent control start-stop circuit execution flame-out control instruction, and through setting up warning subassembly and scram switch, report to the police and manual braking when unmanned agricultural machinery does not normally stop fire, make agricultural machinery at unmanned in-process, even the human misoperation or control circuit trouble appear, still can normally open and stop, improve unmanned stability and the security of agricultural machinery.

Example 4

One embodiment of the present invention, as shown in fig. 7, provides a start-stop control method for an unmanned agricultural machine, including a start-stop circuit, a first controller and a second controller, where the start-stop circuit is started when the first controller and the second controller jointly control the start-stop circuit to execute a start control instruction, and is extinguished when the first controller and the second controller independently control the start-stop circuit to execute an extinction control instruction, including the steps of:

s100, receiving a start-stop control instruction.

S200, detecting the current start-stop state of the start-stop circuit through the detection assembly.

Specifically, the current start-stop state of the start-stop circuit is not detected when the start-stop control instruction is not received, so that the power consumption is reduced. The current starting and stopping state of the starting and stopping circuit can be detected by adopting a detection method for detecting the motion condition of the agricultural machine, and can also be detected by adopting a detection method for detecting the circuit condition of the agricultural machine.

And S300, controlling the start-stop circuit to execute corresponding start-stop operation after the first controller receives the start-stop control instruction.

Specifically, the first controller controls the start-stop circuit to start when receiving a start control instruction, and controls the start-stop circuit to stop when receiving a flameout control instruction.

S400, receiving the current start-stop state and the start-stop control instruction through the second controller, and controlling the start-stop circuit to execute corresponding start-stop operation when the current start-stop state of the start-stop circuit is inconsistent with the start-stop control instruction.

Specifically, after the second controller receives the start control instruction, if the start-stop circuit is in a start state, the second controller does not control the start-stop circuit to execute the start.

After the second controller receives the starting control instruction, if the start-stop circuit is in a flameout state, the second controller controls the start-stop circuit to execute starting, and the first controller and the second controller control the start-stop circuit to start at the moment because the first controller and the second controller jointly control the start-stop circuit to execute starting and the start-stop circuit is started.

After the second controller receives the flameout control instruction, if the start-stop circuit is in a flameout state, the second controller does not control the start-stop circuit to execute flameout, and the first controller controls the start-stop circuit to stop flameout at the moment because the first controller and the second controller independently control the start-stop circuit to execute flameout.

After the second controller receives the flameout control instruction, if the start-stop circuit is in the starting state, the second controller controls the start-stop circuit to execute flameout.

After the first controller and the second controller simultaneously receive the start-stop control instruction, corresponding start-stop operation is simultaneously executed, and no logical execution sequence exists.

According to the start-stop control method of the unmanned agricultural machine, the start-stop of the unmanned agricultural machine is controlled by the first controller and the second controller together according to the current start-stop state of the start-stop circuit, so that the agricultural machine can be started and stopped normally in the unmanned process even if human misoperation or control line faults occur, and the stability and the safety of unmanned agricultural machine are improved.

Example 5

Based on embodiment 4, as shown in fig. 8 to 10, in the start-stop control method for the unmanned agricultural machine, step S200 detects the current start-stop state of the start-stop circuit through the detection component, and specifically includes:

s210, after receiving the start-stop control instruction, acquiring the roll angle, the pitch angle and the yaw angle of the agricultural machine body once every preset time within a preset time period through a gyroscope installed on the agricultural machine body.

Specifically, the gyroscope acquires the angle of the agricultural machine body in the x-axis direction as a rolling angle, the angle in the y-axis direction as a pitching angle and the angle in the z-axis direction as a yaw angle.

S220, judging the current starting and stopping state of the starting and stopping circuit according to the roll angle, the pitch angle and the yaw angle of the agricultural machine body.

Further, as shown in fig. 9, step S220 determines the current start-stop state of the start-stop circuit according to the roll angle, the pitch angle, and the yaw angle of the agricultural machinery body, and specifically includes:

and S221, after receiving a start control instruction in the start-stop control instruction, judging that the start-stop circuit is in a start state when detecting that the difference value between the roll angle, the pitch angle and the yaw angle of the agricultural machine body and any one corresponding angle of the roll angle, the pitch angle and the yaw angle of the agricultural machine body detected in the previous time is greater than a preset angle threshold value for a preset number of times.

S222, after receiving a flameout control command in the start-stop control command, when detecting that a difference between a roll angle, a pitch angle, and a yaw angle of the agricultural machinery body and a corresponding angle of the roll angle, the pitch angle, and the yaw angle of the agricultural machinery body detected in the previous time is smaller than a preset angle threshold value for a preset number of times, determining that the start-stop circuit is in a flameout state.

Illustratively, when the preset time is 0.1s, the preset times are 5 times, and the preset angle threshold is 0.2 °, the roll angle of the agricultural machinery body is acquired for the first time at a certain moment and is 5 °, the pitch angle is 10 °, the yaw angle is 15 °, the roll angle of the agricultural machinery body is acquired for the second time after 0.1s and is 5.1 °, the pitch angle is 10.5 °, the yaw angle is 14.8 °, the roll angle of the agricultural machinery body is acquired for the third time after 0.1s and is 5.5 °, the pitch angle is 10.1 °, the yaw angle is 14.3 °, the roll angle of the agricultural machinery body is acquired for the fourth time after 0.1s and is 5.1 °, the pitch angle is 9.7 °, the yaw angle is 14.9 °, and the roll angle of the agricultural machinery body is 4.7 °, the pitch angle is 10.4 °, and the yaw angle is 14.6 °. And acquiring any one of the roll angle, the pitch angle and the yaw angle of the agricultural machinery body five times continuously, and acquiring the corresponding angle difference of the roll angle, the pitch angle and the yaw angle of the agricultural machinery body in the previous time, wherein the corresponding angle difference exceeds a preset angle threshold value by 0.2 degrees, so that the agricultural machinery is judged to be in a starting state at the moment.

Optionally, as shown in fig. 10, the step S200 detects a current start-stop state of the start-stop circuit through the detection component, and specifically includes:

and S230, after receiving the start-stop control instruction, detecting the voltage of a connection line between the start-stop circuit and the anode of the battery equipment.

S241, if the voltage of a connecting line between the start-stop circuit and the anode of the battery device is larger than 0V, the start-stop circuit is judged to be in a starting state.

And S242, if the voltage of a connecting line between the start-stop circuit and the anode of the battery equipment is 0V, judging that the start-stop circuit is in a flameout state.

Specifically, when the voltage of any one of the start loop and the control loop in the start-stop circuit is greater than 0V, the start-stop circuit 10 is determined to be in a start state, and when the voltages of the two loops in the start loop and the control loop in the start-stop circuit 10 are both equal to 0V, the start-stop circuit 10 is determined to be in a flameout state.

The start-stop control method of the unmanned agricultural machine detects the start-stop state of the agricultural machine through the gyroscope, and the start-stop state of the agricultural machine is simply and efficiently detected according to the characteristic that vibration is obvious when the agricultural machine is started.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed start-stop control system and method for an unmanned agricultural machine may be implemented in other ways. For example, the above-described embodiments of the start-stop control system and method for unmanned agricultural machinery are merely illustrative, and for example, the modules or units may be divided into only one logical functional division, and may be implemented in other ways, for example, multiple units or modules may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the communication links shown or discussed may be through interfaces, devices or units, or integrated circuits, and may be electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a start-stop control system of unmanned agricultural machinery which characterized in that includes:

the current starting and stopping state of the starting and stopping circuit is used for representing the starting and stopping state of the agricultural machine;

the detection component is used for detecting the current start-stop state of the start-stop circuit after receiving a start-stop control instruction;

the second controller is connected with the start-stop circuit and the detection assembly and used for receiving the current start-stop state and the start-stop control instruction, controlling the start-stop circuit to execute corresponding start-stop operation when the current start-stop state of the start-stop circuit is inconsistent with the start-stop control instruction, and controlling the start-stop circuit not to execute corresponding start-stop operation when the current start-stop state of the start-stop circuit is consistent with the start-stop control instruction;

2. The start-stop control system of an unmanned agricultural machine of claim 1, wherein the detection assembly comprises:

the gyroscope is arranged on the agricultural machine body and used for acquiring the rolling angle, the pitch angle and the yaw angle of the agricultural machine body;

3. The start-stop control system of an unmanned agricultural machine of claim 2, wherein the first processor comprises:

and the second judging unit is used for judging that the start-stop circuit is in a flameout state when the difference value between the rolling angle, the pitch angle and the yaw angle of the agricultural machinery body detected continuously for the preset times and any one corresponding angle of the rolling angle, the pitch angle and the yaw angle of the agricultural machinery body detected last time is smaller than the preset angle threshold value after receiving the flameout control instruction.

4. The start-stop control system of the unmanned agricultural machine according to claim 1, characterized in that:

the first controller comprises a first relay, the first relay is electrically connected with the positive electrode of the battery equipment, and the first relay is used for controlling the start-stop circuit to stop working;

5. The start-stop control system of an unmanned agricultural machine of claim 4, wherein the detection assembly further comprises:

and the second processor is connected with the voltage detection module and used for judging that the start-stop circuit is in a start state when the voltage of the battery equipment anode connecting line in the start-stop circuit is greater than 0V, and judging that the start-stop circuit is in a flameout state when the voltage of the battery equipment anode connecting line in the start-stop circuit is 0V.

6. The start-stop control system of the unmanned agricultural machine of claim 4, further comprising:

7. The utility model provides a start-stop control method of unmanned agricultural machinery, which comprises a start-stop circuit, a first controller and a second controller, the start-stop circuit starts when the first controller and the second controller control the start-stop circuit to execute a start control instruction jointly, and extinguishes when the first controller and the second controller independently control the start-stop circuit to execute an extinguishment control instruction, comprising the steps of:

receiving a start-stop control instruction:

and receiving the current start-stop state and the start-stop control instruction through the second controller, controlling the start-stop circuit to execute corresponding start-stop operation when the current start-stop state of the start-stop circuit does not accord with the start-stop control instruction, and controlling the start-stop circuit not to execute corresponding start-stop operation when the current start-stop state of the start-stop circuit accords with the start-stop control instruction.

8. The start-stop control method of the unmanned agricultural machine according to claim 7, wherein the detecting of the current start-stop state of the start-stop circuit by the detecting component specifically comprises:

9. The method according to claim 8, wherein the determining a current start-stop state of the start-stop circuit according to a roll angle, a pitch angle and a yaw angle of the agricultural machine body specifically comprises:

10. The start-stop control method of the unmanned agricultural machine according to claim 8, wherein the current start-stop state of the start-stop circuit is detected by a detection component, and the method specifically comprises the following steps: