Control method and device for cruise switching process of agricultural machine and agricultural machine

A technology of switching process and control method, which is applied to the traffic control system of road vehicles, traffic control system, arrangement of variable traffic instructions, etc., which can solve problems such as slow speed and unstable movement, so as to overcome interference and improve stability , the effect of high efficiency and speed

Inactive Publication Date: 2020-12-08
义乌市深研智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by this application is to propose a control method, device and agricultural machinery for the cruising switching process of agricultural machinery in view of the above-mentioned deficiencies in the prior art, so as to improve the unsteady movement, slow speed, Safety and other issues, and improve the comfort of the driver

Method used

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  • Control method and device for cruise switching process of agricultural machine and agricultural machine
  • Control method and device for cruise switching process of agricultural machine and agricultural machine
  • Control method and device for cruise switching process of agricultural machine and agricultural machine

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Embodiment 1

[0049] refer to figure 1 , this embodiment proposes a control method for the cruising switching process of agricultural machinery, the control method for the cruising switching process of agricultural machinery includes steps S101 to S105; the control method for the cruising switching process of agricultural machinery will be described in detail below with reference to the accompanying drawings.

[0050] Step S101, calculating the speed difference ΔV between the actual speed V2 of the agricultural machine and the target cruising speed V1.

[0051] In the embodiment of the present application, the agricultural machinery may be: a tractor, a harvester, and a tillage planter. The working process of different types of agricultural machinery can be divided into two parts: driving and operation. Driving refers to the required movement of agricultural machinery in the field; operation refers to the interaction between agricultural machinery and farmland, crops, and other agricultural...

Embodiment 2

[0133] This embodiment proposes a control device for agricultural machinery cruise switching process, refer to Figure 5 , the control device of the agricultural machinery cruising switching process includes: a calculation module 501, a determination module 502, a selection module 503, an updating module 504, an acquisition module 505, and an output module 506; The control device is described in detail.

[0134] Calculation module 501, used to calculate the speed difference ΔV between the actual speed V2 of the agricultural machinery and the target cruising speed V1;

[0135] The determination module 502 is used to determine the element Ck corresponding to the minimum value min|ΔV-Ci| of the calculation formula |ΔV-Ci| for the set constant group Ci=[C1, C2, ..., Cn]; wherein, n is a natural number, i=1, 2, 3,..., n;

[0136] The selection module 503 is used to, according to the element Ck corresponding to the minimum value min|ΔV-Ci|, among multiple preset planning arrays Fi=[...

Embodiment 3

[0158] This embodiment proposes an agricultural machine, which has the control device for the agricultural machine cruise switching process proposed in the second embodiment. In order to avoid repetition, related content can refer to the description in the previous part, and will not be repeated here.

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Abstract

The invention provides a control method and device for the cruise switching process of an agricultural machine and the agricultural machine, and relates to the technical field of agricultural machinery, and the method comprises the steps: calculating a speed difference delta V between an actual speed V2 and a target cruise speed V1 of the agricultural machine; for a set constant group Ci, determining an element Ck corresponding to the minimum value min delta V-Ci of the calculation formula delta V-Ci; selecting a corresponding planning array Fk according to the element Ck; continuously updating the planning array Fk through the process; judging whether the acceleration A of the agricultural machine exceeds an acceleration threshold value or not; when the acceleration A of the agriculturalmachine does not exceed the acceleration threshold value, sequentially using the data elements in the planning array Fk to generate a first control signal to be output; and when the acceleration A ofthe agricultural machine exceeds the acceleration threshold, outputting a second control signal, so that the acceleration of the agricultural machine is not increased any more. The problems that in the existing agricultural machine cruise switching process, movement is unstable, the speed is low, and safety is poor are solved, and the riding comfort of a driver is improved.

Description

technical field [0001] The present application relates to the technical field of agricultural machinery, in particular to a control method and device for the cruise switching process of agricultural machinery and agricultural machinery. Background technique [0002] Agricultural machinery mainly includes tractors, harvesters, plowing and planting machines, low-speed trucks, etc., which are mainly used for field operations. The characteristics of the working environment of agricultural machinery are: the shape of the plot is regular or irregular geometry; There are non-collision and non-approachable objects, such as boundary walls, trees, buildings, etc. There may be other agricultural machinery working in the field, or multiple agricultural machinery working together. [0003] The working process of different types of agricultural machinery can be divided into two parts: driving and operation. Driving refers to the required movement of agricultural machinery in the field; o...

Claims

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Application Information

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IPC IPC(8): G08G1/01G08G1/052G08G1/09G06F17/18
CPCG06F17/18G08G1/0137G08G1/052G08G1/09
Inventor 曹显利韩慧仙曹国廷
Owner 义乌市深研智能科技有限公司
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