CN-121986616-A - Farming machine control method, farming machine and storage medium

CN121986616ACN 121986616 ACN121986616 ACN 121986616ACN-121986616-A

Abstract

The application provides a farming machine control method, a farming machine and a storage medium, which are characterized in that vehicle inclination angle data are automatically acquired and judged to replace manual observation and decision, a control strategy is automatically responded and executed to replace manual operation hydraulic rods, so that the whole-course automation of agricultural tool control is realized, the operation efficiency is remarkably improved, the omission or delay of manual operation is avoided, the theoretical adjustment direction is calculated according to the inclination angle data before adjustment, the agricultural tool is controlled to generate a tiny tentative displacement along the theoretical direction, and the real-time pressure data of a hydraulic cylinder are synchronously acquired. The application creatively distinguishes and knows the real reason of the change of the inclination angle of the vehicle body, and fundamentally solves the reliability problem caused by misjudgment of the reason of the existing automatic scheme. The application realizes self-adaptive fine cultivation under complex terrains, ensures automatic and reliable protection when the vehicle is abnormal, and ensures the safety of farm tools while improving the working quality.

Inventors

ZHAO ZUOWEI
LI TIEHUI
ZHAO ZEJIAN

Assignees

湖南省农友机械集团有限公司

Dates

Publication Date: 20260508
Application Date: 20251226

Claims (9)

1. A method for controlling a farming machine, comprising the steps of: S1, acquiring vehicle body inclination angle data detected by a vehicle body inclination angle sensor, and judging whether the posture of the farm tool needs to be adjusted according to the vehicle body inclination angle data; S2, when the posture of the farm tool is required to be adjusted, determining the theoretical adjustment direction of the farm tool according to the vehicle body inclination angle data, and controlling the action of a farm tool driving mechanism so as to enable the farm tool to generate a tentative displacement along the theoretical adjustment direction of the farm tool; S3, acquiring pressure data detected by a pressure sensor in the process of generating the tentative displacement by the farm tool, wherein the pressure sensor is used for acquiring a real-time pressure value of a drive mechanism of the farm tool; s4, analyzing the pressure change trend of the pressure data in the process of generating the tentative displacement; S5, judging whether the current vehicle inclination angle change is from a real terrain gradient or an abnormal vehicle posture according to the pressure change trend, and generating a corresponding terrain property judgment signal; and S6, responding to the terrain property judgment signal, and executing an agricultural implement control strategy corresponding to the terrain property judgment signal.
2. The method for controlling an agricultural machine according to claim 1, wherein the step S1 of determining whether the posture of the agricultural implement is required to be adjusted according to the vehicle body inclination data comprises the steps of: S11, acquiring vehicle body inclination angle data at the current moment, calculating an absolute value, acquiring a vehicle body inclination angle data set in a preset history time, and calculating the absolute value of the change rate of the vehicle body inclination angle data according to the vehicle body inclination angle data set; s12, judging whether the absolute value of the vehicle body inclination angle data is larger than a first preset threshold value or not, and judging whether the absolute value of the vehicle body inclination angle data change rate is larger than a second preset threshold value or not; and S13, judging that the farm tool is required to be subjected to posture adjustment when any one of the absolute value of the vehicle body inclination angle data is larger than a first preset threshold value and the absolute value of the vehicle body inclination angle data change rate is larger than a second preset threshold value is met.
3. The method for controlling an agricultural machine according to claim 1, wherein determining the theoretical adjustment direction of the agricultural implement according to the vehicle body inclination data in the step S2 specifically includes the steps of: s21, determining a real-time pitch angle and a real-time roll angle for reflecting the attitude of the farm cultivator body according to the vehicle body inclination angle data; S22, calculating a target pitch compensation angle and a target rolling compensation angle which are required to be relative to the farming machine body when the working plane of the farming machine reaches the optimal farming dip angle under the condition that the current topography is an ideal plane according to a preset mechanical connection model between the farming machine body and the farming machine and the real-time pitch angle and the real-time rolling angle; s23, calculating the theoretical expansion and contraction amount and the expansion and contraction direction of a corresponding hydraulic cylinder in the farm tool driving mechanism according to the target pitching compensation angle and the target rolling compensation angle and by combining the kinematic relation defined in the preset mechanical connection model, wherein the expansion and contraction direction is the theoretical adjustment direction of the farm tool.
4. The agricultural machine control method of claim 3, wherein the step S4 specifically includes the steps of: S41, acquiring pressure data sequences of at least two hydraulic cylinders associated with the farm tool driving mechanism in the complete process of generating the tentative displacement; S42, calculating pressure change values of the hydraulic cylinders before and after the tentative displacement is generated according to the corresponding pressure data sequences, and taking the pressure change values as first pressure difference values of the hydraulic cylinders; s43, identifying algebraic signs of each first pressure difference value, and calculating absolute values of the algebraic signs as amplitude characteristics; S44, judging that the pressure change trend tends to be balanced according to the sign combination of the first pressure difference values and the amplitude characteristic, if algebraic signs of the first pressure difference values of the at least two hydraulic cylinders are opposite and absolute values of all the first pressure difference values are smaller than a first threshold value; And if algebraic signs of the first pressure difference values of the at least two hydraulic cylinders are opposite, and the absolute value of any one of the first pressure difference values is larger than a second threshold value, judging that the pressure change trend is a severe asymmetric change, wherein the second threshold value is larger than the first threshold value.
5. The method for controlling an agricultural machine according to claim 4, wherein the step S5 specifically includes the steps of: s51, extracting key characteristic parameters contained in the pressure change trend obtained by analysis in the step S4; S52, based on a preset feature similarity algorithm, calculating a first similarity between the key feature parameter and a first standard feature vector and a second similarity between the key feature parameter and a second standard feature vector respectively; the first standard feature vector is obtained by analyzing and calibrating multiple pressure data when the agricultural implement is subjected to heuristic displacement under the gradient of a real terrain and is used for representing that the agricultural implement is in a benign fit state with the ground; s53, when the first similarity is larger than a first judging threshold value and the difference between the first similarity and the second similarity is larger than a preset confidence threshold value, generating a first terrain property judging signal indicating that the change of the inclination angle of the vehicle body is caused by the real terrain gradient; And S54, when the second similarity is larger than a second judging threshold value and the difference between the second similarity and the first similarity is larger than the confidence threshold value, generating a second terrain property judging signal indicating that the change of the inclination angle of the vehicle body is caused by the abnormal posture of the vehicle.
6. The agricultural machine control method of claim 5, wherein the step S6 includes the steps of: Executing a first farm tool control strategy when the terrain property judging signal is a first terrain property judging signal, wherein a target attitude parameter for enabling a farm tool working plane to keep a preset optimal cultivation angle is calculated based on a preset inclination angle-attitude mapping relation and the vehicle body inclination angle data; And when the terrain property judging signal is a second terrain property judging signal, executing a second farm tool control strategy, wherein the action of the farm tool driving mechanism is controlled so that the farm tool is lifted vertically to leave the ground for a preset time period, and then returning to the step S1.
7. The method for controlling a farming machine according to claim 1, further comprising the steps of: And when the farming machine is detected to be in a reversing or turning mode, controlling the action of the farm tool driving mechanism so as to enable the farm tool to be lifted off the ground vertically.
8. A farming machine comprising a body and a farming implement, characterized by further comprising a body tilt sensor for detecting body tilt data of the farming machine, a farming implement drive mechanism for driving the farming implement for attitude adjustment, a pressure sensor for acquiring real-time pressure values of the farming implement drive mechanism, a control system, wherein the control system comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program implementing the steps of the farming machine control method according to any one of claims 1 to 7.
9. A storage medium storing a computer program, wherein the computer program when executed by a processor implements the steps of a method of controlling a farming machine according to any one of claims 1 to 7.

Description

Farming machine control method, farming machine and storage medium Technical Field The invention relates to the technical field of agricultural machinery, in particular to a control method of an agricultural machinery, the agricultural machinery and a storage medium. Background At present, a common product of the farming machine is mainly a structure form that a farm tool is additionally arranged on a crawler tractor, when the farming machine is normally used, the farm tool is placed on the ground, the crawler tractor normally walks forwards to drive the farm tool to normally operate, and in the normal forward operation process, when uneven ground or gradient is encountered, the vehicle body can incline. The existing partial automatic scheme can only respond simply according to the inclination angle of the vehicle body, but cannot distinguish whether the inclination of the vehicle body is from the gradient of the real terrain or from the abnormal posture of the vehicle such as slipping, pit sinking and the like, and the risk of misjudgment is more unable to carry out adaptive adjustment. For example, if the abnormal posture is misjudged as the gradient to adjust the farm tool, the farm tool is excessively contacted with the ground to be damaged, otherwise, if the true gradient is misjudged as the abnormal to lift the farm tool, the normal operation is interrupted, and the operation efficiency is reduced. In addition, when the crawler tractor backs or turns, the control rod is required to be manually controlled, and then the agricultural implement is lifted up and separated from the ground through hydraulic control, so that the agricultural implement is prevented from being in abnormal contact with the ground, and the agricultural implement is prevented from being damaged. This approach requires manual manipulation, is inefficient, and often has untimely operation, which results in a large rate of damage to the farm implement. In view of the foregoing, there is a need for a method of controlling a farming machine, and a storage medium that address or at least alleviate the above-mentioned drawbacks. Disclosure of Invention The invention mainly aims to provide a farming machine control method, a farming machine and a storage medium, so as to solve the technical problem that the prior art lacks of being capable of sensing terrain in a self-adaptive mode and performing automatic control. In order to achieve the above object, the present invention provides a method for controlling an agricultural machine, comprising the steps of: S1, acquiring vehicle body inclination angle data detected by a vehicle body inclination angle sensor, and judging whether the posture of the farm tool needs to be adjusted according to the vehicle body inclination angle data; S2, when the posture of the farm tool is required to be adjusted, determining the theoretical adjustment direction of the farm tool according to the vehicle body inclination angle data, and controlling the action of a farm tool driving mechanism so as to enable the farm tool to generate a tentative displacement along the theoretical adjustment direction of the farm tool; S3, acquiring pressure data detected by a pressure sensor in the process of generating the tentative displacement by the farm tool, wherein the pressure sensor is used for acquiring a real-time pressure value of a drive mechanism of the farm tool; s4, analyzing the pressure change trend of the pressure data in the process of generating the tentative displacement; S5, judging whether the current vehicle inclination angle change is from a real terrain gradient or an abnormal vehicle posture according to the pressure change trend, and generating a corresponding terrain property judgment signal; and S6, responding to the terrain property judgment signal, and executing an agricultural implement control strategy corresponding to the terrain property judgment signal. Preferably, in the step S1, determining whether the posture of the farm tool needs to be adjusted according to the vehicle body inclination angle data specifically includes the following steps: S11, acquiring vehicle body inclination angle data at the current moment, calculating an absolute value, acquiring a vehicle body inclination angle data set in a preset history time, and calculating the absolute value of the change rate of the vehicle body inclination angle data according to the vehicle body inclination angle data set; s12, judging whether the absolute value of the vehicle body inclination angle data is larger than a first preset threshold value or not, and judging whether the absolute value of the vehicle body inclination angle data change rate is larger than a second preset threshold value or not; and S13, judging that the farm tool is required to be subjected to posture adjustment when any one of the absolute value of the vehicle body inclination angle data is larger than a first preset threshold value and the absolute value of the