阅读说明：本技术 一种基于缺失株情况的玉米联合收获机自动行引导方法 (Automatic row guiding method of corn combine harvester based on plant missing condition ) 是由 杨然兵 郭雯雯 张健 杨松梅 查显涛 邢洁洁 许�鹏 徐康 孙文斌 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种基于缺失株情况的玉米联合收获机自动行引导方法,包括：S1、根据收获机的行进速度和左右检测传感器的输出值,对玉米缺失行进行判断；S2、若出现缺失行情况进行缺失行引导计算,则获得电动方向盘第一目标转角；若没有出现缺失行情况,则通过左右传感器的输出值,获得第二目标转角,进而调整控方向盘方向；最后实现联合收获机的自动行引导。当不采用本发明方法时,车辆失控。采用本发明方法,设定L-(p)为2-4株行距,当出现空株行时,收获机首先按照上一次的固定转向角度前行,当判断到空行发生则按照空行控制方法前进,成功避免了空行作业失效问题。(The invention discloses an automatic row guiding method of a corn combine harvester based on a plant missing condition, which comprises the following steps: s1, judging the missing corn rows according to the advancing speed of the harvester and the output values of the left and right detection sensors; s2, if the missing line condition occurs, carrying out the missing line guide calculation, and then obtaining a first target turning angle of the electric steering wheel; if the missing line condition does not occur, obtaining a second target turning angle through the output values of the left sensor and the right sensor, and further adjusting the steering wheel control direction; and finally, automatic row guiding of the combine harvester is realized. When the method of the present invention is not used, the vehicle is out of control. By the method of the invention, set L p The plant spacing is 2-4, when empty plant rows occur, the harvester firstly moves forwards according to the last fixed steering angle, and when the empty row occurs, the harvester moves forwards according to the empty row control method, so that the problem of the failure of the empty row operation is successfully avoided.)

1. An automatic row guiding method of a corn combine harvester based on a plant deletion condition is characterized by comprising the following steps of: the method comprises the following steps:

s1, judging the missing corn rows according to the advancing speed of the harvester and the output values of the left and right detection sensors;

s2, if the situation of the missing line is present, the missing line guide calculation is carried out, and then a first target turning angle of the electric steering wheel is obtained; if the missing line condition does not occur, obtaining a second target turning angle through the output values of the left sensor and the right sensor, and further adjusting the steering wheel control direction; and finally, automatic row guiding of the combine harvester is realized.

2. The automatic row guiding method of the corn combine harvester based on the plant deletion condition as claimed in claim 1, characterized in that: the judgment of the missing line in S1 includes:

the left and right detection sensors do not display output values, no signal is output, and a missing plant exists;

and the left and right detection sensors display output values, and if the output values are displayed, signals are output, and no missing plants exist.

3. The automatic row guiding method of the corn combine harvester based on the plant deletion condition as claimed in claim 2, characterized in that: the implementation process of the missing line judgment comprises the following steps:

according to the speed of the harvester, the traveling distance of one strain in the distance is obtained through an integrator, signals of a left detection sensor and a right detection sensor are received, the traveling distance of one strain in the new distance is obtained, the traveling distance of the other strain in the new distance is initialized through distance correction, the integrator is returned to continue to operate, otherwise, the distance between the integrator and the set plant spacing distance is judged through a comparator, and when the traveling distance of the other strain in the distance is larger than the set plant spacing distance, the corn plant missing is judged to occur at the moment.

4. The automatic row guiding method of the corn combine harvester based on the plant deletion condition as claimed in claim 3, characterized in that: the calculation method for judging the deletion strain comprises the following steps:

initial condition L_vSetting the distance to be 0, and acquiring the travel distance L from the previous strain after the system is started_vIs formulated as:

L_v＝L_v+speed*Δt

wherein speed is the speed of the harvester, delta t is the interval period of the missing line judgment, and L_vIs the distance traveled from the previous strain.

5. The automatic row guiding method of the corn combine harvester based on the plant deletion condition as claimed in claim 4, characterized in that: the missing line guiding method in the step S2 includes:

and acquiring real-time course information of the vehicle through Kalman filtering of information output by the gyroscope.

6. The automatic row guiding method of the corn combine harvester based on the plant deletion condition as claimed in claim 5, characterized in that: the process of acquiring the real-time course information of the vehicle comprises the following steps: in the process of obtaining the target steering angle under the condition of missing lines, firstly, a gyroscope obtains an uncongested real-time course attitude through Kalman filtering, secondly, a least square method is adopted to fit the plant line information, the plant planting line information is output, and finally, a closed-loop PID closed-loop control method is adopted to output the target steering angle of the electric steering wheel.

7. The automatic row guiding method of the corn combine harvester based on the plant deletion condition as claimed in claim 1, characterized in that: when the plant missing line condition appears, the electric steering wheel can continue to work.

Technical Field

The invention relates to the technical field of automatic corn harvesting, in particular to an automatic row guiding method of a corn combine harvester based on a plant missing condition.

Background

Corn is the third major food crop in China. The row-aligning corn combine harvester has high harvesting efficiency and wide application. However, the row-to-row corn combine needs to perform accurate row-to-row operation. Therefore, most scholars and manufacturers adopt a mode of installing a contact sensor on the corn divider to judge the relative position of the corn plants relative to the corn divider in real time, and further judge the relative position of the harvester and the corn plant rows. However, in this way, the relative positions of the plants are judged by the continuous touch of the corn plants on the detection sensor, and when the distance between adjacent corn plants is large, especially when a plurality of plants are lost, the detection method will be out of function, which seriously causes the harvester to deviate from the harvesting route.

Disclosure of Invention

The invention aims to provide an automatic row guiding method of a corn combine harvester based on the condition of plant loss, which aims to solve the problems in the prior art, reduce the cost and improve the accuracy of row sowing.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides an automatic row guiding method of a corn combine harvester based on a plant missing condition, which comprises the following steps:

s1, judging the missing corn rows according to the advancing speed of the harvester and the output values of the left and right detection sensors;

s2, if the situation of the missing line is present, the missing line guide calculation is carried out, and then a first target turning angle of the electric steering wheel is obtained; if the missing line condition does not occur, obtaining a second target turning angle through the output values of the left sensor and the right sensor, and further adjusting the steering wheel control direction; and finally, automatic row guiding of the combine harvester is realized.

Optionally, the determining of the missing line in S1 includes:

the left and right detection sensors do not display output values, no signal is output, and a missing plant exists;

and the left and right detection sensors display output values, and if the output values are displayed, signals are output, and no missing plants exist.

Optionally, the implementation process of the missing line judgment includes:

according to the speed of the harvester, the traveling distance of one strain in the distance is obtained through an integrator, signals of a left detection sensor and a right detection sensor are received, the traveling distance of one strain in the new distance is obtained, the traveling distance of the other strain in the new distance is initialized through distance correction, the integrator is returned to continue to operate, otherwise, the distance between the integrator and the set plant spacing distance is judged through a comparator, and when the traveling distance of the other strain in the distance is larger than the set plant spacing distance, the corn plant missing is judged to occur at the moment.

Optionally, the calculation method for judging the deletion strain includes:

initial condition L_vSetting the distance to be 0, and acquiring the travel distance L from the previous strain after the system is started_vIs formulated as:

L_v＝L_v+speed*Δt

wherein speed is the speed of the harvester, delta t is the interval period of the missing line judgment, and L_vIs the distance traveled from the previous strain.

Optionally, the missing line guidance method in S2 includes:

and acquiring real-time course information of the vehicle through Kalman filtering of information output by the gyroscope.

Optionally, the process of acquiring the real-time heading information of the vehicle includes: in the process of obtaining the target steering angle under the condition of missing lines, firstly, a gyroscope obtains an uncongested real-time course attitude through Kalman filtering, secondly, a least square method is adopted to fit the plant line information, the plant planting line information is output, and finally, a closed-loop PID closed-loop control method is adopted to output the target steering angle of the electric steering wheel.

Optionally, when the plant missing line condition occurs, the electric steering wheel can continue to work.

The invention discloses the following technical effects:

the invention takes a Rewow 4YZ-3H corn combine harvester as an object, and a left detection sensor and a right detection sensor adopt RFD4000 voltage type rotation sensors of NOVOTEC company. The position of the corn plant drawn by manual measurement has the phenomenon of corn plant deletion, and the vehicle operates at the speed of about 3.4 Km/h. When the method of the present invention is not used, the vehicle is out of control. By the method of the invention, set L_pThe distance is 2-4, when the empty plant rows occur, the harvester firstly moves forwards according to the last fixed steering angle, and when the empty row occurs, the harvester moves forwards according to the empty row control method, so that the problem of the failure of the empty row operation is successfully avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described 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 without creative efforts.

FIG. 1 is a schematic block diagram of an overall arrangement of an embodiment of the present invention;

FIG. 2 is a schematic diagram of logic determination of a missing row according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a missing line guiding method according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a fitting effect of the idle operation according to the embodiment of the present invention.

Detailed Description

Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Further, for numerical ranges in this disclosure, it is understood that each intervening value, between the upper and lower limit of that range, is also specifically disclosed. Every smaller range between any stated value or intervening value in a stated range and any other stated or intervening value in a stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded in the range.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although only preferred methods and materials are described herein, any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention. All documents mentioned in this specification are incorporated by reference herein for the purpose of disclosing and describing the methods and/or materials associated with the documents. In case of conflict with any incorporated document, the present specification will control.

It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The specification and examples are exemplary only.

As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.

The "parts" in the present invention are all parts by mass unless otherwise specified.

As shown in fig. 1-4, the present invention provides a method for guiding an automatic row of a corn combine harvester based on a plant deletion condition, comprising:

s1, judging the missing corn rows according to the advancing speed of the harvester and the output values of the left and right detection sensors;

s2, if the situation of the missing line is present, the missing line guide calculation is carried out, and then a first target turning angle of the electric steering wheel is obtained; if the missing line condition does not occur, obtaining a second target turning angle through the output values of the left sensor and the right sensor, and further adjusting the steering wheel control direction; and finally, automatic row guiding of the combine harvester is realized.

Optionally, the determining of the missing line in S1 includes:

the left and right detection sensors do not display output values, no signal is output, and a missing plant exists;

and the left and right detection sensors display output values, and if the output values are displayed, signals are output, and no missing plants exist.

Optionally, the implementation process of the missing line judgment includes:

according to the speed of the harvester, the traveling distance of one strain in the distance is obtained through an integrator, signals of a left detection sensor and a right detection sensor are received, the traveling distance of one strain in the new distance is obtained, the traveling distance of the other strain in the new distance is initialized through distance correction, the integrator is returned to continue to operate, otherwise, the distance between the integrator and the set plant spacing distance is judged through a comparator, and when the traveling distance of the other strain in the distance is larger than the set plant spacing distance, the corn plant missing is judged to occur at the moment.

Optionally, the calculation method for judging the deletion strain includes:

initial condition L_vSetting the distance to be 0, and acquiring the travel distance L from the previous strain after the system is started_vIs formulated as:

L_v=L_v+speed*Δt

wherein speed is the speed of the harvester, delta t is the interval period of the missing line judgment, and L_vIs the distance traveled from the previous strain.

Optionally, the missing line guidance method in S2 includes:

and acquiring real-time course information of the vehicle through Kalman filtering of information output by the gyroscope.

Optionally, the process of acquiring the real-time heading information of the vehicle includes: in the process of obtaining the target steering angle under the condition of missing lines, firstly, a gyroscope obtains an uncongested real-time course attitude through Kalman filtering, secondly, a least square method is adopted to fit the plant line information, the plant planting line information is output, and finally, a closed-loop PID closed-loop control method is adopted to output the target steering angle of the electric steering wheel.

Optionally, when the plant missing line condition occurs, the electric steering wheel can continue to work.

And (4) missing line judgment:

when no plant touches the sensor, no signal is output. Therefore, the distance L can be determined by whether the distance L is within a certain range_pThe phenomenon of plant deletion is detected. Wherein L is_pShould be at least more than one corn planting spacing. L is_pShould not be selected too large to reduce the offset distance. The distance is not equal to a corn planting distance, so that the phenomenon that plant deficiency is judged by mistake due to uneven corn planting or vehicle speed detection deviation and the control method is influenced is avoided. Recommended L according to test results_pThe row spacing is 2-4. When the left or right detection sensor has an output signal, namely the harvester detects a new corn plant, the distance correction module will L_vZero clearing, otherwise L_vThe values were unchanged. The comparator judges L_vAt a set interval L_pWhen the size of (1) is L_vGreater than a set value L_pWhen the maize plant is deleted, the maize plant is considered to be deleted.

In order to allow the harvester to travel along the planting rows when a plant loss occurs, a gyroscope is fixed below the operator's seat near the center of mass of the harvester. And acquiring real-time course information of the vehicle through Kalman filtering of gyroscope output information. And the gyroscope obtains an uncontacted real-time course attitude through Kalman filtering, the plant row line information is fitted by adopting a least square method, the plant planting row line information is output, and finally, a closed-loop PID closed-loop control method is adopted to output the target turning angle of the electric steering wheel.

According to the method, a Rewv 4YZ-3H corn combine harvester is taken as an object, and a left detection sensor and a right detection sensor adopt RFD4000 voltage type rotation sensors of NOVOTEC company. Drawn by manual measurementThe maize plant deletion phenomenon exists at the maize plant position. The vehicle was operated at a speed of about 3.4 Km/h. When the method of the present invention is not used, the vehicle is out of control. By the method of the invention, set L_pThe distance between the two adjacent rows is 1.2m, when the empty plant rows occur, the harvester firstly moves forwards according to the last fixed steering angle, and when the empty row occurs, the harvester moves forwards according to the empty row control method, so that the problem of the failure of the empty row operation is successfully solved.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.