The invention discloses an automatic row control method for a harvester, and the method comprises the steps: enabling a header of the harvester to sense whether the header touches a target object or not in real time, and calculating the offset of a detection rod of the harvester at the current moment when the header is about to be separated from the target object if the header touches the target object; acquiring the working speed of the harvester at the current moment through a vehicle-mounted sensor; calculating an included angle between a detection rod of the harvester and the target object row at the current moment; calculating an included angle between the current operating speed of the harvester and the component of the operating speed in the row direction of the target object according to the operating speed of the harvester at the current moment; according to the offset of the harvester detection rod at the current moment, the operation speed of the harvester at the current moment and the included angle between the current operation speed and the component of the operation speed in the row direction of the target object, the offset of the harvester detection rod at the next moment is calculated; and the auxiliary driving control system controls the electric steering wheel according to the offset of the harvester detection rod at the next moment to enable the operation direction of the harvester and the target object to keep row-to-row operation.

    本发明公开了一种收获机自动对行控制方法,所述方法包括:收获机收割台实时感应是否触碰到目标物,若是,当收割台与目标物即将分开时,计算收获机探测干当前时刻的偏移量;通过车载传感器获取当前时刻收获机的作业速度;计算当前时刻收获机的探测杆与目标物行的夹角;根据当前时刻收获机的作业速度计算收获机当前作业速度与作业速度在目标物行方向的分量之间夹角;根据收获机探测干当前时刻的偏移量、当前时刻收获机的作业速度及当前作业速度与作业速度在目标物行方向的分量之间夹角,计算下一时刻收获机探测干的偏移量;辅助驾驶控制系统根据下一时刻收获机探测干的偏移量控制电动方向盘使收获机作业方向与目标物保持对行作业。


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    Title :

    Automatic row control method and system for harvester


    Additional title:

    一种收获机自动对行控制方法及系统


    Contributors:
    JI CHUANTANG (author) / CHEN MING (author) / YANG LIANG (author)

    Publication date :

    2024-01-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / A01D Ernten , HARVESTING





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