Automatic row-guiding method for maize combine harvester based on situation of missing plants

Patent metadata

Field	Value
Publication number	US-11570944-B1
Application number	US-202217898246-A
Country	US
Kind code	B1
Filing date	Aug 29, 2022
Priority date	Aug 31, 2021
Publication date	Feb 7, 2023
Grant date	Feb 7, 2023

Abstract

Disclosed is an automatic row-guiding method for maize combine harvester based on the situation of missing plants, comprising: S1, guiding calculation of missing plants according to a traveling speed of a harvester and output values of left and right detecting sensors; and S2, performing guiding calculation of missing plants if there is a situation of missing plant, obtaining a first target turning angle of an electric steering wheel; or obtaining a second target turning angle according to the output values of the left and right detecting sensors if there is no situation of missing plant, then adjusting the steering wheel in terms of controlling direction, and finally, realizing automatic row-guiding of the combine harvester.

First claim

What is claimed is:

1. An automatic row-guiding method for maize combine harvester based on a presence of missing plants, comprising:
S1, evaluating rows of missing plants of maize according to a traveling speed of a harvester in combination with output values of left and right detecting sensors; and
S2, performing guiding calculation of missing plants if there is a situation of rows with missing plants, obtaining a first target turning angle of an electric steering wheel; or obtaining a second target turning angle according to the output values of the left and right detecting sensors if there is a situation of rows with no missing plants, then adjusting the steering wheel in terms of controlling direction, and finally, realizing automatic row-guiding of the combine harvester;
wherein the guiding calculation of missing plants in S2 comprises:
acquiring real-time harvester heading information by Kalman Filter of gyroscope output information;
wherein the real-time harvester heading information is obtained as follows:
in a process of obtaining target turning angle under a situation of row with missing plants, the gyroscope obtains a real-time heading attitude firstly in a case of missing plants through Kalman Filter, then a plant rows information is fitted using a least squares method, followed by outputting plants rows information; and finally, the target turning angel of the electric steering wheel is output by a closed-loop guiding method of proportional integral derivative (PID).

2. The automatic row-guiding method for maize combine harvester based on the presence of missing plants according to claim 1 , wherein guiding calculation of missing plants in S1 comprises:
when the left and right detecting sensors display no output value, then there is no signal output, indicating that there is a situation of missing plants; and
when the left and right detecting sensors display the output values, then there is signal output, indicating that there is a situation of no missing plants.

3. The automatic row-guiding method for maize combine harvester based on the presence of missing plants according to claim 2 , wherein the guiding calculation of missing plants is achieved according to the following process:
obtaining a traveling distance from a previous plant through an integrator according to the traveling speed of the harvester, receiving signals from the left and right detecting sensors and thus obtaining a new traveling distance from the previous plant, initializing the new traveling distance from the previous plant as described through distance correction, and returning to the integrator to continue operation; or judging through a comparing unit against a preset plant interval distance, and deciding that a maize plant is absent at this time when the traveling distance from the previous plant is greater than the preset plant interval distance.

4. The automatic row-guiding method for maize combine harvester based on the presence of missing plants according to claim 3 , wherein the guiding calculation of missing plants comprises:
setting the traveling distance from the previous plant L v as 0 under an initial condition, obtaining L v after system activation, and the calculation is expressed by the following formula:
L v =L v +speed*Δ t

wherein the speed is the speed of harvester, Δt is the interval period of evaluating missing plants, and L v is the travel distance from the previous plant.

5. The automatic row-guiding method for maize combine harvester based on the presence of missing plants according to claim 1 , wherein the electric steering wheel continues to work in the presence of the missing plants.

Assignees

• Univ Hainan

Inventors

• Yang Ranbing
• Zhang Jian
• Yang Songmei
• Zha Xiantao
• Xing Jiejie
• Qing Yiren
• Guo Wenwen
• Xu Peng
• Xu Kang
• Sun Wenbin

Classifications

• A01D41/1278 Primary

  for automatic steering · CPC title

• A01D45/028 Primary

  Harvesting devices mounted to a vehicle · CPC title

• A01B69/008 Primary

  automatic · CPC title

• G06Q50/02

  Agriculture; Fishing; Forestry; Mining · CPC title