CN110720302A - Intelligent adjusting system of grain harvester and control method thereof - Google Patents
Intelligent adjusting system of grain harvester and control method thereof Download PDFInfo
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- CN110720302A CN110720302A CN201911201072.1A CN201911201072A CN110720302A CN 110720302 A CN110720302 A CN 110720302A CN 201911201072 A CN201911201072 A CN 201911201072A CN 110720302 A CN110720302 A CN 110720302A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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Abstract
The invention relates to an intelligent adjusting system and a control method of a grain harvester.A grain impurity rate and a breakage rate are calculated by an AI control unit according to image information obtained by a granary camera and an elevator camera; when the impurity rate and the crushing rate exceed set thresholds, judging the numerical values of the opening degree of the sieve sheet, the gap of the concave plate, the rotating speed of the roller, the rotating speed of the fan, the rotating speed of the reel and the operating speed which need to be matched, and transmitting the numerical values which need to be matched to a whole vehicle control unit; the whole vehicle control unit correspondingly adjusts the opening of the sieve sheet, the gap of the concave plate, the rotating speed of the roller, the rotating speed of the fan, the rotating speed of the reel and the operating speed so as to achieve the required matching numerical value. The invention has simple structure and convenient operation, and effectively ensures the operation quality and efficiency of the harvester.
Description
Technical Field
The invention relates to an intelligent adjusting system of a grain harvester and a control method thereof.
Background
The harvester often needs trans-regional operation, because the region is different, the soil topography is different, the harvester needs to adjust relevant mechanism to adapt to local topography, and mechanical vehicle needs agricultural machinery user to adjust relevant part manually at present to it properly adjusts to rely on experience, and can not guarantee to adjust back in actual operation and can normally operate, probably appear to influence driving speed, the miscellaneous rate and the crushing rate of seed grain, the feed amount of harvester after adjusting, influences operation quality and operating efficiency greatly.
The prior art most related to the present invention is a patent named as a harvester intelligent adjusting system (patent number: 201310198284.5), which can only prevent the harvester from being blocked by adjusting the torque of a roller during the operation of the harvester, but can not fundamentally ensure the operation quality and efficiency.
Disclosure of Invention
The invention aims to provide an intelligent adjusting system and a control method of a grain harvester, which can effectively ensure the operation quality and efficiency of the harvester.
Based on the same purpose, the invention has two independent technical schemes:
1. the utility model provides a grain harvester intelligence governing system, is including setting up AI the control unit and the detecting element on the harvester, and the information that AI the control unit received and the analysis and processing detecting element detected, the detecting element includes cereal seed grain detecting element, harvester cylinder rotational speed detecting element, harvester sieve piece aperture detecting element and harvester intaglio clearance detecting element.
Furthermore, the grain seed detection unit comprises a plurality of seed image acquisition elements for acquiring image information of the seeds in the granary, the signal output end of each image acquisition element is connected to the AI control unit, and the AI control unit judges the impurity content and the breakage rate of the seeds according to the image information.
Further, the drum rotation speed detecting unit includes a first sensor mounted on the drum; the sieve sheet opening degree detection unit comprises a second sensor arranged on the sieve sheet; the concave plate gap detection unit comprises a third sensor installed on the concave plate;
the signal output ends of the first sensor, the second sensor and the third sensor are connected to a whole vehicle control unit of the harvester, and the whole vehicle control unit is in communication connection with the AI control unit;
the signal output end of the whole vehicle control unit is respectively connected with the threshing cylinder speed regulation proportional electromagnetic valve, the concave plate gap regulation motor control unit and the sieve sheet regulation motor control unit.
Further, still include harvester fan rotational speed detecting element, fan rotational speed detecting element is including installing the fourth sensor that is used for detecting the fan rotational speed on the fan, the signal output part of fourth sensor is connected in the whole car the control unit of harvester, the signal output part termination of whole car the control unit fan speed governing proportion solenoid valve.
Furthermore, the harvester reel speed detection unit is further included, the reel speed detection unit comprises a fifth sensor installed on a reel shaft, the signal output end of the fifth sensor is connected to the whole harvester control unit, and the signal output end of the whole harvester control unit is connected with the motor control unit of the reel.
Further, the vehicle speed detection unit is further included and comprises a sixth sensor installed on the gearbox; the signal output end of the sixth sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a vehicle speed control proportional solenoid valve.
Further, the grain kernel detection unit comprises an elevator camera, and the elevator camera is used for shooting an impurity rate and breakage rate image of the grains in the elevator; and the signal output end of the elevator camera is connected with the AI control unit.
Further, the device also comprises a crop form detection unit, wherein the crop form detection unit comprises a front camera; the header height detection unit comprises a seventh sensor arranged on the header; the signal output end of the front camera is connected with the AI control unit; the signal output end of the seventh sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a header height-adjusting proportional electromagnetic valve.
Further, the harvester also comprises a steering detection unit, wherein the steering detection unit comprises an eighth sensor for detecting the steering angle of the harvester; and the signal output end of the eighth sensor is connected with the whole vehicle control unit, and the signal output end of the whole vehicle control unit is connected with the integral electromagnetic valve group for controlling the steering of the harvester.
Furthermore, the device also comprises a positioning detection unit, wherein the positioning detection unit comprises a GPS positioning module, and the signal output end of the GPS positioning module is connected with the AI control unit.
2. A control method of an intelligent adjusting system of a grain harvester at least comprises the following steps:
s1, the grain seed detection unit collects the image information of the seeds in the granary and feeds the image information back to the AI control unit;
s2: the AI control unit analyzes the acquired image information and calculates the impurity content and the breakage rate of grains in the granary in real time;
s3: the AI control unit compares the real-time calculation result with the preset parameter ranges of impurity rate and breakage rate of grains; when the real-time calculation result is not in the range of the set value, the AI control system judges the matching numerical values of the rotating speed of the roller, the opening degree of the sieve sheet and the gap of the concave plate in the current state and feeds the required matching numerical values back to the whole vehicle control unit of the harvester;
s4: the whole vehicle control unit correspondingly adjusts the rotating speed of the roller, the opening degree of the sieve sheet and the intaglio gap so as to achieve the required matching numerical value.
S5: repeating steps S1-S4 until the harvester stops working.
Further, the AI control unit can also carry out adjustment control according to lodging and denseness parameters of crops, and at least comprises the following steps:
s1', the front camera collects the lodging and dense image information of the crop and feeds back to the AI control unit;
s2': the AI control unit analyzes the acquired image information and calculates the values of crop lodging and density parameters in real time;
s3': the AI control unit compares the real-time calculation result with a preset crop lodging and dense parameter range; when the real-time calculation result is not in the range of the setting value, the AI control unit judges the matching numerical values of the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle in the current state and feeds the required matching numerical values back to the whole-vehicle control unit of the harvester;
s4': the whole-vehicle control unit correspondingly adjusts the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle;
s5': and repeating the steps S1 '-S4' until the harvester stops working.
Further, the AI control unit can also carry out automatic driving control, calculate the driving path according to the image information acquired by the front camera and the positioning information acquired by the GPS positioning module, transmit the driving path information to the whole vehicle control unit, and correspondingly adjust the operation speed and the steering angle under the control of the whole vehicle.
The invention has the following beneficial effects:
the grain seed detection unit acquires the image information of the seeds in the granary and feeds the image information back to the AI control unit; the AI control unit analyzes the acquired image information and calculates the impurity content and the breakage rate of grains in the granary in real time; the AI control unit compares the real-time calculation result with a preset grain impurity rate and a preset breakage rate range; when the real-time calculation result is not within the range of the preset parameters, the AI control system judges the matching numerical values of the rotating speed of the roller, the opening degree of the sieve sheet and the gap of the concave plate in the current state and feeds the required matching numerical values back to the whole vehicle control unit of the harvester; the whole vehicle control unit correspondingly adjusts the rotating speed of the roller, the opening degree of the sieve sheet and the intaglio gap so as to achieve the required matching numerical value, effectively ensure the operation quality and improve the operation efficiency.
The invention is characterized in that a front-mounted camera acquires lodging and dense image information of crops and feeds the lodging and dense image information back to an AI control unit; the AI control unit analyzes the acquired image information and calculates the values of crop lodging and density parameters in real time; the AI control unit compares the real-time calculation result with a preset crop lodging and dense parameter range; when the real-time calculation result is not in the range of the setting value, the AI control unit judges the matching numerical values of the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle in the current state and feeds the required matching numerical values back to the whole-vehicle control unit of the harvester; the whole-vehicle control unit correspondingly adjusts the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle so as to achieve the required matching numerical value, further ensure the operation quality and improve the operation efficiency.
The automatic steering control system comprises a steering angle sensor and a GPS positioning module, wherein an AI control unit calculates a driving path according to image information acquired by a front camera and positioning information acquired by the GPS positioning module, the driving path information is transmitted to a whole vehicle control unit, and the whole vehicle controls to correspondingly adjust the operation speed and the steering angle, so that the time and labor are saved, and the operation efficiency is effectively improved.
In conclusion, the harvester has a simple structure and is convenient to operate, a series of problems of influencing operation caused by the fact that each part of the harvester needs to be manually adjusted in the operation process are solved, time and labor cost are saved, and operation efficiency is greatly improved.
Drawings
FIG. 1 is a schematic circuit diagram of the automatic speed control, steering system of the present invention;
FIG. 2 is a schematic diagram of the circuit for automatically adjusting the fragmentation rate and impurity rate of the present invention;
FIG. 3 is a flow chart of a control method of the present invention;
FIG. 4 is a schematic diagram of the arrangement positions of all components of the whole machine.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
The first embodiment is as follows:
intelligent adjusting system of grain harvester
As shown in fig. 4, a reel 4, a cutting table 21, a threshing cylinder 23, a concave plate 5 and a sieve 31 are arranged below a cab 3 from front to back in sequence, wherein a fan 26 is arranged between the threshing cylinder 23 and the concave plate 5, a granary and an elevator are arranged at the rear side of the cab, and the elevator is used for transporting processed crops to the granary from the sieve 31, which is the prior art.
The grain seed detection unit comprises a granary camera A18 and a granary camera B19, is arranged in the granary, and is used for shooting images of impurity content and breakage rate of grains in the granary; a reel speed sensor (fifth sensor) 11 mounted on the reel shaft for detecting the speed of the reel 4 during operation; a drum rotation speed sensor (first sensor) mounted on the threshing drum 23 for detecting the real-time rotation speed of the drum during operation; a concave plate gap sensor (third sensor) mounted on the concave plate 5 for detecting a concave plate gap; a screen sheet opening degree sensor (second sensor) mounted on a screen sheet of the screen 31 for detecting an opening degree of the screen sheet; a fan rotational speed sensor (fourth sensor) mounted on the fan bearing housing for detecting the rotational speed of the fan 26; a vehicle speed sensor (sixth sensor) 24 mounted on the transmission for detecting a running speed; the grain seed detection unit also comprises an elevator camera 17 which is arranged on the side surface of the elevator and is used for shooting images of the impurity content and the breakage rate of the grains in the elevator; the front camera 13 is used for shooting a lodging and dense image of the crop; a header height sensor (a seventh sensor) mounted on the header 21 for detecting the height of the header during operation; a steering angle sensor (eighth sensor) mounted on the left side of the rear axle 30 for detecting the steering angle of the harvester; and the GPS positioning module 14 is used for positioning the harvester. An integral solenoid valve pack 22 is mounted forward below the operator's cab for controlling automatic steering. The vehicle speed control proportional valve 20 is installed on the rear side of the engine, and the running speed is controlled by the plunger variable displacement pump.
As shown in fig. 1 and 2, the signal output ends of the front camera 13 and the GPS positioning module 14 are connected to an AI control unit (AI controller) 1, the signal output ends of the granary cameras 18 and 19 and the elevator camera 17 are connected to the AI control unit, and the AI control unit (AI controller) 1 is in communication connection with a vehicle control unit (vehicle controller) 2 through a CAN bus.
The signal output ends of the speed sensor 24, the steering angle sensor, the reel speed sensor 11, the header height sensor, the roller speed sensor, the concave plate gap sensor, the sieve sheet opening sensor and the fan speed sensor are connected with a whole vehicle control unit. The signal output end of the whole vehicle control unit is connected with a header height-adjusting proportional electromagnetic valve, a vehicle speed control proportional electromagnetic valve 20, a reel motor (reel stepless speed change motor 12) control unit, an integral electromagnetic valve group 22 for controlling the steering of the harvester, a threshing cylinder speed-adjusting proportional electromagnetic valve, a concave plate gap adjusting motor 28 control unit, a sieve sheet adjusting motor control unit and a fan speed-adjusting proportional electromagnetic valve 25 (fan motor proportional valve).
Example two:
control method of intelligent adjusting system of grain harvester
As shown in fig. 3, the AI control unit calculates the impurity content and the breakage rate of the grain according to the image information obtained by the granary camera and the elevator camera (grain seed detection unit); when the impurity rate and the breakage rate exceed set thresholds, judging the opening degree of a sieve sheet, the gap of a concave plate, the rotating speed of a roller, the rotating speed of a fan, the rotating speed of a reel and the operating speed value which need to be matched based on real-time data transmitted by corresponding sensors, and transmitting the required matched values to a finished automobile control unit; the whole vehicle control unit correspondingly adjusts the opening of the sieve sheet, the gap of the concave plate, the rotating speed of the roller, the rotating speed of the fan, the rotating speed of the reel and the operating speed so as to achieve the required matching numerical value. And repeating the steps of adjusting according to the impurity rate and the breakage rate of the grains until the harvester stops working.
The AI control unit calculates lodging and density parameter values of crops according to the image information acquired by the front camera; when the parameter values exceed the set threshold values, the numerical values of the reel rotating speed, the header height, the operation speed and the steering angle which need to be matched are judged based on the real-time data transmitted by the corresponding sensors, and the required matching numerical values are transmitted to the whole vehicle control unit, and the whole vehicle control unit correspondingly adjusts the reel rotating speed, the header height, the operation speed and the steering angle so as to achieve the required matching numerical values. And repeating the steps until the harvester stops working. And repeating the steps of adjusting according to the lodging and density parameters of the crops until the harvester stops working.
The AI control unit calculates a driving path according to the image information acquired by the front camera and the positioning information acquired by the GPS positioning module, transmits the driving path information to the whole vehicle control unit, and controls the corresponding adjustment of the operation speed and the steering angle to realize automatic driving.
Example three:
control method of intelligent adjusting system of grain harvester
The driver selects modes through panel keys, and the modes include a walking mode and an operation mode. Under the walking mode, the opening degree of the sieve sheet, the gap of the concave plate, the rotating speed of the roller, the rotating speed of the reel, the rotating speed of the fan and the height of the header can not be adjusted, the rotating speed of the roller, the rotating speed of the reel and the rotating speed value of the fan are zero, and the speed of the vehicle can be adjusted in real time. When the key is switched to the operation mode during field operation, the intelligent adjusting system of the grain harvester formally starts to work. The control method in the operation mode is the same as that in the second embodiment.
In the operation mode, a driver can check specific parameter values of all parts in operation in real time through a display, such as a rotary drum rotating speed value, a concave plate gap, a sieve sheet opening degree, a fan rotating speed, a reel rotating speed, an operation speed, the current breaking rate and impurity rate of grains and the lodging density value of crops, so that man-machine interaction is realized.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (13)
1. The utility model provides a grain harvester intelligence governing system, is including setting up AI the control unit and the detecting element on the harvester, and the information that AI the control unit received and the analysis and processing detecting element detected, the detecting element includes cereal seed grain detecting element, harvester cylinder rotational speed detecting element, harvester sieve piece aperture detecting element and harvester intaglio clearance detecting element.
2. The grain harvester intelligent regulation system of claim 1, wherein: the grain kernel detection unit comprises a plurality of kernel image acquisition elements for acquiring image information of kernels in the granary, the signal output end of each image acquisition element is connected to the AI control unit, and the AI control unit judges the impurity content and the breakage rate of the kernels according to the image information.
3. The grain harvester intelligent regulation system of claim 1, wherein: the drum rotation speed detection unit comprises a first sensor mounted on the drum; the sieve sheet opening degree detection unit comprises a second sensor arranged on the sieve sheet; the concave plate gap detection unit comprises a third sensor installed on the concave plate;
the signal output ends of the first sensor, the second sensor and the third sensor are connected to a whole vehicle control unit of the harvester, and the whole vehicle control unit is in communication connection with the AI control unit;
the signal output end of the whole vehicle control unit is respectively connected with the threshing cylinder speed regulation proportional electromagnetic valve, the concave plate gap regulation motor control unit and the sieve sheet regulation motor control unit.
4. The grain harvester intelligent regulation system of claim 1, wherein: the harvester fan speed detection device is characterized by further comprising a harvester fan speed detection unit, wherein the fan speed detection unit comprises a fourth sensor which is arranged on the fan and used for detecting the fan speed, the signal output end of the fourth sensor is connected with the whole vehicle control unit of the harvester, and the signal output end of the whole vehicle control unit is connected with a fan speed regulation proportional electromagnetic valve.
5. The grain harvester intelligent regulation system of claim 1, wherein: the harvester reel rotation speed detection unit comprises a fifth sensor installed on a reel shaft, the signal output end of the fifth sensor is connected to the whole harvester control unit, and the signal output end of the whole harvester control unit is connected with the motor control unit of the reel.
6. The grain harvester intelligent regulation system of claim 1, wherein: the vehicle speed detection unit comprises a sixth sensor installed on the gearbox; the signal output end of the sixth sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a vehicle speed control proportional solenoid valve.
7. The grain harvester intelligent regulation system of claim 1, wherein: the grain kernel detection unit comprises an elevator camera, and the elevator camera is used for shooting an impurity rate and breakage rate image of grains in the elevator; and the signal output end of the elevator camera is connected with the AI control unit.
8. The intelligent grain harvester adjustment system of any one of claims 1 to 7, further comprising a crop morphology detection unit comprising a front-facing camera disposed at a front end of the harvester; the header height detection unit comprises a seventh sensor arranged on the header; the signal output end of the front camera is connected with the AI control unit; the signal output end of the seventh sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a header height-adjusting proportional electromagnetic valve.
9. The grain harvester intelligent adjustment system of claim 8, further comprising a steering detection unit comprising an eighth sensor for detecting a harvester steering angle; and the signal output end of the eighth sensor is connected with the whole vehicle control unit, and the signal output end of the whole vehicle control unit is connected with the integral electromagnetic valve group for controlling the steering of the harvester.
10. The intelligent grain harvester regulating system of claim 9, further comprising a positioning detection unit, wherein the positioning detection unit comprises a GPS positioning module, and a signal output end of the GPS positioning module is connected with the AI control unit.
11. A control method of an intelligent adjusting system of a grain harvester at least comprises the following steps:
s1, the grain seed detection unit collects the image information of the seeds in the granary and feeds the image information back to the AI control unit;
s2: the AI control unit analyzes the acquired image information and calculates the impurity content and the breakage rate of grains in the granary in real time;
s3: the AI control unit compares the real-time calculation result with the preset parameter ranges of impurity rate and breakage rate of grains; when the real-time calculation result is not within the range of the preset parameters, the AI control system judges the matching numerical values of the rotating speed of the roller, the opening degree of the sieve sheet and the gap of the concave plate in the current state and feeds the required matching numerical values back to the whole vehicle control unit of the harvester;
s4: the whole vehicle control unit correspondingly adjusts the rotating speed of the roller, the opening degree of the sieve sheet and the intaglio gap so as to achieve the required matching numerical value.
S5: repeating steps S1-S4 until the harvester stops working.
12. Control method according to claim 11, characterized in that the AI control unit is also adjustably controllable according to lodging, denseness parameters of the crops, comprising at least the following steps:
s1', the front camera collects the lodging and dense image information of the crop and feeds back to the AI control unit;
s2': the AI control unit analyzes the acquired image information and calculates the values of crop lodging and density parameters in real time;
s3': the AI control unit compares the real-time calculation result with a preset crop lodging and dense parameter range; when the real-time calculation result is not in the range of the setting value, the AI control unit judges the matching numerical values of the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle in the current state and feeds the required matching numerical values back to the whole-vehicle control unit of the harvester;
s4': the whole-vehicle control unit correspondingly adjusts the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle;
s5': and repeating the steps S1 '-S4' until the harvester stops working.
13. The control method according to claim 11, characterized in that: the AI control unit can also carry out automatic driving control, calculate a driving path according to the image information acquired by the front camera and the positioning information acquired by the GPS positioning module, transmit the driving path information to the whole vehicle control unit, and correspondingly adjust the operation speed and the steering angle by the whole vehicle control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911201072.1A CN110720302A (en) | 2019-11-29 | 2019-11-29 | Intelligent adjusting system of grain harvester and control method thereof |
| PCT/CN2020/140051 WO2021104530A1 (en) | 2019-11-29 | 2020-12-28 | Cereal harvester smart adjustment system and control method therefor |
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| CN201911201072.1A CN110720302A (en) | 2019-11-29 | 2019-11-29 | Intelligent adjusting system of grain harvester and control method thereof |
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