CN111406505A - Device and method for monitoring remaining capacity and remaining walking distance of grain tank of combine harvester - Google Patents
Device and method for monitoring remaining capacity and remaining walking distance of grain tank of combine harvester Download PDFInfo
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- CN111406505A CN111406505A CN202010364909.0A CN202010364909A CN111406505A CN 111406505 A CN111406505 A CN 111406505A CN 202010364909 A CN202010364909 A CN 202010364909A CN 111406505 A CN111406505 A CN 111406505A
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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Abstract
The invention provides a device and a method for monitoring the residual capacity and the residual travel distance of a grain tank of a combine harvester, wherein the device comprises the grain tank, a detection device, a control panel, a control unit and an alarm device; the detection device is used for detecting the average distance information between the grain accumulation surface in the grain tank and the top of the grain tank and transmitting the average distance information to the control unit; the control panel is used for inputting at least information of the cross section area of the grain tank, the height of the grain tank, the cutting width of the harvester, the yield of each square meter of grains and the volume weight of grain particles and transmitting the information to the control unit; the invention calculates the remaining walking distance of the combine harvester in harvesting work by monitoring the remaining space in the grain tank in real time and displays the distance on the display of the cab in real time, thereby being beneficial to a mechanical hand to plan a harvesting route and a grain unloading route, reducing the idle stroke of the combine harvester in the field and improving the harvesting work efficiency; when the volume of the grain tank is about to be exhausted, the light-emitting diode is matched with the buzzer to give an alarm, a manipulator is prompted to unload grains in time, and loss caused by grain leakage is avoided.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a device and a method for monitoring the residual capacity and the residual walking distance of a grain tank of a combine harvester.
Background
In recent years, with the popularization of grain combine harvesters in China, the working efficiency of grain harvesting operation is greatly improved. The small and medium-sized combine harvester is widely applied due to the characteristics of zoning and blocking and no large-scale planting in farmlands in China. During the operation of the small and medium-sized combine harvester, the harvested grain seeds can be temporarily stored in the grain tank, and after the grain tank is full, the combine harvester is driven to the side of the ridge to discharge grains in a unified manner. In contrast, when large-scale harvesting is carried out on crops in foreign plain areas, the large-scale combine harvester and the grain transport vehicle are matched for operation, and the combine harvester unloads grains while harvesting, so that the operation efficiency is greatly improved.
The problems of the existing small and medium-sized combine harvester in China in the working process comprise the following points:
1. the grain tank of the combine harvester is made of opaque metal plates, so that a machine operator cannot master grain accumulation in the grain tank, and even grain leakage occurs if grain unloading is not timely, thereby causing loss;
2. the grain tank of the small and medium-sized combine harvester is generally small, the alarm condition of the grain tank occurs when the machine frequently runs to the central position of a field block, and at the moment, the combine harvester needs to be driven to a ridge by a machine operator for discharging grains, so that the working efficiency is greatly reduced;
3. when the regenerated rice is harvested in the fields of Hunan province and the like, the frequent grain unloading actions of the small and medium-sized combine harvesters can increase the rolling of the harvesters in the fields, so that the yield of the rice in the second season is reduced, and the economic loss is increased.
Disclosure of Invention
Aiming at the technical problems, the invention provides a device and a method for monitoring the residual capacity and the residual walking distance of a grain tank of a combine harvester, which are used for calculating the residual walking distance in the harvesting work of the combine harvester by monitoring the residual space in the grain tank in real time and displaying the residual walking distance on a cab display in real time, thereby being beneficial to planning a harvesting route and a grain unloading route by a manipulator, reducing the idle stroke of the combine harvester in the field and improving the harvesting work efficiency; when the volume of the grain tank is about to be exhausted, the light-emitting diode is matched with the buzzer to give an alarm, a manipulator is prompted to unload grains in time, and loss caused by grain leakage is avoided.
The invention also provides a combine harvester comprising the grain tank residual capacity and residual walking distance monitoring device of the combine harvester.
The technical scheme of the invention is as follows: a monitoring device for the residual capacity and the residual traveling distance of a grain tank of a combine harvester comprises the grain tank, a detection device, a control panel, a control unit and an alarm device;
the detection device is used for detecting the average distance information between the grain accumulation surface in the grain tank and the top of the grain tank and transmitting the information to the control unit;
the control panel is used for inputting at least information of the cross section area of the grain tank, the height of the grain tank, the cutting width of the combine harvester, the yield of grains per square meter and the volume weight of grain particles and transmitting the information to the control unit;
the control unit is respectively connected with the detection device, the control panel and the alarm device, the control unit calculates the grain tank residual capacity and the residual walking distance of the combine harvester according to the information of the detection device and the control panel, and when the calculated grain tank residual capacity is larger than a preset value, the control unit controls the alarm device to give an alarm.
In the above scheme, the detection device is a ToF depth sensor; the ToF depth sensor is used for being installed on the top surface of the grain tank.
In the above scheme, the control unit is a single chip microcomputer.
In the above scheme, the alarm device comprises a light emitting diode and a buzzer;
the light emitting diode and the buzzer are respectively connected with the control unit.
In the above scheme, the device further comprises a display; the display is connected with the control unit.
A combine harvester comprises the grain tank residual capacity and residual walking distance monitoring device of the combine harvester.
A monitoring method of a grain tank residual capacity and residual walking distance monitoring device of a combine harvester comprises the following steps:
the control panel inputs information of the cross section area S of the grain tank, the height H of the grain tank, the cutting width B of the combine harvester, the yield q of grains per square meter and the volume weight gamma of grain particles and transmits the information to the control unit;
the detection device detects the information of the average distance h between the grain accumulation surface in the grain bin and the top of the grain bin and transmits the information to the control unit;
the control unit is respectively connected with the detection device, the control panel and the alarm device, the control unit calculates the grain tank residual capacity and the residual travel distance of the combine harvester according to the information of the detection device and the control panel, and when the calculated grain tank residual capacity is larger than a preset value, the control unit controls the alarm device to give an alarm.
In the scheme, the calculation formula of the residual capacity E of the grain tank is as follows:
in the above scheme, the formula for calculating the remaining travel distance of the combine harvester is as follows:
under the full-cropping working state, before the grain tank is full, the remaining walking distance L of the combine harvester is as follows:
in the above scheme, the step of the control unit controlling the alarm device to send out an alarm specifically includes:
when the detection device detects that the average distance H between the grain accumulation surface in the grain bin and the top of the grain bin is lower than 20% of the height H of the grain bin, the control unit controls the light-emitting diode to start to flicker; when the average distance H between the grain stacking surface in the grain tank and the top of the grain tank is less than 10 percent of the height H of the grain tank, the control unit controls the buzzer to give an alarm.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention feeds back the height of the grains in the grain tank to the manipulator in real time, and gives an alarm when the grain tank is about to be filled, so that the manipulator can master the accumulation condition of the grains in the grain tank in real time, manually control the operation and shutdown of the machine and timely unload the grains, avoid the blockage and grain leakage caused by grain overfilling and reduce the loss.
2. According to the invention, three parameters of cutting width, seed yield per square meter and seed volume weight are manually input before harvesting operation is carried out, the remaining working distance of the combined harvester is calculated in real time and fed back to the manipulator, so that the manipulator is facilitated to reasonably plan a harvesting line and a grain unloading line, the situation that the combined harvester is full of grain tanks in the center of a field is avoided, the idle stroke of the combined harvester in the field is reduced, and the harvesting efficiency is improved.
Drawings
FIG. 1 is a schematic view of the connection of a device for monitoring the remaining capacity and the remaining travel distance of a grain tank of a combine harvester according to an embodiment of the invention;
fig. 2 is a simplified diagram of the connection of the pin of the single chip microcomputer of the grain tank residual capacity and residual travel distance monitoring device of the combine harvester according to the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
Fig. 1 shows a preferred embodiment of the monitoring device for the residual capacity and the residual travel distance of the grain tank of the combine harvester, and the monitoring device for the residual capacity and the residual travel distance of the grain tank of the combine harvester comprises a grain tank, a detection device, a control panel, a control unit, an alarm device and a display. The detection device is used for detecting the average distance information between the grain accumulation surface in the grain tank and the top of the grain tank and transmitting the information to the control unit; the control panel is used for inputting at least information of the cross section area of the grain tank, the height of the grain tank, the cutting width of the combine harvester, the yield of grains per square meter and the volume weight of grain particles and transmitting the information to the control unit; the control unit is respectively connected with the detection device, the control panel, the alarm device and the display, the control unit calculates the grain tank residual capacity and the residual walking distance of the combine harvester according to the information of the detection device and the control panel, and when the calculated grain tank residual capacity is larger than a preset value, the alarm device is controlled to give an alarm.
The detection device is a ToF depth sensor which is fixed on the top surface of the grain tank, a camera of the ToF depth sensor faces downwards, the stacking condition of grains in the grain tank is scanned in real time at the frequency of 30-60 times per second, and the average distance between the stacking surface of the grains and the top of the grain tank is recorded.
The control unit is a single chip microcomputer, and the alarm device comprises a light emitting diode and a buzzer; the light emitting diode and the buzzer are respectively connected with the single chip microcomputer.
Specifically, the input end of the single chip microcomputer is connected with the output end of the ToF depth sensor through a sensor circuit, and the light emitting diode is connected with the output end of the single chip microcomputer. The buzzer is connected with the output end of the singlechip through an alarm circuit. The output end of the single chip microcomputer is connected with the display. The input end of the single chip microcomputer is also connected with the control panel. The display and the control panel are used for being installed on the combine harvester.
The working process of the invention is as follows: the ToF depth sensor records the average distance h (m) between the surface of the grain stack and the top of the grain tank and sends the average distance h (m) to the single chip microcomputer. The single chip microcomputer operates under a preset program, the height i (m) of grains in the grain bin is calculated, the height is compared with a threshold value, and when the grain stacking height i (m) reaches more than 80% of the height H (m) of the grain bin, the light emitting diode controlled by the single chip microcomputer starts to flicker at the frequency of 500 ms; when the grain stacking height i (m) reaches more than 90% of the height H (m) of the grain tank, the singlechip controls the buzzer to give an alarm through the alarm circuit. The singlechip is further combined with the cross section area S (m) of the grain tank2) And calculating the residual space of the grain tank. Before work, the yield q (kg) of local grains per square meter and the volume weight gamma (kg/m) of grains are measured3) And three parameters of the cutting width B (m) of the combine harvester are input into a control panel, the control panel sends the parameters to a single chip microcomputer, the single chip microcomputer can estimate the remaining distance L (m) which can be traveled by the combine harvester before the grain tank is fully piled according to a program and sends the remaining distance to a display, the display is connected to a cab console of the combine harvester, and the display displays the data such as the remaining capacity E (%) of the grain tank and the remaining traveling distance L (m) of the combine harvester in real time.
As shown in fig. 2, the input end of the single chip microcomputer is connected with the output end of the ToF depth sensor through a sensor circuit, namely, the P30RXD pin and the P31TXD pin of the single chip microcomputer receive the average distance H (m) from the grain stacking surface in the grain bin to the top of the grain bin, which is measured by the ToF depth sensor, the single chip microcomputer then carries out logic comparison on data from the two pins and a set threshold value, if the H value is less than 20% × H, namely the grain stacking height is higher than 80% of the height of the grain bin, the single chip microcomputer controls the P21 pin to enable the light emitting diode to flash at the frequency of 500ms, if the H value is less than 10% × H, namely the grain stacking height is higher than 90% of the height of the grain bin, the single chip microcomputer controls the P20 pin to enable the buzzer to give an alarm, thereby reminding a mechanical hand of timely unloading and avoiding the situations of blocking.
Example 2
A monitoring method of a combine harvester grain tank residual capacity and residual travel distance monitoring device according to embodiment 1, with reference to fig. 1 and 2, comprising the following steps:
before harvesting, the control panel inputs the cross-sectional area S (m) of the grain tank in advance according to the structure of the machine and the actual working condition2) Grain bin height H (m), combine swath B (m), grain yield per square meter q (kg) and grain volume weight gamma (kg/m)3) And transmitting the information to the control unit;
the detection device detects the information of the average distance h (m) between the grain accumulation surface in the grain tank and the top of the grain tank and transmits the information to the control unit; specifically, the detection device is a ToF depth sensor, the ToF depth sensor is arranged on the top surface of the grain tank, the grain accumulation surface in the grain tank is scanned at the frequency of 30-60 times per second, the depth information is obtained, the average distance h (m) between the grain accumulation surface in the grain tank and the top of the grain tank is obtained, and the data is input into the single chip microcomputer;
the control unit is respectively connected with the detection device, the control panel and the alarm device, the control unit calculates the grain tank residual capacity and the residual travel distance of the combine harvester according to the information of the detection device and the control panel, and when the calculated grain tank residual capacity is larger than a preset value, the control unit controls the alarm device to give an alarm.
The calculation formula of the grain tank residual capacity E is as follows:
the calculation formula of the remaining walking distance of the combine harvester is as follows:
the singlechip calculates the residual walking distance L (m) of the combine harvester before the grain tank is full under the full cutting width working state, and outputs the data to the display, concretely, the input end of the singlechip is connected through the control panel, namely, the pins P12, P13 and P14 of the singlechip receive the cutting width B (m) of the combine harvester and the grain volume weight gamma (kg/m) from the control panel respectively3) And yield q (kg) of cereal grain per square meter. The singlechip combines the parameters of height H (m) of grain tank and cross section area S (m) of grain tank2) And the average distance h (m) from the grain accumulation surface in the grain bin to the top of the grain bin, which is provided by the ToF depth sensor, is calculated by the following formula:
and calculating the remaining walking distance L (m) of the combine harvester before the grain tank is full in the full-cutting width working state.
The step of the control unit controlling the alarm device to give an alarm specifically comprises the following steps:
the control unit controls the light emitting diode to start to flash when the detection device detects that the average distance H between the grain accumulation surface in the grain bin and the top of the grain bin is lower than 20% of the height H of the grain bin; when the average distance H between the grain stacking surface in the grain tank and the top of the grain tank is less than 10 percent of the height H of the grain tank, the control unit controls the buzzer to give an alarm.
The display at least displays four groups of data, namely average grain stacking height i (m), grain bin residual capacity E (%), residual working distance L (m) of the full cutting width lower combined harvester, residual working distance l (m) of the half cutting width lower combined harvester, grain stacking height i (m), grain bin residual capacity E (%) and residual working distance l (m) of the half cutting width lower combined harvester, which are calculated by a single chip microcomputer through a given program and output to the display,
by the following formula:
i＝H-h
and calculating the stacking height i (m) of the grains in the grain bin.
By the following formula:
and calculating the residual capacity E (%) of the grain tank.
By the following formula:
and calculating the remaining working distance l (m) of the combine harvester under the half-swath working state.
The single chip transmits the data to the display through control pins P00-P07 and P22-P26, and displays the data on a display L CD screen, so that a manipulator can master the grain tank accumulation condition in real time and reasonably arrange a harvesting route and a grain unloading route.
Example 3
A combine harvester comprises the combine harvester grain tank residual capacity and residual walking distance monitoring device in the embodiment 1, and the monitoring method in the embodiment 2 is adopted to monitor the combine harvester grain tank residual capacity and residual walking distance, so that the combine harvester has the beneficial effects of the embodiments 1 and 2, and the details are not repeated.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
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.
Claims (10)
1. A monitoring device for the residual capacity and the residual traveling distance of a grain tank of a combine harvester is characterized by comprising a grain tank, a detection device, a control panel, a control unit and an alarm device;
the detection device is used for detecting the average distance information between the grain accumulation surface in the grain tank and the top of the grain tank and transmitting the information to the control unit;
the control panel is used for inputting at least information of the cross section area of the grain tank, the height of the grain tank, the cutting width of the harvester, the yield of grains per square meter and the volume weight of grain particles and transmitting the information to the control unit;
the control unit is respectively connected with the detection device, the control panel and the alarm device, the control unit calculates the grain tank residual capacity and the harvester residual walking distance according to the information of the detection device and the control panel, and when the calculated grain tank residual capacity is larger than a preset value, the control unit controls the alarm device to give an alarm.
2. The combine harvester grain tank remaining capacity and remaining travel distance monitoring device of claim 1, wherein the detection device is a ToF depth sensor; the ToF depth sensor is used for being installed on the top surface of the grain tank.
3. The harvester grain tank residual capacity and residual travel distance monitoring device of claim 1, wherein the control unit is a single chip microcomputer.
4. The combine harvester grain tank remaining capacity and remaining travel distance monitoring device of claim 1, wherein the alarm device comprises a light emitting diode and a buzzer;
the light emitting diode and the buzzer are respectively connected with the control unit.
5. The combine harvester grain tank remaining capacity and remaining travel distance monitoring device of claim 1, further comprising a display; the display is connected with the control unit.
6. A combine harvester characterized by comprising the combine harvester grain tank residual capacity and residual travel distance monitoring device of any one of claims 1 to 5.
7. A monitoring method of a monitoring device for the residual capacity and the residual travel distance of a grain tank of a combine harvester according to any one of claims 1 to 5, which is characterized by comprising the following steps:
the control panel inputs information of the cross section area S of the grain tank, the height H of the grain tank, the cutting width B of the harvester, the yield q of grains per square meter and the volume weight gamma of grain particles and transmits the information to the control unit;
the detection device detects the information of the average distance h between the grain accumulation surface in the grain bin and the top of the grain bin and transmits the information to the control unit;
the control unit is respectively connected with the detection device, the control panel and the alarm device, the control unit calculates the grain tank residual capacity and the harvester residual walking distance according to the information of the detection device and the control panel, and when the calculated grain tank residual capacity is larger than a preset value, the control unit controls the alarm device to give an alarm.
8. The monitoring method for the grain tank residual capacity and the residual travel distance monitoring device of the combine harvester according to claim 7, wherein the calculation formula of the grain tank residual capacity E is as follows:
9. the monitoring method for the grain tank residual capacity and residual travel distance monitoring device of the combine harvester according to claim 7, characterized in that the calculation formula of the residual travel distance of the combine harvester is as follows:
in the full swath operating state, the remaining travel distance L of the harvester before the grain bin is full is:
10. the monitoring method for the grain tank residual capacity and residual travel distance monitoring device of the combine harvester according to claim 7, wherein the step of the control unit controlling the alarm device to give an alarm is specifically as follows:
when the detection device detects that the average distance H between the grain accumulation surface in the grain bin and the top of the grain bin is lower than 20% of the height H of the grain bin, the control unit controls the light-emitting diode to start to flicker; when the average distance H between the grain stacking surface in the grain tank and the top of the grain tank is less than 10 percent of the height H of the grain tank, the control unit controls the buzzer to give an alarm.
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