CN115119608A - Intelligent control method for integrated harvesting of corn ears and corn stalks - Google Patents
Intelligent control method for integrated harvesting of corn ears and corn stalks Download PDFInfo
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- CN115119608A CN115119608A CN202210756600.5A CN202210756600A CN115119608A CN 115119608 A CN115119608 A CN 115119608A CN 202210756600 A CN202210756600 A CN 202210756600A CN 115119608 A CN115119608 A CN 115119608A
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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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- 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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/02—Harvesting of standing crops of maize, i.e. kernel harvesting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/02—Harvesting of standing crops of maize, i.e. kernel harvesting
- A01D45/021—Cornheaders
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- Outside Dividers And Delivering Mechanisms For Harvesters (AREA)
Abstract
An intelligent control method for integrated harvesting of corn ears and stalks belongs to the technical field of agricultural harvesting control. The method comprises the following steps: the system comprises a fresh corn ear-stem integrated harvesting system and a fresh corn combined harvesting efficiency collaborative optimization system; the fresh corn ear-stem integrated harvesting system comprises a corn ear-stem combined harvester and an intelligent monitoring system of the corn ear-stem combined harvester. The invention controls the general integrated harvesting process of the corn ear and stem, and combines a corn ear and stem combine harvester to perform control analysis, and the invention mainly comprises a picking link, a conveying link, a peeling link, a threshing link, a collecting link and the like. According to the actual characteristics of fresh corn, the invention overcomes the problems of multiple times of machine entering the ground, low stalk pick-up rate, high soil compaction degree, difficult land preparation and the like in the traditional corn ear and stalk segmented harvesting method, can accurately control each link in the integrated corn ear and stalk harvesting process, and effectively improves the picking efficiency.
Description
Technical Field
The invention relates to an intelligent control method for integrated harvesting of corn ears and stalks, belonging to the technical field of agricultural harvesting control.
Background
At present, fresh corn harvesting develops towards a high-efficiency intelligent harvesting process, but the problems of poor reliability, high threshing breakage rate, immature low-loss ear picking and conveying technology, lack of integrated harvesting technology, low intelligent control degree and the like exist.
In addition, the system efficiency of the complete harvesting equipment is cooperated to directly influence the working efficiency and reliability of the complete equipment, a self-adaptive intelligent regulation strategy of indexes such as ear picking loss, peeling loss, seed crushing, seed recovery loss and the like needs to be formulated, and the efficient cooperative control of the operation information of the corn picking, ear picking, conveying, threshing, collecting, straw chopping and integrated machine is realized.
Disclosure of Invention
The invention provides an intelligent control method for integrated harvesting of corn ears and stalks, aiming at solving the problem in the development process of fresh corn harvesting to an efficient and intelligent harvesting process.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the intelligent control method for the integrated harvesting of the corn ears and the corn stalks mainly comprises the following steps: the system comprises a fresh corn ear-stem integrated harvesting system and a fresh corn combined harvesting efficiency collaborative optimization system; the fresh corn ear-stem integrated harvesting system comprises a corn ear-stem combined harvester and an intelligent monitoring system of the corn ear-stem combined harvester.
The corn ear and stem combine mainly comprises an ear picking device, a conveying device, a peeling device, a threshing device and a collecting device. The intelligent monitoring system of the corn ear-stem combine harvester monitors ear loss and damage generated in the harvesting process, and mainly comprises the monitoring of ear picking loss, peeling loss, kernel crushing and kernel recovery loss. The efficiency optimization module mainly depends on the main control module, the efficiency coordination module and the fault self-diagnosis module. The fresh corn combined harvesting efficiency collaborative optimization system is used for optimizing a self-adaptive intelligent regulation and control strategy according to the feedback of an intelligent monitoring system, and mainly comprises flexible snapping control, nondestructive conveying control, low-loss threshing control and integrated collection control, wherein the integrated collection control mainly refers to straw chopping control.
Furthermore, in the harvesting link, a seedling pulling chain and a seedling divider in the ear picking device guide the corn plants into a header cutting channel, a stem pulling roller pulls the corn straws downwards, and meanwhile, an ear picking plate extrudes the corn ears to separate the corn ears from the straws; the picked fruit ears enter a collecting auger of a peeling device through a conveying chain of the conveying device for peeling, and the collecting auger collects the peeled fruit ears to an intermediate conveying device; the intermediate conveying device conveys the grains into a threshing device, and after threshing, re-threshing and cleaning, the grains enter a grain tank of a collecting device through a grain-lifting auger; light impurities in the grains are blown out by the cleaning fan, and the broken core shaft and the bracts are uniformly thrown on the ground by the wine throwing device; when the ears are picked, the stalk chopping device at the lower part of the header chops stalks and throws the chopped corn stalks on the ground, so that the processes of clamping, cutting and conveying, loss reduction, ear picking, smooth feeding, chopping, throwing, low-loss peeling and the like can be completed at one time.
Furthermore, the intelligent monitoring system of the corn ear and stem combined harvester comprises an ear picking loss monitoring module, a peeling loss monitoring module, a kernel crushing monitoring module and a kernel recovery loss monitoring module, and the intelligent monitoring system mainly detects ear loss and damage generated in the harvesting process in a CAN bus mode, establishes an adaptive intelligent regulation and control strategy of loss indexes, automatically optimizes and automatically diagnoses, thereby establishing a quantitative evaluation system with stable operation and realizing cooperative optimization.
Furthermore, the fresh corn combined harvesting efficiency collaborative optimization system comprises a main control module, an efficiency collaborative module and a fault self-diagnosis module. The main control module comprises a centralized processing unit electric control system and a CAN bus. The electric control system of the centralized processing unit comprises 4 modules of data storage, signal receiving, command control and signal feedback. The efficiency coordination module is used for integrated control of the corn ears and the corn stalks, and mainly optimizes a self-adaptive intelligent regulation and control strategy according to the feedback of an intelligent monitoring system, and comprises an ear picking gap control unit, a nondestructive conveying control unit, a low-loss threshing control unit and a straw chopping control unit. And the fault self-diagnosis module is mainly used for summarizing and sorting historical fault data and databases of the Internet of things and the Internet, deeply learning the historical fault data and the databases, and finally realizing simple fault elimination in the combined harvesting process under the condition of connecting the historical fault data and the databases of the Internet of things and the Internet.
Aiming at the problems of multiple times of machine entering the ground, low stalk picking rate, high soil compaction degree, difficult land preparation and the like of the traditional corn ear and stalk segmented harvesting method, the invention adopts the integrated fresh corn ear and stalk harvesting technology to research and adapt to the operation processes of integrated fresh corn picking, flexible ear picking, lossless conveying, low-loss threshing, integrated collection, chopping and the like. The invention controls the general integrated harvesting process of the corn ear and stem, and combines a corn ear and stem combine harvester to perform control analysis, and the invention mainly comprises a picking link, a conveying link, a peeling link, a threshing link, a collecting link and the like. According to the actual characteristics of fresh corn, the invention overcomes the problems of multiple times of machine entering the ground, low stalk pick-up rate, high soil compaction degree, difficult land preparation and the like in the traditional corn ear and stalk segmented harvesting method, can accurately control each link in the integrated corn ear and stalk harvesting process, and effectively improves the picking efficiency.
In order to reduce ear drop and loss of fresh corn grains, a combined harvesting intelligent control technology based on a CAN bus and a multi-source sensing technology is adopted, a multi-source sensing modular electric control system combining the CAN bus and a centralized processing unit is researched, a highly integrated fresh corn grain combined harvester intelligent control system with high processing speed and large upgrading space is developed, the influence mechanism of corn characters on ear loss and damage generated in the harvesting process is researched, an adaptive intelligent regulation strategy of indexes such as ear picking loss, peeling loss, grain crushing, grain recovery loss and the like is established by taking corn grain moisture content and operation quality parameters as control references, an adaptive intelligent regulation strategy of the indexes such as ear picking loss, peeling loss, grain crushing, grain recovery loss and the like is established, an operation stability quantitative evaluation system is established to realize adaptive regulation of parameters and automatic optimization and automatic diagnosis of process control of various faults, and corn picking, ear picking, conveying, threshing and the like, Efficient cooperative control of collected and integrated tool operation information and cooperative optimization among systems.
Drawings
FIG. 1 is a schematic view of an integrated harvesting system for fresh corn ear and stalk according to the present invention;
FIG. 2 is a schematic diagram of a fresh corn combined harvest efficiency co-optimization system according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, and is not intended to limit the present invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
An intelligent control method for integrated harvesting of corn ears and stalks comprises the following steps: an integrated fresh corn ear and stem harvesting system and a fresh corn combined harvesting efficiency collaborative optimization system.
As shown in fig. 1, the integrated harvesting system for fresh corn ear and stalk includes a corn ear and stalk combine harvester and an intelligent monitoring system of the corn ear and stalk combine harvester.
1. Corn ear and stem combine harvester
Corn ear and stem combine harvester bag: comprises a snapping device, a conveying device, a peeling device, a threshing device and a collecting device; in the harvesting process, a seedling pulling chain and a seedling divider in the ear picking device guide corn plants into a cutting channel of the header, a stalk pulling roller pulls corn stalks downwards, and meanwhile, an ear picking plate extrudes corn ears to separate the corn ears from the stalks; the picked fruit ears enter a collecting auger of a peeling device through a conveying chain of the conveying device for peeling, and the collecting auger collects the peeled fruit ears to an intermediate conveying device; the intermediate conveying device conveys the grains into a threshing device, and after threshing, re-threshing and cleaning, the grains enter a grain tank of a collecting device through a grain-lifting auger; light impurities in the grains are blown out by the cleaning fan, and the crushing mandrel and the bracts are uniformly thrown on the ground by the wine throwing device; and (3) when the ears are picked, the stalk chopping device at the lower part of the header chops the stalks and throws the chopped corn stalks on the ground.
2. Intelligent monitoring system for corn ear-stem combine harvester
Ear of grain stem combine harvester intelligent monitoring system monitors the ear of grain loss and damage that the harvest in-process produced, includes: the device comprises a snapping loss monitoring module, a peeling loss monitoring module, a kernel crushing monitoring module and a kernel recovery loss monitoring module.
The intelligent monitoring system of the corn ear and stem combine harvester monitors the loss and damage of the corn ears generated in the harvesting process in a CAN bus mode, and establishes a self-adaptive intelligent regulation and control strategy of loss indexes, thereby establishing a quantitative evaluation system with stable operation.
As shown in FIG. 2, the fresh corn combined harvest efficiency collaborative optimization system optimizes a self-adaptive intelligent regulation strategy according to feedback of an intelligent monitoring system, and comprises a main control module, an efficiency collaborative module and a fault self-diagnosis module.
The main control module comprises a centralized processing unit electric control system and a CAN bus, and the highly integrated telephone is provided. The centralized processing unit electric control system comprises a data storage module, a signal receiving module, a command control module and a signal feedback module.
The efficiency cooperation module is used for the integrated control of the corn ear and stem, and comprises an ear picking gap control unit, a nondestructive conveying control unit, a low-loss threshing control unit and a straw chopping control unit, so that the regulation and control strategy is optimized, and the working efficiency is improved.
The fault self-diagnosis module is used for summarizing and sorting historical fault data and databases of the Internet of things and the Internet, deeply learning the historical fault data and the databases of the Internet of things and the Internet, and finally realizing simple fault elimination in the combined harvesting process under the condition of connecting the historical fault data and the databases of the Internet of things and the Internet.
Claims (9)
1. An intelligent control method for integrated harvesting of corn ears and stalks is characterized by comprising the following steps: the system comprises a fresh corn ear-stem integrated harvesting system and a fresh corn combined harvesting efficiency collaborative optimization system; the fresh corn ear-stem integrated harvesting system comprises a corn ear-stem combined harvester and an intelligent monitoring system of the corn ear-stem combined harvester;
the corn ear and stem combine comprises an ear picking device, a conveying device, a peeling device, a threshing device and a collecting device; the intelligent monitoring system of the corn ear-stem combine harvester monitors the loss and damage of the corn ears generated in the harvesting process; and the fresh corn combined harvest efficiency collaborative optimization system optimizes a self-adaptive intelligent regulation and control strategy according to the feedback of the intelligent monitoring system.
2. The intelligent control method for the integrated harvesting of the corn ear and stem according to claim 1, wherein the working method of the corn ear and stem combined harvester is as follows:
a seedling pulling chain and a seedling divider in the ear picking device guide corn plants into a header cutting channel, a stalk pulling roller pulls corn stalks downwards, and meanwhile, an ear picking plate extrudes corn ears to separate the corn ears from the stalks; the picked fruit ears enter a collecting auger of a peeling device through a conveying chain of the conveying device for peeling, and the collecting auger collects the peeled fruit ears to an intermediate conveying device;
the intermediate conveying device conveys the grains into a threshing device, and after threshing, re-threshing and cleaning, the grains enter a grain tank of a collecting device through a grain-lifting auger; light impurities in the grains are blown out by the cleaning fan, and the broken core shaft and the bracts are uniformly thrown on the ground by the wine throwing device; and (3) when the ears are picked, the stalk chopping device at the lower part of the header chops the stalks and throws the chopped corn stalks on the ground.
3. The method as claimed in claim 2, wherein the intelligent monitoring system of the corn ear-stem combine harvester comprises an ear picking loss monitoring module, a peeling loss monitoring module, a kernel crushing monitoring module and a kernel recovery loss monitoring module.
4. The intelligent control method for integrated harvesting of the corn ears and stalks according to claim 3, wherein the intelligent monitoring system of the corn ear and stalk combine harvester monitors the loss and damage of the corn ears generated in the harvesting process in a CAN (controller area network) bus mode, and establishes an adaptive intelligent regulation and control strategy of loss indexes, so as to construct a quantitative evaluation system with stable operation.
5. The intelligent control method for integrated harvesting of the corn ears and stalks according to claim 3, wherein the fresh corn combined harvesting efficiency collaborative optimization system comprises a main control module, an efficiency collaborative module and a fault self-diagnosis module.
6. The intelligent control method for integrated harvesting of corn ears and stalks according to claim 5, wherein the main control module comprises a centralized processing unit electric control system and a CAN bus.
7. The intelligent control method for integrated harvesting of corn ears and stalks according to claim 6, wherein the centralized processing unit electric control system comprises a data storage module, a signal receiving module, a command control module and a signal feedback module.
8. The intelligent control method for integrated harvesting of the corn ear and stem according to claim 7, wherein the efficiency coordination module is used for integrated control of the corn ear and stem and comprises an ear picking clearance control unit, a nondestructive conveying control unit, a low-loss threshing control unit and a straw chopping control unit.
9. The intelligent control method for integrated harvesting of the corn ears and the corn stalks according to claim 8, wherein the fault self-diagnosis module is used for summarizing and collating historical fault data and databases of the Internet of things and the Internet, deeply learning the historical fault data and the databases of the Internet of things and the Internet, and finally realizing simple fault elimination in the combined harvesting process under the condition of being connected with the fault databases.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210756600.5A CN115119608A (en) | 2022-06-30 | 2022-06-30 | Intelligent control method for integrated harvesting of corn ears and corn stalks |
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| CN202210756600.5A CN115119608A (en) | 2022-06-30 | 2022-06-30 | Intelligent control method for integrated harvesting of corn ears and corn stalks |
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| CN105723926A (en) * | 2016-02-28 | 2016-07-06 | 山东理工大学 | Standing grain pull chain type corncob-pickup straw-collecting stubble-cutting returning-type corncob and stem concurrent-harvesting header |
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| CN109526381A (en) * | 2019-01-07 | 2019-03-29 | 中国农业大学 | A kind of low damage threshing control system of maize harvesting machine and method |
| CN212464074U (en) * | 2020-07-16 | 2021-02-05 | 中国农业大学 | Corn harvesting feed rate self-adaptive control system |
| CN113177629A (en) * | 2021-03-25 | 2021-07-27 | 江苏大学 | Method and system for diagnosing blockage fault in operation of combined harvester |
| CN214413510U (en) * | 2021-01-13 | 2021-10-19 | 山西农业大学 | Millet harvester intelligent monitoring device |
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2022
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1439241A (en) * | 2002-01-10 | 2003-09-03 | 迪尔公司 | Method for monitoring agricultural mechanical apparatus |
| CN201191994Y (en) * | 2008-04-29 | 2009-02-11 | 福田雷沃国际重工股份有限公司 | Corn harvester converted by rice wheat combine harvester |
| CN105723926A (en) * | 2016-02-28 | 2016-07-06 | 山东理工大学 | Standing grain pull chain type corncob-pickup straw-collecting stubble-cutting returning-type corncob and stem concurrent-harvesting header |
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| CN212464074U (en) * | 2020-07-16 | 2021-02-05 | 中国农业大学 | Corn harvesting feed rate self-adaptive control system |
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