CN103760380A - Lifting speed detection device and method of combine harvester headers - Google Patents
Lifting speed detection device and method of combine harvester headers Download PDFInfo
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- CN103760380A CN103760380A CN201410005015.7A CN201410005015A CN103760380A CN 103760380 A CN103760380 A CN 103760380A CN 201410005015 A CN201410005015 A CN 201410005015A CN 103760380 A CN103760380 A CN 103760380A
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Abstract
The invention relates to the technical field of outgoing quality detection of harvesting machineries and provides a lifting speed detection device and method of combine harvester headers, wherein the lifting speed detection device is simple in structure, high in precision and capable of performing detection automatically. The lifting speed detection device adopts the laser ranging technology and the computer measurement and control technology and comprises a signal collection machine part, a data collector and a computer, wherein the signal collection machine part is connected with the computer through the data collector. The lifting speed detection device adopts non-contact type measurement and can be installed on the headers of different combine harvesters to detect lifting speed. Workers utilize an angle adjustment bolt to level a sensor panel and perform self-calibration on distance data collected by a laser ranging sensor through a level self-calibration instrument to achieve precise measurement. Collecting, processing and storing of speed data can be performed through a computer test platform, and the lifting speed detection device can be connected with an external device to print reports. By means of the technical scheme, reference can be provided for detection of other technical parameters, such as static settlement amount of the headers.
Description
Technical field
The present invention relates to harvesting machinery outgoing detection technique field, particularly relate to a kind of combine harvester cutting table rising or falling speed pick-up unit and method.
Background technology
Combine harvester cutting table rising or falling speed is an overall performance parameter of harvester, plays vital effect in harvesting.In JB/T5117-2006 < < full-feeding combine harvester technical conditions > >, in 5.3.1.1 article, stipulate: pulling speed is not less than 0.2m/s, and decline rate is not less than 0.15m/s.Test method while detecting for taiwan cut off and landing speed, in JB/T7316-2005 < < grain combine-hydraulic system test method > > 5.2.1, expressly provide, united reaper is parked on smooth ground, handle header lifting control valve handle or operating rod, make the ceding of Taiwan rise to extreme higher position from extreme lower position, and then drop to extreme lower position from extreme higher position.Terrain clearance while recording respectively the minimum and extreme higher position of ceding of Taiwan lifting and decline required time and cutter.Survey three times, get its mean value.Calculate ceding of Taiwan lifting and decline rate.
The detection of combine harvester cutting table rising or falling speed, is main mainly with manual detection at present, is generally the measurement that adopts the laggard line heights of survey instrument mark such as tape measure, ruler, then according to the test period of record, calculates speed.Manual detection method is subject to man's activity, and error is large, efficiency is low, and cannot realize the functions such as automatic measurement, autostore, and detection trend high-precision with the modern times, robotization is not inconsistent.
Laser range sensor is new type measuring instrument table, and its advantage is to realize contactless remote range finding, and speed is fast, and precision is high, and range is large, and anti-optical, electrical interference performance is strong etc.The application of laser range sensor in automatic detection field is very extensive, and technology content is very abundant, also fairly obvious on the impact of social production and life.Wang Yandong equals to utilize for 2010 laser ranging technique to design the soft integrated pick-up unit of the dynamo-electric calculation of a set of light harvesting, for forklift door frame rising or falling speed, detects, and has realized the automatic processing that detects data, the functions such as formation speed curve map.But this pick-up unit can only be adsorbed on and carry out rising or falling speed detection on surface level, and combine harvester cutting point of a knife end face out-of-level, can not simple application in the detection of combine harvester cutting table lifting performance.
Therefore be necessary to invent a kind of combine harvester cutting table rising or falling speed pick-up unit and method, the precision that solves Traditional Man detection mode is not high, data cannot automatic input etc. problem, to improve combine harvester cutting table Performance Detection efficiency and precision.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is: utilize laser ranging technique and technique of computer measurement and control, in order to solve, the precision of Traditional Man detection mode is not high, operation inconvenience, data cannot automatic input etc. problem, a set of simple structure is provided, and precision is high, united reaper rising or falling speed pick-up unit and the method for automatic measurement.
(2) technical scheme
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of combine harvester cutting table rising or falling speed pick-up unit, comprises mechanical part, data acquisition unit 10 and computing machine 11, and mechanical part is connected with computing machine 11 by data acquisition unit 10.
Described mechanical part is installed on tested harvester cutter tip, comprises angle-adjustable support, strong magnets 2, angle adjustable bolt 4, laser range sensor 5, L-type sensor support base 6, horizontal calibrating device 7.Angle-adjustable support is for adjusting the angle on laser range sensor 5 and ground, by cutter engagement plate 1, connect swash plate 3 and the sensor plate 8 three parts composition that joins end to end, wherein, cutter engagement plate 1 lower surface has been bolted 4 strong magnets 2, for angle-adjustable support being absorbed and fixed to cutter tip; Connect swash plate 3 and become obtuse angle welding with cutter engagement plate; Sensor plate 8 is with to be connected swash plate 3 hinged by angle adjustable bolt 4, and between two plates, angle is adjustable, and its upper surface is installed fixing horizontal calibrating installation 7 by bolt, and lower surface is fixed with laser range sensor 5 by L-type sensor support base 6; Reflecting target 9 is installed on level ground under sensor plate 8, and reflecting target 9 is the flat board that surface level is smooth, is used to laser range sensor 5 that horizontal reference is provided.
Described data acquisition unit 10 is for gathering the signal of laser range sensor 5 and horizontal calibrating device 7 and collection result being passed to computing machine 11.
The data that described computing machine 11 gathers for real-time processing data collector 10 obtain the vertical height of the ceding of Taiwan to reflecting target 9, and when the highest or minimum altitude of this height and demarcation equates, computing machine 11 automatically stops or starting writing time, and calculates rising or falling speed.
Described laser range sensor 5 is for survey sensor dull and stereotyped 8 distances to reflecting target 9, and its sidewall is clamped by the pair of L type sensor support base 6 that is fixed on sensor plate 8 lower surfaces, and the transmitting terminal of laser range sensor 5 is aimed at reflecting target 9.
Described horizontal calibrating device 7 is for the distance values revision to laser range sensor 5 gained, and critical piece adopts 3-axis acceleration sensor, is bolted on the upper surface of sensor plate 8.
The detection method of described a kind of combine harvester cutting table rising or falling speed is divided into preparation, demarcates and measures three operation stepss.Wherein prepare to comprise and open computing machine 11 and data acquisition unit 10, and install and adjust pick-up unit; Demarcation comprises minimum point and the peak of demarcating taiwan cut off and landing; Measurement comprises the test platform of opening computing machine, measures taiwan cut off and landing speed, is then stored in hard disk.
Described preparation process is for manually carrying out, and its concrete operations are: open computing machine 11 and data acquisition unit 10 installation detecting device, manually adjust sensor plate 8 to level, the position of adjusting reflecting target 9 makes in its scope of launching at laser range sensor 5.
The concrete grammar of described demarcating steps is: handle header lifting control valve handle or operating rod, first the ceding of Taiwan is down to extreme lower position, in ceding of Taiwan motion process, read laser range sensor numerical value H and horizontal calibrating device 3 axial acceleration value a under space coordinates
x, a
yand a
z, calculate horizontal calibrating device relatively and space coordinates in the pitch angle of z axle
Machine processing obtains minimum altitude as calculated
handle ceding of Taiwan operating grip, the ceding of Taiwan is promoted to extreme higher position, read now laser range sensor numerical value H' and horizontal calibrating device numerical value a'
x, a'
yand a'
z, calculate ceding of Taiwan maximum height
for guaranteeing that the ceding of Taiwan triggers computing machine and starts timing when moving to peak or minimum point, introduce correction factor δ, the empirical value of δ is 1cm, extreme higher position A=H
high-δ, extreme lower position B=H
low+ δ, demarcates complete.
The concrete grammar of described measuring process is: the test platform of opening computing machine, by data acquisition unit 10, gather laser range sensor 5 and horizontal calibrating device 7 numerical value of surveying, by computing machine 11, the range data collecting is carried out to calibration, and store after calculating taiwan cut off and landing speed.
The angle of adjusting sensor plate 8 in described preparation process adopts adjusting angle adjusting bolt 4 to adjust, first unclamp angle adjustable bolt 4, adjust the angle of sensor plate 8 and level ground, estimate itself and ground level, stop regulating, tighten angle adjustable bolt 4.
In described measuring process, data processing unit adopts computing machine 11 reading out datas and calculates, while starting to detect, handle header lifting control valve handle or operating rod, make the ceding of Taiwan rise to extreme higher position from extreme lower position, and then from extreme higher position, drop to extreme lower position, the data C of computing machine 11 Real-time Collection laser range sensors 5.In uphill process, during C=B, it is t that computing machine 11 records this moment
1, during C=A, the moment that computing machine records is t
2, system-computed ascending velocity
lower, rise in process, during C=A, computing machine 11 moment of recording is t
3, during C=B, computing machine 11 finishes timing t
4, decline rate
in triplicate, obtain the data of three groups of ascending velocity and decline rate, system is obtained mean value automatically, is rising and the decline rate of combine harvester cutting table.
Beneficial effect
1. applicability is good.The present invention adopts non-contact measurement, can be arranged in the ceding of Taiwan of different united reapers it is carried out to the detection of rising or falling speed.In addition, the taiwan cut off and landing Speed Detection Technology scheme that the present invention adopts can be offered reference for the detection of other technical parameter, as the detection of the quiet settling amount of the ceding of Taiwan.
2. ceding of Taiwan plane manually more inclined to one side.The installation that the present invention adopts angle adjustable bolt to carry out sensor plate regulates, and the transmitting of laser range sensor is rectified reflecting target.Deviation angle is controlled in 10 °.
3. horizontal calibration function.The present invention adopts horizontal calibrating device to carry out self calibration to the range data of laser range sensor collection, makes the final speed numerical value of this pick-up unit gained more approach the movement velocity in vertical direction of the ceding of Taiwan.The automatic calibration of computing machine take manually more partially as prerequisite, thereby make measure more accurate.
4. automatic data collection, processing, storage.Adopt computer testing platform to have self-clocking function concurrently, can carry out drawing after computing to measured range data the rising or falling speed of the ceding of Taiwan, then by its storage.External corresponding equipment can be realized the functions such as printing reports.
Accompanying drawing explanation
Fig. 1 is the connection diagram of combine harvester cutting table rising or falling speed pick-up unit of the present invention and tested harvester;
Fig. 2 is mechanical part schematic diagram of the present invention;
Fig. 3 is system construction drawing of the present invention;
Fig. 4 is workflow diagram of the present invention;
Number in the figure: 1--cutter engagement plate, 2--strong magnets, 3--connects swash plate, 4--angle adjustable bolt, 5--laser range sensor, 6--sensor support base, 7--horizontal calibrating device, 8--sensor plate, 9--reflecting target, 10--data acquisition unit, 11--computing machine.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, combine harvester cutting table rising or falling speed pick-up unit, comprises mechanical part, data acquisition unit 10 and computing machine 11 to the assembly relation of combine harvester cutting table rising or falling speed pick-up unit of the present invention and tested harvester.Mechanical part is installed on tested harvester cutter tip, by data acquisition unit 10, is connected with computing machine 11, comprises angle-adjustable support, strong magnets 2, angle adjustable bolt 4, laser range sensor 5, L-type sensor support base 6, horizontal calibrating device 7.
Mechanical part concrete structure as shown in Figure 2, angle-adjustable support is for adjusting the angle on laser range sensor 5 and ground, by cutter engagement plate 1, connect swash plate 3 and the sensor plate 8 three parts composition that joins end to end, wherein, cutter engagement plate 1 lower surface has been bolted 4 strong magnets 2, for angle-adjustable support being absorbed and fixed to cutter tip; Connect 1 one-tenth hexagonal angle welding of swash plate 3 and cutter engagement plate; Sensor plate 8 is with to be connected swash plate 3 hinged by angle adjustable bolt 4, and between two plates, angle is adjustable, and its upper surface is installed and fixed 3-axis acceleration sensor by bolt, and lower surface is fixed with laser range sensor 5 by L-type sensor support base 6.Reflecting target 9 is installed on level ground under sensor plate 8, and reflecting target 9 is the flat board that surface level is smooth, is used to laser range sensor 5 that horizontal reference is provided.
The sensor of using in mechanical part is laser range sensor 5 and horizontal calibrating device 7, the two mode that is connected in mechanical part as shown in Figure 2, its sidewall is clamped by the pair of L type sensor support base 6 that is fixed on sensor plate 8 lower surfaces, and the transmitting terminal of laser range sensor 5 is aimed at reflecting target 9.Critical piece adopts 3-axis acceleration sensor, is bolted on the upper surface of sensor plate 8.
The mode of data acquisition and processing (DAP) as shown in Figure 3, data acquisition unit 10 receives the detection signal of laser range sensor 5 and horizontal calibrating device 7 and collection result is passed to computing machine 11, and computing machine 11 draws rising or falling speed result by the data of deal with data collector 10.Wherein laser range sensor 5 is for survey sensor dull and stereotyped 8 distances to reflecting target 9, and horizontal calibrating device 7 is for the distance values revision to laser range sensor 5 gained.
Operating process of the present invention as shown in Figure 4, is mainly divided into preparation, demarcates and measures three operation stepss.Wherein preparation process comprises install and adjust pick-up unit, and opens computing machine 11 and data acquisition unit 10; Demarcation comprises minimum point and the peak of demarcating taiwan cut off and landing actual measurement scope; Measurement comprises the test platform of opening computing machine, measures taiwan cut off and landing speed, is then stored in hard disk.Below in conjunction with Fig. 4, these three steps are illustrated.
1, extreme lower position is down in preliminary work-manipulation ceding of Taiwan, opens computing machine 11 and data acquisition unit 10, and installation detecting device the artificial sensor plate 8 of adjusting are to level, and the position of adjusting reflecting target 9 makes in its scope of launching at laser range sensor 5; The angle of adjusting sensor plate 8 adopts adjusting angle adjusting bolt 4 to adjust, and first unclamps angle adjustable bolt 4, adjusts sensor plate 8 and makes itself and ground level.
2, staking-out work-manipulation header lifting control valve handle or operating rod, be first down to extreme lower position by the ceding of Taiwan, in ceding of Taiwan motion process, reads laser range sensor numerical value H and horizontal calibrating device 3 axial acceleration value a under space coordinates
x, a
yand a
z, calculate horizontal calibrating device relatively and space coordinates in the pitch angle of z axle
machine processing obtains minimum altitude as calculated
handle ceding of Taiwan operating grip, the ceding of Taiwan is promoted to extreme higher position, read now laser range sensor numerical value H' and horizontal calibrating device numerical value a'
x, a'
yand a'
z, calculate ceding of Taiwan maximum height
for guaranteeing that the ceding of Taiwan triggers computing machine and starts timing when moving to peak or minimum point, introduce correction factor δ, the empirical value of δ is 1cm, extreme higher position A=H
high-δ, extreme lower position B=H
low+ δ, demarcates complete.
3, measure the test platform of operation-unlatching computing machine, by data acquisition unit 10, gather laser range sensor 5 and horizontal calibrating device 7 numerical value of surveying, signal processing unit by computing machine 11 carries out calibration to the range data collecting, and stores after calculating taiwan cut off and landing speed; Data processing unit adopts computing machine 11 reading out datas and calculates, while starting to detect, handle header lifting control valve handle or operating rod, make the ceding of Taiwan rise to extreme higher position from extreme lower position, and then dropping to extreme lower position from extreme higher position, the data C of computing machine 11 Real-time Collection laser range sensors 5, in uphill process, during C=B, it is t that computing machine 11 records this moment
1, during C=A, the moment that computing machine records is t
2, system-computed ascending velocity
lower, rise in process, during C=A, computing machine 11 moment of recording is t
3, during C=B, computing machine 11 finishes timing t
4, decline rate
in triplicate, obtain the data of three groups of ascending velocity and decline rate, system is obtained mean value automatically, is rising and the decline rate of combine harvester cutting table.
The above; it is only preferably embodiment of the present invention; but protection scope of the present invention is not limited to this; as horizontal calibrating device can adopt other type sensors such as gyroscope except 3-axis acceleration sensor; any be familiar with those skilled in the art the present invention disclose technical scope in; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (5)
1. a combine harvester cutting table rising or falling speed pick-up unit, comprises mechanical part, data acquisition unit (10) and computing machine (11), and mechanical part is connected with computing machine (11) by data acquisition unit (10), it is characterized in that:
Described mechanical part is installed on tested combine harvester cutting point of a knife end, comprises angle-adjustable support, strong magnets (2), angle adjustable bolt (4), laser range sensor (5), L-type sensor support base (6), horizontal calibrating device (7); Angle-adjustable support is used for adjusting the angle on laser range sensor (5) and ground, by cutter engagement plate (1), connects swash plate (3) and sensor plate (8) the three parts composition that joins end to end; Cutter engagement plate (1) lower surface has been bolted 4 strong magnets (2), for angle-adjustable support being absorbed and fixed to cutter tip; Connect swash plate (3) and become obtuse angle welding with cutter engagement plate (1); Sensor plate (8) be connected swash plate (3) by angle adjustable bolt (4) hinged, between two plates, angle is adjustable, its upper surface is installed fixing horizontal calibrating installation (7) by bolt, and lower surface is fixed with laser range sensor (5) by L-type sensor support base (6); Reflecting target (9) is installed on level ground under sensor plate (8), and reflecting target (9) is the flat board that surface level is smooth, is used to laser range sensor (5) that horizontal reference is provided.
Described data acquisition unit (10) for receive laser range sensor (5) and horizontal calibrating device (7) detection signal detection signal and collection result is passed to computing machine (11);
The data that described computing machine (11) gathers for real-time processing data collector (10) obtain the vertical height of the ceding of Taiwan to reflecting target (9), when the highest or minimum altitude of this height and demarcation equates, computing machine (11) automatically stops or starting writing time, and calculates rising or falling speed;
Described laser range sensor (5) is the distance to reflecting target (9) for survey sensor flat board (8), its sidewall is clamped by the pair of L type sensor support base (6) that is fixed on sensor plate (8) lower surface, and the transmitting terminal of laser range sensor (5) is aimed at reflecting target (9).
2. a kind of combine harvester cutting table rising or falling speed pick-up unit as claimed in claim 1, it is characterized in that, described horizontal calibrating device (7) is for the distance values revision to laser range sensor (5) gained, critical piece adopts 3-axis acceleration sensor, is bolted on the upper surface of sensor plate (8).
3. one kind adopts device described in claim 1 to carry out the method that united reaper header rising or falling speed detects, it is characterized in that, be divided into preparation, demarcate and measure three operation stepss, prepare to comprise and open computing machine (11) and data acquisition unit (10), and install and adjust pick-up unit; Demarcation comprises minimum point and the peak of demarcating taiwan cut off and landing actual measurement scope; Measurement comprises the test platform of opening computing machine, measures taiwan cut off and landing speed, is then stored in hard disk;
Described preparation process is for manually carrying out, its concrete operations are, open computing machine (11) and data acquisition unit (10) installation detecting device, manually adjust sensor plate (8) to level, the position of adjusting reflecting target (9) makes it in the scope of laser range sensor (5) transmitting;
The concrete grammar of described demarcating steps is that manipulation header lifting control valve handle or operating rod, be first down to extreme lower position by the ceding of Taiwan, in ceding of Taiwan motion process, reads laser range sensor numerical value H and horizontal calibrating device 3 axial acceleration value a under space coordinates
x, a
yand a
z, calculate horizontal calibrating device relatively and space coordinates in the pitch angle of z axle
machine processing obtains minimum altitude as calculated
handle ceding of Taiwan operating grip, the ceding of Taiwan is promoted to extreme higher position, read now laser range sensor numerical value H' and horizontal calibrating device numerical value a'
x, a'
yand a'
z, calculate ceding of Taiwan maximum height
for guaranteeing that the ceding of Taiwan triggers computing machine and starts timing when moving to peak or minimum point, introduce correction factor δ, the empirical value of δ is 1cm, extreme higher position A=H
high-δ, extreme lower position B=H
low+ δ, demarcates complete;
The concrete grammar of described measuring process is, open the test platform of computing machine, by data acquisition unit (10), gather laser range sensor (5) and horizontal calibrating device (7) numerical value of surveying, by computing machine (11), the range data collecting is carried out to calibration, and store after calculating taiwan cut off and landing speed.
4. united reaper header rising or falling speed detection method as described in claim 3, it is characterized in that, adopt angle adjustable bolt (4) to adjust the angle of sensor plate (8), first unclamp angle adjustable bolt (4), adjust the angle of sensor plate (8) and level ground, estimate itself and ground level, stop regulating, tighten angle adjustable bolt (4).
5. combine harvester cutting table rising or falling speed detection method as described in claim 3, it is characterized in that, in described measuring process, data processing unit adopts computing machine reading out data and calculates, while starting to detect, handle header lifting control valve handle or operating rod, make the ceding of Taiwan rise to extreme higher position from extreme lower position, and then drop to extreme lower position from extreme higher position, the data C of computing machine (11) Real-time Collection laser range sensor (5);
In uphill process, during C=B, it is t that computing machine (11) records this moment
1, during C=A, the moment that computing machine records is t
2, system-computed ascending velocity
lower, rise in process, during C=A, computing machine (11) moment of recording is t
3, during C=B, computing machine (11) finishes timing t
4, decline rate
in triplicate, obtain the data of three groups of ascending velocity and decline rate, system is obtained mean value automatically, is rising and the decline rate of combine harvester cutting table.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410005015.7A CN103760380B (en) | 2014-01-06 | 2014-01-06 | A kind of combine harvester cutting table rising or falling speed pick-up unit and method |
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|---|---|---|---|
| CN201410005015.7A CN103760380B (en) | 2014-01-06 | 2014-01-06 | A kind of combine harvester cutting table rising or falling speed pick-up unit and method |
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| CN103760380B CN103760380B (en) | 2016-04-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107560670A (en) * | 2017-10-16 | 2018-01-09 | 雷沃重工股份有限公司 | Detecting system |
| CN109901628A (en) * | 2017-12-07 | 2019-06-18 | 沈阳新松机器人自动化股份有限公司 | Based on SENT protocol E-ACT controls and velocity measuring system and method |
| CN112189443A (en) * | 2020-12-07 | 2021-01-08 | 农业农村部南京农业机械化研究所 | Electro-hydraulic height control method and system for cutting table of soybean harvester |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107560670A (en) * | 2017-10-16 | 2018-01-09 | 雷沃重工股份有限公司 | Detecting system |
| CN109901628A (en) * | 2017-12-07 | 2019-06-18 | 沈阳新松机器人自动化股份有限公司 | Based on SENT protocol E-ACT controls and velocity measuring system and method |
| CN109901628B (en) * | 2017-12-07 | 2022-03-15 | 沈阳新松机器人自动化股份有限公司 | E-ACT bit control and speed measurement system and method based on SENT protocol |
| CN112189443A (en) * | 2020-12-07 | 2021-01-08 | 农业农村部南京农业机械化研究所 | Electro-hydraulic height control method and system for cutting table of soybean harvester |
| CN112189443B (en) * | 2020-12-07 | 2021-02-23 | 农业农村部南京农业机械化研究所 | Electro-hydraulic height control method and system for cutting table of soybean harvester |
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| CN103760380B (en) | 2016-04-06 |
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