CN106576579A - Grain unloading electric control system and self-correction grain unloading control method - Google Patents
Grain unloading electric control system and self-correction grain unloading control method Download PDFInfo
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- CN106576579A CN106576579A CN201710042085.3A CN201710042085A CN106576579A CN 106576579 A CN106576579 A CN 106576579A CN 201710042085 A CN201710042085 A CN 201710042085A CN 106576579 A CN106576579 A CN 106576579A
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- grain
- unloading
- control unit
- wagon box
- face
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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
- A01D41/1208—Tanks for grain or chaff
- A01D41/1217—Unloading mechanisms
-
- 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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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Threshing Machine Elements (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a grain unloading electric control system and a self-correction grain unloading control method. The grain unloading electric control system comprises a control unit, a grain unloading handle, an automatic grain unloading button, a camera, a rotary driving apparatus, a lifting driving apparatus and an auger driving apparatus, wherein the grain unloading handle and the automatic grain unloading button are electrically connected with the signal input end of the control unit; the signal output end of the camera is electrically connected with the signal input end of the control unit, and the camera is used for shooting images of a grain car and a grain surface; and the rotary driving apparatus, the lifting driving apparatus and the auger driving apparatus are electrically connected with the signal output end of the control unit. According to the grain unloading electric control system and the self-correction grain unloading control method, the position of a grain unloading barrel and the grain unloading speed can be automatically corrected and adjusted, so that the sprinkling during grain unloading and the sprinkling due to excessively high local grain surface are effectively avoided and the labor intensity of drivers is greatly reduced.
Description
Technical field
The present invention relates to unloading technical field, specifically, is related to a kind of unloading electric-control system and self-correction unloading control
Method.
Background technology
Cropper is the Main Agricultural machinery of the results such as wheat in modern agriculture, paddy rice, is realizing entering for agricultural modernization
Play an important role in journey.Existing cropper product, in bridge or the indoor configuration unloading handle of driving or control stick, unloads
Grain handle includes rotary handle and lifting handle, is respectively used to control base rotary oil cylinder and the lifting of grain barrel-removing oil cylinder, so as to unload
Grain cylinder reaches correct position, makes grain barrel-removing grain outlet alignment receive grain wagon box to realize unloading.Existing this unloading mode, is unloading
During grain, driver is on bridge or drives indoor, in the way of estimating, by constantly regulate rotary handle and lifting
Handle, correct position is reached and to unloading in grain wagon box to adjust grain barrel-removing.And it is limited to bridge or the driver's cabin visual field, plot
, there is following defect in the factor such as flatness and receipts grain car stop position：
1st, driver can not well hold position and the grain face height of unloading, it is easy to unloading occur and pour down or forth and local grain
Face is too high situations such as pour down or forth.
2nd, driver needs constantly to adjust grain barrel-removing rotation manually and lifts to reach more preferable loading effect, greatly increases
The labour intensity of driver, and it is slow to regulate the speed.
The content of the invention
First technical problem to be solved by this invention be：There is provided one kind can be during unloading to grain barrel-removing position
And unloading speed carries out reviewing one's lessons by oneself the unloading electric-control system of positive justification.
Second technical problem to be solved by this invention be：There is provided one kind can be during unloading to grain barrel-removing position
And unloading speed carries out reviewing one's lessons by oneself the self-correction unloading control method of positive justification.
To solve above-mentioned first technical problem, the technical scheme is that：
A kind of unloading electric-control system, including：
Control unit；
Unloading handle, the unloading handle electrically connects described control unit, and for starting pattern is manually adjusted；
Automatic unloading button, the automatic unloading button electrically connects described control unit, for starting adjust automatically unloading
Pattern；
Camera, the signal output part electrical connection described control unit of the camera, for shooting the image of grain wagon box
And the image of the grain face in the grain wagon box, and captured image information is sent to into described control unit；
Rotating driving device, the rotating driving device electrically connects described control unit, for driving grain barrel-removing to rotate；
Lifting drive, the lifting drive electrically connects described control unit, for driving grain barrel-removing to lift；
Screw feeder driving means, the screw feeder driving means electrically connect described control unit, for driving conveying screw feeder rotation.
Preferably, also including display unit, the display unit is communicated to connect with described control unit.
Preferably, also including alarm lamp, the alarm lamp electrically connects the signal output part of described control unit, for pointing out
The full state of grain and unloading malfunction.
Preferably, the camera is installed at the grain outlet of grain barrel-removing.
Preferably, also including alarm lamp, the alarm lamp electrically connects the signal output part of described control unit, for pointing out
The full state of grain and unloading malfunction.
Preferably, the display unit is liquid crystal instrument disk.
To solve above-mentioned second technical problem, the technical scheme is that：
A kind of self-correction unloading control method, using above-mentioned discharging electric-control system, it is characterised in that including following step
Suddenly：
A, the internal parameter control for presetting described control unit, the internal parameter control includes self-correction stepping
The full reserved value of value, grain and the full alarming value of grain；
B, manipulation unloading handle, in state is manually adjusted, control manually makes the grain outlet of grain barrel-removing to unloading electric-control system
Correspondence is positioned at the top of grain wagon box；
C, press the automatic unloading button, control unit receives the signal of the automatic unloading button, confirm to enter from
Dynamic adjustment unloading pattern；Control unit automatic screw feeder driving means, make conveying screw feeder rotate with to unloading in grain wagon box；
During d, unloading, the camera shoots the image of grain face in the image and the grain wagon box of grain wagon box, and
Captured image information is sent to into described control unit, described control unit is built by the position on the side of grain wagon box four and color
The image data base of vertical grain wagon box, described control unit sets up the figure of grain face by unloading position, grain face size and grain face color
As database, during unloading, the camera is in different time point samplings, the grain face that described control unit obtains sampling
View data is contrasted with grain wagon box view data, judges the distance between upper bucket side of grain face and grain wagon box；
When the grain face of diverse location in control unit judgement grain wagon box is different from the distance between upper bucket side, show grain car
Grain face in bucket is uneven, and control unit control rotating driving device drives grain barrel-removing to the relatively low position of grain face by automatically stepping value
Progressively displacement, and lifting drive is automatically controlled, the height of grain barrel-removing is corrected automatically；
When the full reserved value of the grain that the grain face of diverse location in control unit judgement grain wagon box reaches setting, screw feeder is closed
Driving means, stop unloading.
Preferably, when grain face reaches grain completely alarming value in control unit judgement grain wagon box, point out to report to the police.
Preferably, in step d, control unit during carrying out reviewing one's lessons by oneself positive justification to grain barrel-removing, by camera
The information of grain face, the side of wagon box four, driver's cabin and periphery barrier in collection grain wagon box, controls current grain barrel-removing and is in security activity
In the range of.
Preferably, the external information that the internal parameter control and described control unit of described control unit is gathered is described
Show in real time on display unit.
Preferably, in step a, the internal parameter control is set by the display unit.
After employing above-mentioned technical proposal, the invention has the beneficial effects as follows：
The unloading electric-control system and self-correction unloading control method of the present invention, arranges shooting at the grain outlet of discharge tube
Head, by control unit the information of unloading handle and automatic unloading button is gathered, and is entered and is manually adjusted pattern or adjust automatically
Unloading pattern.Under manual adjustment mode, control unit directly drives lifting drive to control according to the information of unloading handle
Grain barrel-removing is lifted, and direct drive grain barrel-removing steer-drive is turned to controlling grain barrel-removing.Automatic unloading button is now pressed, will not
Enable camera image collection and enter and automatically adjust unloading pattern.And ought manually adjust the grain outlet pair of adjustment grain barrel-removing
Should be located at behind the top of grain wagon box, when pressing the automatic automatic unloading adjustment modes of unloading button triggering, system is adopted by camera
Grain face, the side of wagon box four, driver's cabin and periphery barrier etc. be in interior information in collection grain wagon box, according to reviewing one's lessons by oneself that control unit is preserved
The parameters such as positive step value, alarming value and image sampling value, it is ensured that in the range of security activity, control unit will for current grain barrel-removing
The grain face view data that sampling is obtained is contrasted with grain wagon box view data, is judged between grain face and the upper bucket side of grain wagon box
Distance, and grain barrel-removing height, right position and unloading speed are corrected by range information automatically, can carry when grain wagon box grain is full
Show warning and be automatically stopped unloading, and start the function such as safeguard protection and warning during positive justification unloading is reviewed one's lessons by oneself.Can
Grain barrel-removing position and unloading speed are carried out reviewing one's lessons by oneself positive justification, the automation amendment adjustment of unloading is realized, it is ensured that unloading
Accuracy, efficiently avoid situations such as unloading occur and pour down or forth pour down or forth too high with local grain face, unloading effect is good.In addition, this
The agricultural machinery and unloading control method of invention, realizing can carry out self-correction tune to grain barrel-removing position and unloading speed
It is whole, the automation amendment adjustment of unloading is realized, regulate the speed fast, without driver again in the way of estimating, constantly adjust manually
Save rotary handle and lifting handle to be adjusted unloading, greatly reduce the labour intensity of driver.
Description of the drawings
With reference to the accompanying drawings and examples the present invention is further described.
Fig. 1 is the theory diagram of the unloading electric-control system in the present invention；
Fig. 2 is the structural representation of the cropper of the unloading electric-control system using the present invention；
Fig. 3 is the schematic diagram one of camera correspondence grain wagon box shooting image；
Fig. 4 is the schematic diagram two of camera correspondence grain wagon box shooting image；
Fig. 5 is the flow chart of the self-correction unloading control method in the present invention；
In figure：1st, grain barrel-removing；2nd, rotating driving device；3rd, screw feeder driving means；4th, lifting drive；5th, alarm lamp；
6th, liquid crystal instrument disk；7th, camera；8th, unloading handle；9th, automatic unloading button；10th, control unit；11st, grain wagon box；111st, struggle against
Side；112nd, bucket bottom.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
See figures.1.and.2, the unloading electric-control system of the present invention, including control unit 10, unloading handle 8, automatic unloading press
Button 9, camera 7, rotating driving device 2, lifting drive 4, screw feeder driving means 3 and display unit 10.Rotation driving
Device 2 and screw feeder driving means 3 can adopt motor.Lifting drive 4 can adopt hydraulic system.In the present embodiment, unload automatically
Grain button 9 is set directly on unloading handle 8, it is of course also possible to be not arranged on unloading handle 8, but is separately independently arranged.
Wherein, unloading handle 8 electrically connects the signal input part of control unit 10, and for starting pattern is manually adjusted.
Automatically unloading button 9 electrically connects the signal input part of control unit 10, for starting adjust automatically unloading pattern.
Camera 7 is installed at the grain outlet of grain barrel-removing 1, and the signal output part for imaging 7 electrically connects control unit 10
Signal input part, for shooting the image of the grain face in the image and grain wagon box of grain wagon box, and by captured image information
It is sent to control unit 10.
The power control loop of rotating driving device 2 is electrically connected to the signal output part of control unit 10, unloads for driving
The rotation of grain cylinder 1.
The power control loop of lifting drive 4 electrically connects the signal output part of control unit 10.
The power control loop of screw feeder driving means 3 electrically connects the signal output part of control unit 10.
Display unit can adopt liquid crystal instrument disk 6, communicate to connect with control unit 10.
Prompting warning is carried out during in order to loading in grain wagon box completely, alarm lamp 5 can be set, warning is built-in with alarm lamp 5
Loudspeaker, alarm lamp 5 electrically connects the signal output part of control unit 10, when grain is full, by sound and light alarm point out the full state of grain or
Person's unloading malfunction.Certainly, pointing out the alarm lamp of the full alarm lamp of grain and prompting failure can separately be independently arranged.
With reference to Fig. 3 and Fig. 4, grain wagon box 11 includes bucket side 111 and bucket bottom 112, by camera 7 to the grain in grain wagon box 11
When face is shot, grain face is 100 millimeters along distance apart from the upper of the bucket side 111 of grain wagon box 11, with grain face apart from grain wagon box 11
Bucket side 111 it is upper along distance compare for 40 millimeters, the grain face size captured by the former is less, and color is shallower, with grain wagon box
11 color contrast is bigger.That is, the height of grain face is different, then the horizontal stroke of the different height grain faces captured by camera 7
Will be different to size and shade, and gradual change can be presented with the height of grain face, based on this kind of principle, by taking the photograph
As the analysis of size, the color of image that head shoots etc., you can the grain face that judgement is put out cereal in wagon box 11 is just.
Based on above-mentioned principle, with reference to Fig. 5, the invention discloses a kind of self-correction unloading control method, the self-correction unloading
The above-mentioned unloading electric-control system of control method application, the self-correction unloading control method is comprised the following steps：
A, the internal parameter control for presetting control unit 10, internal parameter control includes that self-correction step value, grain are full
Reserved value and the full alarming value of grain, more than the full reserved value of grain, self-correction step value is that grain barrel-removing rotation is adjusted and risen to the full alarming value of grain
The adjusted value for often walking of falling tone section；
B, manipulation unloading handle 8, in state is manually adjusted, control manually makes putting out cereal for grain barrel-removing 1 to unloading electric-control system
Mouth correspondence is positioned at the top of grain wagon box；
C, automatic unloading button 9 is pressed, control unit 10 receives the signal of the automatic unloading button, confirm to enter automatic
Adjustment unloading pattern；Control unit automatic screw feeder driving means 3, make conveying screw feeder rotate with to unloading in grain wagon box；
During d, unloading, camera 7 shoots the image of grain face in the image and grain wagon box of grain wagon box, and will be captured
Image information be sent to control unit 10, control unit 10 sets up the figure of grain wagon box by the position on the side of grain wagon box four and color
As database, control unit 10 sets up the image data base of grain face, unloading by unloading position, grain face size and grain face color
Cheng Zhong, camera 7 is in different time point samplings, the grain face view data that control unit 10 obtains sampling and grain wagon box image
Data are contrasted, and judge the distance between upper bucket side highest edge of grain face and grain wagon box；
When the grain face of diverse location in the judgement grain wagon box of control unit 10 is different from the distance between upper bucket side, show grain
Grain face in wagon box is uneven, and the control rotating driving device 2 of control unit 10 drives grain barrel-removing to the relatively low position of grain face by automatic
Step value progressively displacement, and lifting drive 4 is automatically controlled, the height of grain barrel-removing is corrected automatically；
When the full reserved value of the grain that the grain face of diverse location in control unit judgement grain wagon box reaches setting, screw feeder is closed
Driving means, stop unloading.
As preferred scheme, when grain face reaches grain completely alarming value in control unit judgement grain wagon box, point out to report to the police.
As preferred scheme, control unit 10 during carrying out reviewing one's lessons by oneself positive justification to grain barrel-removing 1, by camera 7
Grain face, the side of wagon box four, driver's cabin and periphery barrier etc. are in interior information in collection grain wagon box, and set up image data base, will
The image data information of the grain barrel-removing of real-time detection and image data base real time contrast, control current grain barrel-removing 1 in safety
In scope of activities.
When grain face reaches grain completely alarming value in the judgement grain wagon box of control unit 10, point out to report to the police.
The external information that the internal parameter control and control unit 10 of control unit 10 is gathered can communicate and be sent to display
Shown in real time on unit, communication mode can be using modes such as CAN communications.
The self-correction unloading control method of the present embodiment, can set internal parameter control by display unit.
Wherein, in Fig. 5 each symbol implication：Wherein ai is the current unloading point grain face of camera collection；Ai is camera
The side height of current unloading point correspondence transverse and longitudinal axle bucket four of collection；B is the full reserved value of grain, grain face and grain car when as grain wagon box grain is full
The distance between the side highest that struggles against on bucket edge reserved value, the value can be set by display unit.
The agricultural machinery and self-correction unloading control method of above-described embodiment, control unit gathers unloading handle, unloads automatically
The external information such as grain button and camera image, by the information for gathering unloading handle and automatic unloading button, enters tune manually
Integral pattern or adjust automatically unloading pattern.Under manual adjustment mode, control unit directly drives according to the information of unloading handle
To control grain barrel-removing lifting, direct drive rotating driving device is turned to lifting drive with controlling grain barrel-removing, and is directly driven
Dynamic screw feeder driving means are with manual unloading.Automatic unloading button is now pressed, camera image collection will not be enabled and entered automatic
Adjust unloading pattern.And after the grain outlet correspondence of adjustment grain barrel-removing is manually adjusted positioned at the top of grain wagon box, press certainly
When dynamic unloading button triggers automatic unloading adjustment modes, system is gathered grain face in grain wagon box, the side of wagon box four, is driven by camera
Room and periphery barrier etc. are in interior information, the self-correction step value preserved according to control unit, alarming value and image sampling value
Etc. parameter, it is ensured that current grain barrel-removing corrects grain barrel-removing height, right position and unloading speed in the range of security activity, automatically
Degree, can point out to report to the police and be automatically stopped unloading when grain wagon box grain is full, and start peace during positive justification unloading is reviewed one's lessons by oneself
The function such as full guard and warning.Can grain barrel-removing position and unloading speed be carried out reviewing one's lessons by oneself positive justification, realize unloading from
Dynamicization amendment adjustment, it is ensured that the accuracy of unloading, efficiently avoid and unloading occur and pour down or forth pour down or forth too high with local grain face
Situation, unloading effect is good.In addition, the agricultural machinery of the present invention and unloading control method, realize can to grain barrel-removing position with
And unloading speed carries out reviewing one's lessons by oneself positive justification, realize the automation amendment adjustment of unloading, regulate the speed fast, without driver again with
The mode of range estimation, constantly adjusts manually rotary handle and lifting handle to be adjusted unloading, greatly reduces the labor of driver
Fatigue resistance.All external informations and internal parameter control of control unit collection, by CAN communication mode display is displayed in real time
On unit, and the full reserved value of the self-correction step value under automatic unloading pattern, grain can be set by display unit, is reported to the police
The core parameter such as value and image sampling accuracy value, being sent to control unit carries out corresponding replacement preservation.Adjust automatically unloading pattern
During, such as there is grain completely or fault message, control unit is by the alarming horn buzzing controlled in alarm lamp and by CAN communication
Mode passes to display unit corresponding failure code, and the full state of grain and malfunction are shown in real time.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not restricted to the described embodiments, without departing from the spirit and scope of the present invention, this
Bright also to have various changes and modifications, these changes and improvements are both fallen within scope of the claimed invention.Application claims
Protection domain is by appending claims and its equivalent thereof.
Claims (10)
1. a kind of unloading electric-control system, it is characterised in that include：
Control unit；
Unloading handle, the unloading handle electrically connects described control unit, and for starting pattern is manually adjusted；
Automatic unloading button, the automatic unloading button electrically connects described control unit, for starting adjust automatically unloading pattern；
Camera, the camera signal output part electrical connection described control unit, for shoot grain wagon box image and
The image of the grain face in the grain wagon box, and captured image information is sent to into described control unit；
Rotating driving device, the rotating driving device electrically connects described control unit, for driving grain barrel-removing to rotate；
Lifting drive, the lifting drive electrically connects described control unit, for driving grain barrel-removing to lift；
Screw feeder driving means, the screw feeder driving means electrically connect described control unit, for driving conveying screw feeder rotation.
2. unloading electric-control system as claimed in claim 1, it is characterised in that：Also include display unit, the display unit with
Described control unit is communicated to connect.
3. unloading electric-control system as claimed in claim 2, it is characterised in that：Also include alarm lamp, the alarm lamp electrical connection
The signal output part of described control unit, for pointing out the full state of grain and unloading malfunction.
4. unloading electric-control system as claimed in claim 2, it is characterised in that：The camera is installed on the grain outlet of grain barrel-removing
Place.
5. the unloading electric-control system as described in any one of claim 2 to 4, it is characterised in that：The display unit is liquid crystal instrument
Dial plate.
6., using the self-correction unloading control method of the unloading electric-control system described in any one of Claims 1-4, its feature exists
In comprising the following steps：
A, the internal parameter control for presetting described control unit, the internal parameter control includes self-correction step value, grain
Full reserved value and the full alarming value of grain；
B, manipulation unloading handle, in state is manually adjusted, control manually makes the grain outlet correspondence of grain barrel-removing to unloading electric-control system
Positioned at the top of grain wagon box；
C, the automatic unloading button is pressed, control unit receives the signal of the automatic unloading button, confirm to enter tune automatically
Whole unloading pattern；Control unit automatic screw feeder driving means, make conveying screw feeder rotate with to unloading in grain wagon box；
During d, unloading, the camera shoots the image of grain face in the image and the grain wagon box of grain wagon box, and by institute
The image information of shooting is sent to described control unit, and described control unit sets up grain by the position on the side of grain wagon box four and color
The image data base of wagon box, described control unit sets up the picture number of grain face by unloading position, grain face size and grain face color
According to storehouse, during unloading, the camera is in different time point samplings, the grain face image that described control unit obtains sampling
Data are contrasted with grain wagon box view data, judge the distance between upper bucket side of grain face and grain wagon box；
When the grain face of diverse location in control unit judgement grain wagon box is different from the distance between upper bucket side, show in grain wagon box
Grain face it is uneven, control unit control rotating driving device drives grain barrel-removing to the relatively low position of grain face by automatically stepping value progressively
Displacement, and lifting drive is automatically controlled, the height of grain barrel-removing is corrected automatically；
When the full reserved value of the grain that the grain face of diverse location in control unit judgement grain wagon box reaches setting, close screw feeder and drive
Device, stops unloading.
7. self-correction unloading control method as claimed in claim 6, it is characterised in that：When control unit judges grain in grain wagon box
When face reaches grain full alarming value, point out to report to the police.
8. self-correction unloading control method as claimed in claim 6, it is characterised in that：In step d, control unit is right
Grain barrel-removing carries out reviewing one's lessons by oneself during positive justification, and by camera grain face, the side of wagon box four, driver's cabin and periphery barrier in grain wagon box is gathered
Hinder the information of thing, control current grain barrel-removing and be in the range of security activity.
9. self-correction unloading control method as claimed in claim 6, it is characterised in that：The internal control ginseng of described control unit
The external information that number and described control unit are gathered shows in real time on the display unit.
10. self-correction unloading control method as claimed in claim 6, it is characterised in that：In step a, by described aobvious
Show that unit sets the internal parameter control.
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Cited By (7)
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| CN107172967A (en) * | 2017-06-05 | 2017-09-19 | 中联重机股份有限公司 | A kind of cane harvesting machine and its monitoring system |
| CN107409606A (en) * | 2017-08-31 | 2017-12-01 | 天津职业技术师范大学 | United reaper high position unloading control system and control method |
| CN108702925A (en) * | 2018-07-24 | 2018-10-26 | 苏州诺思特微电子有限公司 | A kind of device and control method for realizing the automatic unloading of grain harvesting machine |
| CN109906757A (en) * | 2019-03-21 | 2019-06-21 | 潍坊万隆电气股份有限公司 | A kind of harvester edge of a field unloading precise control device and control method |
| CN110637593A (en) * | 2019-08-28 | 2020-01-03 | 江苏大学 | Grain unloading opening positioning system and positioning method and combine harvester |
| CN112997678A (en) * | 2021-03-01 | 2021-06-22 | 潍柴雷沃重工股份有限公司 | Automatic grain unloading control system and method for harvester and harvester |
| CN113655793A (en) * | 2021-08-12 | 2021-11-16 | 上海三一重机股份有限公司 | Obstacle avoidance control method and device based on fusion strategy and engineering machinery |
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