CN109526381B - Low-loss threshing control system and method for corn harvester - Google Patents
Low-loss threshing control system and method for corn harvester Download PDFInfo
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- CN109526381B CN109526381B CN201910012418.7A CN201910012418A CN109526381B CN 109526381 B CN109526381 B CN 109526381B CN 201910012418 A CN201910012418 A CN 201910012418A CN 109526381 B CN109526381 B CN 109526381B
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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
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/02—Self-propelled combines
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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
- A01D41/1271—Control or measuring arrangements specially adapted for combines for measuring crop flow
- A01D41/1272—Control or measuring arrangements specially adapted for combines for measuring crop flow for measuring grain flow
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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
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F11/00—Threshing apparatus specially adapted for maize; Threshing apparatus specially adapted for particular crops other than cereals
- A01F11/06—Threshing apparatus specially adapted for maize; Threshing apparatus specially adapted for particular crops other than cereals for maize, e.g. removing kernels from cobs
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F12/00—Parts or details of threshing apparatus
- A01F12/18—Threshing devices
- A01F12/28—Devices for adjusting the concaves
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F12/00—Parts or details of threshing apparatus
- A01F12/58—Control devices; Brakes; Bearings
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Abstract
The invention relates to a low-loss threshing control system and method for a corn harvester, and belongs to the field of agricultural automation. The system comprises a CAN bus, a measuring and transmitting device, a display, a key board, an operating handle, a controller and an executing mechanism; the actuating mechanism comprises an operation speed control hydraulic motor connected with an operation speed control electro-hydraulic proportional valve and an operation speed control variable pump, a threshing cylinder rotating speed control speed regulating motor and a concave plate gap control distance regulating motor; the measuring and transmitting device comprises a grain crushing detection module, an operation speed sensor, a threshing cylinder rotating speed sensor and a concave plate gap sensor. The invention can complete the electric control manual adjustment of each working parameter, can make a decision according to the harvesting quality, the crop state and the machine running state in the corn harvesting process, intelligently adjust and control the rotation speed of the threshing cylinder, the gap of the concave plate and the operation speed, ensure that each working parameter is closely coordinated and matched, adapt to the harvesting operation environment, the crop state and other influences, and improve the harvesting quality and the operation efficiency of the corn harvester.
Description
Technical Field
The invention relates to a low-loss threshing control system and method for a corn harvester, and belongs to the field of agricultural automation.
Background
China is a big agricultural country and has a wide food crop area, wherein the corn planting area is 3584 hectares and occupies 1/4 of the total corn planting area in the world. China is the country with the most population in the world, and has higher requirements on the grain harvesting quality and the operation efficiency. The labor intensity of manual corn harvesting is high, the working efficiency is low, and the yield loss is large. The combine harvester is adopted for harvesting operation, so that the labor intensity of personnel and the grain loss can be reduced, and the harvesting efficiency and the harvesting quality can be improved. Since the eighties of the twentieth century, the international developed countries have gradually started the development of 'fine farming' based on information technologies such as a Global Positioning System (GPS), a Geographic Information System (GIS), a remote sensing system (RS), an intelligent agricultural machine and an agricultural expert system in the field of global agriculture, while the intelligent accurate agricultural machine is the basis of 'fine farming', and the intelligent control device of the corn harvester in China has not yet been completely practical. The low-loss threshing and harvesting of the corn is influenced by various factors such as the density of field crops, the moisture content of the crops and even the terrain, the working parameters of the corn harvester are guaranteed to be adjusted in real time to adapt to various influencing factors, and the harvesting quality and the operation efficiency are improved. At present, the control objects of the corn harvester mainly comprise operation speed, concave plate clearance, threshing cylinder rotating speed and the like, all parameters are basically adjusted independently, and the working parameters are not effectively matched with each other to realize self-adaptive adjustment.
The low-loss threshing and harvesting of the corn is influenced by various factors such as the density of field crops, the moisture content of the crops and even the terrain, and is influenced by the working parameters of the corn harvester, and the working parameters of the corn harvester need to be adjusted in real time to reach the optimal working range. The existing corn harvester has single control function, all parameters cannot be jointly regulated, and the conditions of broken grains and serious loss exist during harvesting operation.
Disclosure of Invention
In view of the above technical problems, the present invention provides a low-loss threshing control system and method for a corn harvester. The system can complete electric control manual adjustment of all working parameters, can make decisions according to the harvesting quality, the crop state and the machine running state in the corn harvesting process, intelligently adjusts and controls the rotating speed of the threshing cylinder, the gap of the concave plate and the operation speed, enables all working parameters to be closely coordinated and matched, adapts to the harvesting operation environment, the crop state and other influences, and improves the harvesting quality and the operation efficiency of the corn harvester.
In order to achieve the purpose, the invention provides the following technical scheme:
a low-loss threshing control system of a corn harvester comprises a gearbox 41, a kernel elevator 44, a concave plate 45, a threshing cylinder 46 and an engine 50, wherein a rotating shaft of the threshing cylinder 46 is connected with a stepless speed change device 47. The system comprises a CAN bus, a measurement transmitting device 10, a display 12, a key board 13, an operating handle 14, a controller 20 and an actuating mechanism 30.
The actuating mechanism 30 comprises an operation speed control hydraulic motor 33 connected with an operation speed control electro-hydraulic proportional valve 31 and an operation speed control variable pump 32, a threshing cylinder rotating speed control speed regulating motor 34 and a concave plate gap control distance regulating motor 35.
The working speed control hydraulic motor 33 is connected with the gearbox 41 and is used for controlling the output rotating speed of the gearbox 41; the threshing cylinder rotating speed control speed regulating motor 34 is connected with a stepless speed change device 47 of the threshing cylinder 46 and is used for controlling the rotating speed of the threshing cylinder 46; the concave plate gap control distance adjusting motor 35 is connected with a gap adjusting device of the concave plate 45 and used for adjusting the gap of the concave plate 45.
The measuring and transmitting device 10 comprises a grain crushing detection module 11, an operation speed sensor 15, a threshing cylinder rotating speed sensor 16 and a concave plate gap sensor 17.
The kernel crushing detection module 11 is installed at the outlet of the kernel elevator 44, and the kernel crushing detection module 11 acquires the kernel crushing condition through an image, so as to obtain the kernel crushing rate, and transmits the kernel crushing rate to the controller 20 through the CAN bus and the CAN communication port of the controller 20.
The operation speed sensor 15 is mounted on the gearbox 41 and used for detecting the running speed;
the threshing cylinder rotational speed sensor 16 is mounted at the front of the threshing cylinder 46, and detects the rotational speed of the threshing cylinder 46.
The concave plate gap sensor 17 is installed in the middle of the concave plate 45 and detects the gap of the concave plate 45.
The operation speed sensor 15, the threshing cylinder rotating speed sensor 16 and the concave clearance sensor 17 are connected with a signal input port of the controller 20, and the controller 20 records the pulse number of the operation speed sensor 15 and the threshing cylinder rotating speed sensor 16 and the current value of the concave clearance sensor 17 through the signal input port respectively.
The signal output port of the controller 20 is respectively connected with the operation speed control electro-hydraulic proportional valve 31, the threshing cylinder rotating speed control speed regulating motor 34 and the concave plate gap control distance regulating motor 35.
The key board 13, the operating handle 14 and the display 12 are connected and communicated with a CAN communication port of the controller 20 through a CAN bus.
The low-loss threshing control system of the corn harvester comprises 6 CAN nodes which are respectively as follows: the grain crushing detection module 11, the display 12, the key board 13, the operating handle 14, the controller 20 and the engine 50; the transmission path of the CAN bus is divided into two data transmission paths of a standard frame CAN bus and an extended frame CAN bus; the key board 13, the operating handle 14 and the controller 20 form a standard frame CAN bus; the grain crushing detection module 11, the display 12, the controller 20 and the engine 50 form an extended frame CAN bus.
The controller 20 obtains the rotation speed information of the engine 50, the control instructions of the key board 13 and the operating handle 14, and the grain breakage rate data of the grain breakage detection module 11 through the CAN bus, and sends the obtained data to the display 12 for displaying.
A corn harvester low-loss threshing control method utilizing the corn harvester low-loss threshing control system comprises the following steps:
(1) the operation speed sensor 15 collects the operation speed in real time, the threshing cylinder rotating speed sensor 16 collects the rotating speed of the threshing cylinder 46 in real time, the concave plate gap sensor 17 collects the gap of the concave plate 45 in real time, and the collected information of the operation speed, the threshing cylinder rotating speed and the concave plate gap is transmitted to the controller 20; the grain crushing detection module 11 collects and processes grain crushing information to obtain grain crushing rate, and sends the grain crushing rate to the controller 20 through the CAN bus;
(2) the controller 20 compares the grain crushing equivalent value according to the operation speed, the rotation speed of the threshing cylinder, the gap between the concave plates and the grain crushing rate, makes a decision by using a set grain crushing control strategy, and sends control signals to the operation speed control electro-hydraulic proportional valve 31, the rotation speed control speed regulating motor 34 of the threshing cylinder and the gap control distance regulating motor 35 of the concave plates;
(3) the controller 20 controls the operation speed to control the opening degree of the valve port of the electro-hydraulic proportional valve 31 through different current signals, so that the operation speed controls the variable pump 32 to output different flows, and further controls the operation speed to control the hydraulic motor 33 to regulate and control the gearbox 41 to output different rotating speeds, and the corn harvester walks at different speeds; the controller 20 controls the power-on time of the speed regulating motor 34 by controlling the rotation speed of the threshing cylinder to change the transmission ratio of the stepless speed change device 47, and further controls the rotation speed of the threshing cylinder 46; the controller 20 controls the gap adjusting device of the concave plate 45 by controlling the power-on time of the concave plate gap control distance adjusting motor 35, so as to adjust the gap of the concave plate 45, and finally realize the seed loss adaptive control.
Compared with the prior art, the invention has the beneficial effects that:
(1) the control system disclosed by the invention realizes the combination of manual control and automatic control, is convenient to operate, can adjust the parameters of the working parts in real time according to the requirements of a driver, and is reliable in work.
(2) The control system of the invention adopts CAN bus integration technology, integrates corn harvest quality parameter on-line detection and sensing information processing and fault diagnosis systems based on the CAN bus, and ensures the real-time performance and reliability of information transmission of the control system.
(3) The control system of the invention realizes the electric control driving of the working parts, and the driver can realize the adjustment of the parameters of the working parts in the cab, thus being convenient and fast.
(4) The control system of the invention formulates a multi-parameter combined regulation strategy through the influence mechanism of parameters such as the rotating speed of the threshing cylinder, the gap of the concave plate, the operation speed and the like on the damage of grains, realizes the self-adaptive control of the low-loss threshing of the corn, reduces the threshing loss rate of the corn and improves the operation quality.
Drawings
FIG. 1 is a network topology diagram of a low-loss threshing control system of a corn harvester according to the present invention;
FIG. 2 is a schematic view of the installation position of the low-loss threshing control system of the corn harvester of the present invention;
FIG. 3 is a schematic structural diagram of a key sheet and an operating handle;
FIG. 4 is a schematic diagram of the low-loss threshing control system of the corn harvester of the present invention;
fig. 5 is a flow chart of low-loss threshing control.
Wherein the reference numerals are:
10 measuring and transmitting device 11 grain crushing detection module
12 display 13 key board
14 operating handle 15 operating speed sensor
16 threshing cylinder speed sensor 17 concave plate gap sensor
20 controller 30 actuator
31 operating speed control electro-hydraulic proportional valve 32 operating speed control variable pump
33 working speed control hydraulic motor 34 threshing cylinder rotating speed control speed regulating motor
35 concave plate gap control distance-adjusting motor 41 gearbox
42 cab 43 driver's seat
44 kernel elevator 45 concave plate
46 threshing cylinder 47 stepless speed change device
50 engine
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The corn harvester comprises a cab 42 provided with a driving seat 43, a gearbox 41, a kernel elevator 44, a concave plate 45, a threshing cylinder 46 and an engine 50. The rotating shaft of the threshing cylinder 46 is connected with a stepless speed change device 47.
As shown in fig. 1 and 2, a low-loss threshing control system of a corn harvester comprises a CAN bus, a measurement transmitting device 10, a display 12, a key board 13, an operating handle 14, a controller 20 and an actuating mechanism 30.
The actuating mechanism 30 comprises an operation speed control hydraulic motor 33 connected with an operation speed control electro-hydraulic proportional valve 31 and an operation speed control variable pump 32, a threshing cylinder rotating speed control speed regulating motor 34 and a concave plate gap control distance regulating motor 35.
The working speed control hydraulic motor 33 is connected with the gearbox 41 and is used for controlling the output rotating speed of the gearbox 41; the threshing cylinder rotating speed control speed regulating motor 34 is connected with a stepless speed change device 47 of the threshing cylinder 46 and is used for controlling the rotating speed of the threshing cylinder 46; the concave plate gap control distance adjusting motor 35 is connected with a gap adjusting device of the concave plate 45 and used for adjusting the gap of the concave plate 45.
The measuring and transmitting device 10 comprises a grain crushing detection module 11, an operation speed sensor 15, a threshing cylinder rotating speed sensor 16 and a concave plate gap sensor 17.
The kernel crushing detection module 11 is installed at the outlet of the kernel elevator 44, and the kernel crushing detection module 11 acquires the kernel crushing condition through an image, so as to obtain the kernel crushing rate, and transmits the kernel crushing rate to the controller 20 through the CAN bus and the CAN communication port of the controller 20.
The work speed sensor 15 is mounted on the transmission case 41, and detects a travel vehicle speed.
The threshing cylinder rotational speed sensor 16 is mounted at the front of the threshing cylinder 46 and is used for detecting the rotational speed of the threshing cylinder 46.
The concave plate gap sensor 17 is installed in the middle of the concave plate 45 and used for detecting the gap of the concave plate 45.
The operation speed sensor 15, the threshing cylinder rotating speed sensor 16 and the concave clearance sensor 17 are connected with a signal input port of the controller 20, and the controller 20 records the pulse number of the operation speed sensor 15 and the threshing cylinder rotating speed sensor 16 and the current value of the concave clearance sensor 17 through the signal input port respectively.
The signal output port of the controller 20 is respectively connected with the operation speed control electro-hydraulic proportional valve 31, the threshing cylinder rotating speed control speed regulating motor 34 and the concave plate gap control distance regulating motor 35.
The controller 20 controls the operation speed through different current signals to control the opening degree of the valve port of the electro-hydraulic proportional valve 31, the different opening degrees of the valve port enable the operation speed to control the variable pump 32 to output different flows, and then the operation speed is controlled to control the hydraulic motor 33 to regulate and control the gearbox 41 to output different rotating speeds, so that the corn harvester can walk at different speeds. The controller 20 controls the power-on time of the speed regulating motor 34 by controlling the rotation speed of the threshing cylinder to change the transmission ratio of the stepless speed change device 47, and further control the rotation speed of the threshing cylinder 46. The controller 20 controls the gap adjusting device of the concave 45 by controlling the power-on time of the concave gap control pitch-adjusting motor 35, thereby adjusting the gap of the concave 45.
The display 12, the key sheet 13, and the operation handle 14 are installed in the cab 42, which facilitates observation and operation by the driver. The mechanism of the keydome 13 and the operating handle 14 is shown in fig. 3. The key board 13 and the operating handle 14 are connected and communicated with a CAN communication port of the controller 20 through a CAN bus. The key sheet 13 is used for selecting three driving modes, namely a parking mode, a road mode and a working mode, and two harvesting modes, namely a manual control mode and an automatic control mode. The key sheet 13 is also used for the gap control of the concave and the rotation speed control of the threshing cylinder in the manual control mode. The operating handle 14 is used for advancing, backing, parking, accelerating and decelerating the corn harvester, and realizes the operation speed control in a manual control mode. The display 12 is connected with and communicates with a CAN communication port of the controller 20 through a CAN bus.
As shown in fig. 4, the low-loss threshing control system of the corn harvester adopts a CAN bus to transmit data in real time, and the system has 6 CAN nodes, which are respectively: grain breakage detection module 11, display 12, keypad 13, operating handle 14, controller 20 and engine 50. The transmission path of the CAN bus is divided into two data transmission paths of a standard frame CAN bus and an extended frame CAN bus, and the key board 13, the operating handle 14 and the controller 20 form the standard frame CAN bus; the grain crushing detection module 11, the display 12, the controller 20 and the engine 50 form an extended frame CAN bus.
The display 12 is used for displaying conventional vehicle power and working parameters in the road running and harvesting operation processes of the corn harvester, is also used for setting the working parameters, adjusting working components, displaying alarm information, diagnosing faults and the like, is convenient for a driver to check the conditions of the corn harvester and timely process the faults, and realizes man-machine interaction.
The controller 20 obtains the rotation speed information of the engine 50 through the CAN bus, and judges whether the current rotation speed of the engine meets the corn harvesting operation condition. The controller 20 obtains the operation commands of the key board 13 and the operation handle 14 through a standard frame CAN bus, and performs mode selection, concave board gap control, threshing cylinder rotating speed control and operation speed control. The controller 20 obtains the grain breakage rate data of the grain breakage detection module 11 through the extended frame CAN bus. The controller 20 sends the acquired data (including engine speed, operating speed, gap between the concave, threshing cylinder speed and grain breakage rate) to the display 12 for display.
The invention provides a low-loss threshing control method of a corn harvester, which can realize multi-parameter self-adaptive control of the corn harvester in the threshing process, and comprises the following specific steps:
1. the operation speed sensor 15 collects the operation speed in real time, the threshing cylinder rotating speed sensor 16 collects the rotating speed of the threshing cylinder 46 in real time, the concave plate gap sensor 17 collects the gap of the concave plate 45 in real time, and the collected information of the operation speed, the threshing cylinder rotating speed and the concave plate gap is transmitted to the controller 20; the grain crushing detection module 11 collects and processes grain crushing information to obtain grain crushing rate, and sends the grain crushing rate to the controller 20 through the CAN bus;
2. the controller 20 compares the grain crushing equivalent value according to the operation speed, the rotation speed of the threshing cylinder, the gap between the concave plates and the grain crushing rate, makes a decision by using a set grain crushing control strategy, and sends control signals to the operation speed control electro-hydraulic proportional valve 31, the rotation speed control speed regulating motor 34 of the threshing cylinder and the gap control distance regulating motor 35 of the concave plates;
3. the controller 20 controls the operation speed to control the opening degree of the valve port of the electro-hydraulic proportional valve 31 through different current signals, so that the operation speed controls the variable pump 32 to output different flows, and further controls the operation speed to control the hydraulic motor 33 to regulate and control the gearbox 41 to output different rotating speeds, and the corn harvester walks at different speeds; the controller 20 controls the power-on time of the speed regulating motor 34 by controlling the rotation speed of the threshing cylinder to change the transmission ratio of the stepless speed change device 47, and further controls the rotation speed of the threshing cylinder 46; the controller 20 controls the gap adjusting device of the concave plate 45 by controlling the power-on time of the concave plate gap control distance adjusting motor 35, so as to adjust the gap of the concave plate 45, and finally realize the seed loss adaptive control.
The kernel crushing equivalent value is a preset allowable value of the kernel crushing rate.
In the step 2, the grain crushing control strategy is to set corresponding actions of the speed control electro-hydraulic proportional valve 31, the threshing roller rotating speed control speed regulating motor 34 and the concave plate gap control distance regulating motor 35 according to data collected by each sensor, and to achieve minimum grain crushing by optimal parameter combination operation.
As shown in fig. 5, the working process of the present invention is as follows:
the driver can select three driving modes, i.e., a parking mode, a road mode and a working mode, and two harvesting modes, i.e., a manual control mode and an automatic control mode, through the key sheet 13.
In the parking mode, the engine 50 is idling, the rotation speed of the threshing cylinder, the gap between the concave plates, and the operation speed are not adjustable, the rotation speed of the threshing cylinder is zero, the gap between the concave plates is at the opening degree before the stop, and the operation speed is zero.
In the road mode, the rotating speed of the threshing cylinder and the gap state of the concave plate are the same as those in the parking mode, the operation speed can be adjusted, and the operation speed can be increased or decreased by increasing or decreasing the accelerator.
In the operation mode, the rotation speed of the threshing cylinder, the gap between the concave plates and the operation speed can be adjusted, and the harvesting mode can be divided into a manual harvesting mode and an automatic harvesting mode through manual and automatic control keys of the key plate 13.
Manual control mode:
the kernel crushing detection module 11 collects and processes kernel crushing information and sends the kernel crushing information to the display 12 through the CAN bus, and a driver observes the kernel crushing rate displayed on the display 12.
When the kernel breakage rate is too high, a driver sets a concave plate gap opening degree control key on the key plate 13, a concave plate gap control signal is transmitted to the controller 20 through a CAN bus, the controller 20 controls the concave plate gap control distance adjusting motor 35 to realize adjustment of the concave plate gap opening degree, the concave plate gap sensor 17 transmits a concave plate gap displacement signal to the controller 20, the controller 20 performs data analysis and processing, the concave plate gap is transmitted to the display 12 through the CAN bus, the current concave plate gap is displayed in real time, and man-machine interaction is realized;
when the grains are crushed too high, a driver sets a threshing cylinder rotating speed control plus-minus key on the key board 13, a threshing cylinder rotating speed control signal is transmitted to the controller 20 through a CAN bus, the controller 20 controls the threshing cylinder rotating speed control speed regulating motor 34 to realize the addition and the subtraction of the threshing cylinder rotating speed, the threshing cylinder rotating speed sensor 16 transmits a threshing cylinder rotating speed pulse signal to the controller 20, the controller 20 performs data analysis and processing, the threshing cylinder rotating speed is transmitted to the display 12 through the CAN bus, the current threshing cylinder rotating speed is displayed in real time, and man-machine interaction is realized;
when the grains are crushed too high, a driver sets the operating handle 14, an operating speed control signal is transmitted to the controller 20 through the CAN bus, the controller 20 controls the operating speed control electro-hydraulic proportional valve 31, the operating speed control variable pump 32 and the operating speed control hydraulic motor 33 to adjust the operating speed, the operating speed sensor 15 transmits an operating speed pulse signal to the controller 20, the controller 20 analyzes and processes data, the operating speed is transmitted to the display 12 through the CAN bus, the current operating speed is displayed in real time, and man-machine interaction is achieved.
An automatic control mode:
the grain crushing detection module 11 collects and processes grain crushing information and sends the grain crushing information to the controller 20 through a CAN bus, the operation speed sensor 15, the threshing cylinder rotating speed sensor 16 and the concave plate gap sensor 17 transmit the collected operation speed, the information of the threshing cylinder rotating speed and the concave plate gap to the controller 20, and the controller 20 compares the equivalent value set by the information according to the current operation speed, the threshing cylinder rotating speed, the concave plate gap and the grain crushing rate, makes a decision by using a set low-loss threshing control strategy and sends a control signal. If the kernel breakage rate does not exceed the set equivalent value, the corn harvester keeps the current working state to continue working, when the kernel breakage rate exceeds the set equivalent value, the low-loss threshing control system makes a decision according to a set low-loss threshing control strategy, sends out a control signal, and takes the kernel breakage rate as feedback to carry out periodic adjustment, in a single adjustment period, the concave plate gap control distance adjusting motor 35 carries out concave plate gap increase according to the set concave plate gap adjustment value, the threshing roller rotating speed control speed adjusting motor 34 carries out threshing roller rotating speed reduction according to the set threshing roller rotating speed adjustment value, the working speed control electro-hydraulic proportional valve 31, the working speed control variable pump 32 and the working speed control hydraulic motor 33 carry out working speed reduction according to the set working speed adjustment value, and after the period adjustment is finished, the kernel breakage rate is compared with the set equivalent value again, if the grain breakage rate does not exceed the set equivalent value, the corn harvester keeps the current working state to continue working, if the grain breakage rate exceeds the set equivalent value, the corn harvester repeats the adjusting process of the previous adjusting period, when the concave plate gap, the rotating speed of the threshing roller and the operating speed reach the adjusting set limit position or the grain breakage rate meets the set requirement, the adjustment of the corn harvester is completed, the current working state is kept to continue working, the multi-parameter self-adaptive control is realized, the display 12 displays the current grain breakage rate, the rotating speed of the threshing roller, the concave plate gap and the operating speed, and the man-machine interaction is realized. By the real-time regulation and control of the measures, the intelligent control of low-loss threshing of the corn harvester is realized, and the seed breakage rate is reduced. The adjusting period is the time interval between two times of adjustment of the corn harvester. The concave plate gap adjusting value, the threshing roller rotating speed adjusting value and the operation speed adjusting value are the concave plate gap, the threshing roller rotating speed and the operation speed increasing amount or decreasing amount preset in an adjusting period.
Claims (4)
1. The utility model provides a corn harvester low-loss threshing control system, corn harvester includes gearbox (41), seed grain lift conveyer (44), notch board (45), threshing cylinder (46) and engine (50), and infinitely variable transmission (47), its characterized in that are connected to threshing cylinder's (46) pivot: the system comprises a CAN bus, a measuring and transmitting device (10), a display (12), a key board (13), an operating handle (14), a controller (20) and an actuating mechanism (30);
the actuating mechanism (30) comprises an operation speed control hydraulic motor (33) connected with an operation speed control electro-hydraulic proportional valve (31) and an operation speed control variable pump (32), a threshing cylinder rotating speed control speed regulating motor (34) and a concave plate gap control distance regulating motor (35);
the working speed control hydraulic motor (33) is connected with the gearbox (41) and is used for controlling the output rotating speed of the gearbox (41); the threshing cylinder rotating speed control speed regulating motor (34) is connected with a stepless speed change device (47) of the threshing cylinder (46) and is used for controlling the rotating speed of the threshing cylinder (46); the concave plate gap control distance adjusting motor (35) is connected with a gap adjusting device of the concave plate (45) and is used for adjusting the gap of the concave plate (45);
the measuring and transmitting device (10) comprises a kernel crushing detection module (11), an operation speed sensor (15), a threshing cylinder rotating speed sensor (16) and a concave plate gap sensor (17);
the grain crushing detection module (11) is arranged at the outlet of the grain elevator (44), the grain crushing detection module (11) acquires the grain crushing condition through images so as to obtain the grain crushing rate, and the grain crushing rate is transmitted to the controller (20) through a CAN communication port of the controller (20) through a CAN bus;
the operation speed sensor (15) is arranged on the gearbox (41) and used for detecting the running speed;
the threshing cylinder rotating speed sensor (16) is arranged at the front part of the threshing cylinder (46) and is used for detecting the rotating speed of the threshing cylinder (46);
the concave plate gap sensor (17) is arranged in the middle of the concave plate (45) and is used for detecting the gap of the concave plate (45);
the operation speed sensor (15), the threshing roller rotating speed sensor (16) and the concave plate gap sensor (17) are connected with a signal input port of the controller (20), and the controller (20) respectively records the pulse number of the operation speed sensor (15) and the threshing roller rotating speed sensor (16) and the current value of the concave plate gap sensor (17) through the signal input port;
the signal output port of the controller (20) is respectively connected with an operation speed control electro-hydraulic proportional valve (31), a threshing cylinder rotating speed control speed regulating motor (34) and a concave plate gap control distance regulating motor (35);
the key board (13), the operating handle (14) and the display (12) are connected and communicated with a CAN communication port of the controller (20) through a CAN bus.
2. The corn harvester low loss threshing control system of claim 1, wherein: the low-loss threshing control system of the corn harvester comprises 6 CAN nodes which are respectively as follows: the grain crushing detection device comprises a grain crushing detection module (11), a display (12), a key board (13), an operating handle (14), a controller (20) and an engine (50); the transmission path of the CAN bus is divided into two data transmission paths of a standard frame CAN bus and an extended frame CAN bus; the key board (13), the operating handle (14) and the controller (20) form a standard frame CAN bus; the grain crushing detection module (11), the display (12), the controller (20) and the engine (50) form an extended frame CAN bus.
3. The corn harvester low loss threshing control system of claim 1, wherein: the controller (20) acquires the rotating speed information of the engine (50), the control instructions of the key board (13) and the operating handle (14) and the grain breakage rate data of the grain breakage detection module (11) through the CAN bus, and sends the acquired data to the display (12) for displaying.
4. A method of controlling low-loss threshing in a corn harvester using the system of any one of claims 1 to 3, wherein: the control method comprises the following steps:
(1) the operation speed sensor (15) collects the operation speed in real time, the threshing cylinder rotating speed sensor (16) collects the rotating speed of the threshing cylinder (46) in real time, the concave plate gap sensor (17) collects the gap of the concave plate (45) in real time, and the collected information of the operation speed, the threshing cylinder rotating speed and the concave plate gap is transmitted to the controller (20); the grain crushing detection module (11) collects and processes grain crushing information to obtain grain crushing rate, and sends the grain crushing rate to the controller (20) through the CAN bus;
(2) the controller (20) compares the grain crushing equivalent value according to the operation speed, the rotation speed of the threshing cylinder, the gap between the concave plates and the grain crushing rate, makes a decision by using a set grain crushing control strategy, and sends control signals to the operation speed control electro-hydraulic proportional valve (31), the rotation speed control speed regulating motor (34) of the threshing cylinder and the gap control distance regulating motor (35) of the concave plates;
(3) the controller (20) controls the operation speed through different current signals to control the opening degree of a valve port of the electro-hydraulic proportional valve (31), so that the operation speed controls the variable pump (32) to output different flows, and further controls the operation speed to control the hydraulic motor (33) to regulate and control the transmission (41) to output different rotating speeds, and therefore the corn harvester can walk at different speeds; the controller (20) controls the power-on time of the speed regulating motor (34) by controlling the rotating speed of the threshing cylinder to change the transmission ratio of the stepless speed change device (47), and further controls the rotating speed of the threshing cylinder (46); the controller (20) controls the gap adjusting device of the concave plate (45) by controlling the power-on time of the distance adjusting motor (35) through controlling the gap of the concave plate, so as to adjust the gap of the concave plate (45), and finally realize the self-adaptive control of the seed loss.
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| CN110865631B (en) * | 2019-11-28 | 2021-05-14 | 中国农业大学 | CAN bus-based intelligent control test platform for multifunctional corn harvester |
| CN110720302A (en) * | 2019-11-29 | 2020-01-24 | 河南瑞创通用机械制造有限公司 | Intelligent adjusting system of grain harvester and control method thereof |
| CN111670681A (en) * | 2020-07-16 | 2020-09-18 | 中国农业大学 | Corn harvesting feeding amount self-adaptive control system and control method |
| CN111670680A (en) * | 2020-07-16 | 2020-09-18 | 中国农业大学 | High-moisture-content corn harvesting roller rotating speed control system and control method |
| CN112673801A (en) * | 2021-03-09 | 2021-04-20 | 农业农村部南京农业机械化研究所 | On-line detection method and system for broken impurities of grain combine harvester |
| CN112889490A (en) * | 2021-04-12 | 2021-06-04 | 安徽科技学院 | Corn threshing device gap adjusting control method |
| CN113625560A (en) * | 2021-07-29 | 2021-11-09 | 中国农业机械化科学研究院 | Loss rate control method and device for corn harvester, storage medium and equipment |
| CN115119608A (en) * | 2022-06-30 | 2022-09-30 | 扬州市金谷机械有限公司 | Intelligent control method for integrated harvesting of corn ears and corn stalks |
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