CN109644667A - A kind of combined harvester crawler body is to row regulator control system and regulation method - Google Patents
A kind of combined harvester crawler body is to row regulator control system and regulation method Download PDFInfo
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- CN109644667A CN109644667A CN201811607909.8A CN201811607909A CN109644667A CN 109644667 A CN109644667 A CN 109644667A CN 201811607909 A CN201811607909 A CN 201811607909A CN 109644667 A CN109644667 A CN 109644667A
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- row
- crawler belt
- crawler
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- cropper
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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
-
- 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
- A01D41/1274—Control or measuring arrangements specially adapted for combines for drives
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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
Abstract
The present invention provides a kind of combined harvester crawler bodies to row regulator control system and regulation method, the system includes: caterpillar chassis walking mechanism, the ceding of Taiwan, to row detection unit and to row control unit, it include ccd image acquisition device, image processing apparatus and crawler belt position-measurement device to row detection unit, ccd image acquisition device obtains the information such as mature rice image, ridge and field boundary, is transmitted to image processing apparatus processing；Crawler belt position-measurement device includes two measurement groups, and each measurement group includes angular displacement sensor, swing rod, torsional spring and fixed link；It include crawler belt track decision package and turning control cell to row control unit, crawler belt track decision package is for planning walking path, determining deflection direction and calculating desired vehicle body steering angle, it is transferred to turning control cell, vehicle body is adjusted with control, it realizes and row is regulated and controled, the present invention can realize automatically to regulate and control row in the ratooning rice field transplanted based on wide-and narrow-row, avoid rolling toothing damage, improve the yield in regeneration season.
Description
Technical field
The present invention relates to combined harvester technical fields more particularly to a kind of combined harvester crawler body to row regulation system
System.
Background technique
Ratooning rice plantation has very superior resource and environment advantage, and the production of ratooning rice is in China's sunlight-heat reaources at present
One Ji Youyu, two seasons insufficient area are increasingly paid attention to, and cultivated area increases sharply, and planting benefit significantly improves.From hair
From the perspective of exhibition, the harvest performance and automation and intelligentification degree of combined harvester have become ratooning rice head season mechanization
One important measurement index of harvest.This just there is an urgent need to the working condition of corresponding real-time monitoring system Combine Harvester into
Row monitoring, to be conducive to improve the working efficiency of ratooning rice harvest, improves transaction capabilities and production to make corresponding adjustment
Efficiency.
However combined harvester research caterpillar for ratooning rice head season is less at present in China, more lacks and joins to work
The system of number monitoring and adjustment, it is less especially for research of the caterpillar chassis to row regulation.Compared with conventional rice, regeneration
Rice head season harvesting have it is low roll, the agriculture requirements such as high-stubble.Currently, for universal applied rice planting mode, crawler type
Combined harvester is easily embarked on journey in harvesting rolls Dao Chuang, and the yield for regenerating season will have a greatly reduced quality.Prior art discloses one kind
Driving wheel changeable wheel track ratooning rice cropper and its control method, by being respectively arranged with control pair in chassis front end two sides of the bottom
The telescoping mechanism for answering side front-wheel to be displaced sideways realizes that wheelspan is variable to improve low rolling operation, and running gear system is in deep mud
Easily skid, sink when the operation of foot field, passability is poor, and operation field is restricted, while lack specific train and rice plant it
Between mutual alignment detection and regulator control system, it is difficult to realization precisely in the ranks walk.
" wide-and narrow-row " method for planting refers to spaced using wide row and narrow row, can improve ventilation and penetrating light environment, passes through
The experimental study of many years shows to can be realized highly dense, sufficient fringe, volume increase, is better than waiting line-spacings planting patterns.If ratooning rice when harvest
The crawler belt of combined harvester two sides is walked in wide row, can be achieved to roll to the zero of toothing in straight-line travelling section, for substantially subtracting
The area that rolls for lacking the toothing during head season harvest, improving Regrowth yield has great significance, but proposes regeneration simultaneously
Rice combining is confidential with the ability precisely walked to every trade in wide row.Although machine hand can be by manually adjusting left and right repeatedly
Steering arm realizes crawler belt walking to every trade in wide row emphasis, but when actual job, machine hand also needs constantly to adjust the ceding of Taiwan
Highly, the parameters such as grain cutting width, cropper travel speed, this not only needs operator to have harvest experience abundant and high yield
Driving technology, while significantly increasing the manipulation intensity of driver, significantly affecting operating efficiency.Therefore, at " wide-and narrow-row "
Cropping pattern under caterpillar combine automatically walks every trade to have become improve head season ratooning rice efficiency of crop core
Problem.
Summary of the invention
In response to the deficiencies in the existing technology, the present invention provides a kind of combined harvester crawler bodies to row regulator control system
And regulation method can be in the regeneration transplanted based on wide-and narrow-row applied to the head season ratooning rice harvest under the plantation of wide-and narrow-row mode
It realizes automatically to regulate and control row in the ground of rice field, avoids rolling toothing damage, and then improve the yield in regeneration season.
The present invention achieves the above technical objects by the following technical means.
A kind of combined harvester crawler body is to row regulator control system, applied to the head season ratooning rice under the plantation of wide-and narrow-row mode
It harvests, wide row line-spacing is L in the wide-and narrow-row modek, narrow row line-spacing is Lz, there is n sections of narrow rows between two wide rows, comprising:
Caterpillar chassis walking mechanism, the crawler width l in the caterpillar chassis walking mechanism meet l < Lk, crawler belt
Gauge LsMeet Ls=Lk+nLz；
The ceding of Taiwan, the width L of the ceding of TaiwangMeet: Lg≥(2Lk+2nLz)；
It is described to row detection unit, including ccd image acquisition device, image processing apparatus and crawler belt position-measurement device
Ccd image acquisition device is mounted on the front end of combined harvester cockpit, the ccd image acquisition device towards the ceding of Taiwan just
Front shooting sends the information such as mature rice image, ridge and the field boundary of acquisition the processing of to described image processing unit,
The crawler belt position-measurement device includes two measurement groups, and each measurement group includes angular displacement sensor, swing rod, torsional spring and consolidates
Fixed pole, the bottom end of the fixed link are fixed on the bracket of caterpillar chassis walking mechanism front end, one end of the swing rod
It is connect by torsional spring with the top of the fixed link, the angular displacement sensor is installed on the other end of the swing rod, two surveys
Amount group is located at left and right sides of the front end an of crawler belt, and is symmetrically installed；
To row control unit, including crawler belt track decision package and turning control cell, crawler belt track decision package
Connect with described image processing unit and the crawler belt position-measurement device, crawler belt track decision package according to image at
The information planning walking path for managing device transmitting determines deflection direction further according to the information of crawler belt position-measurement device transmitting, most
Desired vehicle body steering angle is calculated based on the crawler type steering model afterwards, and is transferred to the turning control cell, it is described
Steering controller adjusts vehicle body corner and realizes to regulate and control row by the switching valve in control cropper in turning control cell.
Preferably, the steering situation of the crawler type steering model has following several:
When harvester needs to keep straight-line travelling, vinner=vouter；
When harvester needs to turn to the right, vinner> vouter；
When harvester needs to turn to the left, vinner< vouter；
Wherein, vinnerFor the inner track speed of cropper, vouterFor the outer track speed of cropper.
Preferably, in the crawler type steering model, wherein assuming that the center of two crawler belt of combined harvester is harvest
The mass center O of machinev, there is theoretical steering center O when turning during cropper turningsteer, two track centers turning radius
Rsteer, cropper inner track turning radius Rinner, outer track turning radius Router, crawler belt steering angular speed omega, then have:
vinner=ω × Rinner, vouter=ω × Router,On the inside of cropper
When turning, outer track speed is constant, and inner track reduces speed, its calculation formula is:
Preferably, the swing rod is vertical with the fixed link, and two swing rods are located on the same line, and two institutes
State the outside that angular displacement sensor is respectively positioned on the crawler belt.
Preferably, the number of the crawler belt position-measurement device is two, the crawler belt position-measurement device and the shoe
Band corresponds, and is located at the front of corresponding crawler belt.
A kind of regulation method of combined harvester crawler body to row regulator control system, comprising:
S1: wide row line-spacing L is set in crawler belt decision packagek, narrow row line-spacing Lz, the ceding of Taiwan length Lg、The width l of crawler belt,
Track gage Ls；The initial angle of two swing rods in crawler belt position-measurement device is respectively α0And β0(α0≈β0), the crawler belt of every side
Initial position is respectively l at a distance from the ratooning rice of two sides1And l2, oscillating bar length l0；
S2: the mature rice image in part in front of the ceding of Taiwan is obtained by ccd image acquisition device, is handled through image processing apparatus
Afterwards, the information such as wide row rice, the distribution of narrow row rice, field image are obtained, after image processing apparatus is handled, obtain wide row water
Rice, the distribution of narrow row rice, ridge and field boundary information directly terminate to regulate and control row if reaching field boundary；
S3: it by the variation of crawler belt position-measurement device measuring oscillating bar swing angle, is based on by crawler belt track decision system
Crawler type steering model calculates desired vehicle body deflection direction and adjustment angle；
S4: adjusting the adjustment that switching valve realizes body gesture by the steering controller in turning control cell, thus real
Now automatically to row；
S5: return step S2 until cropper work terminates.
Preferably, the step S3 specifically:
The initial angle α of left and right swing rod in each crawler belt position-measurement device0≈β0；The crawler belt of every side initially away from
Two sides ratooning rice l1≈l2=l0sinα0；Left and right pendulum in the cropper course of work in each crawler belt position-measurement device
Bar corner is α and β, and the crawler belt of every side is l ' apart from two sides ratooning rice1=l0Sin α, l '2=l0sinβ。
WhenAndWhen, the crawler belt of the left and right sides is located to the left in the middle part of wide row, and adjustment vehicle body steering angle makes
It is deflected to the right, is realized to row；
WhenAndWhen, the crawler belt of the left and right sides is respectively positioned in the middle part of wide row, and vehicle body is not
It needs to adjust；
WhenAndWhen, the crawler belt of the left and right sides is located to the right in the middle part of wide row, should adjust vehicle body steering angle
It deflects it to the left, realizes to row.
Preferably, if when steering controller control switching valve adjustment body gesture, machine hand manual intervention, then crawler body pair
Row regulator control system directly terminates.
Beneficial effects of the present invention:
1) present invention can be real-time by crawler belt position-measurement device in the ratooning rice field based on wide-narrow row planting mode
The local relative position of crawler belt and ratooning rice stalk is monitored, and field in front of crawler belt is shot by ccd image acquisition device and is not cut
Area's ratooning rice image has image processing apparatus to handle in real time, the information that crawler belt track decision package is transmitted according to image processing apparatus
Walking path is planned, further according to the determining deflection direction of information of crawler belt position-measurement device transmitting, finally based on described based on shoe
Belt steering model calculates desired vehicle body steering angle, and is transferred to turning control cell, and control is turned in turning control cell
Device processed adjusts vehicle body corner and realizes to regulate and control row by the switching valve in control cropper, keeps combined harvester accurate to row,
It avoids rolling toothing damage, improve efficiency of crop and regenerates the yield in season.
2) present invention passes through the local relative position of crawler belt position-measurement device real-time monitoring crawler belt and ratooning rice stalk, right
The induction of crop is sensitive, more accurate efficient compared with artificial judgment, and adjustment mode of the invention is flexible, greatly
The technical requirements to operator are reduced, the amount of labour is reduced.
3) of the present invention to be to row regulation based on the first rice crop combined harvester crawler body of wide-narrow row planting mode
System is not merely suitable for the harvest of head season ratooning rice, and be equally applicable to such as corn, peanut, cotton various crop shoe
Regulating and controlling to row for belt walking chassis, has a wide range of application, and market prospects are big, will greatly push the technological progress of harvest machinery.
Detailed description of the invention
Fig. 1 is the structural representation according to a kind of combined harvester crawler body of the embodiment of the present invention to row regulator control system
Figure.
Fig. 2 is the structural schematic diagram according to the crawler belt position-measurement device of the embodiment of the present invention.
Fig. 3 is the schematic diagram according to the crawler type steering model of the embodiment of the present invention.
Fig. 4 is the operation principle schematic diagram according to the crawler belt position-measurement device of the embodiment of the present invention.
Fig. 5 is to harvest schematic diagram to row according to the combined harvester of the embodiment of the present invention.
Fig. 6 is that combined harvester crawler body regulates and controls flow chart to row regulator control system
Appended drawing reference:
1. caterpillar chassis running gear；1-1. crawler belt；1-2. driving wheel；1-3. thrust wheel；1-4. directive wheel；1-5. support
Belt wheel；2.CCD image acquiring device, 3. crawler belt position-measurement devices；3-1. angular displacement sensor；3-2. swing rod；3-3. torsional spring；
3-4. fixed link；4. regenerating rice plants.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
The orientation or positional relationship of the instructions such as " thickness ", "upper", "lower", " axial direction ", " radial direction ", "vertical", "horizontal", "inner", "outside"
To be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description of the present invention and simplification of the description, rather than indicate or
It implies that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as
Limitation of the present invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be with
Explicitly or implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or
Two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
A kind of combined harvester crawler body according to an embodiment of the present invention is specifically described to row in conjunction with attached drawing first below
Regulator control system.
Please refer to Fig. 1 to Fig. 5, a kind of combined harvester crawler body according to an embodiment of the present invention to row regulator control system,
Applied to the head season ratooning rice harvest under the plantation of wide-and narrow-row mode, wide row line-spacing is L in wide-and narrow-row modek, narrow row line-spacing is Lz,
There are n sections of narrow rows between two wide rows, includes: caterpillar chassis walking mechanism, the ceding of Taiwan, to row detection unit to row regulator control system
With to row control unit.
Specifically, as shown in figure 5, ratooning rice wide row line-spacing is 50cm in the embodiment of the present invention, narrow row line-spacing is 20cm；Connection
The crawler belt for closing cropper two sides is walked in the wide row region of not rice cultivation, and the width of two sides crawler belt is 30cm.When harvesting, to A,
B, the trizonal rice of C is all gathered in, and wherein half is gathered in two regions A, C, and B area is gathered in completely；When harvesting next time
C, half is gathered in two region E, and D is gathered in region completely, recycled with this.
As shown in Figure 1, caterpillar chassis walking mechanism includes crawler belt 1-1, driving wheel 1-2, thrust wheel 1-3, carrier wheel 1-4
With directive wheel 1-5, the direction faced when 1 front side is operated by driver, driving wheel 1-2 be mounted on crawler body most before
Side, thrust wheel 1-3 are respectively provided with five in the two sides of caterpillar chassis, and carrier wheel 1-4 is mounted on the rack by bracket, directive wheel
1-5 is mounted on the most rear side of crawler body.
To row detection unit, including ccd image acquisition device 2, image processing apparatus and crawler belt position detecting device 3, CCD
Image acquiring device 2 is mounted on the front end of combined harvester cockpit, there is 15~20 meters of field range, and ccd image obtains dress
It sets 2 to shoot towards the front of the ceding of Taiwan, for obtaining the field area Wei Ge wide row rice, the distribution of narrow row rice, ridge in front of crawler belt
It sends the image of acquisition to image processing apparatus with information, ccd image acquisition device 2 such as field boundaries and handles.
As shown in Fig. 2, crawler belt position detecting device 3 includes two measurement groups, each measurement group includes angle displacement transducer
Caterpillar chassis walking mechanism front end is fixed in device 3-1, swing rod 3-2, torsional spring 3-3 and fixed link 3-4, the bottom end of fixed link 3-4
Bracket on, one end of swing rod 3-2 is connect by torsional spring 3-3 with the top of fixed link 3-4, and torsional spring 3-3 is for realizing swing rod 3-2
Automatically reset, angular displacement sensor 3-1 is installed on the other end of swing rod 3-2, and swing rod 3-2 is vertical with fixed link 3-4, two survey
Amount group is located at left and right sides of the front end an of crawler belt, and two swing rod 3-2 are located on the same line, and two angular displacements pass
Sensor 3-1 is respectively positioned on the outside of crawler belt, so that two measurement groups are in that similar T-shape is symmetrical.To prevent due to regeneration
Rice is in field planting precision not high the case where causing crawler belt position detecting device 3 to fail, this implementation is in the crawler belt of left and right two
Front is respectively provided with a crawler belt position detecting device 3.
As shown in figure 3, crawler type steering model is made of the following contents, it is assumed that the center of two crawler belt of combined harvester
For the mass center O of cropperv, there is theoretical steering center O when turning during cropper turningsteer, two track centers turning
Radius Rsteer, crawler belt turning radius R in cropperinner, outer crawler belt turning radius Router, crawler belt tarnsition velocity ω.According to mould
Type obtains relevant kinematics formula, vinner=ω × Rinner, vouter=ω × Router, When cropper inside turn, outer track speed is constant, and inner track reduces speed, calculates public
Formula isThere is following several the steering situation of crawler type steering model in the present embodiment:
When cropper needs to keep straight-line travelling, vinner=vouter；
When cropper needs to turn to the right, vinner> vouter；
When cropper needs to turn to the left, vinner< vouter。
It include crawler belt track decision package and turning control cell to row control unit, crawler belt track decision package and image
Processing unit and crawler belt position detecting device 3 connect, the information that crawler belt track decision package is transmitted according to image processing apparatus
It plans walking path, determines deflection direction further according to the information that crawler belt position detecting device 3 transmits, finally turned to based on crawler type
Model calculates desired vehicle body steering angle, and is transferred to turning control cell, and steering controller passes through in turning control cell
The switching valve adjustment vehicle body corner controlled in cropper is realized to regulate and control row.
As shown in fig. 6, regulation method of the combined harvester crawler body according to an embodiment of the present invention to row regulator control system,
Include:
S1: wide row line-spacing L is set in crawler belt decision packagek, narrow row line-spacing Lz, the ceding of Taiwan length Lg, crawler belt width l,
Track gage Ls；The initial angle of two swing rod 3-2 in crawler belt position detecting device 3 is respectively α0And β0(α0≈β0), every side
Crawler belt initial position is respectively l at a distance from the ratooning rice of two sides1And l2, swing rod 3-2 length is l0；
S2: the mature rice image in part in front of the ceding of Taiwan is obtained by ccd image acquisition device 2, at image processing apparatus
After reason, wide row rice, the distribution of narrow row rice, ridge and field boundary information are obtained, is directly tied if reaching field boundary
Beam regulates and controls row；；
S3: by the variation of 3 measuring oscillating bar 3-2 swing angle of crawler belt position detecting device, by crawler belt track decision system
Desired vehicle body deflection direction and adjustment angle are calculated based on crawler type steering model；
S4: adjusting the adjustment that switching valve realizes body gesture by the steering controller in turning control cell, thus real
Now automatically to row, if machine hand manual intervention, crawler body directly exit row regulator control system, otherwise enter S6；
S5: return step S2 until cropper work terminates.
Wherein step S3 specifically:
The initial angle α of left and right swing rod 3-2 in each crawler belt position detecting device 30≈β0；The crawler belt of every side initially away from
Two sides ratooning rice l1≈l2=l0sinα0；Left and right swing rod in the cropper course of work in each crawler belt position detecting device 3
3-2 corner is α and β, and the crawler belt of every side is l ' apart from two sides ratooning rice1=l0Sin α, l '2=l0sinβ。
WhenAndWhen, i.e., as l '1< 5cm and l '2When > 15cm, the crawler belt of the left and right sides is located at wide row
Middle part is to the left, and adjustment vehicle body steering angle deflects it to the right, realizes to row；
WhenAndWhen, i.e., as 5cm≤l '1≤ 15cm and 5cm≤l '2≤15cm
When, the crawler belt of the left and right sides is respectively positioned in the middle part of wide row, and vehicle body does not need to adjust；
WhenAndWhen, i.e., as l '2< 5cm and l '1When > 15cm, the crawler belt of the left and right sides is located at wide row
Middle part is to the right, and should adjust vehicle body steering angle deflects it to the left, realizes to row.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (8)
1. a kind of combined harvester crawler body receives row regulator control system applied to the head season ratooning rice under the plantation of wide-and narrow-row mode
It obtains, wide row line-spacing is L in the wide-and narrow-row modek, narrow row line-spacing is Lz, have n sections of narrow rows between two wide rows, feature exists
In, comprising:
Caterpillar chassis walking mechanism, the crawler width l in the caterpillar chassis walking mechanism meet l < Lk, track gage Ls
Meet Ls=Lk+nLz；
The ceding of Taiwan, the width L of the ceding of TaiwangMeet: Lg≥(2Lk+2n Lz)；
To row detection unit, including ccd image acquisition device, image processing apparatus and crawler belt position-measurement device, the CCD figure
As acquisition device is mounted on the front end of combined harvester cockpit, the ccd image acquisition device is towards the front of the ceding of Taiwan
Shooting sends the mature rice image, ridge and the information on field boundary of acquisition the processing of to described image processing unit, described
Crawler belt position-measurement device includes two measurement groups, and each measurement group includes angular displacement sensor, swing rod, torsional spring and fixation
Bar, the bottom end of the fixed link are fixed on the bracket of caterpillar chassis walking mechanism front end, and one end of the swing rod is logical
It crosses torsional spring to connect with the top of the fixed link, the angular displacement sensor is installed on the other end of the swing rod, two measurements
Group is located at left and right sides of the front end an of crawler belt, and is symmetrically installed；
To row control unit, including crawler belt track decision package and turning control cell, crawler belt track decision package and institute
It states image processing apparatus and crawler belt position-measurement device connection, crawler belt track decision package is filled according to image procossing
The information planning walking path for setting transmitting determines deflection direction, last base further according to the information of crawler belt position-measurement device transmitting
Desired vehicle body steering angle is calculated in the crawler type steering model, and is transferred to the turning control cell, the steering
Steering controller adjusts vehicle body corner and realizes to regulate and control row by the switching valve in control cropper in control unit.
2. combined harvester crawler body according to claim 1 is to row regulator control system, which is characterized in that the crawler type
The steering situation of steering model has following several:
When harvester needs to keep straight-line travelling, vinner=vouter；
When harvester needs to turn to the right, vinner> vouter；
When harvester needs to turn to the left, vinner< vouter；
Wherein, vinnerFor the inner track speed of cropper, vouterFor the outer track speed of cropper.
3. combined harvester crawler body according to claim 2 is to row regulator control system, which is characterized in that the crawler type
In steering model, wherein assuming that the center of two crawler belt of combined harvester is the mass center O of cropperv, cropper turning process
Theoretical steering center O when middle turningsteer, two track centers turning radius Rsteer, cropper inner track turning radius
Rinner, outer track turning radius Router, crawler belt steering angular speed omega, then have: vinner=ω × Rinner, vouter=ω ×
Router,When cropper inside turn, outer track speed is constant, interior
Side crawler belt reduces speed, its calculation formula is:
4. combined harvester crawler body according to claim 1 is to row regulator control system, which is characterized in that the swing rod with
The fixed link is vertical, and two swing rods are located on the same line, and two angular displacement sensors be respectively positioned on it is described
The outside of crawler belt.
5. combined harvester crawler body according to claim 1 is to row regulator control system, which is characterized in that the crawler belt position
The number for setting measuring device is two, and the crawler belt position-measurement device and the crawler belt correspond, and are located at correspondence
The front of crawler belt.
6. combined harvester crawler body according to claim 1 is to the regulation method of row regulator control system, which is characterized in that
Include:
S1: wide row line-spacing L is set in crawler belt decision packagek, narrow row line-spacing Lz, the ceding of Taiwan length Lg, crawler belt width l, crawler belt
Gauge Ls；The initial angle of two swing rods in crawler belt position-measurement device is respectively α0And β0(α0≈β0), the crawler belt of every side is initial
Position is respectively l at a distance from the ratooning rice of two sides1And l2, oscillating bar length l0；
S2: the information such as the mature rice image in part in front of the ceding of Taiwan, field image are obtained by ccd image acquisition device, through image
After processing unit processing, wide row rice, the distribution of narrow row rice, ridge and field boundary information are obtained, if reaching field side
Boundary then directly terminates to regulate and control row；
S3: by the variation of crawler belt position-measurement device measuring oscillating bar swing angle, crawler belt is based on by crawler belt track decision system
Formula steering model calculates desired vehicle body deflection direction and adjustment angle；
S4: adjusting the adjustment that switching valve realizes body gesture by the steering controller in turning control cell, to realize certainly
It moves to row；
S5: return step S2 until cropper work terminates.
7. combined harvester crawler body according to claim 6 is to the regulation method of row regulator control system, which is characterized in that
The step S3 specifically:
The initial angle α of left and right swing rod in each crawler belt position-measurement device0≈β0；The crawler belt of every side is initially away from two sides
Ratooning rice l1≈l2=l0sinα0；Left and right swing rod in the cropper course of work in each crawler belt position-measurement device turns
Angle is α and β, and the crawler belt of every side is l ' apart from two sides ratooning rice1=l0Sin α, l '2=l0sinβ。
WhenAndWhen, the crawler belt of the left and right sides be located at it is to the left in the middle part of wide row, adjustment vehicle body steering angle make its to
Right avertence turns, and realizes to row；
WhenAndWhen, the crawler belt of the left and right sides is respectively positioned in the middle part of wide row, and vehicle body does not need
Adjustment；
WhenAndWhen, the crawler belt of the left and right sides is located to the right in the middle part of wide row, and should adjust vehicle body steering angle makes it
It deflects, is realized to row to the left.
8. combined harvester crawler body according to claim 6 is to the regulation method of row regulator control system, which is characterized in that
If steering controller controls switching valve adjustment body gesture, machine hand manual intervention, then crawler body is direct to row regulator control system
Terminate.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811607909.8A CN109644667A (en) | 2018-12-27 | 2018-12-27 | A kind of combined harvester crawler body is to row regulator control system and regulation method |
| CN201910899203.1A CN110892819B (en) | 2018-12-27 | 2019-09-23 | Multi-layer segmentation-stubble-remaining cutting knife device for first-season ratoon rice, control method and combine harvester for first-season ratoon rice |
| JP2020535509A JP7045109B2 (en) | 2018-12-27 | 2019-12-20 | Multi-layer division of early-regenerated rice-Cutter device and control method for ear cutting and combine for early-regenerated rice |
| PCT/CN2019/126814 WO2020135239A1 (en) | 2018-12-27 | 2019-12-20 | Multi-layer segmentation/stalk cutter device for first season of double-crop rice and control method, and combine harvester for first season of double-crop rice |
| US16/976,113 US11805734B2 (en) | 2018-12-27 | 2019-12-20 | Multi-layer segmentation/stalk cutter device for first season of double-crop rice and control method, and combine harvester for first season of double-crop rice |
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| CN201811607909.8A CN109644667A (en) | 2018-12-27 | 2018-12-27 | A kind of combined harvester crawler body is to row regulator control system and regulation method |
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