CN111226603A - Header control system and method and harvester - Google Patents
Header control system and method and harvester Download PDFInfo
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- CN111226603A CN111226603A CN202010062632.6A CN202010062632A CN111226603A CN 111226603 A CN111226603 A CN 111226603A CN 202010062632 A CN202010062632 A CN 202010062632A CN 111226603 A CN111226603 A CN 111226603A
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- 238000005520 cutting process Methods 0.000 description 9
- 230000005611 electricity Effects 0.000 description 5
- 238000003306 harvesting Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 241001124569 Lycaenidae Species 0.000 description 3
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D47/00—Headers for topping of plants, e.g. stalks with ears
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
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Abstract
The embodiment of the application provides a header control system, a header control method and a harvester, and relates to the technical field of agricultural machinery. The header control system receives target height information input by a user through the input device and sends the target height information to the controller, so that the controller controls the driving device to adjust the header to the target height according to the target height information, the current height of the header is measured in real time by combining the angle sensor, and real-time display is carried out through the display device, the precision of header height adjustment is improved, and the labor intensity of drivers is effectively reduced.
Description
Technical Field
The application relates to the technical field of agricultural machinery, in particular to a header control system, a header control method and a harvester.
Background
Rice and wheat are main grain crops, and with the continuous popularization of agricultural mechanization, grain harvesters are more and more widely applied to crop harvesting, so that grain loss is reduced, and agricultural production efficiency is improved. At present, most of common harvesters use a mechanical profiling mechanism or a manual method to control a hydraulic valve to operate a hydraulic cylinder to adjust the working height, and the key factor of the control is that a harvester driver needs to continuously operate an adjusting handle to adjust the height of the header according to factors such as terrain, conditions of harvested crops and the like in a visual observation mode.
The disadvantages of the conventional header adjustment are evident: the device has higher requirements on drivers, the drivers need to keep high concentration to observe the terrain and the harvesting operation process, and make corresponding control actions according to personal experience, and in addition, the farmland operation environment is relatively severe, and the labor intensity of the drivers is relatively high; the manual adjustment has inherent defects, and the accuracy, real-time performance and the like of the adjustment are uncertain greatly.
Therefore, an urgent need exists in the current market for a header height control system capable of automatically and accurately adjusting the height of a header so as to effectively reduce the labor intensity of a driver.
Disclosure of Invention
In view of the above, the present application provides a header control system, a header control method and a harvester to solve the above problems.
The application provides a technical scheme:
in a first aspect, an embodiment provides a header control system for controlling the height of a header of a harvester, the harvester further includes a machine body, a cab and a gap bridge, one end of the gap bridge is connected with the header, the other end of the gap bridge is connected with the machine body, and the cab is fixedly mounted on the machine body and located on the same side of the header;
the header control system comprises an input device, a controller, a first angle sensor, a display device, a connecting device and a driving device, wherein the input device is installed in the cab and electrically connected with the controller, the display device is installed in the cab and electrically connected with the controller, one end of the driving device is electrically connected with the controller, the other end of the driving device is connected with the header, the first angle sensor is arranged on the machine body and electrically connected with the controller, one end of the connecting device is connected with the first angle sensor, and the other end of the connecting device is connected with the gap bridge;
the first angle sensor is used for measuring the current height of the header in real time and sending the measured current height information of the header to the controller;
the controller is used for generating a display control instruction according to the current height information and controlling the display device to display according to the display control instruction;
the display device is used for displaying the current height information according to the display control instruction;
the input device is used for receiving target height information input by a user and sending the target height information to the controller;
the controller is used for generating a target height control instruction according to the target height information and controlling the driving device to move through the target height control instruction;
the driving device is used for adjusting the height of the header to a target height according to the control instruction.
In an optional embodiment, the header control system further includes a plurality of profiling mechanisms, the plurality of profiling mechanisms are respectively mounted on one side of the header close to the ground, each profiling mechanism includes a profiling fork, a connecting member and a second angle sensor, the second angle sensor is fixed to the header and electrically connected to the controller, one end of the connecting member is connected to the second angle sensor, and the other end of the connecting member is connected to the profiling fork;
the second angle sensor is used for measuring whether any one of the copying forks is lifted or not, and sending lifting height information to the controller when any one of the copying forks is lifted due to the contact with the ground;
the controller is used for controlling the driving device to move according to the lifting height information so as to lift the header;
the second angle sensor is also used for measuring whether any one of the copying forks falls back or not, and when the measurement result shows that any one of the copying forks falls back, the second angle sensor sends fall-back height information to the controller;
the controller is used for controlling the driving device to move according to the falling height information so as to enable the header to fall back.
In an optional embodiment, the profiling mechanism further includes a plurality of limiting members, the limiting members are mounted on the header and are arranged one by one at an end of each profiling fork away from the ground, and each limiting member is used for adjusting an initial mounting height of each profiling fork.
In an optional embodiment, the driving device comprises an electromagnetic valve and a hydraulic cylinder, the hydraulic cylinder comprises a liquid inlet and an oil cylinder, one end of the electromagnetic valve is electrically connected with the controller, the other end of the electromagnetic valve is connected with the liquid inlet of the hydraulic cylinder, and the oil cylinder of the hydraulic cylinder is connected with the header;
the electromagnetic valve is used for adjusting the size of pressure oil entering the hydraulic cylinder through the liquid inlet and the on-off of an oil path according to the control instruction;
the hydraulic cylinder is used for controlling the telescopic amount of the piston rod of the oil cylinder so as to adjust the height of the header to a target height.
In an alternative embodiment, the header control system further comprises an operating device mounted within the cab and electrically connected to the controller;
the operation device is used for receiving operation information and sending the operation information to the controller;
the controller is used for controlling the driving device to move according to the operation information so as to adjust the height of the header.
In an optional embodiment, the connecting device comprises a connecting plate and a first adjusting pull rod, and the gap bridge comprises a fixed seat and a gap bridge body; one end of the connecting plate is connected with the first angle sensor, and the other end of the connecting plate is connected with the first adjusting pull rod and fixed on the gap bridge body; the first adjusting pull rod is connected with the fixed seat.
In an optional embodiment, the controller is further configured to store the target height, use the target height as a new historical target height, detect whether a power-on command is received, and control the driving device to adjust the height of the header to the new historical target height if the power-on command is received.
In a second aspect, an embodiment provides a header control method, which is applied to the header control system, and the method includes:
the method comprises the steps that a first angle sensor measures the current height of a header in real time, and sends the measured current height information of the header to a controller;
the controller generates a display control instruction according to the current height information and controls a display device to display according to the display control instruction;
the display device displays the current height information according to the display control instruction;
the input device receives target height information input by a user and sends the target height information to the controller;
the controller generates a target height control instruction according to the target height information and controls the driving device to move through the target height control instruction;
and the driving device adjusts the height of the header to a target height according to the control instruction.
In an optional embodiment, the header control system further includes a plurality of profiling mechanisms, the plurality of profiling mechanisms are respectively installed on one side of the header close to the ground, each profiling mechanism includes a profiling fork, a connecting member and a second angle sensor, the second angle sensor is fixed to the header and electrically connected to the controller, one end of the connecting member is connected to the second angle sensor, and the other end of the connecting member is connected to the profiling fork, and the method further includes:
the second angle sensor measures whether any one of the copying forks is lifted or not, and sends lifting height information to the controller when any one of the copying forks is lifted;
the controller controls the driving device to move according to the lifting height information so as to lift the header;
the second angle sensor measures whether any one of the copying forks falls back or not, and when the second angle sensor measures that any one of the copying forks falls back, the second angle sensor sends fall-back height information to the controller;
the controller controls the driving device to move according to the falling height information so as to enable the header to fall back.
In a third aspect, an embodiment provides a harvester, which includes a header, a machine body, a cab, a gap bridge, and the header control system of any one of the foregoing embodiments, where one end of the gap bridge is connected to the header, and the other end of the gap bridge is connected to the machine body, and the cab is fixedly mounted on the machine body and located on the same side of the header.
The embodiment of the application provides a header control system, a header control method and a harvester, the header control system receives target height information input by a user through an input device and sends the target height information to a controller, the controller controls a driving device to adjust a header to a target height according to the target height information, and combines an angle sensor to measure the current height of the header in real time, and real-time display is carried out through a display device, so that the accuracy of header height adjustment is improved, and the labor intensity of drivers is effectively reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a harvester provided in an embodiment of the present application;
fig. 2 is one of schematic structural diagrams of a header control system according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a connecting device according to an embodiment of the present disclosure;
fig. 4 is a second schematic structural diagram of a header control system according to an embodiment of the present disclosure;
fig. 5 is a third schematic structural diagram of a header control system according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a profiling mechanism provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a driving device according to an embodiment of the present application;
fig. 8 is a flowchart of a header control method according to an embodiment of the present application.
Icon: 100-a harvester; 1-a header control system; 10-an input device; 20-a controller; 30-a first angle sensor; 40-a display device; 50-a connecting means; 51-a connecting plate; 52-a first adjustment tie; 60-a drive device; 61-a solenoid valve; 62-hydraulic cylinder; 621-liquid inlet; 622-oil cylinder; 70-an operating device; 80-a profiling mechanism; 81-copying forks; 82-a connector; 83-a second angle sensor; 84-a stop; 2-body; 3-bridging; 301-a fixed seat; 302-a bridge; 4, cutting table; 5-cab.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in an orientation or positional relationship as indicated in the drawings, or as would be ordinarily understood by those skilled in the art, simply for convenience in describing and simplifying the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present application.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
As introduced in the background art, most of the existing common harvesters use a mechanical profiling mechanism or a manual method to control a hydraulic valve to operate a hydraulic cylinder to adjust the working height, and the key factor of the control is that a harvester driver needs to continuously operate an adjusting handle to adjust the height of the header according to factors such as terrain, conditions of harvested crops and the like in a visual observation mode. The disadvantages of the conventional header adjustment are evident: the device has higher requirements on drivers, the drivers need to keep high concentration to observe the terrain and the harvesting operation process, and make corresponding control actions according to personal experience, and in addition, the farmland operation environment is relatively severe, and the labor intensity of the drivers is relatively high; the manual adjustment has inherent defects, and the accuracy, real-time performance and the like of the adjustment are uncertain greatly.
Therefore, a header control system capable of automatically and accurately adjusting the height of a header so as to effectively reduce the labor intensity of drivers is urgently needed in the market at present.
In view of this, the embodiment of the application provides a header control system, and this system receives the target height information that the user input through input device, and sends to the controller for the controller adjusts the header to the target height according to target height information control drive arrangement, and combines angle sensor real-time measurement current height of header, shows through display device, has improved the precision of header height adjustment, has effectively reduced navigating mate's intensity of labour. The specific operation principle and the advantageous effects of the above system will be described in detail below.
Referring to fig. 1 and fig. 2 in combination, fig. 1 is a schematic structural diagram of a harvester according to an embodiment of the present disclosure, and fig. 2 is a schematic structural diagram of a header control system according to an embodiment of the present disclosure. The embodiment of the application provides a header control system 1 for the height of header 4 of control harvester 100, harvester 100 still includes organism 2, driver's cabin 5 and gap bridge 3, 3 one end of gap bridge with header 4 is connected, the other end with organism 2 is connected, 5 fixed mounting in driver's cabin 2 and lieing in 4 homonymies of header, specifically, 5 fixed mounting in of driver's cabin in organism 2, and lie in the upper portion of 4 rear sides of header.
The first angle sensor 30 is configured to measure a current height of the header 4 in real time, and send information of the measured current height of the header 4 to the controller 20.
The controller 20 is configured to generate a display control instruction according to the current height information, and control the display device 40 to display according to the display control instruction.
The display device 40 is configured to display the current height information according to the display control instruction.
The input device 10 is configured to receive target height information input by a user and send the target height information to the controller 20.
The controller 20 is configured to generate a target height control command according to the target height information, and control the driving device 60 to move according to the target height control command.
The driving device 60 is used for adjusting the height of the header 4 to a target height according to the control command.
The display device 40 may be an LCD1602 or an ALIENTEK TFTLCD LCD.
The input device 10 may be a numeric keypad or a virtual keyboard integrated into the display device 40.
The controller 20 may be a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or other Programmable logic device. STM32 series embedded single-chip microcomputer, STC51 series single-chip microcomputer, 80C51 series single-chip microcomputer and the like can be adopted in the application.
It should be noted that before the header control system 1 is used to adjust the height of the header 4, the first angle sensor 30 in the header control system 1 needs to be calibrated, and the calibration process is as follows:
the header 4 is lowered to the lowest point and the starting value of the deflection angle of the first angle sensor 30 is calibrated. Next, the header 4 is lifted to the highest point, the end value of the deflection angle of the first angle sensor 30 is calibrated, and the actual working stroke of the oil cylinder 622 from the lowest point to the highest point is converted into the deflection angle of the first angle sensor 30.
For example, when the header 4 is lowered to the lowest point, the initial value of the yaw angle of the first angle sensor 30 obtained by calibration is 0 °, and when the header 4 is raised to the highest point, the end value of the yaw angle of the first angle sensor 30 obtained by calibration is 80 °. It is possible to know the deflection angle of the first angle sensor 30 when the header 4 is at different heights. As such, the angle sensor may convert the height information of the header 4 into an electrical signal that is sent to the controller 20.
Therefore, referring to fig. 1 and fig. 3, as an embodiment, the connecting device 50 includes a connecting plate 51 and a first adjusting rod 52, and the bridge 3 includes a fixing seat 301 and a bridge body 302. One end of the connecting plate 51 is connected with the first angle sensor 30, and the other end is connected with the first adjusting pull rod 52 and fixed to the bridge 302; the first adjusting pull rod 52 is connected to the fixing base 301.
When the header 4 risees, the cross bridge 302 that is connected with header 4 uses fixing base 301 to do the pivoting as the dot, and then drives connecting plate 51 of being connected with cross bridge 302 for connecting plate 51 uses first angle sensor 30 to do the pivoting for the dot, and then drives the one end of first angle sensor 30 of being connected with connecting plate 51 and takes place the rotation jointly, so, first angle sensor 30 can be according to the height of deflection angle real-time measurement header 4.
When different crops are harvested, the height of the header 4 should be adjusted according to the height of the crops, for example, when wheat is harvested, the height of the header 4 is suitably 20-30cm, the user can input a target height, such as 30cm, through the input device 10 according to actual conditions, and at this time, the controller 20 adjusts the height of the header 4 to 30cm through the control driving device 60 according to the target height information input by the user. In the process, the first angle sensor also measures the current height of the cutting table 4 in real time, and displays the current height of the cutting table 4 in the display device 40, so that the precision of height adjustment of the cutting table 4 is improved, and the labor intensity of a driver is effectively reduced.
As another alternative, referring to fig. 4, the header control system 1 further includes an operating device 70, and the operating device 70 is installed in the cab 5 and electrically connected to the controller 20.
The operation device 70 is configured to receive operation information and send the operation information to the controller 20.
The controller 20 is configured to control the driving device 60 to move according to the operation information to adjust the height of the header 4.
For example, the driver can manually adjust the height of the header 4 by observing the current height of the header 4 displayed on the display device 40 through the operation device 70, thereby avoiding the judgment of the height of the header 4 only by eyes and experience and improving the accuracy of height adjustment of the header 4.
As a further alternative, the controller 20 is further configured to save the target height, use the target height as a new historical target height, detect whether a power-on command is received, and if so, control the driving device 60 to adjust the height of the header 4 to the new historical target height.
For example, the target height set at the last time the crop was harvested is 30cm, and the controller 20 saves this target height as a new historical target height. When the harvester 100 is used again to harvest crops, the controller 20 receives the power-on instruction at the moment, and the new historical target height stored in the controller 20 is 30cm, the driving device 60 is controlled to adjust the height of the header 4 to 30cm, so that the target height does not need to be input again by a user or manually adjusted, the adjustment time and the adjustment times of the header 4 are reduced, and the working efficiency is improved.
The inventor researches and discovers that the main body part of the header 4 of the traditional harvester 100 is not provided with the related profiling mechanism 80, and the cutting knife and other working parts at the bottom of the header 4 are easily damaged when obstacles are encountered.
Therefore, as an alternative embodiment, please refer to fig. 5 and fig. 6 in combination, in which fig. 5 is a third schematic structural diagram of a header control system according to an embodiment of the present application, and fig. 6 is a schematic structural diagram of a profiling mechanism according to an embodiment of the present application. In the embodiment of the present application, header control system 1 still includes a plurality of profiling mechanisms 80, and is a plurality of profiling mechanisms 80 install respectively in one side that header 4 is close to ground, every profiling mechanism 80 includes profiling fork 81, connecting piece 82 and second angle sensor 83, second angle sensor 83 is fixed in header 4 and with controller 20 electricity is connected, the one end of connecting piece 82 with second angle sensor 83 is connected, the other end with profiling fork 81 is connected.
The second angle sensor 83 is configured to measure whether any of the copying forks 81 is lifted, and send lifting height information to the controller 20 when any of the copying forks 81 is lifted due to contact with the ground.
The controller 20 is configured to control the driving device 60 to move according to the lifting height information to lift the header 4.
The second angle sensor 83 is further configured to measure whether any of the copying forks 81 falls back, and when the measurement result shows that any of the copying forks 81 falls back, send fall-back height information to the controller 20.
The controller 20 is configured to control the driving device 60 to move according to the fall-back height information, so as to cause the header 4 to fall back.
The connecting piece 82 can be an adjusting pull rod, as an optional implementation mode, a nylon sleeve is installed at a middle turning point of the profiling fork 81, the nylon sleeve is fixed to the rotating shaft through a large washer and an elastic collar for a shaft, one end of the profiling fork 81 can be connected and fixed with one end of the adjusting pull rod through a self-locking nut and a spherical angle bolt, the other end of the adjusting pull rod is connected with a handle of the second angle sensor 83 through a bolt and a nut, the second angle sensor 83 is fixed to the header 4 through a bolt and a nut, and the installation length of the adjusting pull rod can be adjusted according to actual needs on site.
The profiling mechanism 80 further includes a plurality of limiting members 84, the limiting members 84 are mounted on the header 4 and are disposed one by one on an end of each profiling fork 81 away from the ground, and each limiting member 84 is used for adjusting an initial mounting height of each profiling fork 81. The position-limiting member 84 may include an adjusting plate, a bolt, a nut, and a flat washer. The nut, the flat washer and the bolt are mounted on the adjusting plate, the adjusting plate is provided with the limiting hole, the bolt penetrates through the limiting hole and the flat washer and then is connected with the nut, and therefore the initial mounting height of each copying fork 81 can be adjusted through adjusting the bolt at different positions of the limiting hole.
When one end of the copying fork 81 close to the ground is lifted by an obstacle on the ground, the adjusting pull rod connected with the copying fork 81 displaces along with the lifting of the copying fork 81, and then pulls the second angle sensor 83 connected with the adjusting pull rod to change the deflection angle of the second angle sensor 83 (for example, the handle of the second angle sensor 83 rotates clockwise), so that the second angle sensor 83 measures that the height of the copying fork 81 changes, and sends lifting height information to the controller 20 according to the deflection angle, so that the controller 20 controls the driving device 60 to move according to the lifting height information to lift the header 4. The cutting table 4 can avoid the damage of the cutting knife and other working components caused by the ground obstacle.
Similarly, when the profile fork 81 falls back, the adjusting rod connected to the profile fork 81 is reversely displaced along with the backflow of the profile fork 81, and then pulls the second angle sensor 83 connected to the adjusting rod to change the deflection angle of the second angle sensor 83 (for example, the handle of the second angle sensor 83 rotates counterclockwise), so that the second angle sensor 83 measures the height of the profile fork 81 and sends a change, and the controller 20 sends fall height information according to the deflection angle, so that the controller 20 controls the driving device 60 to move according to the fall height information, and the header 4 falls back.
In this way, the profiling mechanism 80 prevents the cutting blade and other working components included in the header 4 from being damaged by obstacles on the ground.
It should be noted that, the number of the profiling mechanisms 80 may be one, and the operation principle thereof is the same as that of the profiling mechanism 80, but it can be understood that the effect of avoiding the collision of the header 4 is better when a plurality of profiling mechanisms 80 are installed at the bottom of the header 4 than when only one profiling mechanism 80 is installed, and therefore, the number of the profiling mechanisms 80 may be set according to actual requirements, such as 1, 2, 3, and 4.
Meanwhile, as an optional implementation manner, in the embodiment of the present application, the number of the profiling mechanisms 80 may be 1, and 1 profiling mechanism 80 is installed at an intermediate position of the bottom of the header 4, so that when the profiling mechanism 80 is lifted by an obstacle on the ground, the header 4 is lifted, and thus working components such as a cutting knife included in the header 4 are prevented from being damaged by the obstacle on the ground.
As an alternative embodiment, in the embodiment of the present invention, there may be two profiling mechanisms 80, and two profiling mechanisms 80 are respectively located at the left and right sides of the bottom of the header 4, so that when the profiling mechanism 80 at any side is lifted, the driving device 60 is controlled to move to lift the header 4, and thus, the problem that the working components included in the header 4 are damaged due to the fact that the profiling mechanisms 80 cannot detect obstacles located at both sides of the header 4 can be further avoided.
As another alternative, in the present embodiment, there may be 3 profiling mechanisms 80, wherein two profiling mechanisms 80 are respectively located at the left and right sides of the bottom of the header 4, and one profiling mechanism 80 is located between two profiling mechanisms 80, i.e., at the middle position of the bottom of the header 4. Thus, the problem of damage to the working components included in header 4 due to the fact that no obstacle located in the middle of header 4 is detected by profiling mechanism 80 can be further avoided. Referring to fig. 7, the driving device 60 includes a solenoid valve 61 and a hydraulic cylinder 62, the hydraulic cylinder 62 includes an inlet 621 and an oil cylinder 622, one end of the solenoid valve 61 is electrically connected to the controller 20, the other end is connected to the inlet 621 of the hydraulic cylinder 62, and the oil cylinder 622 of the hydraulic cylinder 62 is connected to the header 4.
The electromagnetic valve 61 is used for adjusting the size of pressure oil entering the hydraulic cylinder 62 through the liquid inlet 621 and the on-off of an oil path according to the control instruction.
The hydraulic cylinder 62 is used for controlling the telescopic amount of the cylinder 622 so as to adjust the height of the header 4 to a target height.
As an embodiment, one end of the hydraulic cylinder 62 is mounted on the machine body 2 through a pin, and the cylinder 622 of the hydraulic cylinder 62 is connected with the header 4 through a pin.
The electromagnetic valve 61 is connected with the hydraulic cylinder 62 through a first oil pipe, a second oil pipe, a third connecting piece 82, for example, an oil inlet on the hydraulic cylinder 62 is connected with the first oil pipe through a joint body, the second oil pipe and the third oil pipe are connected with the first oil pipe through a tee joint body, and the third oil pipe is connected with an energy accumulator through the joint body; the second oil pipe is connected with the electromagnetic valve 61 through the joint body. In this manner, the solenoid valve 61 adjusts the amount of pressure oil introduced into the hydraulic cylinder 62 in accordance with a control command sent from the controller 20. When the pressure oil increases, the piston of the oil cylinder 622 moves rightwards (in the direction close to the header 4), so that the oil cylinder 622 extends to control the header 4 to ascend; conversely, when the pressure oil decreases, the piston of the cylinder 622 moves leftward (in a direction away from the header 4) so that the cylinder 622 is shortened, and the header 4 is controlled to descend, thereby controlling the header 4 to ascend and descend.
Referring to fig. 8, an embodiment of the present application further provides a header control method, which is applied to the header control system 1, where the method includes:
in step S10, the first angle sensor 30 measures the current height of the header 4 in real time, and sends the measured current height information of the header 4 to the controller 20.
In step S20, the controller 20 generates a display control instruction according to the current height information, and controls the display device 40 to display according to the display control instruction.
In step S30, the display device 40 displays the current height information according to the display control instruction.
In step S40, the input device 10 receives the target height information input by the user and transmits the target height information to the controller 20.
In step S50, the controller 20 generates a target height control command according to the target height information, and controls the driving device 60 to move according to the target height control command.
In step S60, the driving device 60 adjusts the height of the header 4 to a target height according to the control command.
In one embodiment, the header control system 1 further includes a plurality of profiling mechanisms 80, the plurality of profiling mechanisms 80 are respectively installed on one side of the header 4 close to the ground, each profiling mechanism 80 includes a profiling fork 81, a connecting member 82, and a second angle sensor 83, the second angle sensor 83 is fixed to the header 4 and electrically connected to the controller 20, one end of the connecting member 82 is connected to the second angle sensor 83, and the other end is connected to the profiling fork 81, and the method further includes:
first, the second angle sensor 83 measures whether or not any of the copying forks 81 is lifted, and when any of the copying forks 81 is lifted as measured, sends lifting height information to the controller 20.
The controller 20 then controls the drive 60 to move according to the information of the elevation height to raise the header 4.
Then, the second angle sensor 83 measures whether any of the copying forks 81 falls back, and when the measurement result shows that any of the copying forks 81 falls back, the second angle sensor sends fall-back height information to the controller 20.
The controller 20 then controls the drive 60 to move according to the fall-back height information to cause the header 4 to fall back.
It can be understood that, for the specific implementation principle and the beneficial effects of the method steps in this embodiment, reference may be made to the corresponding detailed description in the embodiment of the header control system 1 described above, and no repeated description is provided herein.
The embodiment of the application further provides a harvester 100, including header 4, organism 2, driver's cabin 5, gap bridge 3 and foretell header control system 1, gap bridge 3 one end with header 4 is connected, the other end with organism 2 is connected, driver's cabin 5 fixed mounting in organism 2 is located 4 homonymies of header, specifically, 5 fixed mounting in of driver's cabin in organism 2, and be located the upper portion of 4 rear sides of header.
It can be understood that, the detailed description of the embodiment of the header control system 1 and the detailed description of the implementation principle and the beneficial effects of the harvester 100 in this embodiment are referred to, and will not be repeated herein.
In summary, the embodiment of the application provides a header control system, a header control method and a harvester, the header control system receives target height information input by a user through an input device and sends the target height information to a controller, the controller controls a driving device to adjust a header to a target height according to the target height information, the current height of the header is measured in real time by combining an angle sensor, and real-time display is performed through a display device, so that the accuracy of header height adjustment is improved, and the labor intensity of a driver is effectively reduced.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A header control system is characterized in that the header control system is used for controlling the height of a header of a harvester, the harvester further comprises a machine body, a cab and a gap bridge, one end of the gap bridge is connected with the header, the other end of the gap bridge is connected with the machine body, and the cab is fixedly installed on the machine body and is positioned on the same side of the header;
the header control system comprises an input device, a controller, a first angle sensor, a display device, a connecting device and a driving device, wherein the input device is installed in the cab and electrically connected with the controller, the display device is installed in the cab and electrically connected with the controller, one end of the driving device is electrically connected with the controller, the other end of the driving device is connected with the header, the first angle sensor is arranged on the machine body and electrically connected with the controller, one end of the connecting device is connected with the first angle sensor, and the other end of the connecting device is connected with the gap bridge;
the first angle sensor is used for measuring the current height of the header in real time and sending the measured current height information of the header to the controller;
the controller is used for generating a display control instruction according to the current height information and controlling the display device to display according to the display control instruction;
the display device is used for displaying the current height information according to the display control instruction;
the input device is used for receiving target height information input by a user and sending the target height information to the controller;
the controller is used for generating a target height control instruction according to the target height information and controlling the driving device to move through the target height control instruction;
the driving device is used for adjusting the height of the header to a target height according to the control instruction.
2. A header control system of claim 1, further comprising a plurality of profiling mechanisms respectively mounted on a side of the header proximate to the ground, each profiling mechanism comprising a profiling fork, a connector, and a second angle sensor, the second angle sensor being fixed to the header and electrically connected to the controller, the connector having one end connected to the second angle sensor and another end connected to the profiling fork;
the second angle sensor is used for measuring whether any one of the copying forks is lifted or not, and sending lifting height information to the controller when any one of the copying forks is lifted due to the contact with the ground;
the controller is used for controlling the driving device to move according to the lifting height information so as to lift the header;
the second angle sensor is also used for measuring whether any one of the copying forks falls back or not, and when the measurement result shows that any one of the copying forks falls back, the second angle sensor sends fall-back height information to the controller;
the controller is used for controlling the driving device to move according to the falling height information so as to enable the header to fall back.
3. The header control system of claim 2, wherein the profiling mechanism further comprises a plurality of limiting members, the plurality of limiting members are mounted on the header and are arranged one by one at an end of each profiling fork away from the ground, and each limiting member is used for adjusting an initial mounting height of each profiling fork.
4. The header control system of claim 1, wherein the drive device comprises a solenoid valve and a hydraulic cylinder, the hydraulic cylinder comprises a fluid inlet and a cylinder, one end of the solenoid valve is electrically connected with the controller, the other end of the solenoid valve is connected with the fluid inlet of the hydraulic cylinder, and the cylinder of the hydraulic cylinder is connected with the header;
the electromagnetic valve is used for adjusting the size of pressure oil entering the hydraulic cylinder through the liquid inlet and the on-off of an oil path according to the control instruction;
the hydraulic cylinder is used for controlling the telescopic amount of the piston rod of the oil cylinder so as to adjust the height of the header to a target height.
5. A header control system of claim 1, further comprising an operating device mounted within the cab and electrically connected to the controller;
the operation device is used for receiving operation information and sending the operation information to the controller;
the controller is used for controlling the driving device to move according to the operation information so as to adjust the height of the header.
6. The header control system of claim 1, wherein the connection device comprises a connection plate and a first adjustment tie bar, and the gap bridge comprises a fixed seat and a gap bridge body; one end of the connecting plate is connected with the first angle sensor, and the other end of the connecting plate is connected with the first adjusting pull rod and fixed on the gap bridge body; the first adjusting pull rod is connected with the fixed seat.
7. A header control system according to claim 1, wherein the controller is further configured to save the target height, use the target height as a new historical target height, detect whether a power-on command is received, and if so, control the drive apparatus to adjust the height of the header to the new historical target height.
8. A header control method applied to the header control system of any one of claims 1 to 7, the method comprising:
the method comprises the steps that a first angle sensor measures the current height of a header in real time, and sends the measured current height information of the header to a controller;
the controller generates a display control instruction according to the current height information and controls a display device to display according to the display control instruction;
the display device displays the current height information according to the display control instruction;
the input device receives target height information input by a user and sends the target height information to the controller;
the controller generates a target height control instruction according to the target height information and controls the driving device to move through the target height control instruction;
and the driving device adjusts the height of the header to a target height according to the control instruction.
9. A header control method according to claim 8, wherein the header control system further comprises a plurality of profiling mechanisms respectively mounted to a side of the header adjacent the ground, each profiling mechanism including a profiling fork, a connector, and a second angle sensor fixed to the header and electrically connected to the controller, the connector having one end connected to the second angle sensor and another end connected to the profiling fork, the method further comprising:
the second angle sensor measures whether any one of the copying forks is lifted or not, and sends lifting height information to the controller when any one of the copying forks is lifted;
the controller controls the driving device to move according to the lifting height information so as to lift the header;
the second angle sensor measures whether any one of the copying forks falls back or not, and when the second angle sensor measures that any one of the copying forks falls back, the second angle sensor sends fall-back height information to the controller;
the controller controls the driving device to move according to the falling height information so as to enable the header to fall back.
10. A harvester comprising a header, a body, a cab, a gap bridge, and a header control system as claimed in any one of claims 1 to 7, the gap bridge having one end connected to the header and the other end connected to the body, the cab being fixedly mounted to the body and located on the same side of the header.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010062632.6A CN111226603A (en) | 2020-01-20 | 2020-01-20 | Header control system and method and harvester |
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| CN202010062632.6A CN111226603A (en) | 2020-01-20 | 2020-01-20 | Header control system and method and harvester |
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| US12022772B2 (en) | 2021-01-22 | 2024-07-02 | Deere & Company | Agricultural header control |
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