CN111694344A - Potato harvester fault diagnosis system and method - Google Patents
Potato harvester fault diagnosis system and method Download PDFInfo
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- CN111694344A CN111694344A CN202010568608.XA CN202010568608A CN111694344A CN 111694344 A CN111694344 A CN 111694344A CN 202010568608 A CN202010568608 A CN 202010568608A CN 111694344 A CN111694344 A CN 111694344A
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0267—Fault communication, e.g. human machine interface [HMI]
- G05B23/0272—Presentation of monitored results, e.g. selection of status reports to be displayed; Filtering information to the user
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- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
Abstract
The invention discloses a potato harvester fault diagnosis system and method, which comprises a control module, a fault positioning module, a sensing fault detection module, an instrument communication module, an engine ECU (electronic control unit) and a hydraulic execution module, wherein the sensing fault detection module collects sensing data of a potato harvester during working and transmits the sensing data to the control module, a pre-programmed program algorithm and a database for storing the data are stored in the control module, the control module runs an internal program algorithm to send instructions to control other modules to work and receive data sent by other working modules, and the database establishes a fault tree model aiming at empirical fault information of the potato harvester. The invention belongs to the technical field of agricultural machinery fault treatment, and particularly provides a potato harvester fault diagnosis system for automatically detecting harvester faults in a potato harvesting process, particularly for automatically detecting whether the harvester has faults in a ridge aligning function and an automatic depth sinking function.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery fault treatment, and particularly relates to a system and a method for diagnosing faults of a potato harvester.
Background
Along with the development of national intelligent agricultural machinery technology, intelligent devices on agricultural machinery equipment are gradually increased, various intelligent functions of agricultural machinery are more and more increased, and therefore various electric wire harnesses of the agricultural machinery are more and more complex in the design and manufacturing process. In the aspect of intelligent potato harvesting, the domestic potato harvester adopts a mode of adding a harvesting machine to a tractor to harvest, under the operation mode, the harvesting machine and the tractor which walks and pulls are two relatively independent mechanisms, and the fault occurrence is divided into the electrical appliance hydraulic fault and the machine fault of the tractor.
The existing harvester mainly has the problems of low overall reliability, difficult improvement of operation efficiency, high maintenance cost of the whole harvester and the like; the main reasons for these problems are that the harvester itself has a complex structure, many parts and parts, and its working environment is harsh; but more importantly, the intelligent monitoring and fault diagnosis technology is subjectively lagged behind, the fault can not be predicted and effectively maintained before the fault occurs, and the fault source and the fault reason can not be accurately judged after the fault occurs.
Disclosure of Invention
In order to solve the existing problems, the invention provides a potato harvester fault diagnosis system for automatically detecting the faults of a harvester in the potato harvesting process, in particular whether the automatic ridge aligning function and the automatic depth sinking function of the harvester have faults or not.
The technical scheme adopted by the invention is as follows: the invention relates to a potato harvester fault diagnosis system, which comprises a control module, a fault positioning module, a sensing fault detection module, an instrument communication module, an engine ECU (electronic control Unit) and a hydraulic execution module, wherein the sensing fault detection module collects sensing data of a potato harvester during working and transmits the sensing data to the control module, the sensing fault detection module comprises a sensor and a data transmission unit which are arranged on the potato harvester, the sensor unit collects the sensing data of the potato harvester and transmits the sensing data to the control module through the data transmission unit, a pre-programmed program algorithm and a database for storing the data are stored in the control module, the control module runs an internal program algorithm to send instructions to control other modules to work and receive the data sent by other working modules, the control module sends the received data to the fault positioning module and converts the received data into corresponding working state information and sends the corresponding working state information to the instrument communication module, the system comprises a database, a fault positioning module, an instrument communication module and a control module, wherein the database stores experience fault information of the potato harvester, the database establishes a fault tree model aiming at the experience fault information of the potato harvester, the fault tree model comprises common fault data of each module and fault positions and reasons corresponding to the common fault data, the fault positioning module comprehensively analyzes, contrasts and judges the fault positions according to the received data and the fault tree model to obtain fault information, the fault information is sent to the instrument communication module through the control module to be displayed, and the instrument communication module receives working state information of the harvester sent by the control module and displays the working state information in a cab to prompt real vehicle information of a driver; the hydraulic execution module completes the designated action according to the received instruction of the control module; the engine ECU unit collects state data of the engine and transmits the state data to the control module, and the control module transmits the received state data to the fault positioning module for fault diagnosis and converts the received state data into working state information and transmits the working state information to the combination instrument module for communication display.
Furthermore, the fault tree model comprises a control module fault node, an engine ECU fault node, a sensor fault node, a hydraulic execution module fault node and a program algorithm fault node, and corresponding fault data and fault reasons are recorded on each node on the fault tree model for fault troubleshooting.
Further, the sensor at least comprises a displacement sensor and a laser reflection type sensor.
Furthermore, the fault positioning module comprises an automatic ridge aligning fault diagnosis module, an automatic deep digging fault diagnosis module and a sensor fault diagnosis module, the automatic ridge aligning fault diagnosis module analyzes and contrasts data detected by the sensor to detect whether the automatic ridge aligning system of the potato harvester has fault deviation or not, so that the deep digging device can be conveniently controlled to accurately align ridges, the harvesting accuracy is realized, the damage of potatoes is reduced, the harvesting quality is improved, the automatic ridge aligning fault diagnosis module controls automatic self-checking on the ridge system through the control module and receives automatic ridge system self-checking data and a fault tree model to contrastively analyze, when the automatic ridge system self-checking data belong to a normal data threshold value of the automatic ridge aligning system in the fault model tree, the fault is automatically diagnosed by the ridge fault diagnosis module, and when the system self-checking data do not belong to a normal data threshold value of the system in the fault model tree, the automatic ridge fault diagnosis module receives data collected by a sensor and sent by the control module, compares the sensing data with the fault tree model, analyzes and judges whether the sensing data is abnormal or not, and automatically diagnoses the ridge fault diagnosis module to automatically diagnose that no fault exists in the ridge system when the detected sensing data belongs to a normal threshold range set by the fault tree model; when the detected sensing data is abnormal and does not belong to the normal threshold range set by the fault tree model, the time for diagnosing the abnormal sensing data by the ridge fault diagnosis module is automatically timed and judged, when the abnormal sensing data time exceeds the set threshold T of the abnormal data time, the fault of the sensor of the automatic ridge system is automatically diagnosed by the ridge fault diagnosis module, and when the abnormal sensing data time does not exceed the set threshold T of the abnormal data time, the sensor of the automatic ridge system is automatically diagnosed by the ridge fault diagnosis module to be normal and have no fault.
Furthermore, the automatic depth control system is used for accurately controlling the soil penetration depth of the digging shovel, and avoiding the problems of missing digging, damage and the like of potatoes caused by too deep or too shallow digging shovels; the automatic sinking depth fault diagnosis module controls the automatic sinking depth control system to perform self-checking through the control module and receive self-checking data of the automatic sinking depth control system and compare and analyze the self-checking data with a fault tree model, when the self-checking data of the automatic sinking depth control system belongs to a normal data threshold of the automatic sinking depth control system in a fault model tree, the automatic sinking depth fault diagnosis module diagnoses faults and solves the problems, when the self-checking data of the automatic sinking depth control system does not belong to a normal data threshold of the automatic sinking depth control system in the fault model tree, the automatic sinking depth fault diagnosis module receives depth sensing data collected by a displacement sensor sent by the control module and compares and analyzes the sinking depth sensing data with data in the fault tree model to perform fault judgment, when the sinking depth sensing data is more than 3cm, the automatic sinking depth fault diagnosis module diagnoses that the fault is a sensing plate is loose, and when the sinking depth sensing data is less than 3cm, the automatic sinking depth diagnosis module judges whether the jumping amplitude of the sinking depth sensing number, when the jumping amplitude of the depth sensing number is too large and the jumping amplitude is larger than 10cm, the automatic depth fault diagnosis module diagnoses the fault as improper algorithm filtering, otherwise, the automatic depth diagnosis module judges whether the depth sensing data is a constant value, if the depth sensing data is the constant value, the automatic depth diagnosis module diagnoses the fault of the displacement sensor, otherwise, the automatic depth diagnosis module diagnoses the normal of the automatic depth control system.
Further, the sensor fault diagnosis module receives the sensing data sent by the control module and classifies and judges each fault of the sensor by using an algorithm, when the sensor fault diagnosis module firstly judges whether the measured value of the sensor is constant, when the measured value of the sensor is constant, the sensor fault diagnosis module diagnoses that the sensor is damaged, when the measured value of the sensor does not belong to the constant, the sensor fault diagnosis module detects whether the difference value between the measured value of the sensor and the actual value of the sensor is constant, if the difference value between the measured value of the sensor and the actual value is constant, the sensor fault diagnosis module diagnoses that the sensor has a deviation fault, if the difference value between the measured value of the sensor and the actual value is not constant, the sensor fault diagnosis module diagnoses whether the sensor data is gradually increased, and if the sensor data is gradually increased, the sensor fault diagnosis module diagnoses that the sensor has a temperature drift fault, otherwise, the sensor fault diagnosis module performs variance operation on the measured value of the sensor and judges whether the variance changes, if the variance of the measured value of the sensor changes, the sensor fault diagnosis module diagnoses that the sensor has low precision, and if the variance of the measured value of the sensor does not change, the sensor fault diagnosis module diagnoses that the sensor is normal and has no fault.
The invention also discloses a potato harvester fault diagnosis method, which comprises the following steps:
s1, storing experience fault information of the potato harvester into a database in a control module according to expert experience and establishing a fault model tree;
s2, the sensing fault detection module acquires sensing data of the potato harvester to be diagnosed through a sensor and sends the sensing data to the control module, and the control module sends the sensing data to the fault positioning module;
and S3, the engine ECU acquires state data of the engine and transmits the state data to the control module, and the control module transmits the received state data to the fault positioning module for fault diagnosis and converts the received state data into working state information and transmits the working state information to the combination instrument module for communication display.
S4, the fault positioning module compares the sensing data with the fault model tree, analyzes and searches fault positions and reasons to obtain fault information and sends the fault information to the control module;
s5, the instrument communication module receives the working state information and the fault information of the harvester sent by the control module and displays the working state information and the fault information in a cab to prompt the real vehicle information of a driver; and the hydraulic execution module completes the designated action according to the received command of the control module.
The invention with the structure has the following beneficial effects: according to the potato harvester fault diagnosis system and method, the design is reasonable, the fault position and the fault reason of the potato harvester can be automatically, quickly and accurately intelligently searched, a worker can conveniently and quickly master fault information so as to repair the harvester, the fault diagnosis filling efficiency can be effectively improved, manual use is reduced, the maintenance cost of the potato harvester is reduced, the potato is guaranteed to normally operate, the harvesting accuracy is realized, the breakage of the potato is reduced, and the harvesting quality is improved.
Drawings
FIG. 1 is a schematic diagram of the fault diagnosis system and method for a potato harvester according to the present invention;
FIG. 2 is a schematic view of a fault tree model of the system and method for diagnosing faults in a potato harvester of the present invention;
FIG. 3 is a flow diagram of an automatic ridge alignment fault diagnosis module of the potato harvester fault diagnosis system and method of the present invention;
FIG. 4 is a flow chart of an automatic deep-set fault diagnosis module of the potato harvester fault diagnosis system and method of the present invention;
FIG. 5 is a flow chart of a sensor fault diagnosis module of the potato harvester fault diagnosis system and method of the present invention.
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings: 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; 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 invention.
As shown in figures 1-5, the system and the method for diagnosing the faults of the potato harvester comprise a potato harvester control module, a fault positioning module, a sensing fault detection module, an instrument communication module, an engine ECU (electronic control Unit) and a hydraulic execution module, wherein the sensing fault detection module collects sensing data of the potato harvester during working and transmits the sensing data to the control module, the sensing fault detection module comprises a sensor and a data transmission unit which are arranged on the potato harvester, the sensor unit collects the sensing data of the potato harvester and transmits the sensing data to the control module through the data transmission unit, a pre-programmed program algorithm and a database for storing the data are stored in the control module, the control module runs an internal program algorithm to send instructions to control the other modules to work and receive the data sent by the other working modules, and the control module sends the received data to the fault positioning module and converts the received data into corresponding working state information The system comprises a fault positioning module, an instrument communication module, a control module, a database and a control module, wherein the fault positioning module is used for receiving fault information of a potato harvester, the fault positioning module is used for receiving and displaying working state information of the potato harvester, the working state information of the potato harvester is sent by the control module and displayed in a cab, and the real vehicle information of a driver is prompted; the hydraulic execution module completes the designated action according to the received instruction of the control module; the engine ECU unit collects state data of the engine and transmits the state data to the control module, and the control module transmits the received state data to the fault positioning module for fault diagnosis and converts the received state data into working state information and transmits the working state information to the combination instrument module for communication display.
The fault tree model comprises control module fault nodes, engine ECU fault nodes, sensor fault nodes, hydraulic execution module fault nodes and program algorithm fault nodes, and corresponding fault data and fault reasons are recorded on each node on the fault tree model and used for fault troubleshooting.
The sensor at least comprises a displacement sensor and a laser reflection type sensor.
The fault positioning module comprises an automatic ridge aligning fault diagnosis module, an automatic deep digging fault diagnosis module and a sensor fault diagnosis module, the automatic ridge aligning fault diagnosis module analyzes and contrasts data detected by the sensor to detect whether a fault deviation occurs in an automatic ridge aligning system of the potato harvester, so that the deep digging device can be conveniently controlled to accurately align ridges, the harvesting accuracy is realized, the harvesting quality is improved, the automatic ridge aligning fault diagnosis module controls automatic self-checking on the ridge system through the control module and receives automatic ridge system self-checking data and contrasts and analyzes the fault tree model, when the automatic ridge aligning system self-checking data belong to a normal data threshold value of the automatic ridge aligning system in a fault model tree, the automatic ridge aligning fault diagnosis module diagnoses faults to solve, and when the system self-checking data do not belong to a normal data threshold value of the system in the fault model tree, the automatic ridge fault diagnosis module receives data collected by a sensor and sent by the control module, compares the sensing data with the fault tree model, analyzes and judges whether the sensing data is abnormal or not, and automatically diagnoses the ridge fault diagnosis module to automatically diagnose that no fault exists in the ridge system when the detected sensing data belongs to a normal threshold range set by the fault tree model; when the detected sensing data is abnormal and does not belong to the normal threshold range set by the fault tree model, the time for diagnosing the abnormal sensing data by the ridge fault diagnosis module is automatically timed and judged, when the abnormal sensing data time exceeds the set threshold T of the abnormal data time, the fault of the sensor of the automatic ridge system is automatically diagnosed by the ridge fault diagnosis module, and when the abnormal sensing data time does not exceed the set threshold T of the abnormal data time, the sensor of the automatic ridge system is automatically diagnosed by the ridge fault diagnosis module to be normal and have no fault.
The automatic depth control system has the function of accurately controlling the soil penetration depth of the digging shovel, and avoids the problems of missing digging, damage and the like of potatoes caused by too deep or too shallow digging shovels; the automatic sinking depth fault diagnosis module controls the automatic sinking depth control system to perform self-checking through the control module and receive self-checking data of the automatic sinking depth control system and compare and analyze the self-checking data with a fault tree model, when the self-checking data of the automatic sinking depth control system belongs to a normal data threshold of the automatic sinking depth control system in a fault model tree, the automatic sinking depth fault diagnosis module diagnoses faults and solves the problems, when the self-checking data of the automatic sinking depth control system does not belong to a normal data threshold of the automatic sinking depth control system in the fault model tree, the automatic sinking depth fault diagnosis module receives depth sensing data collected by a displacement sensor sent by the control module and compares and analyzes the sinking depth sensing data with data in the fault tree model to perform fault judgment, when the sinking depth sensing data is more than 3cm, the automatic sinking depth fault diagnosis module diagnoses that the fault is a sensing plate is loose, and when the sinking depth sensing data is less than 3cm, the automatic sinking depth diagnosis module judges whether the jumping amplitude of the sinking depth sensing number, when the jumping amplitude of the depth sensing number is too large and the jumping amplitude is larger than 10cm, the automatic depth fault diagnosis module diagnoses the fault as improper algorithm filtering, otherwise, the automatic depth diagnosis module judges whether the depth sensing data is a constant value, if the depth sensing data is the constant value, the automatic depth diagnosis module diagnoses the fault of the displacement sensor, otherwise, the automatic depth diagnosis module diagnoses the normal of the automatic depth control system.
The sensor fault diagnosis module receives sensing data sent by the control module and classifies and judges various faults of the sensor by using an algorithm, when the sensor fault diagnosis module firstly judges whether a measured value of the sensor is constant, when the measured value of the sensor is constant, the sensor fault diagnosis module diagnoses that the sensor is damaged, when the measured value of the sensor does not belong to the constant, the sensor fault diagnosis module detects whether a difference value between the measured value of the sensor and an actual value of the sensor is constant, if the difference value between the measured value of the sensor and the actual value is constant, the sensor fault diagnosis module diagnoses that the sensor has a deviation fault, if the difference value between the measured value of the sensor and the actual value is not constant, the sensor fault diagnosis module diagnoses that the sensor data is gradually increased, and if the sensor data is gradually increased, the sensor fault diagnosis module diagnoses that the sensor has a temperature drift fault, otherwise, the sensor fault diagnosis module performs variance operation on the measured value of the sensor and judges whether the variance changes, if the variance of the measured value of the sensor changes, the sensor fault diagnosis module diagnoses that the sensor has low precision, and if the variance of the measured value of the sensor does not change, the sensor fault diagnosis module diagnoses that the sensor is normal and has no fault.
A fault diagnosis method for a potato harvester comprises the following steps:
s1, storing experience fault information of the potato harvester into a database in a control module according to expert experience and establishing a fault model tree;
s2, the sensing fault detection module acquires sensing data of the potato harvester to be diagnosed through a sensor and sends the sensing data to the control module, and the control module sends the sensing data to the fault positioning module;
and S3, the engine ECU acquires state data of the engine and transmits the state data to the control module, and the control module transmits the received state data to the fault positioning module for fault diagnosis and converts the received state data into working state information and transmits the working state information to the combination instrument module for communication display.
S4, the fault positioning module compares the sensing data with the fault model tree, analyzes and searches fault positions and reasons to obtain fault information and sends the fault information to the control module;
s5, the instrument communication module receives the working state information and the fault information of the harvester sent by the control module and displays the working state information and the fault information in a cab to prompt the real vehicle information of a driver; and the hydraulic execution module completes the designated action according to the received command of the control module.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The potato harvester fault processing system and the method are characterized in that: the potato harvester control system comprises a control module, a fault positioning module, a sensing fault detection module, an instrument communication module, an engine ECU (electronic control unit) and a hydraulic execution module, wherein the sensing fault detection module collects sensing data of a potato harvester during working and transmits the sensing data to the control module, the sensing fault detection module comprises a sensor and a data transmission unit which are arranged on the potato harvester, the sensor unit collects the sensing data of the potato harvester and transmits the sensing data to the control module through the data transmission unit, a pre-programmed program algorithm and a database for storing data are stored in the control module, the control module runs an internal program algorithm to send instructions to control other modules to work and receive data sent by other working modules, the control module sends the received data to the fault positioning module and converts the received data into corresponding working state information to be sent to the instrument communication module, the system comprises a database, a fault positioning module, an instrument communication module and a control module, wherein the database stores experience fault information of the potato harvester, the database establishes a fault tree model aiming at the experience fault information of the potato harvester, the fault tree model comprises common fault data of each module and fault positions and reasons corresponding to the common fault data, the fault positioning module comprehensively analyzes, contrasts and judges the fault positions according to the received data and the fault tree model to obtain fault information, the fault information is sent to the instrument communication module through the control module to be displayed, and the instrument communication module receives working state information of the harvester sent by the control module and displays the working state information in a cab to prompt real vehicle information of a driver; the hydraulic execution module completes the designated action according to the received instruction of the control module; the engine ECU unit collects state data of the engine and transmits the state data to the control module, and the control module transmits the received state data to the fault positioning module for fault diagnosis and converts the received state data into working state information and transmits the working state information to the combination instrument module for communication display.
2. The potato harvester fault handling system of claim 1, wherein: the fault tree model comprises control module fault nodes, engine ECU fault nodes, sensor fault nodes, hydraulic execution module fault nodes and program algorithm fault nodes, and corresponding fault data and fault reasons are recorded on each node on the fault tree model for fault troubleshooting.
3. The potato harvester fault handling system of claim 1, wherein: the sensor at least comprises a displacement sensor and a laser reflection type sensor.
4. The potato harvester fault handling system of claim 1, wherein: the fault positioning module comprises an automatic ridge aligning fault diagnosis module, an automatic sinking fault diagnosis module and a sensor fault diagnosis module, the automatic ridge aligning fault diagnosis module analyzes and contrasts data detected by the sensor to detect whether a fault deviation occurs in an automatic ridge aligning system of the potato harvester, the automatic ridge aligning fault diagnosis module controls the automatic ridge aligning fault diagnosis module to automatically perform self-checking on the ridge system through the control module and receives automatic ridge system self-checking data and a fault tree model to perform contrastive analysis, when the automatic ridge system self-checking data belong to a fault model tree internal normal data threshold value, the automatic ridge fault diagnosis module diagnoses faults to solve, when the system self-checking data do not belong to a fault model tree internal normal data threshold value, the automatic ridge fault diagnosis module receives data collected by the sensor sent by the control module and contrasts and analyzes the sensing data and the fault tree model to judge whether the sensing data are abnormal or not, when the detected sensing data belong to a normal threshold range set by a fault tree model, the automatic ridge fault diagnosis module diagnoses that no fault exists in the automatic ridge system; when the detected sensing data is abnormal and does not belong to the normal threshold range set by the fault tree model, the time for diagnosing the abnormal sensing data by the ridge fault diagnosis module is automatically timed and judged, when the abnormal sensing data time exceeds the set threshold T of the abnormal data time, the fault of the sensor of the automatic ridge system is automatically diagnosed by the ridge fault diagnosis module, and when the abnormal sensing data time does not exceed the set threshold T of the abnormal data time, the sensor of the automatic ridge system is automatically diagnosed by the ridge fault diagnosis module to be normal and have no fault.
5. The potato harvester fault handling system of claim 1, wherein: the automatic sinking depth fault diagnosis module controls the automatic sinking depth control system to perform self-checking through the control module and receive self-checking data of the automatic sinking depth control system and compare and analyze the self-checking data with a fault tree model, when the self-checking data of the automatic sinking depth control system belongs to a normal data threshold of the automatic sinking depth control system in a fault model tree, the automatic sinking depth fault diagnosis module diagnoses faults and solves the problems, when the self-checking data of the automatic sinking depth control system does not belong to a normal data threshold of the automatic sinking depth control system in the fault model tree, the automatic sinking depth fault diagnosis module receives depth sensing data collected by a displacement sensor sent by the control module and compares and analyzes the sinking depth sensing data with data in the fault tree model to perform fault judgment, when the sinking depth sensing data is more than 3cm, the automatic sinking depth fault diagnosis module diagnoses that the fault is a sensing plate is loose, and when the sinking depth sensing data is less than 3cm, the automatic sinking depth diagnosis module judges whether the jumping amplitude of the sinking depth sensing number, when the jumping amplitude of the depth sensing number is too large and the jumping amplitude is larger than 10cm, the automatic depth fault diagnosis module diagnoses the fault as improper algorithm filtering, otherwise, the automatic depth diagnosis module judges whether the depth sensing data is a constant value, if the depth sensing data is the constant value, the automatic depth diagnosis module diagnoses the fault of the displacement sensor, otherwise, the automatic depth diagnosis module diagnoses the normal of the automatic depth control system.
6. The potato harvester fault handling system of claim 1, wherein: the sensor fault diagnosis module receives sensing data sent by the control module and classifies and judges various faults of the sensor by using an algorithm, when the sensor fault diagnosis module firstly judges whether a measured value of the sensor is constant, when the measured value of the sensor is constant, the sensor fault diagnosis module diagnoses that the sensor is damaged, when the measured value of the sensor does not belong to the constant, the sensor fault diagnosis module detects whether a difference value between the measured value of the sensor and an actual value of the sensor is constant, if the difference value between the measured value of the sensor and the actual value is constant, the sensor fault diagnosis module diagnoses that the sensor has a deviation fault, if the difference value between the measured value of the sensor and the actual value is not constant, the sensor fault diagnosis module diagnoses that the sensor data is gradually increased, and if the sensor data is gradually increased, the sensor fault diagnosis module diagnoses that the sensor has a temperature drift fault, otherwise, the sensor fault diagnosis module performs variance operation on the measured value of the sensor and judges whether the variance changes, if the variance of the measured value of the sensor changes, the sensor fault diagnosis module diagnoses that the sensor has low precision, and if the variance of the measured value of the sensor does not change, the sensor fault diagnosis module diagnoses that the sensor is normal and has no fault.
7. A fault diagnosis method for a potato harvester is characterized by comprising the following steps:
s1, storing experience fault information of the potato harvester into a database in a control module according to expert experience and establishing a fault model tree;
s2, the sensing fault detection module acquires sensing data of the potato harvester to be diagnosed through a sensor and sends the sensing data to the control module, and the control module sends the sensing data to the fault positioning module;
and S3, the engine ECU acquires state data of the engine and transmits the state data to the control module, and the control module transmits the received state data to the fault positioning module for fault diagnosis and converts the received state data into working state information and transmits the working state information to the combination instrument module for communication display.
S4, the fault positioning module compares the sensing data with the fault model tree, analyzes and searches fault positions and reasons to obtain fault information and sends the fault information to the control module;
s5, the instrument communication module receives the working state information and the fault information of the harvester sent by the control module and displays the working state information and the fault information in a cab to prompt the real vehicle information of a driver; and the hydraulic execution module completes the designated action according to the received command of the control module.
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