CN111903317A - Combine harvester header height automatic control system - Google Patents
Combine harvester header height automatic control system Download PDFInfo
- Publication number
- CN111903317A CN111903317A CN202010841958.9A CN202010841958A CN111903317A CN 111903317 A CN111903317 A CN 111903317A CN 202010841958 A CN202010841958 A CN 202010841958A CN 111903317 A CN111903317 A CN 111903317A
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- China
- Prior art keywords
- height
- header
- combine harvester
- control system
- stubble
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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
- A01D41/06—Combines with headers
-
- 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
- A01D41/14—Mowing tables
- A01D41/145—Header lifting devices
Abstract
The invention discloses an automatic control system for the height of a header of a combine harvester, which comprises a stubble height detection unit, a height control unit and a lifting unit, wherein the stubble height detection unit can detect the height of a cut stubble, the height control unit can control the lifting unit to move, the lifting unit is connected with the header of the combine harvester, and the lifting unit can drive the header to reciprocate along the vertical direction. In the automatic control system for the height of the header of the combine harvester, the stubble height detection unit detects the height of the cut stubble and inputs the height information of the cut stubble into the height control unit, the height control unit compares the height information of the cut stubble with the preset height and controls the working state of the lifting unit, and the lifting unit can drive the header of the combine harvester to ascend or descend or maintain the original position, so that the automatic degree of height adjustment of the header of the combine harvester is improved, and the labor intensity of operators is reduced.
Description
Technical Field
The invention relates to the technical field of automatic control of agricultural machinery, in particular to an automatic control system for the height of a header of a combine harvester.
Background
Along with the continuous development of precision agriculture and wisdom agriculture, agricultural machine has had very big improvement in the aspect of automation, wisdom, has not only promoted the operating efficiency of machinery, has increased the grain harvest yield, has more alleviateed operating personnel's intensity of labour.
When the combine harvester is used for operation and harvesting, the height of the header is manually operated by an operator, and the operator often cannot accurately and timely operate the header to lift due to terrain fluctuation, so that the operation mode is easy to cause that the stubble is too high or too low, the stubble is too high, the crop harvesting loss is too large, and the next cultivation is difficult; the stubble is too low, which easily causes the soil entering at the front end of the cutting table and the increase of power consumption. In the traditional process of manually controlling the lifting of the header, the control precision is not high, the harvesting effect depends on the operation experience of an operator, the wide application of agricultural mechanization is restricted, and the production efficiency is influenced.
Therefore, how to change the current situation that the header height control accuracy and timeliness of the combine harvester are not good in the prior art becomes a problem to be solved by the technical staff in the field.
Disclosure of Invention
The invention aims to provide an automatic header height control system of a combine harvester, which is used for solving the problems in the prior art and improving the automation degree of header height lifting adjustment of the combine harvester.
In order to achieve the purpose, the invention provides the following scheme: the invention provides an automatic control system for the height of a header of a combine harvester, which comprises a stubble cutting height detection unit, a height control unit and a lifting unit, wherein the stubble cutting height detection unit can detect the height of a cut stubble, the height control unit can control the lifting unit to move, the lifting unit is connected with the header of the combine harvester, and the lifting unit can drive the header to reciprocate along the vertical direction.
Preferably, the height control unit comprises a PIC single-chip microcomputer, and the PIC single-chip microcomputer can control the working state of the lifting unit.
Preferably, the lifting unit comprises a three-position four-way electromagnetic directional valve, a one-way valve, a hydraulic pump and a hydraulic oil cylinder, the PIC single chip microcomputer is connected with the three-position four-way electromagnetic directional valve, the hydraulic pump and the hydraulic oil cylinder are both connected with the three-position four-way electromagnetic directional valve, a hydraulic rod of the hydraulic oil cylinder is connected with a header of the combine harvester, the hydraulic oil cylinder can drive the header of the combine harvester to reciprocate, and the one-way valve is arranged between an oil return port of the hydraulic oil cylinder and the three-position four-way electromagnetic directional valve.
Preferably, the hydraulic pump is communicated with a hydraulic oil tank of the combine harvester, and a filter is arranged between the hydraulic pump and the hydraulic oil tank of the combine harvester.
Preferably, an electromagnetic valve driver is arranged between the PIC single chip microcomputer and the three-position four-way electromagnetic directional valve, and the electromagnetic valve driver is an MOS (metal oxide semiconductor) tube.
Preferably, cut stubble height detecting unit includes profile modeling layer board, rotation axis, sensor swing arm and angle sensor, the profile modeling layer board with the rotation axis links to each other, the profile modeling layer board with the rotation axis all is located combine's header bottom, the profile modeling layer board can offset with cutting the stubble, set up the elastic component between profile modeling layer board and combine's the header, the elastic component is in by compression state, the rotation axis rotationally links to each other with combine's header, the rotation axis with sensor swing arm transmission links to each other, the rotation axis can drive the sensor rotates, the sensor swing arm with angle sensor links to each other, angle sensor can detect the turned angle of sensor swing arm.
Preferably, the output end of the angle sensor is connected with the input end of the PIC single chip microcomputer.
Preferably, the rotating shaft is in transmission connection with the sensor swing arm through a crank-slider mechanism.
Preferably, the power supply of the height control unit is a 12V battery.
Compared with the prior art, the invention has the following technical effects: the automatic control system for the height of the header of the combine harvester comprises a stubble height detection unit, a height control unit and a lifting unit, wherein the stubble height detection unit can detect the height of the stubble, the height control unit can control the lifting unit to move, the lifting unit is connected with the header of the combine harvester, and the lifting unit can drive the header to reciprocate in the vertical direction. In the automatic control system for the height of the header of the combine harvester, the stubble height detection unit detects the height of the cut stubble, the stubble height information is input into the height control unit, the height control unit compares the height information of the cut stubble with the preset height and controls the working state of the lifting unit, the lifting unit can drive the header of the combine harvester to ascend or descend or maintain the original position, the automation degree of the height adjustment of the header of the combine harvester is improved, the labor intensity of operators is reduced, meanwhile, the phenomenon that the front end of the header of the combine harvester enters soil or the cut stubble is too high is reduced, and the automatic control system has positive significance in the aspects of improving the operation efficiency of the combine harvester and increasing the grain yield.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a stubble height detecting unit of an automatic control system for the height of a cutting table of a combine harvester according to the present invention;
FIG. 2 is a schematic structural diagram of a height control unit and a lifting unit of the automatic height control system for the header of the combine harvester of the present invention;
FIG. 3 is a control schematic diagram of the combine harvester header height automatic control system of the present invention;
FIG. 4 is a flow chart of the operation of the automatic header height control system of the combine harvester of the present invention;
the stubble height detection device comprises a stubble height detection unit 1, a profiling supporting plate 101, a rotating shaft 102, a sensor swing arm 103, an angle sensor 104, an elastic part 105, a PIC single chip microcomputer 2, a three-position four-way electromagnetic reversing valve 3, a one-way valve 4, a hydraulic pump 5, a hydraulic oil cylinder 6, a hydraulic oil tank 7, a filter 8 and an electromagnetic valve driver 9.
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.
The invention aims to provide an automatic header height control system of a combine harvester, which is used for solving the problems in the prior art and improving the automation degree of header height lifting adjustment of the combine harvester.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-4, fig. 1 is a schematic structural diagram of a stubble height detecting unit of an automatic control system for the height of a header of a combine harvester of the present invention, fig. 2 is a schematic structural diagram of a height control unit and a lifting unit of the automatic control system for the height of a header of a combine harvester of the present invention, fig. 3 is a control schematic diagram of the automatic control system for the height of a header of a combine harvester of the present invention, and fig. 4 is a flowchart of the operation of the automatic control system for the height of a header of a combine harvester of the present invention.
The invention provides an automatic control system for the height of a header of a combine harvester, which comprises a stubble height detection unit 1, a height control unit and a lifting unit, wherein the stubble height detection unit 1 can detect the height of a cut stubble, the height control unit can control the lifting unit to move, the lifting unit is connected with the header of the combine harvester, and the lifting unit can drive the header to reciprocate along the vertical direction.
In the automatic control system for the height of the header of the combine harvester, the stubble height detection unit 1 detects the height of the cut stubble and inputs the height information of the cut stubble into the height control unit, the height control unit compares the height information of the cut stubble with the preset height and controls the working state of the lifting unit, and the lifting unit can drive the header of the combine harvester to ascend or descend or maintain the original position, so that the automation degree of height adjustment of the header of the combine harvester is improved, the labor intensity of operators is reduced, the phenomenon that the front end of the header of the combine harvester enters soil or the cut stubble is too high is reduced, and the automatic control system has positive significance in improving the working efficiency of the combine harvester and increasing the grain yield.
Specifically, the height control unit includes PIC singlechip 2, and PIC singlechip 2 can control the operating condition of hoisting unit, and PIC singlechip 2 links to each other with the hoisting unit, and for the convenience of operation, the height control unit still sets up the touch-sensitive screen, and the touch-sensitive screen can show the stubble height of cutting.
More specifically, the lifting unit comprises a three-position four-way electromagnetic directional valve 3, a one-way valve 4, a hydraulic pump 5 and a hydraulic oil cylinder 6, a PIC single chip microcomputer 2 is connected with the three-position four-way electromagnetic directional valve 3, the hydraulic pump 5 and the hydraulic oil cylinder 6 are both connected with the three-position four-way electromagnetic directional valve 3, a hydraulic rod of the hydraulic oil cylinder 6 is connected with a header of the combine harvester, the hydraulic oil cylinder 6 can drive the header of the combine harvester to reciprocate, and the one-way valve 4 is arranged between an oil return port of the hydraulic oil cylinder 6 and the three-position four. The valve core position of the three-position four-way electromagnetic directional valve 3 is changed, so that the header of the combine harvester can ascend and descend and can be kept in the original position.
The hydraulic pump 5 is communicated with a hydraulic oil tank 7 of the combine harvester, and a filter 8 is arranged between the hydraulic pump 5 and the hydraulic oil tank 7 of the combine harvester, so that oil pollution is prevented, and normal work of the system is guaranteed.
In addition, an electromagnetic valve driver 9 is arranged between the PIC single chip microcomputer 2 and the three-position four-way electromagnetic directional valve 3, the electromagnetic valve driver 9 is an MOS (metal oxide semiconductor) tube, and the PIC single chip microcomputer 2 drives the three-position four-way electromagnetic directional valve 3 by using the electromagnetic valve driver 9.
Further, the stubble height detection unit 1 comprises a profiling supporting plate 101, a rotating shaft 102, a sensor swing arm 103 and an angle sensor 104, the profiling supporting plate 101 is connected with the rotating shaft 102, the profiling supporting plate 101 and the rotating shaft 102 are both located at the bottom of the cutting platform of the combine harvester, the profiling supporting plate 101 can be abutted to stubble, an elastic part 105 is arranged between the profiling supporting plate 101 and the cutting platform of the combine harvester, the elastic part 105 is in a compressed state, the rotating shaft 102 is rotatably connected with the cutting platform of the combine harvester, the rotating shaft 102 is in transmission connection with the sensor swing arm 103, the rotating shaft 102 can drive the sensor to rotate, the sensor swing arm 103 is connected with the angle sensor 104, and the angle sensor 104 can detect the rotation angle of the sensor swing arm. The profiling supporting plate 101 is abutted against the stubble, the profiling supporting plate 101 drives the rotating shaft 102 to rotate along with the change of the height of the stubble, and the rotating shaft 102 transmits the angle change to the angle sensor 104 through the sensor swing arm 103.
It should be noted that the output end of the angle sensor 104 is connected with the input end of the PIC single-chip microcomputer 2, the angle sensor 104 transmits an angle signal to the PIC single-chip microcomputer 2 through the analog I/O port, the PIC single-chip microcomputer 2 calculates to obtain the actual height of the cut stubble, the touch screen displays the real-time height of the cut stubble, the desired height and the allowable deviation height range are set, the actual height is compared with the set height through the PID algorithm, if the actual height deviates from the set height range, the PIC single-chip microcomputer 2 sends an electric signal to the digital I/O port, the solenoid valve driver 9 is used for driving the three-position four-way solenoid directional valve 3, and the header is controlled to.
Furthermore, the rotating shaft 102 is in transmission connection with the sensor swing arm 103 through a crank-slider mechanism, and in the embodiment, a set of angle sensors 104 are respectively arranged on two sides of the cutting platform of the combine harvester, so that the stubble height data of the left end and the stubble height data of the right end can be simultaneously received, the two sets of data are compared and analyzed, and the accuracy of the measuring result is improved.
In addition, the power supply of the height control unit is a 12V storage battery, so that the height control unit is conveniently fixed on the combine harvester.
The invention relates to a combine harvester cutting table height automatic control system, wherein a profiling supporting plate 101 is contacted with cutting stubble, the profiling supporting plate 101 rotates along with the height change of the cutting stubble, a rotating shaft 102 is driven to rotate by an elastic piece 105, an angle signal is transmitted to an angle sensor 104 by a crank sliding block mechanism, the angle signal is transmitted to a PIC singlechip 2 by the angle sensor 104 through a simulation I/O port, the PIC singlechip 2 calculates to obtain the real height of the cutting stubble, the real-time cutting height is displayed by a touch screen, a desired height and an allowable deviation height range are set, the real height is compared with the set height by a PID algorithm, if the real height deviates from the set height range, the PIC singlechip 2 transmits an electric signal to a digital I/O port, when an electromagnetic valve driver 9 receives the electric signal of the PIC 2, the right side of a three-position four-way electromagnetic reversing valve 3, the header ascends; when the left side of the three-position four-way electromagnetic directional valve 3 is electrified, the port B returns oil, and the header descends. When the electromagnets on the two sides of the three-position four-way electromagnetic directional valve 3 are not electrified, the valve core is in the middle position, and the header does not act.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. The utility model provides a high automatic control system of combine header which characterized in that: including cutting stubble height detecting unit, height control unit and hoisting unit, it can detect and cut the stubble height to cut stubble height detecting unit, height control unit can control the hoisting unit motion, the hoisting unit links to each other with combine's header, the hoisting unit can drive the header along vertical direction reciprocating motion.
2. The combine harvester header height automatic control system of claim 1, wherein: the height control unit comprises a PIC single chip microcomputer, and the PIC single chip microcomputer can control the working state of the lifting unit.
3. The combine harvester header height automatic control system of claim 2, wherein: the lifting unit comprises a three-position four-way electromagnetic directional valve, a one-way valve, a hydraulic pump and a hydraulic oil cylinder, the PIC single chip microcomputer is connected with the three-position four-way electromagnetic directional valve, the hydraulic pump and the hydraulic oil cylinder are both connected with the three-position four-way electromagnetic directional valve, a hydraulic rod of the hydraulic oil cylinder is connected with a header of the combine harvester, the hydraulic oil cylinder can drive the header of the combine harvester to reciprocate, and the one-way valve is arranged between an oil return port of the hydraulic oil cylinder and the three-position four-way electromagnetic directional valve.
4. An automatic header height control system of a combine harvester according to claim 3, characterized in that: the hydraulic pump is communicated with a hydraulic oil tank of the combine harvester, and a filter is arranged between the hydraulic pump and the hydraulic oil tank of the combine harvester.
5. An automatic header height control system of a combine harvester according to claim 3, characterized in that: and an electromagnetic valve driver is arranged between the PIC singlechip and the three-position four-way electromagnetic directional valve, and the electromagnetic valve driver is an MOS (metal oxide semiconductor) tube.
6. The combine harvester header height automatic control system of claim 2, wherein: cut stubble height detecting unit and include profile modeling layer board, rotation axis, sensor swing arm and angle sensor, the profile modeling layer board with the rotation axis links to each other, the profile modeling layer board with the rotation axis all is located combine's header bottom, the profile modeling layer board can offset with cutting the stubble, set up the elastic component between profile modeling layer board and combine's the header, the elastic component is in by compression state, the rotation axis rotationally links to each other with combine's header, the rotation axis with the transmission of sensor swing arm links to each other, the rotation axis can drive the sensor rotates, the sensor swing arm with angle sensor links to each other, angle sensor can detect the turned angle of sensor swing arm.
7. The combine harvester header height automatic control system of claim 6, wherein: and the output end of the angle sensor is connected with the input end of the PIC singlechip.
8. The combine harvester header height automatic control system of claim 6, wherein: the rotating shaft is in transmission connection with the sensor swing arm through a slider-crank mechanism.
9. The combine harvester header height automatic control system of claim 1, wherein: the power supply of the height control unit is a 12V storage battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010841958.9A CN111903317A (en) | 2020-08-20 | 2020-08-20 | Combine harvester header height automatic control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010841958.9A CN111903317A (en) | 2020-08-20 | 2020-08-20 | Combine harvester header height automatic control system |
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| CN111903317A true CN111903317A (en) | 2020-11-10 |
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| CN202010841958.9A Pending CN111903317A (en) | 2020-08-20 | 2020-08-20 | Combine harvester header height automatic control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112189443A (en) * | 2020-12-07 | 2021-01-08 | 农业农村部南京农业机械化研究所 | Electro-hydraulic height control method and system for cutting table of soybean harvester |
| US20220007576A1 (en) * | 2018-11-16 | 2022-01-13 | Cnh Industrial America Llc | Harvester header having a segment control system |
| WO2023029110A1 (en) * | 2021-08-31 | 2023-03-09 | 农业农村部南京农业机械化研究所 | Mechanical weeding component inclined ground surface three-dimensional profiling device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| WO2023029110A1 (en) * | 2021-08-31 | 2023-03-09 | 农业农村部南京农业机械化研究所 | Mechanical weeding component inclined ground surface three-dimensional profiling device |
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Application publication date: 20201110 |