CN111903317A - A Combine Harvester Header Height Automatic Control System - Google Patents

Abstract

The invention discloses an automatic control system for the height of the header of a combine harvester, which comprises a stubble height detection unit, a height control unit and a lifting unit. The 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 of the present invention, after the stubble height detection unit detects the stubble height, it inputs the stubble height information into the height control unit, and the height control unit compares the stubble height information with the pre-input setting height After comparison, the working state of the lifting unit is controlled, and the lifting unit can drive the header of the combine harvester to rise or fall or maintain its original position, which improves the automation degree of the height adjustment of the header of the combine harvester and reduces the labor intensity of the operator.

Description

A Combine Harvester Header Height Automatic Control System

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 combine harvester header.

Background technique

With the continuous development of precision agriculture and smart agriculture, agricultural machinery has been greatly improved in automation and intelligence, which not only improves the operation efficiency of machinery, increases the amount of grain harvested, but also reduces the labor intensity of operators.

When the combine harvester is working and harvesting, the height of the header is manually operated by the operator. Due to the fluctuation of the terrain, the operator often cannot operate the header up and down accurately and timely. Such an operation mode is prone to excessively high or low cutting stubble. If the stubble is too high, the harvest loss of crops will be too large, and it will not be easy to plant the next time; if the stubble is too low, it is easy to cause the front end of the header to enter the soil and increase the power consumption. In the traditional manual control of the lifting and lowering of the header, the control accuracy is not high, and the harvesting effect depends on the operator's operating experience, which restricts the wide application of agricultural mechanization and affects production efficiency.

Therefore, how to change the current situation of poor control accuracy and timeliness of the header height of the combine harvester in the prior art has become an urgent problem to be solved by those skilled in the art.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic control system for the height of the header of the combine harvester, so as to solve the problems existing in the above-mentioned prior art and improve the automation degree of the height adjustment of the header of the combine harvester.

In order to achieve the above purpose, the present invention provides the following solutions: the present invention provides an automatic control system for the height of the header of a combine harvester, including a stubble height detection unit, a height control unit and a lifting unit, and the stubble height detection unit can detect the height of the stubble. The height of cutting stubble, the height control unit can control the movement of the lifting unit, 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.

Preferably, the height control unit includes a PIC microcontroller, and the PIC microcontroller can control the working state of the lifting unit.

Preferably, the lifting unit includes a three-position four-way electromagnetic reversing valve, a check valve, a hydraulic pump, and a hydraulic cylinder, the PIC microcontroller is connected to the three-position four-way electromagnetic reversing valve, the hydraulic pump, the The hydraulic oil cylinders are all connected with the three-position four-way electromagnetic reversing valve, the hydraulic rod of the hydraulic oil cylinder is connected with the header of the combine harvester, and the hydraulic oil cylinder can drive the header of the combine harvester to reciprocate. The one-way valve is arranged between the oil return port of the hydraulic oil cylinder and the three-position four-way electromagnetic reversing valve.

Preferably, the hydraulic pump is communicated with the 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, a solenoid valve driver is arranged between the PIC microcontroller and the three-position four-way electromagnetic reversing valve, and the solenoid valve driver is a MOS tube.

Preferably, the stubble height detection unit comprises a profiled pallet, a rotating shaft, a sensor swing arm and an angle sensor, the profiled pallet is connected with the rotational shaft, the profiled pallet and the rotational shaft They are all located at the bottom of the header of the combine harvester, the profiling pallet can be in contact with the stubble, an elastic piece is arranged between the profiling pallet and the header of the combine harvester, and the elastic piece is in a compressed state, The rotating shaft is rotatably connected to the header of the combine harvester, the rotating shaft is drivingly connected to the sensor swing arm, the rotating shaft can drive the sensor to rotate, and the sensor swing arm is connected to the angle sensor connected, the angle sensor can detect the rotation angle of the swing arm of the sensor.

Preferably, the output end of the angle sensor is connected to the input end of the PIC microcontroller.

Preferably, the rotating shaft is drive-connected to the sensor swing arm through a crank-slider mechanism.

Preferably, the power source of the height control unit is a 12V battery.

Compared with the prior art, the present invention achieves the following technical effects: the automatic control system for the height of the combine harvester of the present invention includes a stubble height detection unit, a height control unit and a lifting unit, and the stubble height detection unit can detect the stubble height , The height control unit can control the movement of the lifting unit, 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 combine harvester of the present invention, after the stubble height detection unit detects the stubble height, it inputs the stubble height information into the height control unit, and the height control unit compares the stubble height information with the pre-input setting height After comparison, the working state of the lifting unit is controlled, and the lifting unit can drive the header of the combine harvester to rise or fall or maintain its original position, which improves the automation degree of the height adjustment of the header of the combine harvester and reduces the labor intensity of the operator. At the same time, the phenomenon that the front end of the header of the combine harvester is buried in the soil or the stubble is too high is reduced, which has positive significance in improving the operation efficiency of the combine harvester and increasing the grain output.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.

Fig. 1 is the structural representation of the stubble height detection unit of the combine harvester header height automatic control system of the present invention;

2 is a schematic structural diagram of a height control unit and a lifting unit of the combine harvester header height automatic control system of the present invention;

Fig. 3 is the control principle diagram of the combine harvester header height automatic control system of the present invention;

Fig. 4 is the working flow chart of the combine harvester header height automatic control system of the present invention;

Among them, 1 is the cutting height detection unit, 101 is the profiling pallet, 102 is the rotating shaft, 103 is the sensor swing arm, 104 is the angle sensor, 105 is the elastic part, 2 is the PIC microcontroller, and 3 is the three-position four-way electromagnetic Reversing valve, 4 is a one-way valve, 5 is a hydraulic pump, 6 is a hydraulic cylinder, 7 is a hydraulic oil tank, 8 is a filter, and 9 is a solenoid valve driver.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide an automatic control system for the height of the header of the combine harvester, so as to solve the problems existing in the above-mentioned prior art and improve the automation degree of the height adjustment of the header of the combine harvester.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Please refer to FIGS. 1-4, wherein, FIG. 1 is a schematic structural diagram of the stubble height detection unit of the automatic control system for the height of the combine harvester of the present invention, and FIG. 2 is the automatic control system of the height of the combine harvester of the present invention. The structural schematic diagram of the height control unit and the lifting unit, FIG. 3 is the control principle diagram of the automatic control system for the height of the combine harvester header of the present invention, and FIG. 4 is the working flow chart of the automatic control system for the header height of the combine harvester of the present invention.

The present invention provides an automatic control system for the height of a combine harvester, including a stubble height detection unit 1, a height control unit and a lifting unit. The stubble height detection unit 1 can detect the stubble height, and the height control unit can control the movement of the hoisting unit. , 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 of the header height of the combine harvester of the present invention, after the stubble height detection unit 1 detects the stubble height, it inputs the stubble height information into the height control unit, and the height control unit compares the stubble height information with the pre-input setting After the height comparison, the working state of the lifting unit is controlled, and the lifting unit can drive the header of the combine harvester to rise or fall or maintain its original position, which improves the automation degree of the height adjustment of the header of the combine harvester and reduces the labor intensity of the operator. At the same time, it reduces the phenomenon that the front end of the header of the combine harvester is buried in the soil or the stubble is too high, which has positive significance in improving the operating efficiency of the combine harvester and increasing the grain output.

Specifically, the height control unit includes a PIC single-chip microcomputer 2, which can control the working state of the lifting unit. The PIC single-chip microcomputer 2 is connected to the lifting unit. For the convenience of operation, the height control unit is also provided with a touch screen, which can display the cutting height.

More specifically, the lifting unit includes a three-position four-way electromagnetic reversing valve 3, a one-way valve 4, a hydraulic pump 5, and a hydraulic cylinder 6, the PIC microcontroller 2 is connected with the three-position four-way electromagnetic reversing valve 3, the hydraulic pump 5, the hydraulic The oil cylinders 6 are all connected with the three-position four-way electromagnetic reversing valve 3. The hydraulic rod of the hydraulic oil cylinder 6 is connected with the header of the combine harvester. The hydraulic oil cylinder 6 can drive the header of the combine harvester to reciprocate. Between the oil return port of the hydraulic cylinder 6 and the three-position four-way electromagnetic reversing valve 3 . The position of the spool of the three-position four-way electromagnetic reversing valve 3 is changed, so that the header of the combine harvester can be raised, lowered and kept in place.

Among them, the hydraulic pump 5 communicates with the 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 to prevent oil pollution and ensure the normal operation of the system.

In addition, a solenoid valve driver 9 is arranged between the PIC microcontroller 2 and the three-position four-way electromagnetic directional valve 3 , and the solenoid valve driver 9 is a MOS tube.

Further, the cutting height detection unit 1 includes a profiling pallet 101, a rotating shaft 102, a sensor swing arm 103 and an angle sensor 104, the profiling pallet 101 is connected with the rotating shaft 102, and both the profiling pallet 101 and the rotating shaft 102 are connected. Located at the bottom of the header of the combine harvester, the profiling pallet 101 can be in contact with the cutting stubble, an elastic member 105 is arranged between the profiling pallet 101 and the header of the combine harvester, the elastic piece 105 is in a compressed state, and the rotating shaft 102 It is rotatably connected to the header of the combine harvester, the rotating shaft 102 is connected to the sensor swing arm 103 in a transmission manner, the rotating shaft 102 can drive the sensor to rotate, and the sensor swing arm 103 is connected to the angle sensor 104, which can detect the sensor swing arm 103. angle of rotation. The profiling pallet 101 is in contact with the stubble, and the profiling pallet 101 drives the rotating shaft 102 to rotate 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 to the input end of the PIC microcontroller 2, and the angle sensor 104 transmits the angle signal to the PIC microcontroller 2 through the analog I/O port, and the PIC microcontroller 2 obtains the true height of the stubble after calculation. The real-time height of cutting stubble is displayed on the touch screen, and the desired height and the allowable deviation height range are set. The PID algorithm compares the real height with the set height. If it deviates from the set height range, the PIC microcontroller 2 sends a power to the digital I/O port. Signal, use the solenoid valve driver 9 to drive the three-position four-way electromagnetic reversing valve 3 to control the header to rise or fall.

Further, the rotating shaft 102 is connected to the sensor swing arm 103 through a crank-slider mechanism. In this specific embodiment, a set of angle sensors 104 are provided on both sides of the header of the combine harvester, which can receive two left and right sensors at the same time. The height data of the end cutting stubble is compared and analyzed for the two groups of data, which improves the accuracy of the measurement results.

In addition, the power supply of the height control unit is a 12V battery, which is easy to be fixed on the combine harvester.

In the automatic control system for the height of the combine harvester header of the present invention, the profiling pallet 101 is in contact with the cut stubble, the profiling pallet 101 rotates with the height of the cut stubble, and the elastic member 105 drives the rotating shaft 102 to rotate, and then The angle signal is transmitted to the angle sensor 104 through the crank-slider mechanism, and the angle sensor 104 transmits the angle signal to the PIC microcontroller 2 through the analog I/O port. , and set the desired height and the allowable deviation height range. The PID algorithm compares the real height with the set height. If it deviates from the set height range, the PIC microcontroller 2 sends an electrical signal to the digital I/O port. When the solenoid valve driver 9 Receiving the electrical signal of PIC MCU 2 makes the right side of the three-position four-way electromagnetic reversing valve 3 energized, the B port enters oil, and the header rises; when the left side of the three-position four-way electromagnetic reversing valve 3 is energized, the B port returns oil , the header is lowered. When the electromagnets on both sides of the three-position four-way electromagnetic reversing valve 3 are not energized, the valve core is in the neutral position, and the header does not move.

In the present invention, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; The idea of the invention will have changes in the specific implementation manner and application range. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (9)

1. An automatic control system for the height of a combine harvester header, characterized in that: it comprises a stubble height detection unit, a height control unit and a lifting unit, the stubble height detection unit can detect the stubble height, and the height control unit The movement of the lifting unit can be controlled, 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. 2 . The height automatic control system for combine harvester headers according to claim 1 , wherein the height control unit comprises a PIC microcontroller, and the PIC microcontroller can control the working state of the lifting unit. 3 . 3. The combined harvester header height automatic control system according to claim 2, characterized in that: the lifting unit comprises a three-position four-way electromagnetic reversing valve, a check valve, a hydraulic pump, and a hydraulic cylinder, and the PIC The single-chip microcomputer is connected with the three-position four-way electromagnetic reversing valve, the hydraulic pump and the hydraulic oil cylinder are connected with the three-position four-way electromagnetic reversing valve, and the hydraulic rod of the hydraulic oil cylinder is connected with the cutting edge 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 the oil return port of the hydraulic oil cylinder and the three-position four-way electromagnetic reversing valve. 4. The automatic control system for the height of the combine harvester header according to claim 3, wherein the hydraulic pump is communicated with the hydraulic oil tank of the combine harvester, and between the hydraulic pump and the hydraulic oil tank of the combine harvester Set up filters. 5. The combine harvester header height automatic control system according to claim 3, wherein a solenoid valve driver is arranged between the PIC microcontroller and the three-position four-way electromagnetic reversing valve, and the solenoid valve driver For the MOS tube. 6. The automatic control system for the height of the combine harvester header according to claim 2, wherein the stubble height detection unit comprises a profiling pallet, a rotating shaft, a sensor swing arm and an angle sensor, and the profiling The supporting plate is connected with the rotating shaft, the profiling supporting plate and the rotating shaft are both located at the bottom of the header of the combine harvester, the profiling supporting plate can be offset against the cutting stubble, and the profiling supporting plate is combined with the combined harvester. An elastic piece is arranged between the headers of the harvester, the elastic piece is in a compressed state, the rotating shaft is rotatably connected to the header of the combine harvester, and the rotating shaft is connected to the sensor swing arm in a transmission manner, so The rotating shaft can drive the sensor to rotate, the sensor swing arm is connected to the angle sensor, and the angle sensor can detect the rotation angle of the sensor swing arm. 7 . The automatic control system for the height of the combine harvester header according to claim 6 , wherein the output end of the angle sensor is connected to the input end of the PIC microcontroller. 8 . 8 . The automatic control system for the height of the combine harvester header according to claim 6 , wherein the rotating shaft is connected to the sensor swing arm through a crank-slider mechanism. 9 . 9 . The automatic control system for the height of the combine harvester header according to claim 1 , wherein the power source of the height control unit is a 12V battery. 10 .

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