CN114041351A - Harvester operation state identification method and harvester - Google Patents
Harvester operation state identification method and harvester Download PDFInfo
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- CN114041351A CN114041351A CN202111233638.6A CN202111233638A CN114041351A CN 114041351 A CN114041351 A CN 114041351A CN 202111233638 A CN202111233638 A CN 202111233638A CN 114041351 A CN114041351 A CN 114041351A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/14—Mowing tables
- A01D41/141—Automatic header control
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Abstract
The invention provides a harvester operation state identification method and a harvester, comprising the following steps: if the running speed of the harvester is determined to be greater than 0, the height of a header of the harvester is adjusted; and if the header height is smaller than the height threshold value, determining the operation state of the harvester according to the rotating speed information of the harvester. According to the harvester operation state identification method and the harvester, the operation state of the harvester is comprehensively judged by carrying out fusion processing and analysis on the running speed, the header height and the rotating speed information of the harvester, the identification is more accurate, and a foundation is provided for realizing intelligent control of the harvester.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to a harvester operation state identification method and a harvester.
Background
Along with the reduction of the population quantity of agricultural practices and the continuous improvement of labor cost in China, the requirement of agricultural production on agricultural equipment with high operation efficiency and high operation quality is continuously vigorous, and intelligent agricultural equipment becomes the current main development trend. The combine harvester can realize unmanned operation, various sensors are needed to provide information such as the operation condition, the operation quality and the like of the harvester, and then intelligent control is carried out according to various information, wherein the automatic identification of the operation state of the combine harvester is the basic premise for realizing the intelligent control of the unmanned harvester.
At present, the operation state identification of the unmanned harvester is mainly carried out according to the height of a header of the harvester and the running speed, namely when the header falls to a certain height and the unmanned harvester starts to run, the unmanned harvester is considered to start to harvest crops and be in an operating state.
However, in actual operation, because the heights of different varieties of crops are different and the stubble heights required in different regions are different, the height of the header in actual operation of the unmanned harvester is difficult to be uniformly adjusted, and when objects fall down, the header needs to be adjusted according to the fallen crops. Therefore, it is not accurate to identify whether the harvester is in the working state according to the height of the header and the working speed, and misjudgment often occurs.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a harvester operation state identification method and a harvester.
The invention provides a harvester operation state identification method, which comprises the following steps: if the running speed of the harvester is determined to be greater than 0, the height of a header of the harvester is adjusted; and if the header height is smaller than the height threshold value, determining the operation state of the harvester according to the rotating speed information of the harvester.
According to the method for identifying the operating state of the harvester, the rotating speed information comprises the following three types of rotating speed information: auger rotating speed information, gap bridge rotating speed information and threshing cylinder rotating speed information; the determining the operating state of the harvester according to the rotation speed information of the harvester comprises the following steps: determining the rotating speed deviation and the angular acceleration corresponding to each type of rotating speed information; if the rotating speed deviations of all types are larger than the deviation threshold value and all the angular accelerations are larger than 0, determining that the operation state is in operation; and if any type of rotation speed deviation is not larger than the deviation threshold value or any angular acceleration is not larger than 0, determining that the operation state is not operated.
According to the method for identifying the operating state of the harvester, the rotating speed deviation and the angular acceleration corresponding to each type of rotating speed information are determined, and the method comprises the following steps: for each type of the rotating speed information, determining a moving average rotating speed according to the rotating speed information acquired in a plurality of sampling periods; acquiring the rotation speed deviation according to the no-load rotation speed and the sliding average rotation speed; and determining the angular acceleration according to the rotating speed information and the sampling period.
According to the method for identifying the operating state of the harvester, after the harvesting of the height of the cutting platform of the harvester, the method further comprises the following steps: and if the height of the header is not less than the height threshold value, determining that the operation state is not operation.
According to the method for identifying the operating state of the harvester, before the harvesting of the height of the cutting platform of the harvester, the method further comprises the following steps: and if the running speed is not greater than 0, determining that the operation state is not operated.
The invention also provides a harvester, which comprises a harvester body, wherein the harvester body is internally provided with an intelligent identification device; the harvester operation state identification method further comprises a memory and a program or an instruction which is stored on the memory and can be run on the intelligent identification device, and the program or the instruction is executed by the intelligent identification device to execute the harvester operation state identification method.
According to the harvester provided by the invention, the intelligent identification device is used for carrying out fusion processing on working condition information parameters so as to obtain the operating state of the harvester; the harvester still includes: the working condition information detection device is used for acquiring working condition information parameters of the harvester; the working condition information parameters comprise header height, rotating speed information, running speed and position information.
According to the harvester provided by the invention, the working condition information detection device comprises: the device comprises a sensing detection module and a data acquisition unit; the sensing detection module is used for detecting working condition information parameters; the data acquisition unit is used for acquiring the working condition information parameters; the sensing detection module comprises a satellite positioning receiver, an auger rotating speed sensor and a threshing cylinder rotating speed sensor; the rotational speed information includes: auger rotating speed information, gap bridge rotating speed information and threshing cylinder rotating speed information; a satellite positioning receiver for detecting the position information and the traveling speed; the auger rotating speed sensor is used for detecting the auger rotating speed information; the gap bridge rotating speed sensor is used for detecting the gap bridge rotating speed information; and the threshing cylinder rotating speed sensor is used for detecting the threshing cylinder rotating speed information.
According to the harvester provided by the invention, the intelligent identification device comprises a remote transmission module; the harvester is also used for sending the working condition information parameters and the working state to a remote monitoring device through the remote transmission module.
According to a harvester provided by the invention, the remote monitoring device comprises: the system comprises a server, a management and control system and a display module; the server is used for adjusting the working state of the harvester through the management and control system according to the received working condition information parameters and the working state; the display module is used for displaying the working condition information parameters and the working state; the display module is also used for human-computer interaction.
According to the harvester operation state identification method and the harvester, the operation state of the harvester is comprehensively judged by carrying out fusion processing and analysis on the running speed, the header height and the rotating speed information of the harvester, the identification is more accurate, and a foundation is provided for realizing intelligent control of the harvester.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for identifying the operating state of a harvester according to the present invention;
FIG. 2 is a second schematic flow chart of the method for identifying the operating status of the harvester according to the present invention;
FIG. 3 is a schematic structural view of a harvester provided by the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
It should be noted that in the description of the embodiments of the present invention, 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The terms "upper", "lower", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; 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 meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The combine harvester is used as the most complex agricultural machinery equipment, has higher requirements on the performance of the machine, the operation conditions and the operation technology of a driver, so that fewer workers meeting the conditions are required, and the labor intensity of the workers is higher. The unmanned harvester can automatically harvest according to crop row lines and crop boundaries, is not limited by manpower, operation window periods and the like, has high operation efficiency and operation quality, is a main technical means for breaking contradictions between production elements, and becomes a main development trend.
The operating state of the harvester can be judged according to the difference of main operating parameters of the harvester during operation and during non-operation.
On one hand, the speed can be identified according to the rotating speed of the main operation components such as a feeding auger, a threshing roller or a cleaning fan of the harvester. When the harvester operates, after the main clutch is closed, the main working components such as the feeding screw, the gap bridge, the threshing roller, the cleaning fan and the like start to rotate. However, in actual operation, a driver does not generally loosen the main clutch in the turning and turning process of the combine harvester, and at this time, although the combine harvester has the operation speed and all main working components also rotate, the combine harvester is not in a crop harvesting state, so that misjudgment can also occur.
On the other hand, the identification can be carried out according to the torque of a transmission shaft of a feeding screw, a gap bridge or a threshing cylinder of the harvester. After the combine harvester starts to work, the loads of main working components such as a feeding screw, a gap bridge or a threshing cylinder start to increase, and the torque of power transmission shafts of the components is increased. Therefore, whether the combine harvester starts to work or not can be identified by monitoring the torque of the power transmission shaft of the feeding screw, the gap bridge or the threshing cylinder and other parts. However, since the torque sensor is generally based on the strain bridge principle, the torque sensor has the influence of environmental factors such as temperature drift in practical application and needs to be calibrated frequently. And the sensor is high in price and is not suitable for batch application in agricultural machinery.
The invention provides an accurate, stable and low-cost harvester operation state identification method, which provides key detection technical support for intelligent control of an unmanned harvester.
The following describes a method for identifying an operating state of a harvester and a harvester according to an embodiment of the present invention with reference to fig. 1 to 4.
Fig. 1 is a schematic flow chart of a method for identifying an operating state of a harvester according to the present invention, as shown in fig. 1, including but not limited to the following steps:
first, in step S1, if it is determined that the travel speed of the harvester is greater than 0, the header height of the harvester is retrieved.
Wherein the harvester may be an unmanned harvester. The cutting platform of the harvester is in different heights in the operating state and the non-operating state.
Specifically, the operating state of the harvester can be determined according to the running speed of the harvester, if the running speed of the harvester is greater than 0, the harvester is determined to be in a non-static state and to meet the operating condition of the harvester, and in order to identify the accuracy of the result, the height of the header of the harvester needs to be called to further determine the operating state of the harvester.
Further, in step S2, if it is determined that the header height is less than a height threshold, the operating state of the harvester is determined based on the rotational speed information of the harvester.
Specifically, a height threshold value of a header of the harvester is set, if the header height is determined to be smaller than the height threshold value, the operation condition of the harvester is met, and in order to reduce misjudgment, the operation state of the harvester needs to be determined according to the rotating speed information of main parts of the harvester.
The rotation speed information may include the following three types of rotation speed information: auger rotating speed information, gap bridge rotating speed information and threshing cylinder rotating speed information.
If the rotating speed information accords with the operating conditions of the harvester, judging that the operating state of the harvester is in operation; and if the rotating speed information does not accord with the operating conditions of the harvester, judging that the operating state of the harvester is not operated.
According to the method for identifying the operating state of the harvester, provided by the invention, the operating state of the harvester is comprehensively judged by carrying out fusion processing and analysis on the running speed, the header height and the rotating speed information of the harvester, so that the identification is more accurate, and a basis is provided for realizing intelligent control of the harvester.
Optionally, the rotation speed information includes the following three types of rotation speed information: auger rotating speed information, gap bridge rotating speed information and threshing cylinder rotating speed information;
the determining the operating state of the harvester according to the rotation speed information of the harvester comprises the following steps:
determining the rotating speed deviation and the angular acceleration corresponding to each type of rotating speed information;
if the rotating speed deviations of all types are larger than the deviation threshold value and all the angular accelerations are larger than 0, determining that the operation state is in operation;
and if any type of rotation speed deviation is not larger than the deviation threshold value or any angular acceleration is not larger than 0, determining that the operation state is not operated.
Wherein, the screw rotation speed information can be the angular speed of the feeding screw of the harvester.
In particular, a decision factor R is introduced1And R2The calculation method comprises the following steps:
R1＝f(E1,V1)·f(E2,V2)·f(E3,V3)；
R2＝f(α1,0)·f(α2,0)·f(α3,0)；
wherein E is1Is the rotational speed deviation of the auger; v1Is the screw conveyor rotating speed threshold; e2The speed deviation of the gap bridge is obtained; v2Is a gap bridge rotating speed threshold value; e3The deviation of the rotating speed of the threshing cylinder; v3Is the threshold value of the rotation speed of the threshing cylinder; alpha is alpha1Is a screw conveyerAngular acceleration; alpha is alpha2Is the gap bridge angular acceleration; alpha is alpha3Is the angular acceleration of the threshing cylinder; the expression of the decision function f (x, y) is:
according to a decision factor R1And R2The result of (3) is to make an operation state judgment, i.e., when R is1R2When the harvester is 1, the operation state of the harvester is in operation; otherwise, the operating state of the harvester is not operating.
According to the harvester operating state identification method provided by the invention, the operating state of the harvester is judged according to the rotating speed deviation and the angular acceleration, and the accuracy of the judgment result is effectively ensured.
Optionally, determining the rotational speed deviation and the angular acceleration corresponding to each type of the rotational speed information includes:
for each type of the rotating speed information, determining a moving average rotating speed according to the rotating speed information acquired in a plurality of sampling periods;
acquiring the rotation speed deviation according to the no-load rotation speed and the sliding average rotation speed;
and determining the angular acceleration according to the rotating speed information and the sampling period.
Setting the sampling period of the auger rotation speed information, the gap bridge rotation speed information and the threshing cylinder rotation speed information as T, carrying out information acquisition once in each sampling period, and respectively representing the rotation speed information as omega by angular speed1，ω2And ω3。
Calculating the rotational deviation including the screw speed deviation E1Gap bridge rotation speed deviation E2Deviation from the rotational speed of the threshing cylinder E3The method comprises the following steps:
wherein, ω is10，ω20，ω30The idle-load rotating speeds of the auger, the gap bridge and the threshing cylinder are respectively obtained through calibration test when the harvester is in idle load and the accelerator is maximum;
and
the average rotating speeds of the auger, the gap bridge and the threshing cylinder are respectively obtained by carrying out average sliding processing on the angular speeds acquired in a plurality of continuous acquisition periods T. The number of the acquisition cycles may be adjusted according to actual conditions, for example, 20 consecutive acquisition cycles are selected.
Calculating a rotation speed threshold value comprising a screw speed threshold value V1Gap bridge rotating speed threshold value V2And the rotational speed threshold value V of the threshing cylinder3The method comprises the following steps:
V1＝k1ω10；
V2＝k2ω20；
V3＝k3ω30；
wherein k is1，k2And k3All are empirical coefficients which are determined according to the distribution characteristics of test data of different harvesters.
And if the rotating speed deviation is larger than the rotating speed threshold value, the corresponding rotating speed is considered to be obviously reduced, otherwise, the rotating speed is considered not to be reduced.
Screw conveyer and gap bridgeAnd the angular acceleration of the rotation of the threshing cylinder are respectively alpha1，α2And alpha3The calculation formula is as follows:
in the formula, Δ ω is a difference value between two consecutive sampling results of the rotational speeds of the auger, the gap bridge and the threshing cylinder.
According to the method for identifying the operating state of the harvester, the rotating speed deviation and the angular acceleration of each type are determined according to the rotating speed information, so that a basis is provided for judging the operating state of the harvester.
Optionally, after the harvesting platform height of the harvesting machine is adjusted, the method further comprises:
and if the height of the header is not less than the height threshold value, determining that the operation state is not operation.
Specifically, if the height of the header of the harvester is not less than the height threshold, the operation condition of the harvester is not met, and the harvester can be directly judged to be in the non-operation state. The height threshold value is determined by k times of the maximum height of the harvester header, and k can be 0.6.
According to the method for identifying the operating state of the harvester, the operating state of the harvester can be accurately and reliably judged according to the height of the cutting table.
Optionally, before the taking the header height of the harvester, the method further comprises:
and if the running speed is not greater than 0, determining that the operation state is not operated.
Specifically, when the traveling speed of the harvester is not greater than 0, that is, the traveling speed of the harvester is 0, the operation condition of the harvester is not met, and the harvester can be directly judged to be in the non-operation state.
According to the harvester operating state identification method provided by the invention, the operating state of the harvester can be stably judged at low cost through the running speed.
Fig. 2 is a second schematic flow chart of the method for identifying the operating state of the harvester according to the present invention, as shown in fig. 2, first, the travel speed of the harvester is obtained, and if the travel speed of the harvester is not greater than 0, it is determined that the harvester is not operating, and the identification is finished; if the running speed of the harvester is greater than 0, the height of a header of the harvester is adjusted, if the height of the header is not less than a height threshold value, the harvester is judged not to operate, and the identification is finished; if the height of the header is smaller than the height threshold value, reading the current auger rotating speed information, if the auger rotating speed deviation is not larger than the auger rotating speed threshold value, judging that the harvester does not operate, and finishing the identification; if the auger rotating speed deviation is greater than the auger rotating speed threshold value, reading current gap bridge rotating speed information, and if the gap bridge rotating speed deviation is not greater than the gap bridge rotating speed threshold value, judging that the harvester does not work, and finishing the identification; if the gap bridge rotating speed deviation is greater than the gap bridge rotating speed threshold value, reading the current rotating speed information of the threshing cylinder, if the rotating speed deviation of the threshing cylinder is not greater than the rotating speed threshold value of the threshing cylinder, judging that the harvester does not work, and finishing the identification; and if the rotating speed deviation of the threshing cylinder is greater than the rotating speed threshold value of the threshing cylinder, judging that the harvester is in operation.
According to the method for identifying the operating state of the harvester, the operating state of the harvester is accurately identified by fusing the operating speed, the height of the cutting table, the rotating speed of the feeding auger, the rotating speed of the gap bridge, the rotating speed of the threshing cylinder and other multi-sensor information.
Fig. 3 is a schematic structural diagram of a harvester provided by the invention, wherein the harvester comprises a harvester body, and an intelligent identification device 2 is arranged in the harvester body; the harvester operation state identification method further comprises a memory and a program or an instruction which is stored on the memory and can be run on the intelligent identification device, and the program or the instruction is executed by the intelligent identification device to execute the harvester operation state identification method.
Optionally, the intelligent recognition device 2 is configured to perform fusion processing on the working condition information parameters to obtain an operation state of the harvester; the harvester still includes: the working condition information detection device 1 is used for acquiring working condition information parameters of the harvester; the working condition information parameters comprise header height, rotating speed information, running speed and position information.
According to the harvester provided by the invention, the running speed, the header height and the rotating speed information of the harvester are subjected to fusion processing and analysis, the operation state of the harvester is comprehensively judged, the identification is more accurate, and a basis is provided for realizing intelligent control of the harvester.
Optionally, the operating condition information detecting device 1 includes: the device comprises a sensing detection module and a data acquisition unit; the sensing detection module is used for detecting working condition information parameters; the data acquisition unit is used for acquiring the working condition information parameters; the sensing detection module comprises a satellite positioning receiver, an auger rotating speed sensor and a threshing cylinder rotating speed sensor; the rotational speed information includes: auger rotating speed information, gap bridge rotating speed information and threshing cylinder rotating speed information; a satellite positioning receiver for detecting the position information and the traveling speed; the auger rotating speed sensor is used for detecting the auger rotating speed information; the gap bridge rotating speed sensor is used for detecting the gap bridge rotating speed information; and the threshing cylinder rotating speed sensor is used for detecting the threshing cylinder rotating speed information.
The data collector may include a communication module, and may further include a Micro Controller Unit (MCU), a memory, an analog signal input interface, a frequency signal input interface, and power management. Corresponding working condition information parameters can be collected from each sensor of the sensing detection module and are subjected to preliminary treatment, and the data collector transmits the working condition information parameters subjected to the preliminary treatment to the intelligent recognition device 2 through the communication module so as to further analyze and process the intelligent recognition device 2.
According to the harvester provided by the invention, the basis can be provided for comprehensively and accurately judging the operation state of the harvester by acquiring the information of the plurality of sensors.
Optionally, the smart identification device 2 comprises a remote transmission module; the harvester is also used for sending the working condition information parameters and the working state to a remote monitoring device 3 through the remote transmission module.
The remote transmission module may be the 4th Generation mobile communication technology (4G)/fifth Generation mobile communication technology (5G) remote transmission module.
The smart identification device 2 may include a smart identification module and a remote transmission module, and may further include a processor, a memory, a power management and communication interface.
The input end of the intelligent recognition device 2 is connected with the working condition information detection device 1, and the output end is connected with the remote monitoring device 3. The intelligent recognition device 2 performs fusion processing on the received working condition information parameters, analyzes whether the harvester starts or stops working, and then transmits the recognized working state and the working condition information parameters to the remote monitoring device 3 through the remote transmission module.
According to the harvester provided by the invention, the information of the sensors is subjected to fusion processing and analysis, the operation state of the harvester can be more accurately identified, and the identification accuracy is higher.
Optionally, the remote monitoring device 3 comprises: the system comprises a server, a management and control system and a display module; the server is used for adjusting the working state of the harvester through the management and control system according to the received working condition information parameters and the working state; the display module is used for displaying the working condition information parameters and the working state; the display module is also used for human-computer interaction.
The control system may be a world wide web (web) harvester control system.
The server is used for receiving, analyzing and processing the operating state and the working condition information parameters transmitted by the intelligent recognition device 2, adjusting the working state of the harvester through the management and control system according to the received working condition information parameters and the operating state, displaying the operating state and the working condition information parameters on a webpage interface of the management and control system in real time, and finally displaying the webpage interface of the management and control system on the display module.
The display module can be a computer display, a large spliced screen and other display equipment and is used for displaying and man-machine interaction.
In fig. 3, the remote monitoring device 3 may include a server and a display module, which may include a tiled processor and a display screen.
According to the harvester provided by the invention, the information such as the operation state, the operation speed and the position of the harvester can be dynamically monitored through the remote monitoring device.
It should be noted that, when the harvester provided in the embodiment of the present invention is specifically executed, the harvester operation state identification method according to any of the above embodiments may be implemented, and details of this embodiment are not described herein.
Fig. 4 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 4, the electronic device may include: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. Processor 410 may invoke logic instructions in memory 430 to perform a method of harvester operation status identification, the method comprising: if the running speed of the harvester is determined to be greater than 0, the height of a header of the harvester is adjusted; and if the header height is smaller than the height threshold value, determining the operation state of the harvester according to the rotating speed information of the harvester.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for identifying the operating state of a harvesting machine provided by the above methods, the method comprising: if the running speed of the harvester is determined to be greater than 0, the height of a header of the harvester is adjusted; and if the header height is smaller than the height threshold value, determining the operation state of the harvester according to the rotating speed information of the harvester.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the method for identifying the operating state of a harvester provided in the above embodiments, the method comprising: if the running speed of the harvester is determined to be greater than 0, the height of a header of the harvester is adjusted; and if the header height is smaller than the height threshold value, determining the operation state of the harvester according to the rotating speed information of the harvester.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A harvester operation state identification method is characterized by comprising the following steps:
if the running speed of the harvester is determined to be greater than 0, the height of a header of the harvester is adjusted;
and if the header height is smaller than the height threshold value, determining the operation state of the harvester according to the rotating speed information of the harvester.
2. The harvester operating state identification method of claim 1, wherein the rotation speed information includes three types of rotation speed information: auger rotating speed information, gap bridge rotating speed information and threshing cylinder rotating speed information;
the determining the operating state of the harvester according to the rotation speed information of the harvester comprises the following steps:
determining the rotating speed deviation and the angular acceleration corresponding to each type of rotating speed information;
if the rotating speed deviations of all types are larger than the deviation threshold value and all the angular accelerations are larger than 0, determining that the operation state is in operation;
and if any type of rotation speed deviation is not larger than the deviation threshold value or any angular acceleration is not larger than 0, determining that the operation state is not operated.
3. The method of identifying an operating condition of a harvesting machine of claim 2, wherein determining a speed deviation and an angular acceleration for each type of speed information comprises:
for each type of the rotating speed information, determining a moving average rotating speed according to the rotating speed information acquired in a plurality of sampling periods;
acquiring the rotation speed deviation according to the no-load rotation speed and the sliding average rotation speed;
and determining the angular acceleration according to the rotating speed information and the sampling period.
4. The harvester operating state identification method of claim 1, further comprising, after the retrieving a header height of the harvester:
and if the height of the header is not less than the height threshold value, determining that the operation state is not operation.
5. The harvester operating state identification method of claim 1, further comprising, prior to the invoking a header height of the harvester:
and if the running speed is not greater than 0, determining that the operation state is not operated.
6. A harvester is characterized by comprising a harvester body, wherein an intelligent recognition device is arranged in the harvester body; further comprising a memory and a program or instructions stored on said memory and executable on said smart identification device, said program or instructions when executed by said smart identification device performing the steps of the harvester operating condition identification method according to any one of claims 1 to 5.
7. The harvester of claim 6, wherein the intelligent recognition device is configured to perform fusion processing on the operating condition information parameters to obtain the operating state of the harvester;
the harvester still includes: the working condition information detection device is used for acquiring working condition information parameters of the harvester; the working condition information parameters comprise header height, rotating speed information, running speed and position information.
8. The harvester of claim 7, wherein the operating condition information detecting means comprises: the device comprises a sensing detection module and a data acquisition unit;
the sensing detection module is used for detecting working condition information parameters;
the data acquisition unit is used for acquiring the working condition information parameters;
the sensing detection module comprises a satellite positioning receiver, an auger rotating speed sensor and a threshing cylinder rotating speed sensor;
the rotational speed information includes: auger rotating speed information, gap bridge rotating speed information and threshing cylinder rotating speed information;
a satellite positioning receiver for detecting the position information and the traveling speed;
the auger rotating speed sensor is used for detecting the auger rotating speed information;
the gap bridge rotating speed sensor is used for detecting the gap bridge rotating speed information;
and the threshing cylinder rotating speed sensor is used for detecting the threshing cylinder rotating speed information.
9. A harvester according to claim 7, in which the smart identification device includes a remote transmission module;
the harvester is also used for sending the working condition information parameters and the working state to a remote monitoring device through the remote transmission module.
10. A harvester according to claim 9, in which the remote monitoring apparatus comprises: the system comprises a server, a management and control system and a display module;
the server is used for adjusting the working state of the harvester through the management and control system according to the received working condition information parameters and the working state;
the display module is used for displaying the working condition information parameters and the working state;
the display module is also used for human-computer interaction.
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