CN114631426A - Intelligent controller of combine harvester - Google Patents

Abstract

The invention relates to an intelligent controller of a combine harvester, which comprises a control panel, an automatic header height adjusting unit and an automatic harvester obstacle avoiding unit, wherein the automatic header height adjusting unit and the automatic harvester obstacle avoiding unit are connected with the control panel, the automatic header height adjusting unit is used for automatically adjusting the height of a header, the automatic harvester obstacle avoiding unit is used for monitoring obstacles ahead in real time, the automatic header height adjusting unit comprises a header height detecting mechanism and a header height adjusting mechanism, the header height detecting mechanism is used for detecting the real-time height of the header, the header height adjusting mechanism is used for adjusting the height of the header, the automatic harvester obstacle avoiding unit comprises an obstacle detecting mechanism and a braking mechanism, the obstacle detecting mechanism is used for monitoring obstacles ahead of the harvester in real time, and the braking mechanism is used for controlling the emergency braking of the harvester. The intelligent controller of the combine harvester is reasonable in structure and high in intelligence, and can meet the requirements of special working environments of the combine harvester.

Description

Intelligent controller of combine harvester

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to an intelligent controller of a combine harvester.

Background

With the improvement of the degree of agricultural modernization, grain harvesting is widely used in combine harvesters, which can complete the procedures of crop harvesting, threshing, stalk separation, impurity removal and the like at one time, and directly obtain grains from the field.

In actual work, because natural environment's difference, some regions are wide smooth big field, some regional fields are comparatively dispersed, perhaps field unevenness, when combine actual operation, the change that highly adapts to the topography of the header that needs operating personnel constantly to adjust combine is guaranteed to reap evenly not to omit, it is even to guarantee to stay the stubble, operating personnel still need constantly observe whether the place ahead has the obstacle simultaneously, in time take the brake, measure such as dodge, reap the higher plant of plants such as maize, perhaps when the operation at night, the field of vision will receive the influence, lead to operating personnel to be difficult for distinguishing the place ahead situation easily, lead to the harvester to collide, the situation such as touching the end, the influence reaps the progress, lead to economic loss.

Disclosure of Invention

The invention aims to provide an intelligent controller of a combine harvester, which is used for solving the problems of the existing combine harvester.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent controller of a combine harvester comprises a control panel, a header height automatic adjusting unit and a harvester automatic obstacle avoidance unit, wherein the header height automatic adjusting unit and the harvester automatic obstacle avoidance unit are connected with the control panel; the automatic header height adjusting unit is used for automatically adjusting the header height, and the automatic harvester obstacle avoiding unit is used for monitoring obstacles ahead in real time; the header height automatic adjusting unit comprises a header height detecting mechanism and a header height adjusting mechanism, the header height detecting mechanism is used for detecting the real-time height of the header, and the header height adjusting mechanism is used for adjusting the height of the header; the automatic obstacle avoidance unit of the harvester comprises an obstacle detection mechanism and a braking mechanism, wherein the obstacle detection mechanism is used for monitoring obstacles in front of the harvester in real time, and the braking mechanism is used for controlling the harvester to brake emergently.

Preferably, the header height detection mechanism comprises a sleeve, a detection rod and a displacement sensor, the sleeve is vertically arranged on the header, the detection rod is sleeved in the sleeve, a universal wheel is arranged at the lower end of the detection rod, the displacement sensor is arranged above the detection rod and used for detecting the height of the detection rod, the displacement sensor is connected with the control panel, a rotation stopping groove is formed in the inner wall of the sleeve along the length direction of the sleeve, the rotation stopping groove penetrates through the inner wall of the sleeve, a rotation stopping groove is formed in the outer wall of the detection rod along the length direction of the outer wall of the detection rod, the rotation stopping groove is matched with the rotation stopping raised line to limit the rotation of the detection rod, a limit pin is arranged at the upper part of the detection rod and used for avoiding separation from the lower end of the sleeve; the header height adjusting mechanism comprises a hydraulic push rod, and the hydraulic push rod is used for driving the header to lift.

Further preferably, the header height detection mechanism further comprises a displacement sensor cleaning mechanism, the displacement sensor cleaning mechanism comprises an air blowing pipe and an air faucet, the air blowing pipe is connected with the air faucet, the air faucet is arranged below the displacement sensor, and the air faucet is obliquely arranged upwards and used for blowing air to the displacement sensor to clean dust attached to the displacement sensor.

Further preferably, barrier detection mechanism includes mount pad, telescopic link and contact sensor, the mount pad is established on the header, the telescopic link is installed on the mount pad, the direction of advance of installation of telescopic link and harvester keeps unanimous, the telescopic link includes dead lever and flexible measuring pole, flexible measuring pole cover is established on the dead lever, contact sensor establishes on the dead lever, contact sensor with control panel connects, control panel is used for receiving contact sensor's signal and control arrestment mechanism action.

Further preferably, the mount pad includes mounting panel and support frame, the mounting panel is established in the header upper end, the bracing piece erects on the mounting panel, the support frame includes montant, horizontal pole and installation pole, wherein, the montant is established on the mounting panel, the one end of horizontal pole with the montant is connected, the vertical setting of installation pole is in the one end of horizontal pole, the telescopic link is established along harvester advancing direction the lower extreme of installation pole, the height of telescopic link and the highly keeping unanimous of header bottom.

Further preferably, the telescopic detection rod comprises a first telescopic detection rod and a second telescopic detection rod, the first telescopic detection rod is sleeved in the second telescopic detection rod, the second telescopic detection rod is sleeved in the fixed rod, and the length of the first telescopic detection rod is smaller than that of the second telescopic rod.

Further preferably, the mounting panel includes mounting panel body and slider, the slider is established mounting panel body one end, the mounting panel body rotates to set up on the header, is equipped with the arc wall on the header, the slider slides the assembly and is in the arc wall, be equipped with locking mechanism on the slider, be used for right the position of slider carries out the locking.

Further preferably, still include header width adjustment unit, the header includes main header and vice header, vice header has two, establishes respectively the both sides of main header, main header with vice header is articulated, header width adjustment unit includes the upset pneumatic cylinder, the upset pneumatic cylinder has two, establishes on the main header for the drive corresponds respectively vice header upset.

Preferably, the main header comprises a main support frame and a main reel, the main reel is rotatably arranged in the main support frame, a rotating shaft of the main reel protrudes out of two sides of the main support frame, a groove for accommodating a transmission belt is formed in one side surface of the main support frame, one end of the transmission belt is connected to the driving mechanism, a transmission wheel is arranged on the rotating shaft of the main reel, the transmission belt is arranged on the transmission wheel, and the transmission belt transmits the power of the driving mechanism to the rotating shaft of the main reel so as to drive the main reel to rotate.

It is further preferred, the pivot both ends of main reel all are equipped with the gear, the gear with the pivot fixed connection of main reel, vice header includes auxiliary stay frame and vice reel, vice reel rotates and sets up on the auxiliary stay frame the side of auxiliary stay frame is equipped with the transmission piece, the transmission piece is fixed in the pivot of vice reel, be equipped with on the transmission piece be used for with the driven tooth's socket of gear engagement.

The invention has the beneficial effects that:

according to the intelligent controller of the combine harvester, the header height automatic adjusting unit comprises the header height detecting mechanism and the header height adjusting mechanism, the header height detecting mechanism is used for detecting the real-time height of the header, and the header height adjusting mechanism is used for adjusting the height of the header, so that manual visual observation is replaced, the harvesting quality is ensured, the labor intensity of operators is obviously reduced, and the harvesting efficiency is improved. The automatic obstacle avoidance unit of the harvester comprises an obstacle detection mechanism and a braking mechanism, the obstacle detection mechanism is used for monitoring obstacles in front of the harvester in real time, and the braking mechanism is used for controlling the harvester to brake emergently, so that the condition that the operator cannot find an obstacle in time due to the fact that the sight of the operator is blocked during night operation or the harvesting of crops with higher plants is effectively avoided, the safety of harvesting operation is obviously improved, the intelligent controller of the combine harvester can be used for improving the existing machine type, and the intellectualization of the harvester is realized.

Furthermore, the height detection mechanism is different from a commonly used header height detection mechanism at present, only the displacement sensor is arranged at the bottom of the header to detect the height of the header, plant blades, weeds and the like can influence the measurement precision during operation, and the height detection mechanism is also different from a commonly used vision detection device at present, only the front condition is detected through the camera, and the front condition cannot be prepared for judgment due to the fact that the field view is not wide during harvesting, dust, plants and the like can interfere with the camera.

Drawings

FIG. 1 is a functional block diagram of an intelligent controller for a combine harvester according to the present invention;

fig. 2 is a schematic view of a combine harvester;

fig. 3 is a schematic structural view of a header in the combine harvester;

FIG. 4 is a schematic structural view of the obstacle detecting mechanism of FIG. 3 in a retracted state;

fig. 5 is a schematic structural diagram of a turning state of the secondary header;

fig. 6 is a schematic structural diagram of a header height detection mechanism according to the present invention;

FIG. 7 is a schematic view of the structure of the detection rod of FIG. 6;

fig. 8 is a schematic structural view of the primary header;

FIG. 9 is a schematic view of the structure at C in FIG. 8;

fig. 10 is a schematic structural view of an obstacle detecting mechanism in the present invention;

FIG. 11 is a schematic view showing the contracted state of the first and second telescopic detecting levers of FIG. 10;

fig. 12 is a schematic structural view of a secondary header in a flipped state;

FIG. 13 is a schematic view of the structure at A in FIG. 12;

FIG. 14 is a schematic view of the structure of FIG. 12 from another angle;

fig. 15 is a schematic view of the structure at B in fig. 14.

Names of respective marks in the figure:

1. the cutting table comprises a cutting table 11, a main cutting table 111, an arc-shaped groove 112, a main support frame 113, a main reel wheel 114, a hinge shaft 115, a turning hydraulic cylinder 116, a transmission groove 117, a transmission wheel 118, a gear 12, an auxiliary cutting table 121, an auxiliary support frame 122, an auxiliary reel wheel 123, a transmission block 124, a tooth groove 2, a driving mechanism 31, a sleeve 311, a rotation stopping groove 32, a detection rod 321, a rotation stopping convex strip 33, a displacement sensor 34, a universal wheel 36, a blow pipe 37, an air nozzle 38, a hydraulic push rod 41, a mounting seat 411, a mounting plate 4111, a mounting plate body 4112, a sliding block 412, a support, 4121, a vertical rod 4122, a cross rod 4123, a mounting rod 42, a telescopic rod 421, a fixed rod 422, a telescopic detection rod 4221, a first telescopic detection rod 4222, a second telescopic rod 43 and a contact sensor.

Detailed Description

The technical solution 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.

Example 1:

the intelligent controller of the combine harvester in the embodiment of the invention realizes automatic dynamic adjustment of the height of the header through the automatic header height adjusting unit and the automatic obstacle avoidance unit of the combine harvester, so that the combine harvester is suitable for harvesting requirements of different operation positions, and meanwhile, the automatic obstacle avoidance unit is used for identifying a front obstacle area, thereby ensuring the operation safety.

Specifically, as shown in fig. 1-5, the intelligent controller of the combine harvester includes a control panel, an automatic header height adjusting unit and an automatic harvester obstacle avoiding unit, both the automatic header height adjusting unit and the automatic harvester obstacle avoiding unit are connected to the control panel, the automatic header height adjusting unit is used for automatically adjusting the header height, and the automatic harvester obstacle avoiding unit is used for monitoring the obstacle ahead, so that the standard performance and the safety performance of the operation of the two harvesters are realized.

As shown in fig. 2, the harvester includes a header 1 and a driving mechanism 2, the header 1 is arranged in front of the driving mechanism 2, and the driving mechanism 2 is used for driving the header 1 to walk for harvesting.

The header height adjustment unit includes header height detection mechanism and header height adjustment mechanism, and header height detection mechanism is used for the height of real-time supervision header, and header height adjustment mechanism is used for adjusting the position of header in real time according to header height detection mechanism's testing result for the height of header remains throughout in the within range of predetermineeing, makes to reap evenly, improves and reaps the quality.

As shown in fig. 6-7, the header height detection mechanism includes a sleeve 31, a detection rod 32 and a displacement sensor 33, the sleeve 31 is disposed on the header 1, the detection rod 32 is sleeved in the sleeve 31, a universal wheel 34 is installed at a lower end of the detection rod 32, the universal wheel 34 is always in contact with the ground in actual use, the universal wheel rotates along with movement of the harvester, the displacement sensor 33 is disposed above the detection rod 32 and used for detecting the height of the detection rod 32, the displacement sensor 33 is connected with a control panel and used for transmitting detected height information to the control panel, the control panel judges whether the header height exceeds a preset range according to the height information, if the header height exceeds the preset range, a control signal is sent out to control the header height adjustment mechanism to act, and the header height is adjusted.

During the in-service use, according to the actual conditions in the operation field of reaping, the height of harvester operator manual adjustment header earlier, make the harvester control when reaping and stay the stubble in reasonable within range, be convenient for follow-up farming, displacement sensor 33 detects once this moment, judge the distance at current displacement sensor 33 and measuring staff 32 top, then begin to reap the operation, it is recessed when the ground appears, measuring staff 32 top and displacement sensor 33's distance grow this moment, displacement sensor 33 detects when the distance grow, with the distance signal transmission to control panel this moment, control panel control header height adjustment mechanism moves, make header height descend, guarantee to reap the highly keep unanimous of crop. The ground appears protrudingly, and the distance of measuring stick 32 top and displacement sensor 33 diminishes this moment, and displacement sensor 33 detects when the distance grow, with distance signal transmission this moment to control panel, control panel control header height adjustment mechanism action, makes the header rise, guarantees to reap the highly keeping unanimous of crop to realized reaping the uniformity of height, need not operator's naked eye observation, alleviateed operator's intensity of labour.

It should be noted that, in this embodiment, only when the roughness on ground exceeds the predetermined range, the height of the header can be adjusted, rather than as long as the unevenness on ground appears the error, the height of the header can be adjusted, thereby avoiding frequently adjusting the height of the header and reducing the service life of the automatic height adjusting unit of the header and reducing the harvesting efficiency, in this embodiment, after the distance between the top of the detection rod 32 and the displacement sensor 33 exceeds a certain range, the height of the header 1 is adjusted once, the range can be predetermined on the control panel, so as to adapt to the harvesting requirements of different areas of different crops.

As shown in fig. 8 and 9, in this embodiment, the displacement sensor 33 is an ultrasonic level meter, and since dust is large when harvesting is performed, in order to avoid the dust from affecting the detection accuracy of the displacement sensor 33, the header height detection mechanism further includes a displacement sensor cleaning mechanism, the displacement sensor cleaning mechanism includes a blowing pipe 36 and an air nozzle 37, the blowing pipe 36 is connected with the air nozzle 37, the air nozzle 37 is disposed below the displacement sensor 33, and the air nozzle 37 is disposed obliquely upward and used for blowing air to the displacement sensor 33 to clean the dust attached to the displacement sensor 33, thereby ensuring the detection accuracy.

As shown in fig. 7, in order to avoid the detection rod 32 from rotating in the sleeve 31 to affect the use, in this embodiment, a rotation stopping groove 311 is disposed on the inner wall of the sleeve 31 along the length direction thereof, the rotation stopping groove 311 is disposed through the inner wall of the sleeve 31, a rotation stopping protrusion 321 is disposed on the outer wall of the detection rod 32 along the length direction thereof, the rotation stopping groove 311 cooperates with the rotation stopping protrusion 321 to limit the rotation of the detection rod 32, and a limit pin is disposed on the upper portion of the detection rod 32 and is used for avoiding the separation from the lower end of the sleeve 31.

As shown in fig. 2, the header height adjusting mechanism includes a hydraulic push rod 38, the hydraulic push rod 38 is arranged on the driving mechanism 2 and connected to the header, the header upper end is hinged to the driving mechanism 2, the lower end is connected to the driving mechanism 2 through the hydraulic push rod 38, and the header can be overturned by a certain angle by the extension and retraction of the hydraulic push rod 38, so as to adjust the header height.

Through the arrangement, the automatic adjustment of the header height can be realized.

As shown in fig. 3-5, the automatic obstacle avoidance unit of the harvester includes an obstacle detection mechanism and a braking mechanism, the obstacle detection mechanism is used for monitoring obstacles in front of the harvester in real time, and the braking mechanism is used for controlling emergency braking of the harvester.

Specifically, as shown in fig. 10 and 11, the obstacle detection mechanism includes a mounting seat 41, an expansion link 42 and a contact sensor 43, the mounting seat 41 is disposed on the header 1, the expansion link 42 is mounted on the mounting seat 41, the mounting direction of the expansion link 42 is consistent with the advancing direction of the harvester, the expansion link 42 includes a fixing rod 421 and an expansion detection rod 422, the expansion detection rod 422 is sleeved in the fixing rod 421, the contact sensor 43 is disposed on the fixing rod 421, the contact sensor 43 is connected with a control panel, and the control panel is configured to receive a signal of the contact sensor 43 and control the brake mechanism to operate.

In this embodiment, the mounting base 41 includes a mounting plate 411 and a bracket 412, the mounting plate 411 is arranged at the upper end of the header 1, the bracket 412 is arranged on the mounting plate 411, the bracket 412 includes a vertical rod 4121, a cross rod 4122 and a mounting rod 4123, wherein the vertical rod 4121 is arranged on the mounting plate 411, one end of the cross rod 4122 is connected with the vertical rod 4121, the mounting rod 4123 is vertically arranged at one end of the cross rod 4122, and the telescopic rod 42 is arranged at the lower end of the mounting rod 4123 along the advancing direction of the harvester.

As shown in fig. 10, the telescopic detection rod 422 includes a first telescopic detection rod 4221 and a second telescopic detection rod 4222, the first telescopic detection rod 4221 is sleeved in the second telescopic detection rod 4222, the second telescopic detection rod 4222 is sleeved in the fixed rod 421, the first telescopic detection rod 4221 is shorter, the second telescopic detection rod 4222 is longer, the length of the first telescopic detection rod 4221 is shorter than that of the second telescopic detection rod 4222, since the corn stalks are thicker and the telescopic rod 42 is abutted on the corn stalks when the harvester is in actual operation, the harvester is likely to cause the telescopic rod 42 to contract, which easily causes the obstacle detection mechanism to generate erroneous judgment, causes unnecessary braking and stopping conditions, affects harvesting efficiency, and by providing the first telescopic detection rod 4221 and the second telescopic detection rod 4222, when the first telescopic detection rod 4221 contracts, it is not determined that an obstacle appears in front of the harvester, only when the second telescopic detection rod 4222 is contracted, the contact switch 43 receives a signal and transmits the signal to the control panel, the control panel controls the brake mechanism to act, so that the driving mechanism 2 is braked and stopped emergently, then an operator gets off the vehicle to detect the condition, the harvester can be prevented from colliding with the obstacle, and the brake mechanism can adopt a brake system of the original vehicle to realize emergency braking.

In this embodiment, when the harvester does not reap the operation and shifts, because telescopic link 42 establishes in header 1 the place ahead, comparatively inconvenient when going, in this embodiment, can accomodate support 412 for the support frame drives telescopic link 42 rotatory, makes telescopic link 42 rotatory to actuating mechanism 2 both sides, ensures to go safety.

As shown in fig. 6 and 11, the mounting plate 411 includes a mounting plate body 4111 and a slider 4112, be equipped with the arc wall 111 on header 1, slider 4112 slides and assembles in arc wall 111, mounting plate body 4111 rotates and sets up on header 1, slider 4112 is established in mounting plate body 4111 one side, when reaping the operation, slider 4112 is located the one end of arc wall 111, be equipped with locking mechanism on slider 4112, can lock slider 4112, make the support frame fixed, can begin to reap the operation, after accomplishing the operation of reaping, loosen locking mechanism, rotate mounting plate body 4111, make slider 4112 slide to the arc wall 111 side other end, the support frame rotates, telescopic link 42 is located actuating mechanism 2 both sides, then lock slider 4112 through locking mechanism, make support 412 fixed.

In this embodiment, the locking mechanism includes a nut and a stud, the stud is disposed at the lower end of the slider 4112, the lower end of the protruding arc-shaped groove 111 is disposed, the nut is screwed to the lower end of the stud, and the nut is clamped to the arc-shaped groove 111 by rotating the nut, so that the support frame can be fixed.

As shown in fig. 3 and 5, the intelligent controller of the combine harvester further includes a header width adjusting unit, in this embodiment, the header 1 includes a main header 11 and an auxiliary header 12, wherein there are two auxiliary headers 12 respectively disposed at two sides of the main header 11, and the header width adjusting unit can adjust the width of the header in time according to different terrains and field sizes, so that the combine harvester can adapt to different operating conditions.

The main header 11 comprises a main supporting frame 112 and a main reel 113, the main reel 113 is rotatably arranged in the main supporting frame 112, hinge shafts 114 are arranged on two sides of the main supporting frame 112 and used for hinging the auxiliary header 12, the auxiliary header 12 comprises an auxiliary supporting frame 121 and an auxiliary reel 122, the auxiliary reel 122 is rotatably arranged on the auxiliary supporting frame 121, the two auxiliary supporting frames 121 are hinged on two sides of the main supporting frame 112, two hydraulic cylinders are arranged at the upper end of the main supporting frame 112 and marked as a turning hydraulic cylinder 115, one end of the turning hydraulic cylinder 115 is arranged at the upper end of the main supporting frame 112, the other end of the turning hydraulic cylinder is arranged at the upper end of the auxiliary supporting frame 121, the turning hydraulic cylinder 115 is connected with a control panel, and the control panel can control the turning hydraulic cylinder 115 to extend and retract, so that the two auxiliary headers 12 are turned upwards or an independent auxiliary header 12 is turned, and the auxiliary headers 12 can be conveniently stored or adapted to different operating conditions.

In this embodiment, as shown in fig. 12 and 13, the rotating shaft of the main reel 113 protrudes from two sides of the main support frame 112, a transmission groove 116 is disposed on one side surface of the main support frame 112, the transmission groove 116 is used for accommodating a transmission belt (not shown in the figures), one end of the transmission belt is disposed on the driving mechanism 2, a transmission wheel 117 is disposed on the rotating shaft of the main reel 113, the transmission belt is mounted on the transmission wheel 117, the transmission belt transmits the power of the driving mechanism 2 to the rotating shaft of the main reel 113 to drive the main reel 113 to rotate, in this embodiment, the transmission belt may be a belt, and the transmission wheel 117 is a pulley. By arranging the transmission groove 116, interference on the transmission belt when the main header 11 and the auxiliary header 12 are combined is avoided.

In this embodiment, as shown in fig. 14 and 15, gears 118 are disposed at both ends of a rotating shaft of the main reel 113, the gears 118 are fixedly connected to the rotating shaft of the main reel 113, the rotation of the rotating shaft of the main reel 113 can drive the gears 118 to rotate, a transmission block 123 is disposed at a side surface of the secondary support frame 121, and the transmission block 123 is fixed to the rotating shaft of the secondary reel 122 and rotates with the secondary reel 122.

The working principle is as follows:

when the harvester is in actual use, the harvester enters a field to harvest, an operator adjusts the height of the header 1 in advance according to the condition of crops to enable the stubble of the crops to be in a reasonable range, the operator operates on the control panel after adjusting the height of the header 1 to set the height change range of the header 1 and then performs harvesting operation, in the harvesting process, because the lower end of the detection rod 32 is provided with the universal wheel 34, the detection rod 32 can move along with the header 1, meanwhile, the detection rod 32 is sleeved in the sleeve 31, the distance between the detection rod 32 and the displacement sensor 33 changes along with the fluctuation of the terrain, when the distance between the displacement sensor 33 and the detection rod 32 exceeds the preset range, the control panel controls the hydraulic push rod 38 to act to adjust the height of the header 1, so that the height of the header is kept in the preset height range, the harvesting uniformity is ensured, and the operator does not need to manually control the height of the header, the labor intensity of operators is obviously reduced under the condition of ensuring the stubble to be uniform. In-process advances at the harvester, telescopic link 42 detects the barrier in the place ahead along with the advancing of reaping, when detecting the barrier, flexible test bar 421 and the barrier butt in the telescopic link 42, produce the shrink thereupon, contact sensor 43 detects the shrink back of telescopic link 42, with signal transmission to control panel, control panel control brake mechanism action, make harvester emergency stop, operating personnel get off the vehicle the inspection can, effectively avoided reaping the security of operation under the obstructed condition of operator's sight, avoid the emergence accident to cause casualties and loss of property. When meetting the landmass of variation in size, the accessible is to the amalgamation and the upset of two vice headers 12, adapts to the demand of reaping of big or small landmass, overturns vice header 12 when shifting simultaneously, can improve the trafficability characteristic of harvester.

The intelligent controller of the combine harvester is reasonable in structure and high in intelligence, can meet the requirements of special working environments of the combine harvester, is different from a currently common header height detection mechanism, only the displacement sensor is arranged at the bottom of the header to detect the height of the header, plant blades, weeds and the like can influence the measurement precision during operation, is also different from a currently common visual detection device, and only the front condition is detected through the camera.

Claims (10)

1. The utility model provides a combine intelligent control ware which characterized in that: the automatic header height adjusting unit and the automatic harvester obstacle avoiding unit are connected with the control panel; the automatic header height adjusting unit is used for automatically adjusting the header height, and the automatic harvester obstacle avoiding unit is used for monitoring obstacles ahead in real time; the header height automatic adjusting unit comprises a header height detecting mechanism and a header height adjusting mechanism, the header height detecting mechanism is used for detecting the real-time height of the header, and the header height adjusting mechanism is used for adjusting the height of the header; the automatic obstacle avoidance unit of the harvester comprises an obstacle detection mechanism and a braking mechanism, wherein the obstacle detection mechanism is used for monitoring obstacles in front of the harvester in real time, and the braking mechanism is used for controlling the harvester to brake emergently.

2. The combine harvester intelligent controller of claim 1, characterized in that: the header height detection mechanism comprises a sleeve, a detection rod and a displacement sensor, the sleeve is vertically arranged on the header, the detection rod is sleeved in the sleeve, universal wheels are arranged at the lower end of the detection rod, the displacement sensor is arranged above the detection rod and used for detecting the height of the detection rod, the displacement sensor is connected with the control panel, a rotation stopping groove is formed in the inner wall of the sleeve along the length direction of the sleeve, the rotation stopping groove penetrates through the inner wall of the sleeve, a rotation stopping convex strip is arranged on the outer wall of the detection rod along the length direction of the outer wall of the detection rod, the rotation stopping groove is matched with the rotation stopping convex strip to limit the rotation of the detection rod, a limit pin is arranged at the upper part of the detection rod and used for avoiding separation from the lower end of the sleeve; the header height adjusting mechanism comprises a hydraulic push rod, and the hydraulic push rod is used for driving the header to lift.

3. The combine harvester intelligent controller of claim 2, characterized in that: header height detection mechanism still includes displacement sensor clearance mechanism, displacement sensor clearance mechanism includes gas blow pipe and air cock, the gas blow pipe with the air cock is connected, the air cock is established the displacement sensor below, the air cock slope upwards sets up, be used for to displacement sensor blows the clearance and is attached to dust on the displacement sensor.

4. The combine harvester intelligent controller of claim 1, characterized in that: obstacle detection mechanism includes mount pad, telescopic link and contact sensor, the mount pad is established on the header, the telescopic link is installed on the mount pad, the direction of advance of installation direction and the harvester of telescopic link keeps unanimous, the telescopic link includes dead lever and flexible measuring pole, flexible measuring pole cover is established on the dead lever, contact sensor establishes on the dead lever, contact sensor with control panel connects, control panel is used for receiving contact sensor's signal and control arrestment mechanism action.

5. The combine harvester intelligent controller of claim 4, characterized in that: the mount pad includes mounting panel and support, the mounting panel is established in the header upper end, prop up and establish on the mounting panel, the support includes montant, horizontal pole and installation pole, wherein, the montant is established on the mounting panel, the one end of horizontal pole with the montant is connected, the vertical setting of installation pole is in the one end of horizontal pole, the telescopic link is established along the harvester direction of advance the lower extreme of installation pole, the height of telescopic link and the highly keep unanimous of header bottom.

6. The combine intelligent controller of claim 5, wherein: the telescopic detection rod comprises a first telescopic detection rod and a second telescopic detection rod, the first telescopic detection rod is sleeved in the second telescopic detection rod, the second telescopic detection rod is sleeved in the fixed rod, and the length of the first telescopic detection rod is smaller than that of the second telescopic rod.

7. The combine intelligent controller of claim 6, wherein: the mounting panel includes mounting panel body and slider, the slider is established mounting panel body one end, the mounting panel body rotates to set up on the header, is equipped with the arc wall on the header, the slider slides the assembly and is in the arc wall, be equipped with locking mechanism on the slider, be used for right the position of slider carries out the locking.

8. The combine harvester intelligent controller of claim 1, characterized in that: still include header width adjustment unit, the header includes main header and vice header, vice header has two, establishes respectively the both sides of main header, main header with vice header is articulated, header width adjustment unit includes the upset pneumatic cylinder, the upset pneumatic cylinder has two, establishes on the main header, be used for the drive respectively correspond vice header upset.

9. The combine harvester intelligent controller of claim 8, characterized in that: the main header comprises a main support frame and a main reel, the main reel is rotatably arranged in the main support frame, a rotating shaft of the main reel protrudes out of two sides of the main support frame, a groove for accommodating a transmission belt is formed in one side surface of the main support frame, one end of the transmission belt is connected to the driving mechanism, a transmission wheel is arranged on the rotating shaft of the main reel, the transmission belt is arranged on the transmission wheel, and the transmission belt transmits the power of the driving mechanism to the rotating shaft of the main reel so as to drive the main reel to rotate.

10. The combine intelligent controller of claim 9, wherein: the utility model discloses a straw cutting machine, including main reel, auxiliary header, auxiliary support frame, auxiliary reel, transmission block, gear, auxiliary reel, auxiliary.

Images