CN117769968A - Automatic alignment device and method for corn combine harvester - Google Patents
Automatic alignment device and method for corn combine harvester Download PDFInfo
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Abstract
The invention discloses an automatic alignment device and method of a corn combine harvester, which relate to the field of agricultural machinery automation, wherein the device comprises: a long detection rod, a short detection rod, a right angle sensor, a left angle sensor and an opposite controller; the long detection rod, the short detection rod, the right angle sensor, the left angle sensor and the alignment controller form a modularized device, a modularized design is adopted, corn plants are precisely positioned according to the rotation angles of the long detection rod and the short detection rod, the expected rotation angle of the steering wheel is calculated, the steering instruction of the steering wheel is determined according to the sign and the numerical value of the expected rotation angle of the steering wheel, and the steering execution mechanism controls the steering wheel to rotate according to the received steering instruction to automatically align. The invention can reduce the installation requirement and improve the alignment detection precision at the same time so as to ensure the alignment operation quality of the corn combine harvester and further improve the automation level of agricultural machinery equipment.
Description
Technical Field
The invention relates to the technical field of agricultural machinery automation, in particular to an automatic row alignment device and method of a corn combine harvester.
Background
With the development of precise agriculture and intelligent agriculture, the level of agricultural mechanization is continuously improved. Combine harvesters have been used in recent years as one of the important aspects of agricultural mechanization in the harvesting of corn. Accurate alignment is one of the key technologies in the corn harvesting process, affecting the harvesting operation quality. When the manual driving combine harvester works, the relative positions of the header and the corn plants need to be observed at any time, so that the labor intensity of a driver is increased.
The automatic alignment device of the corn combine obtains the heading deflection angle and the transverse deviation of the corn combine by detecting the corn row position, and adjusts the driving direction of the corn combine according to the heading deflection angle and the transverse deviation so as to realize the automatic alignment function. The corn line position detection method is mainly divided into a non-contact detection method and a contact detection method. Non-contact detection is performed by a camera or a radar, but the application of the method is limited by a working environment, the adaptability is poor, and the cost is high. The contact type detection is carried out through a device provided with a mechanical sensor, but the existing device is single in installation mode and high in installation accuracy requirement. In practical application, the automatic alignment method of the existing corn combine harvester still has the problems that alignment detection precision and the like cannot be guaranteed. Therefore, how to achieve the improvement of the row detection precision while reducing the installation requirement so as to ensure the row operation quality of the corn combine harvester and further improve the automation level of agricultural machinery equipment becomes a problem to be solved urgently by the technicians in the field.
Disclosure of Invention
The invention aims to provide an automatic alignment device and method for a corn combine harvester, which can reduce the installation requirement and improve alignment detection precision at the same time so as to ensure alignment operation quality of the corn combine harvester and further improve automation level of agricultural machinery equipment.
In order to achieve the above object, the present invention provides the following solutions:
an automatic alignment device of a corn combine harvester, which is arranged at the top of a divider of a header and comprises a long detection rod, a short detection rod, a right angle sensor, a left angle sensor and an alignment controller;
the long detection rod and the short detection rod are metal rods with rotating shafts, the tail ends of the metal rods are arc-shaped, and the length of the long detection rod is larger than that of the short detection rod; the arc-shaped tail end of the long detection rod and the arc-shaped tail end of the short detection rod are in contact with corn plants, wherein the arc-shaped tail end of the long detection rod is used for sensing corn plants at a position far away from the cutting table, and the arc-shaped tail end of the short detection rod is used for sensing corn plants at a position close to the cutting table;
the rotating shaft of the long detection rod is connected with the input shaft of the right angle sensor through a coupler, and the right angle sensor is used for detecting the rotating angle of the long detection rod; the rotating shaft of the short detection rod is connected with the input shaft of the left angle sensor through a coupler, and the left angle sensor is used for detecting the rotating angle of the short detection rod;
the opposite-row controller is respectively connected with the signal output end of the left angle sensor and the signal output end of the right angle sensor, and is used for receiving the rotation angle of the long detection rod output by the signal output end of the right angle sensor and the rotation angle of the short detection rod output by the signal output end of the left angle sensor, obtaining the expected rotation angle of a steering wheel according to the rotation angle of the long detection rod and the rotation angle of the short detection rod, determining the steering instruction of the steering wheel according to the sign and the numerical value of the expected rotation angle of the steering wheel, and sending the steering instruction to the steering executing mechanism; and the steering executing mechanism controls the steering wheel to rotate according to the received steering instruction to automatically align.
Optionally, the device has an integral installation mode and a split installation mode;
the integral installation mode is that the long detection rod and the short detection rod are vertically stacked and connected into a whole and are installed at the top of the same crop divider;
the split type mounting mode is that the long detection rod and the short detection rod are respectively and independently mounted at the tops of different crop dividers.
Optionally, the device is mounted on top of a crop divider of the header by a mounting plate; the mounting plate is used in cooperation with the bolts, and the device is mounted on the top of the crop divider of the header.
Optionally, the number of mounting plates is two.
Optionally, a bearing with a seat is fixed on each mounting plate;
the two bearings with the seats are respectively fixed on the two mounting plates through bolts and are used for fixing the long detection rod and the short detection rod.
Optionally, a sensor bracket is fixed on each mounting plate;
the two sensor brackets are respectively fixed to the two mounting plates through self-contained studs and are used for fixing the left angle sensor and the right angle sensor.
Optionally, each mounting plate is connected with a return spring;
one end of the return spring is connected to the long detection rod, and the other end of the return spring is connected to a first stud fixedly connected with the mounting plate and used for enabling the long detection rod to return to an initial position after the detection action is completed; one end of the other reset spring is connected to the short detection rod, and the other end of the other reset spring is connected to a second stud fixedly connected with the mounting plate and is used for enabling the short detection rod to return to an initial position after the detection action is completed; the first stud and the second stud are respectively and fixedly connected with different mounting plates.
The invention also provides the following scheme:
an automatic alignment method of a corn combine harvester is applied to an automatic alignment device of the corn combine harvester, and the method comprises the following steps:
step S1: acquiring the rotation angle of the short detection rod and the rotation angle of the long detection rod;
step S2: preprocessing the rotation angle of the short detection rod and the rotation angle of the long detection rod to obtain the preprocessed rotation angle of the short detection rod and the preprocessed rotation angle of the long detection rod;
step S3: calculating a heading deflection angle of the combine harvester according to the rotation angle of the short detection rod after pretreatment and the rotation angle of the long detection rod after pretreatment;
step S4: calculating a transverse deviation according to the course deflection angle;
step S5: judging whether the heading deviation angle is smaller than a heading deviation angle allowable error and whether the transverse deviation is smaller than a transverse deviation allowable error;
if the output result of step S5 is no, step S6 is executed: calculating the expected turning angle of the steering wheel according to the course deflection angle and the transverse deviation, determining the steering instruction of the steering wheel according to the sign and the numerical value of the expected turning angle of the steering wheel, sending the steering instruction to a steering executing mechanism, and returning to the step S1; the steering instruction is used for controlling the steering wheel to rotate by the steering executing mechanism to automatically align;
if the output result of step S5 is yes, step S7 is executed: judging whether the heading deflection angle is equal to 0 and whether the transverse deviation is equal to 0;
if the output result of the step S7 is yes, automatically ending the line alignment;
if the output result of step S7 is no, the process returns to step S1.
Optionally, preprocessing the rotation angle of the short detection rod and the rotation angle of the long detection rod to obtain a preprocessed rotation angle of the short detection rod and a preprocessed rotation angle of the long detection rod, which specifically includes:
filtering the rotation angle of the short detection rod and the rotation angle of the long detection rod by adopting a recursive average algorithm to obtain the rotation angle of the short detection rod after filtering and the rotation angle of the long detection rod after filtering;
and eliminating periodical variation errors of the rotation angle of the short detection rod after filtering and the rotation angle of the long detection rod after filtering by adopting a wave crest and wave trough second-order differential recognition algorithm to obtain the rotation angle of the short detection rod after preprocessing and the rotation angle of the long detection rod after preprocessing.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the automatic alignment device and method for the corn combine harvester, a modularized device is formed by the long detection rod, the short detection rod, the right angle sensor, the left angle sensor and the alignment controller, corn plants are precisely positioned according to the rotation angles of the long detection rod and the short detection rod by adopting a modularized design, an expected rotation angle of a steering wheel is calculated, a steering instruction of the steering wheel is determined according to a symbol and a numerical value of the expected rotation angle of the steering wheel, and a steering executing mechanism controls the steering wheel to rotate according to the received steering instruction to automatically align, so that the alignment detection precision is improved while the installation requirement is reduced by using the modularized device, the alignment operation quality of the corn combine harvester is guaranteed, and the automation level of agricultural machinery equipment is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an automatic alignment device of a corn combine harvester according to the present invention;
FIG. 2 is a schematic diagram illustrating an automatic alignment device according to an embodiment of the present invention;
FIG. 3 is a flow chart of an automatic alignment method of the corn combine harvester of the invention;
FIG. 4 is a diagram illustrating an analysis of a motion model of an automatic alignment device during integral installation according to an embodiment of the present invention;
FIG. 5 is a diagram showing an analysis of a motion model of an automatic alignment device during split installation according to an embodiment of the present invention;
FIG. 6 is a second analysis chart of a motion model of the split type automatic alignment device during installation according to the embodiment of the present invention;
symbol description:
1-right angle sensor, 2-long detection rod, 3-short detection rod, 4-left angle sensor, 5-bearing with seat, 6-sensor mounting bracket, 7-reset spring, 8-mounting plate, 9-corn plant, 10-divider.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an automatic alignment device and method for a corn combine harvester, which can reduce the installation requirement and improve alignment detection precision at the same time so as to ensure alignment operation quality of the corn combine harvester and further improve automation level of agricultural machinery equipment.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a structural diagram of an automatic alignment device of a corn combine harvester according to the present invention, and fig. 2 is a schematic diagram of installation of the automatic alignment device (automatic alignment device of a corn combine harvester) according to an embodiment of the present invention. As shown in fig. 1 and 2, the present invention provides an automatic alignment device for a corn combine, which is mounted on the top of a crop divider 10 of a header through mounting plates 8, the number of the mounting plates 8 is two, the mounting plates 8 are used in combination with bolts, the automatic alignment device for a corn combine is mounted on the top of the crop divider 10 of the header, and the automatic alignment device for a corn combine comprises a long detection rod 2, a short detection rod 3, a right angle sensor 1, a left angle sensor 4 and an alignment controller (not shown in the drawings).
The long detection rod 2 and the short detection rod 3 are metal rods with the tail ends of the rotating shafts in arc shapes, but the length of the long detection rod 2 is longer than that of the short detection rod 3; the arc-shaped tail end of the long detection rod 2 and the arc-shaped tail end of the short detection rod 3 are in contact with the corn plants 9, wherein the arc-shaped tail end of the long detection rod 2 is used for sensing the corn plants 9 at positions far away from the cutting table, and the arc-shaped tail end of the short detection rod 3 is used for sensing the corn plants 9 at positions close to the cutting table.
The rotating shaft of the long detection rod 2 is connected with the input shaft of the right angle sensor 1 through a coupler, and the right angle sensor 1 is used for detecting the rotating angle of the long detection rod 2; the rotation shaft of the short detection rod 3 is connected with the input shaft of the left angle sensor 4 through a coupling, and the left angle sensor 4 is used for detecting the rotation angle of the short detection rod 3.
The opposite-row controller is respectively connected with the signal output end of the left angle sensor 4 and the signal output end of the right angle sensor 1, and is used for receiving the rotation angle of the long detection rod 2 output by the signal output end of the right angle sensor 1 and the rotation angle of the short detection rod 3 output by the signal output end of the left angle sensor 4, obtaining the expected rotation angle of the steering wheel according to the rotation angle of the long detection rod 2 and the rotation angle of the short detection rod 3, determining the steering instruction of the steering wheel according to the sign and the numerical value of the expected rotation angle of the steering wheel, and sending the steering instruction to the steering executing mechanism; the steering executing mechanism controls the steering wheel to rotate according to the received steering instruction to automatically align.
Wherein, each mounting plate 8 is fixed with a bearing 5 with a seat and a sensor bracket 6; the two bearings with seats 5 are respectively fixed on the two mounting plates 8 through bolts and are used for fixing the long detection rod 2 and the short detection rod 3; the two sensor holders 6 are fixed to the two mounting plates 8 by self-contained studs, respectively, for fixing the left angle sensor 4 and the right angle sensor 1.
Each mounting plate 8 is connected with a return spring 7; one end of a return spring 7 is connected to the long detection rod 2, and the other end is connected to a first stud fixedly connected with the mounting plate 8, so that the long detection rod 2 returns to an initial position after the detection action is completed; one end of the other reset spring 7 is connected to the short detection rod 3, and the other end is connected to a second stud fixedly connected with the mounting plate 8, so that the short detection rod 3 returns to the initial position after the detection action is completed; the first stud and the second stud are fixedly connected with different mounting plates 8 respectively.
FIG. 2 shows two mounting modes of the automatic alignment device of the invention, wherein part (a) in FIG. 2 is a schematic diagram of an integral mounting mode, and part (b) in FIG. 2 is a schematic diagram of a split mounting mode, as shown in FIG. 2, the automatic alignment device of the corn combine harvester of the invention has two mounting modes, namely an integral mounting mode and a split mounting mode; the integral installation mode is that a long detection rod 2 and a short detection rod 3 are overlapped and connected into a whole up and down and are installed on the top of the same crop divider 10; the split type installation mode is that the long detection rod 2 and the short detection rod 3 are respectively and independently installed at the tops of different crop dividers 10.
The automatic alignment device of the corn combine harvester according to the invention is described in the following by a specific example:
fig. 1 is an overall structure diagram of an automatic alignment device of a combine harvester according to an embodiment of the invention, and as shown in fig. 1, the invention provides an automatic alignment device (automatic alignment device of a corn combine harvester) suitable for a corn combine harvester, which mainly comprises a long detection rod 2, a short detection rod 3, a right angle sensor 1, a left angle sensor 4, an alignment controller and accessory parts. The accessory parts (accessory parts) include two seated bearings 5, two sensor mounting brackets (sensor brackets) 6, two return springs 7, and two mounting plates 8. The long detection rod 2 is a metal rod with a rotating shaft and an arc-shaped tail end, and the arc-shaped tail end of the long detection rod is in contact with the corn plants 9 and is used for sensing the corn plants 9 at positions far away from the cutting table. The rotation shaft of the long detection lever 2 is connected with the input shaft of the right angle sensor 1 through a coupling to detect the rotation angle of the long detection lever 2. The short detection bar 3 is similar in shape to the long detection bar 2 for sensing corn plants 9 located nearer to the header. The rotation shaft of the short detection lever 3 is connected with the input shaft of the left angle sensor 4 through a coupling to detect the rotation angle of the short detection lever 3. The opposite-row controller is connected with signal output ends of the left angle sensor 4 and the right angle sensor 1, and is used for receiving and processing two angle signals (the rotation angle of the short detection rod and the rotation angle of the long detection rod), calculating the relative position of the combine harvester and the corn plant row according to the angle signals, further calculating the expected rotation angle of the steering wheel, determining the steering instruction of the steering wheel according to the sign and the numerical value of the expected rotation angle (expected rotation angle of the steering wheel), and sending the steering instruction to the steering executing mechanism.
The two seated bearings 5 are bolted to the two mounting plates 8, respectively, for fixing the long and short detection bars 2 and 3. The two sensor holders 6 are fixed to the two mounting plates 8 by self-contained studs, respectively, for fixing the left angle sensor 4 and the right angle sensor 1. One end of each of the two return springs 7 is connected to the detecting rod, and the other end of each of the two return springs is connected to a stud fixedly connected to the mounting plate 8, so that the long detecting rod 2 and the short detecting rod 3 return to the initial positions after the detecting actions are completed. The function of the two mounting plates 8 is: (1) Two bearings with seats 5, two sensor brackets 6 and two return springs 7 are fixed; (2) The automatic alignment device is mounted on the top of the crop divider 10 in cooperation with the bolts.
The automatic alignment device of the corn combine harvester is arranged at the top of the crop divider 10 of the header. The automatic alignment device of the corn combine harvester is arranged at the top of the grain divider 10 through the mounting plate 8, and other component structures are not connected with the header. The automatic alignment device of the invention has two installation modes, namely an integral installation mode and a split installation mode, as shown in figure 2. The integral type is formed by integrally connecting a long detection rod 2 and a short detection rod 3 in an up-down stacking way, and is arranged on the top of the same divider 10. The integral mounting long and short detection bars are connected as a unit which can be mounted on top of any one crop divider 10 and only on top of one crop divider 10. The long detection rod 2 and the short detection rod 3 are respectively and independently arranged at the top of different crop dividers 10. The split type installation time length detecting rod 2 and the short detecting rod 3 are divided into two parts, the long detecting rod 2 is installed at the top of one crop divider 10, the short detecting rod 3 is installed at the top of the other crop divider 10, and only one long detecting rod 2 and one short detecting rod 3 are installed.
Based on the automatic alignment device of the corn combine harvester, the invention also provides an automatic alignment method of the corn combine harvester, which is applied to the automatic alignment device of the corn combine harvester, and comprises the following steps:
step S1: the rotation angle of the short detection rod and the rotation angle of the long detection rod are obtained.
Step S2: and preprocessing the rotation angle of the short detection rod and the rotation angle of the long detection rod to obtain the rotation angle of the short detection rod after preprocessing and the rotation angle of the long detection rod after preprocessing.
The step S2 specifically includes:
and filtering the rotation angle of the short detection rod and the rotation angle of the long detection rod by adopting a recursive average algorithm to obtain the rotation angle of the short detection rod after filtering and the rotation angle of the long detection rod after filtering.
And eliminating periodical variation errors of the rotation angle of the short detection rod after filtering and the rotation angle of the long detection rod after filtering by adopting a wave crest and wave trough second-order differential recognition algorithm to obtain the rotation angle of the short detection rod after preprocessing and the rotation angle of the long detection rod after preprocessing.
Step S3: and calculating the course deflection angle of the combine harvester according to the rotation angle of the short detection rod after pretreatment and the rotation angle of the long detection rod after pretreatment.
Step S4: and calculating the transverse deviation according to the heading deflection angle.
Step S5: and judging whether the heading deviation angle is smaller than the heading deviation angle allowable error and whether the lateral deviation is smaller than the lateral deviation allowable error.
If the output result of step S5 is no, step S6 is executed: calculating the expected turning angle of the steering wheel according to the course deflection angle and the transverse deviation, determining the steering instruction of the steering wheel according to the sign and the numerical value of the expected turning angle of the steering wheel, sending the steering instruction to a steering executing mechanism, and returning to the step S1; the steering instruction is used for controlling the steering wheel to rotate by the steering executing mechanism to automatically align.
If the output result of step S5 is yes, step S7 is executed: it is determined whether the heading angle is equal to 0 and the lateral deviation is equal to 0.
If the output result of step S7 is yes, the automatic alignment is ended.
If the output result of step S7 is no, the process returns to step S1.
The following describes the automatic alignment method of the corn combine harvester according to the invention in a specific embodiment:
fig. 3 is a flowchart of an automatic alignment method of a corn combine according to the present invention, and as shown in fig. 3, the present invention provides an automatic alignment method of a corn combine, which is applied to the automatic alignment device of a corn combine, wherein an alignment controller positions corn plants according to rotation angles of a long detection rod and a short detection rod measured by an angle sensor, and further calculates an expected rotation angle of a steering wheel. The automatic alignment method of the corn combine harvester comprises the following specific steps:
step S1: angle reading, when the combine is close to corn, the opposite-row controller receives the rotation angle of the short detection rodRotation angle with long detection rod>The angle of rotation of the probe is received only when the combine is near the corn. In the process of the combine approaching the corn, the long detection rod is contacted with the corn first, and the short detection rod is contacted with the corn later. When the long detection rod and the short detection rod rotate and generate rotation angles, the combine harvester is judged to be close to the corn.
Step S2: angle pretreatment, the contact of the detecting rod with the corn plants is intermittent during the movement processResulting in a periodic change in the angle of rotation of the probe rod. The rotation angle of the detection lever when not in contact with the corn plant can affect the calculation of the position of the row controller relative to the corn plant of the combine harvester. To avoid the influence of the rotation angle of the detection rod when the detection rod is not contacted with the corn plant, the row controller controls the rotation angle of the received short detection rodAnd the rotation angle of the long detection rodThe method comprises the following steps:
step1, adopting a recursive average algorithm to perform a recursive average on the angle signal (including the rotation angle of the short detection rodAnd the rotation angle of the long detection rod->) And (3) performing filtering treatment:
wherein alpha is s (k) The rotation angle of the short detection rod after filtering; alpha l (k) The rotation angle of the long detection rod after filtering; k is a serial number of the filtered rotation angle, and k is more than 0; n is the sampling number of the angle signal in the sampling period; i is the sequence number of the rotation angle before filtering.
Step2, eliminating periodical variation errors of the rotation angles of the detection rods by adopting a peak-trough second-order differential recognition algorithm to obtain the rotation angles of the long detection rods and the short detection rods:
wherein f l (k)、f s (k) The result is obtained by performing first-order difference calculation on the rotation angles of the long detection rod and the short detection rod after filtering; alpha 1 The rotation angle of the short detection rod after pretreatment; alpha 2 The rotation angle of the long detection rod after pretreatment is set. f (f) l (k)、f s (k) Is the result of one difference calculation, and f is needed to be calculated l (k)、f s (k) And performing differential calculation and judgment again to obtain a result alpha obtained after the second-order differential recognition algorithm of the rotation angle of the long detection rod and the rotation angle of the short detection rod 1 And alpha is 2 。
Step S3: calculating the course deflection angle according to the preprocessed rotation angle alpha of the short detection rod 1 Rotation angle alpha of long detection rod 2 And calculating a course deflection angle estimation formula to obtain the course deflection angle theta of the combine harvester. When the long detection rod and the short detection rod are integrally installed as shown in part (a) in fig. 2, the motion model analysis of the automatic alignment device is shown in fig. 4, wherein a point A is a contact point of the long detection rod and a corn plant, a point B is a contact point of the short detection rod and the corn plant, a point C is an intersection point of a central line of a combine harvester body and a corn row, a point E is a central line of the combine harvester body, a point O is a sensor mounting point of the long detection rod and the short detection rod, an arc OA is the long detection rod, an arc OB is the short detection rod, and a course deflection angle is calculated in the following manner:
wherein l OB Is the length of line segment OB; l (L) OA Length of line segment OA; l (L) AB Is the length of line segment AB.
The long and short detection bars are separately installed as shown in part (b) of fig. 2, andin this case, the motion model analysis of the automatic alignment device is shown in FIG. 5, wherein point O R For mounting the long detection rod angle sensor, point O L For the installation point of the short detection rod angle sensor, the course deflection angle is calculated as follows:
wherein,is a line segment O L The length of B; />Is a line segment O R The length of A; />Is a line segment AO L Is a length of (c).
The long and short detection bars are separately installed as shown in part (b) of fig. 2, andin this case, the motion model analysis of the automatic alignment device is shown in fig. 6, and the course deflection angle is calculated as follows:
wherein beta is AO R And B is connected withO R An included angle between the two.
Step S4: and calculating the transverse deviation, namely calculating the transverse deviation x according to the heading deviation angle theta and a transverse deviation estimation formula. When the long detection lever and the short detection lever are integrally mounted as shown in fig. 2 (a), the lateral deviation is calculated as follows:
wherein, gamma 1 Is the included angle between OA and AB; x is the distance from the center point E of the vehicle body to the corn stalk row AB, namely the transverse deviation; d is the projection distance between the installation position of the angle sensor and the central line of the combine harvester body in the running direction of the vehicle.
The long and short detection bars are separately installed as shown in part (b) of fig. 2, andthe lateral deviation is calculated as follows:
wherein h is the installation distance between the left angle sensor and the right angle sensor.
The long and short detection bars are separately installed as shown in part (b) of fig. 2, andthe lateral deviation is calculated as follows:
and step S3 and step S4, calculating the course deflection angle and the transverse deviation according to the rotation angle of the long detection rod and the rotation angle of the short detection rod.
Step S5: judging whether the heading deviation angle theta is smaller than the heading deviation angle allowable error epsilon, judging whether the transverse deviation x is smaller than the transverse deviation allowable error sigma, if the two conditions are simultaneously met, entering a step S7, otherwise, entering a step S6.
And determining the influence of the heading deflection angle on the harvest quality through experiments, thereby determining the maximum allowable value of the allowable error epsilon of the heading deflection angle. The effect of the lateral deviation on the harvest quality is determined experimentally, so that the maximum allowable value of the lateral deviation allowable error sigma is determined.
Step S6: calculating expected rotation angle of the steering wheel, obtaining heading deflection angle theta and transverse deviation x of the combine harvester relative to corn plants, and obtaining expected angle of the steering wheel through an expected angle estimation formula of the steering wheelAnd determining a steering instruction of the steering wheel according to the sign and the value of the expected rotation angle, sending the steering instruction to a steering executing mechanism to control the steering wheel to rotate, and returning to the step S1.
Wherein,the angle is adjusted for the required steering wheel; k (k) 1 、k 2 Is a proportionality coefficient; k (k) 1 、k 2 The specific values of (2) are calculated and determined according to specific parameters of the combine harvester and a pure tracking algorithm.
Step S7: and judging whether the heading deflection angle theta is equal to 0 or not, and if the transverse deviation x is equal to 0 or not, automatically ending the alignment if the two conditions are simultaneously met, otherwise, returning to the step S1.
According to the method, corn plants are accurately positioned according to the rotation angles of the long detection rod and the short detection rod, and the expected rotation angle of the steering wheel is calculated through the course deflection angle and the transverse deviation of the corn combine harvester. The invention improves the alignment precision of the corn combine harvester and reduces the labor intensity of drivers.
Fig. 3 shows an automatic alignment workflow provided by an embodiment of the present invention, and as shown in fig. 3, the working process of the present invention is as follows:
in the automatic row-alignment harvesting operation process of the corn combine harvester, the long detection rod and the short detection rod are simultaneously contacted with corn plants and are extruded by the corn plants to generate rotation with the same rotation direction, the rotation of the long detection rod and the rotation of the short detection rod are respectively transmitted to an input shaft of an angle sensor through a rotation shaft, and the angle sensor outputs the rotation angle of the long detection rodRotation angle with short detection lever>The row controller receives the rotation angle of the long detection rod and the rotation angle of the short detection rod, and performs filtering processing on the angle signals. The opposite controller passes through the rotation angle alpha of the filtered long detection rod 2 And a rotation angle alpha of the short detection lever 1 Calculating to obtain a heading deflection angle theta of the corn combine harvester, further calculating to obtain a transverse deviation x according to the heading deflection angle theta, and finally comprehensively calculating to obtain the expected steering angle of the steering wheel through the heading deflection angle theta and the transverse deviation x>
Compared with the prior art, the automatic alignment device and method for the corn combine harvester provided by the invention can accurately detect the position of corn plants and improve alignment precision. The invention has the advantages and beneficial effects as follows:
1. the automatic alignment device of the corn combine harvester adopts a modularized design, and the long detection rod and the short detection rod can be respectively and independently arranged at the crop divider of the corn combine harvester or can be connected into a whole and then arranged at the crop divider of the corn combine harvester, thereby being convenient to assemble, disassemble and adjust.
2. According to the automatic alignment method, corresponding course deflection angle and transverse deviation calculation methods are designed for different installation modes and installation positions, so that the device has flexible adaptability, and an operator can conveniently adjust the installation positions and the installation modes of the device according to actual operation requirements.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (9)
1. The automatic alignment device of the corn combine harvester is characterized by being arranged at the top of a divider of a header, and comprises a long detection rod, a short detection rod, a right angle sensor, a left angle sensor and an alignment controller;
the long detection rod and the short detection rod are metal rods with rotating shafts, the tail ends of the metal rods are arc-shaped, and the length of the long detection rod is larger than that of the short detection rod; the arc-shaped tail end of the long detection rod and the arc-shaped tail end of the short detection rod are in contact with corn plants, wherein the arc-shaped tail end of the long detection rod is used for sensing corn plants at a position far away from the cutting table, and the arc-shaped tail end of the short detection rod is used for sensing corn plants at a position close to the cutting table;
the rotating shaft of the long detection rod is connected with the input shaft of the right angle sensor through a coupler, and the right angle sensor is used for detecting the rotating angle of the long detection rod; the rotating shaft of the short detection rod is connected with the input shaft of the left angle sensor through a coupler, and the left angle sensor is used for detecting the rotating angle of the short detection rod;
the opposite-row controller is respectively connected with the signal output end of the left angle sensor and the signal output end of the right angle sensor, and is used for receiving the rotation angle of the long detection rod output by the signal output end of the right angle sensor and the rotation angle of the short detection rod output by the signal output end of the left angle sensor, obtaining the expected rotation angle of a steering wheel according to the rotation angle of the long detection rod and the rotation angle of the short detection rod, determining the steering instruction of the steering wheel according to the sign and the numerical value of the expected rotation angle of the steering wheel, and sending the steering instruction to the steering executing mechanism; and the steering executing mechanism controls the steering wheel to rotate according to the received steering instruction to automatically align.
2. The automatic alignment device of a corn combine harvester of claim 1, wherein the device has two mounting modes, an integral mounting mode and a split mounting mode;
the integral installation mode is that the long detection rod and the short detection rod are vertically stacked and connected into a whole and are installed at the top of the same crop divider;
the split type mounting mode is that the long detection rod and the short detection rod are respectively and independently mounted at the tops of different crop dividers.
3. The automatic alignment device of a corn combine harvester of claim 1, wherein the device is mounted on top of a crop divider of a header by a mounting plate; the mounting plate is used in cooperation with the bolts, and the device is mounted on the top of the crop divider of the header.
4. The automatic alignment device of corn combine harvester of claim 3, wherein the number of mounting plates is two.
5. The automatic alignment device of corn combine harvester according to claim 4, wherein a seated bearing is fixed to each mounting plate;
the two bearings with the seats are respectively fixed on the two mounting plates through bolts and are used for fixing the long detection rod and the short detection rod.
6. The automatic alignment device of corn combine harvester of claim 5, wherein a sensor bracket is fixed to each mounting plate;
the two sensor brackets are respectively fixed to the two mounting plates through self-contained studs and are used for fixing the left angle sensor and the right angle sensor.
7. The automatic alignment device of corn combine harvester of claim 6, wherein each mounting plate is connected with a return spring;
one end of the return spring is connected to the long detection rod, and the other end of the return spring is connected to a first stud fixedly connected with the mounting plate and used for enabling the long detection rod to return to an initial position after the detection action is completed; one end of the other reset spring is connected to the short detection rod, and the other end of the other reset spring is connected to a second stud fixedly connected with the mounting plate and is used for enabling the short detection rod to return to an initial position after the detection action is completed; the first stud and the second stud are respectively and fixedly connected with different mounting plates.
8. An automatic alignment method for a corn combine, applied to the automatic alignment device for a corn combine according to any one of claims 1 to 7, comprising:
step S1: acquiring the rotation angle of the short detection rod and the rotation angle of the long detection rod;
step S2: preprocessing the rotation angle of the short detection rod and the rotation angle of the long detection rod to obtain the preprocessed rotation angle of the short detection rod and the preprocessed rotation angle of the long detection rod;
step S3: calculating a heading deflection angle of the combine harvester according to the rotation angle of the short detection rod after pretreatment and the rotation angle of the long detection rod after pretreatment;
step S4: calculating a transverse deviation according to the course deflection angle;
step S5: judging whether the heading deviation angle is smaller than a heading deviation angle allowable error and whether the transverse deviation is smaller than a transverse deviation allowable error;
if the output result of step S5 is no, step S6 is executed: calculating the expected turning angle of the steering wheel according to the course deflection angle and the transverse deviation, determining the steering instruction of the steering wheel according to the sign and the numerical value of the expected turning angle of the steering wheel, sending the steering instruction to a steering executing mechanism, and returning to the step S1; the steering instruction is used for controlling the steering wheel to rotate by the steering executing mechanism to automatically align;
if the output result of step S5 is yes, step S7 is executed: judging whether the heading deflection angle is equal to 0 and whether the transverse deviation is equal to 0;
if the output result of the step S7 is yes, automatically ending the line alignment;
if the output result of step S7 is no, the process returns to step S1.
9. The automatic alignment method of corn combine harvester according to claim 8, wherein the rotating angle of the short detecting rod and the rotating angle of the long detecting rod are preprocessed to obtain the preprocessed rotating angle of the short detecting rod and the preprocessed rotating angle of the long detecting rod, specifically comprising:
filtering the rotation angle of the short detection rod and the rotation angle of the long detection rod by adopting a recursive average algorithm to obtain the rotation angle of the short detection rod after filtering and the rotation angle of the long detection rod after filtering;
and eliminating periodical variation errors of the rotation angle of the short detection rod after filtering and the rotation angle of the long detection rod after filtering by adopting a wave crest and wave trough second-order differential recognition algorithm to obtain the rotation angle of the short detection rod after preprocessing and the rotation angle of the long detection rod after preprocessing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410006310.8A CN117769968A (en) | 2024-01-03 | 2024-01-03 | Automatic alignment device and method for corn combine harvester |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410006310.8A CN117769968A (en) | 2024-01-03 | 2024-01-03 | Automatic alignment device and method for corn combine harvester |
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| CN117769968A true CN117769968A (en) | 2024-03-29 |
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| CN202410006310.8A Pending CN117769968A (en) | 2024-01-03 | 2024-01-03 | Automatic alignment device and method for corn combine harvester |
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