CN211353126U - Intelligent adjusting system of grain harvester - Google Patents
Intelligent adjusting system of grain harvester Download PDFInfo
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- CN211353126U CN211353126U CN201922104443.6U CN201922104443U CN211353126U CN 211353126 U CN211353126 U CN 211353126U CN 201922104443 U CN201922104443 U CN 201922104443U CN 211353126 U CN211353126 U CN 211353126U
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Abstract
The utility model relates to a grain harvester intelligent regulation system, including setting up AI the control unit and the detecting element on the harvester, the information that AI the control unit received and the analysis and processing detecting element detected, the detecting element includes cereal seed grain detecting element, harvester cylinder rotational speed detecting element, harvester sieve piece aperture detecting element and harvester intaglio clearance detecting element. The utility model has the advantages of being simple in structure and convenient in operation, effectively guarantee the operating quality and the efficiency of harvester.
Description
Technical Field
The utility model relates to an intelligent adjusting system of grain harvester.
Background
The harvester often needs trans-regional operation, because the region is different, the soil topography is different, the harvester needs to adjust relevant mechanism to adapt to local topography, and mechanical vehicle needs agricultural machinery user to adjust relevant part manually at present to it properly adjusts to rely on experience, and can not guarantee to adjust back in actual operation and can normally operate, probably appear to influence driving speed, the miscellaneous rate and the crushing rate of seed grain, the feed amount of harvester after adjusting, influences operation quality and operating efficiency greatly.
The most relevant prior art of the present invention is the utility model named "harvester intelligent adjusting system" patent (patent number: 201310198284.5), which can only avoid the phenomenon of the harvester blocking by adjusting the torque of the roller during the operation of the harvester, but can not fundamentally ensure the operation quality and efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an invention object of the utility model provides a grain harvester intelligence governing system can effectively guarantee the operating quality and the efficiency of harvester.
The technical scheme of the invention is as follows:
the utility model provides a grain harvester intelligence governing system, is including setting up AI the control unit and the detecting element on the harvester, and the information that AI the control unit received and the analysis and processing detecting element detected, the detecting element includes cereal seed grain detecting element, harvester cylinder rotational speed detecting element, harvester sieve piece aperture detecting element and harvester intaglio clearance detecting element.
Furthermore, the grain seed detection unit comprises a plurality of seed image acquisition elements for acquiring image information of the seeds in the granary, the signal output end of each image acquisition element is connected to the AI control unit, and the AI control unit judges the impurity content and the breakage rate of the seeds according to the image information.
Further, the drum rotation speed detecting unit includes a first sensor mounted on the drum; the sieve sheet opening degree detection unit comprises a second sensor arranged on the sieve sheet; the concave plate gap detection unit comprises a third sensor installed on the concave plate;
the signal output ends of the first sensor, the second sensor and the third sensor are connected to a whole vehicle control unit of the harvester, and the whole vehicle control unit is in communication connection with the AI control unit;
the signal output end of the whole vehicle control unit is respectively connected with the threshing cylinder speed regulation proportional electromagnetic valve, the concave plate gap regulation motor control unit and the sieve sheet regulation motor control unit.
Further, still include harvester fan rotational speed detecting element, fan rotational speed detecting element is including installing the fourth sensor that is used for detecting the fan rotational speed on the fan, the signal output part of fourth sensor is connected in the whole car the control unit of harvester, the signal output part termination of whole car the control unit fan speed governing proportion solenoid valve.
Furthermore, the harvester reel speed detection unit is further included, the reel speed detection unit comprises a fifth sensor installed on a reel shaft, the signal output end of the fifth sensor is connected to the whole harvester control unit, and the signal output end of the whole harvester control unit is connected with the motor control unit of the reel.
Further, the vehicle speed detection unit is further included and comprises a sixth sensor installed on the gearbox; the signal output end of the sixth sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a vehicle speed control proportional solenoid valve.
Further, the grain kernel detection unit comprises an elevator camera, and the elevator camera is used for shooting an impurity rate and breakage rate image of the grains in the elevator; and the signal output end of the elevator camera is connected with the AI control unit.
Further, the device also comprises a crop form detection unit, wherein the crop form detection unit comprises a front camera; the header height detection unit comprises a seventh sensor arranged on the header; the signal output end of the front camera is connected with the AI control unit; the signal output end of the seventh sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a header height-adjusting proportional electromagnetic valve.
Further, the harvester also comprises a steering detection unit, wherein the steering detection unit comprises an eighth sensor for detecting the steering angle of the harvester; and the signal output end of the eighth sensor is connected with the whole vehicle control unit, and the signal output end of the whole vehicle control unit is connected with the integral electromagnetic valve group for controlling the steering of the harvester.
Furthermore, the device also comprises a positioning detection unit, wherein the positioning detection unit comprises a GPS positioning module, and the signal output end of the GPS positioning module is connected with the AI control unit.
The utility model discloses beneficial effect who has:
the utility model collects the image information of grains in the granary and feeds the image information back to the AI control unit; the AI control unit analyzes the acquired image information and calculates the impurity content and the breakage rate of grains in the granary in real time; the AI control unit compares the real-time calculation result with a preset grain impurity rate and a preset breakage rate range; when the real-time calculation result is not within the range of the preset parameters, the AI control system judges the matching numerical values of the rotating speed of the roller, the opening degree of the sieve sheet and the gap of the concave plate in the current state and feeds the required matching numerical values back to the whole vehicle control unit of the harvester; the whole vehicle control unit correspondingly adjusts the rotating speed of the roller, the opening degree of the sieve sheet and the intaglio gap so as to achieve the required matching numerical value, effectively ensure the operation quality and improve the operation efficiency.
The utility model collects the lodging and dense image information of crops and feeds back the information to the AI control unit; the AI control unit analyzes the acquired image information and calculates the values of crop lodging and density parameters in real time; the AI control unit compares the real-time calculation result with a preset crop lodging and dense parameter range; when the real-time calculation result is not in the range of the setting value, the AI control unit judges the matching numerical values of the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle in the current state and feeds the required matching numerical values back to the whole-vehicle control unit of the harvester; the whole-vehicle control unit correspondingly adjusts the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle so as to achieve the required matching numerical value, further ensure the operation quality and improve the operation efficiency.
The utility model discloses a turn to angle sensor, GPS orientation module, AI the locating information that AI the control unit acquireed according to image information, GPS orientation module that leading camera acquireed, calculate the driving route, convey driving route information to whole car the control unit, the corresponding regulation operation speed of whole car control and angle of turning to, save time, laborsaving, effectively improve the operating efficiency.
To sum up, the utility model has the advantages of being simple in structure and convenient in operation, solved the harvester and needed each part of manual regulation and a series of problems of influence operation that arouse at the operation in-process, saved time human cost, improve the operating efficiency greatly.
Drawings
FIG. 1 is a schematic circuit diagram of the automatic speed-adjusting steering system of the present invention;
FIG. 2 is a schematic circuit diagram of the utility model for automatically adjusting the crushing rate and impurity content rate;
fig. 3 is a flowchart of a control method of the present invention;
fig. 4 is a schematic diagram of the arrangement positions of the components of the whole machine of the utility model.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that the functions, methods, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
As shown in fig. 4, a reel 4, a cutting table 21, a threshing cylinder 23, a concave plate 5 and a sieve 31 are arranged below a cab 3 from front to back in sequence, wherein a fan 26 is arranged between the threshing cylinder 23 and the concave plate 5, a granary and an elevator are arranged at the rear side of the cab, and the elevator is used for transporting processed crops to the granary from the sieve 31, which is the prior art.
The grain seed detection unit comprises a granary camera A18 and a granary camera B19, is arranged in the granary, and is used for shooting images of impurity content and breakage rate of grains in the granary; a reel speed sensor (fifth sensor) 11 mounted on the reel shaft for detecting the speed of the reel 4 during operation; a drum rotation speed sensor (first sensor) mounted on the threshing drum 23 for detecting the real-time rotation speed of the drum during operation; a concave plate gap sensor (third sensor) mounted on the concave plate 5 for detecting a concave plate gap; a screen sheet opening degree sensor (second sensor) mounted on a screen sheet of the screen 31 for detecting an opening degree of the screen sheet; a fan rotational speed sensor (fourth sensor) mounted on the fan bearing housing for detecting the rotational speed of the fan 26; a vehicle speed sensor (sixth sensor) 24 mounted on the transmission for detecting a running speed; the grain seed detection unit also comprises an elevator camera 17 which is arranged on the side surface of the elevator and is used for shooting images of the impurity content and the breakage rate of the grains in the elevator; the front camera 13 is used for shooting a lodging and dense image of the crop; a header height sensor (a seventh sensor) mounted on the header 21 for detecting the height of the header during operation; a steering angle sensor (eighth sensor) mounted on the left side of the rear axle 30 for detecting the steering angle of the harvester; and the GPS positioning module 14 is used for positioning the harvester. An integral solenoid valve pack 22 is mounted forward below the operator's cab for controlling automatic steering. The vehicle speed control proportional valve 20 is installed on the rear side of the engine, and the running speed is controlled by the plunger variable displacement pump.
As shown in fig. 1 and 2, the signal output ends of the front camera 13 and the GPS positioning module 14 are connected to an AI control unit (AI controller) 1, the signal output ends of the granary cameras 18 and 19 and the elevator camera 17 are connected to the AI control unit, and the AI control unit (AI controller) 1 is in communication connection with a vehicle control unit (vehicle controller) 2 through a CAN bus.
The signal output ends of the speed sensor 24, the steering angle sensor, the reel speed sensor 11, the header height sensor, the roller speed sensor, the concave plate gap sensor, the sieve sheet opening sensor and the fan speed sensor are connected with a whole vehicle control unit. The signal output end of the whole vehicle control unit is connected with a header height-adjusting proportional electromagnetic valve, a vehicle speed control proportional electromagnetic valve 20, a reel motor (reel stepless speed change motor 12) control unit, an integral electromagnetic valve group 22 for controlling the steering of the harvester, a threshing cylinder speed-adjusting proportional electromagnetic valve, a concave plate gap adjusting motor 28 control unit, a sieve sheet adjusting motor control unit and a fan speed-adjusting proportional electromagnetic valve 25 (fan motor proportional valve).
As shown in fig. 3, the AI control unit calculates the impurity content and the breakage rate of the grain according to the image information obtained by the granary camera and the elevator camera (grain seed detection unit); when the impurity rate and the breakage rate exceed set thresholds, judging the opening degree of a sieve sheet, the gap of a concave plate, the rotating speed of a roller, the rotating speed of a fan, the rotating speed of a reel and the operating speed value which need to be matched based on real-time data transmitted by corresponding sensors, and transmitting the required matched values to a finished automobile control unit; the whole vehicle control unit correspondingly adjusts the opening of the sieve sheet, the gap of the concave plate, the rotating speed of the roller, the rotating speed of the fan, the rotating speed of the reel and the operating speed so as to achieve the required matching numerical value. And repeating the steps of adjusting according to the impurity rate and the breakage rate of the grains until the harvester stops working.
The AI control unit calculates lodging and density parameter values of crops according to the image information acquired by the front camera; when the parameter values exceed the set threshold values, the numerical values of the reel rotating speed, the header height, the operation speed and the steering angle which need to be matched are judged based on the real-time data transmitted by the corresponding sensors, and the required matching numerical values are transmitted to the whole vehicle control unit, and the whole vehicle control unit correspondingly adjusts the reel rotating speed, the header height, the operation speed and the steering angle so as to achieve the required matching numerical values. And repeating the steps until the harvester stops working. And repeating the steps of adjusting according to the lodging and density parameters of the crops until the harvester stops working.
The AI control unit calculates a driving path according to the image information acquired by the front camera and the positioning information acquired by the GPS positioning module, transmits the driving path information to the whole vehicle control unit, and controls the corresponding adjustment of the operation speed and the steering angle to realize automatic driving.
The driver selects modes through panel keys, and the modes include a walking mode and an operation mode. Under the walking mode, the opening degree of the sieve sheet, the gap of the concave plate, the rotating speed of the roller, the rotating speed of the reel, the rotating speed of the fan and the height of the header can not be adjusted, the rotating speed of the roller, the rotating speed of the reel and the rotating speed value of the fan are zero, and the speed of the vehicle can be adjusted in real time. When the key is switched to the operation mode during field operation, the intelligent adjusting system of the grain harvester formally starts to work. The control method in the operation mode is the same as that in the second embodiment.
In the operation mode, a driver can check specific parameter values of all parts in operation in real time through a display, such as a rotary drum rotating speed value, a concave plate gap, a sieve sheet opening degree, a fan rotating speed, a reel rotating speed, an operation speed, the current breaking rate and impurity rate of grains and the lodging density value of crops, so that man-machine interaction is realized.
The above list of details is only for the practical implementation of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the technical spirit of the present invention should be included in the scope of the present invention.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. An intelligent adjusting system of a grain harvester is characterized in that: including setting up AI the control unit and the detecting element on the harvester, the AI the control unit receives and the information that the analysis and processing detecting element detected, the detecting element includes cereal seed grain detecting element, harvester cylinder rotational speed detecting element, harvester sieve piece aperture detecting element and harvester concave clearance detecting element.
2. The grain harvester intelligent regulation system of claim 1, wherein: the grain kernel detection unit comprises a plurality of kernel image acquisition elements for acquiring image information of kernels in the granary, the signal output end of each image acquisition element is connected to the AI control unit, and the AI control unit judges the impurity content and the breakage rate of the kernels according to the image information.
3. The grain harvester intelligent regulation system of claim 1, wherein: the drum rotation speed detection unit comprises a first sensor mounted on the drum; the sieve sheet opening degree detection unit comprises a second sensor arranged on the sieve sheet; the harvester concave plate gap detection unit comprises a third sensor arranged on a concave plate;
the signal output ends of the first sensor, the second sensor and the third sensor are connected to a whole vehicle control unit of the harvester, and the whole vehicle control unit is in communication connection with the AI control unit;
the signal output end of the whole vehicle control unit is respectively connected with the threshing cylinder speed regulation proportional electromagnetic valve, the concave plate gap regulation motor control unit and the sieve sheet regulation motor control unit.
4. The grain harvester intelligent regulation system of claim 1, wherein: the harvester fan speed detection device is characterized by further comprising a harvester fan speed detection unit, wherein the fan speed detection unit comprises a fourth sensor which is arranged on the fan and used for detecting the fan speed, the signal output end of the fourth sensor is connected with the whole vehicle control unit of the harvester, and the signal output end of the whole vehicle control unit is connected with a fan speed regulation proportional electromagnetic valve.
5. The grain harvester intelligent regulation system of claim 1, wherein: the harvester reel rotation speed detection unit comprises a fifth sensor installed on a reel shaft, the signal output end of the fifth sensor is connected to the whole harvester control unit, and the signal output end of the whole harvester control unit is connected with the motor control unit of the reel.
6. The grain harvester intelligent regulation system of claim 1, wherein: the vehicle speed detection unit comprises a sixth sensor installed on the gearbox; the signal output end of the sixth sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a vehicle speed control proportional solenoid valve.
7. The grain harvester intelligent regulation system of claim 1, wherein: the grain kernel detection unit comprises an elevator camera, and the elevator camera is used for shooting an impurity rate and breakage rate image of grains in the elevator; and the signal output end of the elevator camera is connected with the AI control unit.
8. The intelligent grain harvester adjustment system of any one of claims 1 to 7, further comprising a crop morphology detection unit comprising a front-facing camera disposed at a front end of the harvester; the header height detection unit comprises a seventh sensor arranged on the header; the signal output end of the front camera is connected with the AI control unit; the signal output end of the seventh sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a header height-adjusting proportional electromagnetic valve.
9. The grain harvester intelligent adjustment system of claim 8, further comprising a steering detection unit comprising an eighth sensor for detecting a harvester steering angle; and the signal output end of the eighth sensor is connected with the whole vehicle control unit, and the signal output end of the whole vehicle control unit is connected with the integral electromagnetic valve group for controlling the steering of the harvester.
10. The intelligent grain harvester regulating system of claim 9, further comprising a positioning detection unit, wherein the positioning detection unit comprises a GPS positioning module, and a signal output end of the GPS positioning module is connected with the AI control unit.
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| CN201922104443.6U CN211353126U (en) | 2019-11-29 | 2019-11-29 | Intelligent adjusting system of grain harvester |
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| CN201922104443.6U CN211353126U (en) | 2019-11-29 | 2019-11-29 | Intelligent adjusting system of grain harvester |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110720302A (en) * | 2019-11-29 | 2020-01-24 | 河南瑞创通用机械制造有限公司 | Intelligent adjusting system of grain harvester and control method thereof |
| CN112673801A (en) * | 2021-03-09 | 2021-04-20 | 农业农村部南京农业机械化研究所 | On-line detection method and system for broken impurities of grain combine harvester |
| CN113924860A (en) * | 2021-09-28 | 2022-01-14 | 北京市农林科学院智能装备技术研究中心 | Method and device for adjusting operation speed of combine harvester |
| CN114916306A (en) * | 2022-04-29 | 2022-08-19 | 农业农村部南京农业机械化研究所 | Automatic regulating and controlling method and system for reel of rape harvester |
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2019
- 2019-11-29 CN CN201922104443.6U patent/CN211353126U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110720302A (en) * | 2019-11-29 | 2020-01-24 | 河南瑞创通用机械制造有限公司 | Intelligent adjusting system of grain harvester and control method thereof |
| WO2021104530A1 (en) * | 2019-11-29 | 2021-06-03 | 中联农业机械股份有限公司 | Cereal harvester smart adjustment system and control method therefor |
| CN112673801A (en) * | 2021-03-09 | 2021-04-20 | 农业农村部南京农业机械化研究所 | On-line detection method and system for broken impurities of grain combine harvester |
| CN113924860A (en) * | 2021-09-28 | 2022-01-14 | 北京市农林科学院智能装备技术研究中心 | Method and device for adjusting operation speed of combine harvester |
| CN114916306A (en) * | 2022-04-29 | 2022-08-19 | 农业农村部南京农业机械化研究所 | Automatic regulating and controlling method and system for reel of rape harvester |
| CN114916306B (en) * | 2022-04-29 | 2023-04-07 | 农业农村部南京农业机械化研究所 | Automatic regulating and controlling method and system for reel of rape harvester |
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Address after: No.98, Songcheng Road, Kaifeng City, Henan Province Patentee after: Henan Zoomlion Intelligent Agricultural Machinery Co.,Ltd. Address before: No.98, Songcheng Road, Kaifeng City, Henan Province Patentee before: HENAN RICHUANG GENERAL MACHINERY MANUFACTURE Co.,Ltd. |