CN220712101U - Control system for harvester and harvester - Google Patents

Abstract

The embodiment of the application provides a control system for a harvester and the harvester. The harvester includes a plurality of operating mechanisms and engine, and control system includes: the sensor module comprises a plurality of sensors which are respectively arranged on a plurality of operation mechanisms, and is used for detecting the first rotating speed of each operation mechanism in real time and sending a first signal carrying the first rotating speed to the whole vehicle controller; the engine controller is arranged on the engine and used for detecting the second rotating speed and the load rate of the engine in real time in the running process of the harvester and sending a second signal carrying the second rotating speed and the load rate to the whole vehicle controller; the whole vehicle controller is electrically connected with the sensor module, is in signal connection with the engine controller and is configured to: and under the condition that at least one of the first rotating speed and the second rotating speed is lower than a preset theoretical value in a preset time, determining that the harvester is about to be blocked, starting a blocking alarm prompt, or sending a flameout signal to an engine controller to flameout the engine.

Description

Control system for harvester and harvester

Technical Field

The application relates to the technical field of agricultural machinery, in particular to a control system for a harvester and the harvester.

Background

The rice harvester is an important agricultural machine, and is a grain harvesting machine which is used for harvesting grains, threshing and storing the grains in a granary. With the development of technology, the electric control level of the rice harvester is higher and higher, and sensors carried on the whole harvester are more and more, so that the states of all mechanisms during operation of the harvester can be detected. In the harvesting operation, blockage of each mechanism is one of the most common faults, and it takes a long time to remove the blockage, which seriously affects the efficiency of the harvesting operation.

In the prior art, the anti-blocking device mainly depends on the operation of a manipulator, the manipulator is required to have rich operation experience and high concentration, the sound and system alarm emitted by all main working parts of the harvester are focused during operation, corresponding operation is performed according to the sound and the alarm, the operation level and the experience requirements of the manipulator are high, the labor intensity is high, and the blocking cannot be prevented in advance.

Disclosure of Invention

The utility model aims to provide a control system for a harvester and the harvester.

To achieve the above object, a first aspect of the present application provides a control system for a harvester including a plurality of working mechanisms and an engine, the control system including:

the sensor module comprises a plurality of sensors which are respectively arranged on a plurality of operation mechanisms, and is used for detecting the first rotating speed of each operation mechanism in real time in the operation process of the harvester and sending a first signal carrying the first rotating speed to the whole vehicle controller;

the engine controller is arranged on the engine and used for detecting the second rotating speed and the load rate of the engine in real time in the running process of the harvester and sending a second signal carrying the second rotating speed and the load rate to the whole vehicle controller;

the whole vehicle controller is electrically connected with the sensor module, is in signal connection with the engine controller and is configured to:

and under the condition that at least one of the first rotating speed and the second rotating speed is lower than a preset theoretical value in a preset time, determining that the harvester is about to be blocked, starting a blocking alarm prompt, or sending a flameout signal to an engine controller to flameout the engine.

In one embodiment, the plurality of operating mechanisms includes a first auger, a second auger, a threshing cylinder, a shredder, and a bridge drive shaft, and the plurality of sensors includes: the first wringing rotating speed sensor is arranged on the first wring and is used for detecting the first rotating speed of the first wring in real time in the operation process of the harvester and sending a first signal carrying the first rotating speed to the whole vehicle controller; the second twisting rotational speed sensor is arranged on the second twisting; the threshing cylinder rotating speed sensor is arranged on the threshing cylinder; the chopper rotating speed sensor is arranged on the chopper; and a bridge drive shaft sensor mounted to the bridge drive shaft.

In one embodiment, the harvester further comprises a speed change control device, and the control system further comprises a reversing switch in radio connection with the speed change control device, and the reversing switch is used for detecting the position information of the speed change control device in real time during the operation of the harvester and sending the position information to the whole vehicle controller; the whole vehicle controller is electrically connected with the reversing switch, and is further configured to: and under the condition that the position information sent by the reversing switch is received, determining that the speed change control device is at the reversing position, and starting a reversing alarm prompt.

In one embodiment, the harvester further comprises a hydraulic system, the control system further comprising: the oil filter switch is arranged on the hydraulic system and is used for detecting the pressure of the hydraulic system in real time in the operation process of the harvester, and sending a pressure signal to the whole vehicle controller under the condition that the detected pressure of the hydraulic system is larger than a preset pressure value; the whole vehicle controller is electrically connected with the oil filter switch and is further configured to: and under the condition of receiving a pressure signal sent by the oil filter switch, starting a pressure alarm prompt.

In one embodiment, the harvester further comprises a reel, the reel is mounted with a reel lifting solenoid valve, and the control system further comprises: the reel switch is used for generating a corresponding operation signal according to an operation instruction for the reel triggered by a user and sending the operation signal to the whole vehicle controller; the whole vehicle controller is electrically connected with the reel switch and the lifting electromagnetic valve and is further configured to: under the condition that the reel has lifting requirements, the reel lifting electromagnetic valve is controlled to be electrified according to an operation instruction sent by the reel switch so as to control the reel to execute lifting actions.

In one embodiment, the harvester further comprises a grain unloading drum, the grain unloading drum is provided with a grain unloading drum lifting electromagnetic valve, and the control system further comprises: the grain unloading motor encoder and the grain unloading angle sensor are respectively used for detecting the transverse position and the longitudinal position of the grain unloading drum in real time in the operation process of the harvester and respectively transmitting a third signal and a fourth signal carrying the transverse position to the whole vehicle controller; the grain unloading operation handle is used for generating a corresponding operation signal according to an operation instruction for the grain unloading cylinder triggered by a user and sending the operation signal to the whole vehicle controller; the whole vehicle controller is in signal connection with the grain unloading motor encoder, the grain unloading angle sensor and the grain unloading operation handle, and is further configured to: under the condition that the grain unloading cylinder has lifting requirements, the grain unloading cylinder lifting electromagnetic valve is controlled to be electrified according to the transverse position and the longitudinal position of the grain unloading cylinder and the operation signal sent by the grain unloading operation handle so as to control the grain unloading cylinder to execute lifting action.

In one embodiment, the harvester further comprises an oil tank, and the control system further comprises: the oil quantity sensor is arranged on the oil tank and used for detecting the oil level information of the oil tank in real time in the operation process of the harvester and sending the oil level information to the whole vehicle controller; the vehicle controller is electrically connected with the oil mass sensor, and the vehicle controller is further configured to: and under the condition that the oil level of the oil tank is lower than a preset oil level value, starting an oil level alarm prompt.

In one embodiment, the harvester further comprises a threshing clutch, and the control system further comprises: the threshing clutch switch is electrically connected with the threshing clutch and is used for detecting clutch state information of the threshing clutch in real time in the running process of the harvester and sending the clutch state information to the whole vehicle controller.

In one embodiment, the control system further comprises: and the remote operation and maintenance terminal is in signal connection with the whole vehicle controller and the engine controller and is used for acquiring whole vehicle operation information of the harvester and sending the whole vehicle operation information to the cloud platform for display.

In one embodiment, the harvester further comprises a grain bin, and the control system further comprises: the grain full sensor is arranged in the granary and used for detecting the capacity information of the granary in real time in the running process of the harvester, and sending a capacity signal to the whole vehicle controller under the condition that the capacity of the granary is full; the whole vehicle controller is electrically connected with the grain full sensor and is further configured to: and under the condition that a capacity signal sent by the grain full sensor is received, starting a capacity alarm prompt.

In one embodiment, the harvester further comprises a plurality of working components, and the control system further comprises: the output execution module is electrically connected with the whole vehicle control module and comprises one or more relays, electromagnetic valves and alarm devices, wherein the relays and the electromagnetic valves are respectively arranged on a plurality of working parts and used for controlling the corresponding working parts to execute corresponding actions according to control instructions issued by the whole vehicle controller and preset control logic, and the alarm devices are used for executing alarm actions according to alarm signals issued by the whole vehicle controller.

A second aspect of the present application provides a harvester comprising:

the plurality of operation mechanisms are used for executing corresponding operations in the operation process of the harvester;

an engine for powering the harvester;

a control system for a harvester.

Through the technical scheme, the automatic prediction of the blockage of the harvester is realized.

Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:

FIG. 1 schematically illustrates a schematic diagram of a control system for a harvester according to an embodiment of the application;

FIG. 2 schematically illustrates a block diagram of a vehicle control unit according to an embodiment of the present application;

fig. 3 schematically shows a block diagram of a harvester according to an embodiment of the application.

Reference numerals

110. Sensor module 111 first wring rotational speed sensor

112. Second wringing speed sensor 113 threshing cylinder speed sensor

114. Chopper rotation speed sensor 115 gap bridge rotation shaft rotation speed sensor

120. Engine controller 130 whole vehicle controller

140. Reversing switch 150 oil filter switch

160. Reel switch 170 grain unloading motor encoder

180. Grain unloading operation handle of grain unloading angle sensor 190

200. Threshing clutch switch of oil quantity sensor 210

220. Remote operation and maintenance terminal 230 grain filling sensor

240. Output execution module 241 reel lifting electromagnetic valve

242. Grain unloading cylinder lifting electromagnetic valve 243 control total electromagnetic valve

244. Start output relay 245 flameout relay

246. Buzzer 247 reversing alarm

248. Safety switch of grain unloading voice alarm 250

260. Man-machine interaction interface of grain unloading steering motor 270

280. Image acquisition device

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.

Fig. 1 schematically shows a schematic diagram of a control system for a harvester according to an embodiment of the application. As shown in fig. 1, in one embodiment of the present application, there is provided a control system for a harvester, the control system comprising:

the sensor module 110 includes a plurality of sensors respectively installed on a plurality of operation mechanisms, and is configured to detect a first rotation speed of each operation mechanism in real time during an operation process of the harvester, and send a first signal carrying the first rotation speed to the whole vehicle controller 130;

the engine controller 120 is installed on the engine, and is configured to detect a second rotation speed and a load factor of the engine in real time during the operation process of the harvester, and send a second signal carrying the second rotation speed and the load factor to the whole vehicle controller;

the vehicle controller 130, electrically connected to the sensor module 110, signal-connected to the engine controller 120, is configured to:

in the event that at least one of the first rotational speed and the second rotational speed is below a preset theoretical value for a preset time, determining that the harvester is about to become jammed and initiating a jam alarm prompt or sending a stall signal to the engine controller 120 to stall the engine.

The harvester refers to a machine capable of harvesting crops, in the technical scheme, the harvester can refer to a grain harvester, and refers to a machine for harvesting grains or beans of rice, wheat, corn, soybean and the like, and the harvester comprises a harvester, a cutter-rower, a binder, a grain threshing machine, a grain combine harvester and the like. For example, a rice harvester is a grain harvesting machine that collects rice harvesting, threshing, and storing in a centralized manner in a grain bin. The harvester may include a plurality of work mechanisms and an engine that provides power to the harvester to drive the plurality of work mechanisms to perform corresponding work according to user instructions.

Further, the harvester collects real-time data of each component through an internal control system and controls each component to execute relevant agronomic actions. Specifically, the control system includes a sensor module 110, an engine controller 120, and a vehicle controller 130. Wherein the sensor module 110 includes a plurality of sensors. The sensor is a detection device, a means of acquiring information, or a machine that transmits a sensation, as it were. A sensor may be a device or apparatus that converts a certain measured physical quantity (e.g., speed, temperature, sound, light, etc.) into another physical quantity (typically, electrical quantity) that is convenient for transmission and processing. In this technical solution, the plurality of sensors are respectively installed on the plurality of operating mechanisms, and are configured to detect, in real time, a first rotation speed of each operating mechanism during operation of the harvester, and send a first signal carrying the first rotation speed to the whole vehicle controller 130. The engine controller is also called an Electronic Control Unit (ECU), and is an integrated control device of the engine. The engine controller calculates, processes, judges and outputs instructions to various information input by each sensor of the engine according to the stored program, and controls the related executor to act, thereby achieving the purpose of quickly, accurately and automatically controlling the engine to work. In this embodiment, the engine controller 120 is mounted on the engine, and is configured to detect the second rotation speed and the load factor of the engine in real time during the operation of the harvester, and send a second signal carrying the second rotation speed and the load factor to the whole vehicle controller 130. The whole vehicle controller is also called VCU, which is a core electronic control unit for realizing whole vehicle control, and the control unit sends corresponding running state control instructions to an executing mechanism after judging and processing through detecting information such as speed, temperature and the like, and has the functions of fault diagnosis, protection and storage of a whole vehicle system. In this technical solution, the whole vehicle controller 130 is electrically connected with the sensor module 110, and is in signal connection with the engine controller 120, and receives the first speed information and the second speed information sent by the sensor module 110 and the engine controller 120 respectively in real time, so as to determine that the harvester is about to be blocked by judging that at least one of the first rotation speed and the second rotation speed is lower than a preset theoretical value in a preset time, and start a blocking alarm prompt, or send a flameout signal to the engine controller 120 to flameout the engine. The preset time and the preset theoretical value can be set in combination with actual requirements, for example, the rotating speed of a working mechanism which works normally is set to be 100, and the rotating speed of a normal working engine is set to be 500 in the normal operation process of the harvester. In general, the preset theoretical values of the first rotation speed and the second rotation speed are not preferably set to 100 and 500 directly, respectively, and may be set to 80 and 400, respectively, in combination with accumulated experience. The preset time may be set to 30 seconds, then the vehicle controller 130 may determine that a harvester is about to have a jam event if the first and second rotational speeds last for 30 seconds below 80 and 400, respectively. After predicting that the harvester is about to have a jam event, the whole vehicle controller can also divide the degree level of the jam according to the duration of the abnormal rotating speed, for example, the duration can be set to be corresponding to slight jam within 20 seconds and to be corresponding to serious jam within 30 seconds above 20 seconds. The control strategies corresponding to the different degree of blocking, specifically, if the vehicle controller 130 is slightly blocked, a blocking alarm prompt is started, if the vehicle controller is severely blocked, a flameout signal is sent to the engine controller 120 to flameout the engine.

According to the technical scheme, automatic prediction of blockage of the harvester is realized. The real-time rotating speed of each operation mechanism is detected in real time and sent to the whole vehicle controller by installing the sensor on each operation mechanism, and the whole vehicle controller predicts whether the harvester is about to be blocked or not by receiving the speed signal and judging the duration of the abnormal speed. The blocking to be generated is identified in advance, and the vehicle is timely alarmed and controlled to stop, so that the blocking is avoided, and the automatic blocking prevention is realized without depending on experience and control skills of operators.

In one embodiment, the control system includes a sensor module 110, an engine controller 120, and a vehicle controller 130. Wherein the sensor module 110 includes a plurality of sensors. In this technical solution, the plurality of sensors are respectively installed on the plurality of operating mechanisms, and are configured to detect, in real time, a first rotation speed of each operating mechanism during operation of the harvester, and send a first signal carrying the first rotation speed to the whole vehicle controller 130. Specifically, the plurality of operating mechanisms comprise a first twisting device, a second twisting device, a threshing cylinder, a chopper and a bridge driving shaft. The wringing means a screw conveyor which can be used to convey grain harvested by a harvester, such as rice, and the threshing cylinder means a device which is used to thresh grain from a grain plant harvested by the harvester to separate the grain from the grain plant. The plurality of sensors include a first wringing rotation speed sensor 111, which is mounted on the first wring, and is configured to detect a first rotation speed of the first wring in real time during an operation process of the harvester, and send a first signal carrying the first rotation speed to the vehicle controller 130. The second wringing rotation speed sensor 112 is mounted on the second wringing and is used for detecting the rotation speed of the second wringing in real time in the operation process of the harvester. The threshing cylinder rotating speed sensor 113 is arranged on the threshing cylinder and is used for detecting the rotating speed of the threshing cylinder in real time in the operation process of the harvester. The shredder rotation speed sensor 114 is mounted to the shredder for detecting the rotation speed of the shredder in real time during operation of the harvester. And the bridge-crossing driving shaft sensor is arranged on the bridge-crossing driving shaft and used for detecting the rotating speed of the bridge-crossing driving shaft in real time in the operation process of the harvester.

Further, after the first wringing rotational speed sensor 111, the second wringing rotational speed sensor 112, the threshing cylinder rotational speed sensor 113, the shredder rotational speed sensor 114, and the gap bridge driving shaft sensor respectively transmit the detected real-time rotational speeds of the first wringing, the second wringing, the threshing cylinder, the shredder, and the gap bridge driving shaft to the vehicle controller 130 in real time, and the engine controller 120 transmits the second rotational speed and the load factor of the real-time detected engine to the vehicle controller 130. The whole vehicle controller 130 receives the first speed information and the second speed information sent by the sensor module 110 and the engine controller 120 in real time, so as to determine that the harvester is about to be blocked and start a blocking alarm prompt or send a flameout signal to the engine controller 120 to flameout the engine by judging that at least one of the first rotating speed and the second rotating speed is lower than a preset theoretical value in a preset time. Specifically, the vehicle controller 130 may divide the level of the blockage according to the duration of the abnormal rotation speed, if the vehicle controller 130 is slightly blocked, a blockage alarm is started, if the vehicle controller is severely blocked, a flameout signal is sent to the engine controller 120 to flameout the engine.

In one embodiment, the harvester further comprises a speed change control device, and the control system further comprises a reversing switch 140 in radio connection with the speed change control device for detecting position information of the speed change control device in real time during operation of the harvester and transmitting the position information to the vehicle controller 130. In the technical scheme, the speed change control device can refer to a speed change handle, and the speed change handle is used for controlling a speed gear of the harvester, wherein the speed gear comprises a middle position and a reversing position. Specifically, the reversing switch 140 is configured to detect whether the speed gear of the gear shift lever is in the reversing position, and if it is detected that the speed gear of the gear shift lever is in the reversing position, send the position information to the vehicle controller 130. The vehicle controller 130 is electrically connected to the reversing switch 140, and the vehicle controller 130 is further configured to: upon receiving the position information sent by the reverse switch 140, it is determined that the shift control device is in the reverse position, and a reverse alarm prompt is started.

Further, the gear shift control device is also in radio connection with a safety switch 250, where the safety switch 250 is used to monitor whether the speed gear of the gear shift lever is at the neutral position, and send the position information to the vehicle controller 130 in real time. The safety switch 250 corresponds to a proximity switch, which is a position switch that can be operated without mechanical direct contact with a moving part, and can be operated without mechanical contact and any pressure applied when an object approaches a sensing surface of the switch to an operating distance, thereby driving a direct current appliance or providing a control command to a computer (plc) device. The proximity switch is a switch type sensor (i.e. a contactless switch), has the characteristics of a travel switch and a micro switch, has the characteristics of sensing performance, and has the characteristics of reliable action, stable performance, quick frequency response, long application life, strong anti-interference capability and the like, and has the characteristics of water resistance, shock resistance, corrosion resistance and the like.

Further, the control system further comprises a man-machine interaction interface 270 and an image acquisition device 280 electrically connected to the man-machine interaction interface 270. In this technical scheme, the image acquisition device 280 means that the camera can be installed at the tail of the harvester, and is used for monitoring the image at the tail of the harvester in real time, so that the harvester can conveniently monitor the reversing image in real time in the reversing process. The man-machine interaction interface 270 may refer to a display screen installed in the operation room, and is configured to put the image monitored by the camera into the user in real time, so that the user can complete the reversing action of the harvester according to the reversing image.

In one embodiment, the harvester further comprises a hydraulic system. The control system also includes an oil filter switch 150 mounted to the hydraulic system. Specifically, in the present solution, the oil filter switch 150 may be installed in a filter of the hydraulic system for detecting the pressure of the hydraulic system in real time during the operation of the harvester. In the event that the pressure of the hydraulic system is detected to be greater than a preset pressure value, a pressure signal is sent to the vehicle controller 130. The vehicle controller 130 is electrically connected to the oil filter switch 150, and the vehicle controller 130 is further configured to: upon receiving the pressure signal sent by oil filter switch 150, a pressure alarm prompt is initiated.

In one embodiment, the harvester further comprises a reel, which is mounted with a reel lifting solenoid valve 241. Solenoid valves are industrial equipment controlled by electromagnetic means, are automatic basic elements for controlling fluids, and belong to actuators, not limited to hydraulic and pneumatic. For use in industrial control systems to adjust the direction, flow, velocity and other parameters of the medium. The solenoid valve can be matched with different circuits to realize expected control, and the control precision and flexibility can be ensured. The control system further includes a reel switch 160, configured to generate a corresponding operation signal according to an operation command for reel triggered by a user, and send the operation signal to the whole vehicle controller 130. Specifically, the vehicle controller 130 is electrically connected to the reel switch 160 and the lifting solenoid valve, and to the reel lifting solenoid valve 241, and the vehicle controller 130 is further configured to: in the case that the reel has lifting demand, the reel lifting electromagnetic valve 241 is controlled to be electrified according to the operation instruction sent by the reel switch 160 so as to control the reel to execute lifting action.

In one embodiment, the harvester further includes a discharge drum mounted with a discharge drum lift solenoid 242. The control system also includes a discharge motor encoder 170 and a discharge angle sensor 180 mounted on the discharge drum. An encoder refers to a device that compiles, converts, or converts a signal (e.g., a bit stream) or data into a signal form that can be used for communication, transmission, and storage. The encoder converts angular displacement, referred to as a code wheel, or linear displacement, referred to as a code scale, into an electrical signal. The angle sensor, as the name implies, is used to detect the angle. The body of the utility model is provided with a hole which can be matched with the shaft of the music instrument. When attached to the RCX, the angle sensor counts once every 1/16 of a revolution of the shaft. When the rotation is in one direction, the count is increased, and when the rotation direction is changed, the count is decreased. Specifically, the grain unloading motor encoder 170 and the grain unloading angle sensor 180 are respectively used for detecting the transverse position and the longitudinal position of the grain unloading drum in real time during the operation of the harvester, and respectively transmitting a third signal and a fourth signal carrying the transverse position to the whole vehicle controller 130.

Further, the control system further includes a grain unloading operation handle 190, configured to generate a corresponding operation signal according to an operation instruction triggered by a user and directed to the grain unloading cylinder, and send the operation signal to the whole vehicle controller 130. The vehicle controller 130 is connected with the grain unloading motor encoder 170, the grain unloading angle sensor 180 and the grain unloading operation handle 190 through bus CAN signals, and the vehicle controller 130 is further configured to: in the case that the unloading drum has lifting requirements, the unloading drum lifting electromagnetic valve 242 is controlled to be electrified according to the transverse position and the longitudinal position of the unloading drum and the operation signal sent by the unloading operation handle 190 so as to control the unloading drum to execute lifting actions.

In one embodiment, the harvester further comprises a tank, and the control system further comprises an oil quantity sensor 200 mounted to the tank. Specifically, the oil amount sensor 200 is used to detect oil level information of the oil tank in real time during operation of the harvester, and to transmit the oil level information to the whole vehicle controller 130. The vehicle controller 130 is electrically connected to the oil quantity sensor 200, and the vehicle controller 130 is further configured to: and under the condition that the oil level of the oil tank is lower than a preset oil level value, starting an oil level alarm prompt.

In one embodiment, the harvester further comprises a threshing clutch, the clutch is similar to a switch, the clutch is used for connecting or disconnecting the power transmission, the driving part and the driven part of the clutch mechanism can be separated temporarily and can be connected gradually, and relative rotation is possible during the transmission process, and rigid connection between the driving part and the driven part of the clutch can not be adopted. The control system further comprises a threshing clutch switch 210 electrically connected with the threshing clutch for detecting the clutch state information of the threshing clutch in real time during the operation of the harvester. Specifically, the threshing clutch includes two states of "off" and "on", and the threshing clutch switch 210 transmits the detected clutch state information of the threshing clutch to the vehicle controller 130.

In one embodiment, the control system further includes a remote operation and maintenance terminal 220, which is in signal connection with the whole vehicle controller 130 and the engine controller 120, and is configured to obtain whole vehicle operation information of the harvester, and send the whole vehicle operation information to a cloud platform for display.

In one embodiment, the harvester further comprises a grain bin, which may be referred to as a storage bin for the treated grain of the harvester. The control system further comprises a full grain sensor 230, wherein the full grain sensor 230 is installed in the granary and is used for detecting capacity information of the granary in real time in the operation process of the harvester, and sending a capacity signal to the whole vehicle controller 130 when the capacity of the granary is full. The vehicle controller 130 is electrically connected to the full sensor 230, and the vehicle controller 130 is further configured to: upon receiving the capacity signal sent by the full grain sensor 230, a capacity alert prompt is initiated. Specifically, the full sensor detects the accumulation degree of grains in the grain bin, and when the full sensor 230 detects that the grain bin is full, a signal is sent to the whole vehicle controller 130, and the whole vehicle controller 130 controls the output of an alarm signal.

In one embodiment, the harvester further includes a plurality of working components, the control system further includes an output execution module 240, which is electrically connected with the whole vehicle control module, the output execution module 240 includes one or more relays, electromagnetic valves, and alarm devices, the relays and the electromagnetic valves are respectively installed on the plurality of working components, and are used for controlling the corresponding working components to execute corresponding actions according to control instructions issued by the whole vehicle controller 130 and preset control logic, and the alarm devices are used for executing alarm actions according to alarm signals issued by the whole vehicle controller 130. Specifically, the output execution module 240 includes a reel lifting solenoid valve 241, a grain discharging cylinder lifting solenoid valve 242, a control master solenoid valve 243, a start output relay 244, a flameout relay 245, a buzzer 246, a reversing alarm 247, and a grain discharging voice alarm 248. The input signal detection unit monitors the input signals of all switches of the vehicle and the working state information of the components, sends the input signals and the working state information of the components to the main control unit, and the main control unit receives the information sent by the input signal detection unit and controls the corresponding components such as the electromagnetic valve, the motor, the relay and the like to output according to logic preset by a program. The reel switch 160 is connected to the whole vehicle controller 130, and sends a reel control signal to the whole vehicle controller 130 to control the reel lifting electromagnetic valve 241 to output, thereby controlling reel lifting. The grain unloading motor encoder 170 and the grain unloading angle sensor 180 respectively detect the transverse position and the longitudinal position of the grain unloading cylinder and send the detected transverse position and the detected longitudinal position to the whole vehicle controller 130, wherein the grain unloading angle sensor 180 is a bus type, the longitudinal position of the grain unloading cylinder is sent to the whole vehicle controller 130 through a CAN bus, the grain unloading operation handle 190 is a bus type, and the grain unloading motor encoder is connected with the whole vehicle controller 130 through the CAN bus to send grain unloading operation information to the whole vehicle controller 130. The whole vehicle controller 130 controls the operation of the grain discharging motor and the grain discharging cylinder lifting electromagnetic valve 242 according to the operation information sent by the grain discharging operation handle 190. When the grain discharging cylinder works, the grain discharging voice alarm 248 gives out an audible and visual alarm.

In one embodiment, as shown in FIG. 2, a block diagram of a vehicle control unit 130 is provided. Specifically, the VCU program of the whole vehicle controller 130 adopts a modularized design, and includes an engine start-stop and protection module, an IO processing module, a reel control module, a grain unloading control module, a communication module, an anti-blocking control module and a fault diagnosis module. The engine start-stop and protection module mainly controls the start-stop of the engine and protects the start of the engine. When the main speed is in a neutral position and the threshing clutch is in a separation state, the key switch is switched to an ignition gear, and the VCU controls the starting relay to output a signal to the engine starting motor, so that the engine is started. When the vehicle is abnormally operated and needs to be parked, the controller controls the flameout relay 245 to output, the key is disconnected, the engine stops working, and the vehicle is parked.

The IO processing module mainly carries out hardware configuration on an input/output port of the controller and processes input signals and output signals.

The reel control module controls the reel to lift and the like.

The grain unloading control module receives an operation signal of the grain unloading operation handle 190 and controls the grain unloading motor and the grain unloading lifting electromagnetic valve to drive the grain unloading cylinder to rotate left and right and lift. The grain unloading operation is respectively in manual mode and automatic mode. In the manual mode, the upper, lower, left and right buttons on the grain unloading operation handle 190 are respectively pressed, so that the grain unloading cylinder can be controlled to move up, down, left and right; in the automatic mode, a key is pressed to rotate out or a key return button is pressed, and the grain unloading cylinder can automatically rotate out to a calibration position or return to the original position.

The communication module is responsible for communication data processing of the VCU and the engine ECU, a display screen, an angle sensor and the grain unloading operation handle 190.

The anti-blocking control module predicts and judges failure or blocking trend of each mechanism through the obtained rotation speed signals of each mechanism, the engine rotation speed sent by the ECU, the load factor and other information by installing the rotation speed sensor at the first stirring, the second stirring, the chopper, the threshing cylinder and the gap bridge driving shaft, monitors the working state of each mechanism in real time, and rapidly carries out corresponding control, thereby avoiding blocking or blocking deterioration.

The fault diagnosis module monitors the state of the whole vehicle, and when the whole vehicle and the engine are abnormal, the buzzer alarms, and the display screen displays corresponding fault information.

In one embodiment, as shown in FIG. 3, there is provided a harvester comprising:

a plurality of work mechanisms 310 for performing corresponding work during operation of the harvester;

an engine 320 for powering the harvester;

a control system 330 for the harvester.

According to the technical scheme, automatic prediction of blockage of the harvester is realized. The method has the advantages that the blocking to be generated is identified in advance, the vehicle speed is timely alarmed and controlled to be reduced or stopped, so that the blocking is avoided, and the automatic blocking prevention is realized without depending on experience and control skills of operators. The technology can reduce the dependence on the experience skill of operators, reduce the labor intensity of operation, improve the operation continuity and the operation efficiency, reduce the damage of each transmission mechanism caused by blockage, reduce the use and maintenance cost and improve the market competitiveness of the harvester. In addition, the vehicle controller VCU collects rotational speed signals of rotational speed sensors arranged on all mechanisms, monitors the operation speed of all mechanisms, and obtains the rotational speed and the load factor of the engine from a bus. The VCU detects low rotation speed or about to overload and stop rotation, and outputs parking control and alarm indication after control decision.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (11)

1. A control system for a harvester, the harvester including a plurality of operating mechanisms including a first auger, a second auger, a threshing cylinder, a chopper, and a bridge drive shaft, and an engine, the control system comprising:

the sensor module comprises a plurality of sensors which are respectively arranged on the plurality of operation mechanisms and are used for detecting the first rotating speed of each operation mechanism in real time in the operation process of the harvester and sending a first signal carrying the first rotating speed to the whole vehicle controller, wherein the plurality of sensors comprise: the first wringing rotating speed sensor is arranged on the first wring and is used for detecting the first rotating speed of the first wring in real time in the operation process of the harvester and sending a first signal carrying the first rotating speed to the whole vehicle controller; the second twisting rotational speed sensor is arranged on the second twisting; a threshing cylinder rotating speed sensor which is arranged on the threshing cylinder; a shredder rotation speed sensor mounted to the shredder; the bridge-passing driving shaft sensor is arranged on the bridge-passing driving shaft;

the engine controller is arranged on the engine and used for detecting the second rotating speed and the load factor of the engine in real time in the running process of the harvester and sending a second signal carrying the second rotating speed and the load factor to the whole vehicle controller;

the whole vehicle controller is electrically connected with the sensor module, is in signal connection with the engine controller and is configured to:

and under the condition that at least one of the first rotating speed and the second rotating speed is lower than a preset theoretical value in a preset time, determining that the harvester is about to be blocked, starting a blocking alarm prompt, or sending a flameout signal to the engine controller to flameout the engine.

2. The control system for a harvester of claim 1, further comprising a speed change control device, the control system further comprising a reversing switch wirelessly connected to the speed change control device for detecting position information of the speed change control device in real time during operation of the harvester and transmitting the position information to the whole vehicle controller;

the vehicle controller is electrically connected with the reversing switch, and the vehicle controller is further configured to:

and under the condition that the position information sent by the reversing switch is received, determining that the speed change control device is at the reversing position, and starting a reversing alarm prompt.

3. The control system for a harvester of claim 1, wherein the harvester further comprises a hydraulic system, the control system further comprising:

the oil filter switch is arranged on the hydraulic system and is used for detecting the pressure of the hydraulic system in real time in the operation process of the harvester, and sending a pressure signal to the whole vehicle controller under the condition that the pressure of the hydraulic system is detected to be larger than a preset pressure value;

the vehicle controller is electrically connected with the oil filter switch, and is further configured to:

and under the condition that a pressure signal sent by the oil filter switch is received, starting a pressure alarm prompt.

4. The control system for a harvester of claim 1, further comprising a reel, the reel having a reel lift solenoid mounted thereto, the control system further comprising:

the reel switch is used for generating a corresponding operation signal according to an operation instruction aiming at the reel triggered by a user and sending the operation signal to the whole vehicle controller;

the whole vehicle controller is electrically connected with the reel switch and the lifting electromagnetic valve, and is further configured to:

under the condition that the reel has lifting requirements, the reel lifting electromagnetic valve is controlled to be electrified according to an operation instruction sent by the reel switch so as to control the reel to execute lifting actions.

5. The control system for a harvester of claim 1, further comprising a discharge drum, the discharge drum having a discharge drum lifting solenoid valve mounted thereto, the control system further comprising:

the grain unloading motor encoder and the grain unloading angle sensor are respectively used for detecting the transverse position and the longitudinal position of the grain unloading drum in real time in the operation process of the harvester, and respectively transmitting a third signal and a fourth signal carrying the transverse position to the whole vehicle controller;

the grain unloading operation handle is used for generating a corresponding operation signal according to an operation instruction which is triggered by a user and aims at the grain unloading cylinder and sending the operation signal to the whole vehicle controller;

the whole vehicle controller is in signal connection with the grain unloading motor encoder, the grain unloading angle sensor and the grain unloading operation handle, and is further configured to:

under the condition that the grain unloading cylinder has lifting requirements, the grain unloading cylinder lifting electromagnetic valve is controlled to be electrified according to the transverse position and the longitudinal position of the grain unloading cylinder and the operation signal sent by the grain unloading operation handle so as to control the grain unloading cylinder to execute lifting action.

6. The control system for a harvester of claim 1, wherein the harvester further comprises a tank, the control system further comprising:

the oil quantity sensor is arranged on the oil tank and is used for detecting the oil level information of the oil tank in real time in the operation process of the harvester and sending the oil level information to the whole vehicle controller;

the vehicle controller is electrically connected with the oil quantity sensor, and is further configured to:

and under the condition that the oil level of the oil tank is lower than a preset oil level value, starting an oil level alarm prompt.

7. The control system for a harvester of claim 1, wherein the harvester further comprises a threshing clutch, the control system further comprising:

the threshing clutch switch is electrically connected with the threshing clutch and is used for detecting clutch state information of the threshing clutch in real time in the running process of the harvester and sending the clutch state information to the whole vehicle controller.

8. The control system for a harvester of claim 1, wherein the control system further comprises:

and the remote operation and maintenance terminal is in signal connection with the whole vehicle controller and the engine controller and is used for acquiring whole vehicle operation information of the harvester and sending the whole vehicle operation information to the cloud platform for display.

9. The control system for a harvester of claim 1, wherein the harvester further comprises a grain bin, the control system further comprising:

the grain full sensor is arranged in the granary and is used for detecting capacity information of the granary in real time in the running process of the harvester, and sending a capacity signal to the whole vehicle controller under the condition that the capacity of the granary is full;

the whole vehicle controller is electrically connected with the grain full sensor, and is further configured to:

and under the condition that a capacity signal sent by the grain full sensor is received, starting a capacity alarm prompt.

10. The control system for a harvester of claim 1, wherein the harvester further comprises a plurality of working components, the control system further comprising:

the output execution module is electrically connected with the whole vehicle control module and comprises one or more relays, electromagnetic valves and alarm devices, wherein the relays and the electromagnetic valves are respectively installed on the working parts and used for executing corresponding actions according to control instructions issued by the whole vehicle controller and corresponding working parts controlled by preset control logic, and the alarm devices are used for executing alarm actions according to alarm signals issued by the whole vehicle controller.

11. A harvester, comprising:

the harvester comprises a plurality of working mechanisms, a plurality of cutting units and a plurality of cutting units, wherein the working mechanisms are used for executing corresponding work in the operation process of the harvester and comprise a first twisting unit, a second twisting unit, a threshing cylinder, a chopper and a bridge driving shaft;

an engine for powering the harvester;

the control system for a harvester according to any one of claims 1 to 10.