WO2018053897A1 - 一种能够进行自适应调节的联合收获机及自适应调节方法 - Google Patents

一种能够进行自适应调节的联合收获机及自适应调节方法 Download PDF

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Publication number
WO2018053897A1
WO2018053897A1 PCT/CN2016/103461 CN2016103461W WO2018053897A1 WO 2018053897 A1 WO2018053897 A1 WO 2018053897A1 CN 2016103461 W CN2016103461 W CN 2016103461W WO 2018053897 A1 WO2018053897 A1 WO 2018053897A1
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Prior art keywords
grain
cleaning
rate
drum
combine harvester
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PCT/CN2016/103461
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English (en)
French (fr)
Inventor
李耀明
梁振伟
徐立章
唐忠
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江苏大学
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Publication of WO2018053897A1 publication Critical patent/WO2018053897A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/18—Threshing devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/44—Grain cleaners; Grain separators
    • A01F12/446—Sieving means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/58—Control devices; Brakes; Bearings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/14—Measures for saving energy, e.g. in green houses

Definitions

  • the invention belongs to the field of adaptive control of combine harvester, and particularly relates to a combine harvester with adaptive adjustment of working parameters of threshing separation and cleaning device and an adaptive adjustment method thereof.
  • Huisman, Voo Loo and Heijning determine the amount of feed by detecting the torque of the auger, controlling the speed of the work, Kruse and Krutz controlling the speed of the work by the load of the engine, and Andersen describes the volume of the harvested grain by detection. The operation speed is controlled.
  • the Japanese Kubota PR0481-M combine harvester uses rubber crawler and semi-feeding axial flow drum. It has automatic load display, direction control, automatic feed adjustment, automatic engine stop when overloaded, and automatic oil injection.
  • New Holland, Deere and other companies have installed electronic information display, electronic driving control system, etc. These devices mainly control the machine's conventional parameters, such as engine speed, oil pressure and temperature, fuel quantity, voltage, etc. Control random performance parameters such as actual travel speed, PTO shaft speed, work area, work efficiency and working time; the Massey Ferguson system terminal in the UK has a very important system diagnostic function. Once the system fails, the user can pass the diagnosis Break the tool to find the fault and quickly resolve the fault.
  • China has done a lot of research on improving the automation and intelligence level of combine harvesters, and has achieved certain results and shortened the gap with advanced foreign technology. For example, the pressure of the inclined conveyor to the bottom plate is used to detect the feed amount.
  • Zhang recognizes that by establishing the mathematical model of the grain movement in the threshing space and the power consumption model, the threshing system simulation controller and the simulation control with the single chip as the core are designed.
  • Test Bench. Ji Binbin uses the feed-active shaft torque to detect the feed amount in real time, and designs the neural network controller to control the working speed.
  • Lu Wentao detects the feed amount by the oil pressure of the drum drive hydraulic system, and controls the walking speed through fuzzy control. Predicting and using PID algorithm to control the working speed;
  • Heilongjiang Bayi Agricultural University developed the threshing drum and the working speed monitoring system of each working shaft;
  • Jiangsu University developed the rotating speed alarm device for the combined harvesting machine based on Hall sensor and 89C51 single chip microcomputer.
  • Jiangsu University has proposed a method for monitoring the loss of grain entrainment and developed a sensor for monitoring the loss of grain entrainment.
  • the Northwest Agriculture and Forestry University has developed a monitoring system for the threshing
  • the present invention provides a combined harvester capable of adaptively adjusting the working parameters of the threshing separation and cleaning device and an adaptive adjustment method thereof .
  • a combined harvesting machine capable of adaptively adjusting the working parameters of the threshing separation and cleaning device, comprising a second detaching roller cover guide bar angle adjusting device, and a second detaching roller, Two off-roller power consumption measurement, hydraulic motor, bracket, grain entrainment loss monitoring system, grain cleaning loss monitoring system, cleaning screen, adjustable speed cleaning fan, first off-roller, vertical grain auger, grain Containing rate, breaking rate monitoring device and measurement and control system.
  • the second release roller cover guide bar angle adjusting device is located above the second release roller cover, the hydraulic motor is located at the tail of the second release roller, the hydraulic motor and the second release roller are connected by the coupling, and the second release roller power consumption
  • the measuring device is located between the second release cylinder and the hydraulic motor.
  • the second detachment drum power consumption measuring device and the hydraulic motor are fixed to the combine harvester wall by brackets.
  • the cleaning screen is located below the second detaching drum, and the cleaning fan with adjustable speed is located at the left front of the cleaning screen.
  • the first release roller is located at the front of the second release roller and cleans the upper left portion of the sieve.
  • the grain entrainment loss monitoring system is installed at the rear of the second detachment drum separation concave plate, and the grain cleaning loss monitoring system is installed at the tail of the cleaning sieve.
  • the grain inclusion rate and breakage rate monitoring device is installed on the outer wall of the vertical grain auger.
  • the invention also includes a measurement and control system, the input end of the measurement and control system and the second off-drum power consumption measuring device, the hydraulic motor controller, the grain entrainment loss monitoring system, the grain cleaning loss monitoring system, and the fish scale sieve of the cleaning sieve
  • the controller of the degree adjusting mechanism, the controller of the cleaning fan with adjustable speed, the grain impurity rate and the breaking rate monitoring device are connected, the output end of the measuring and controlling system and the hydraulic motor, the sieve scale opening of the screening sieve
  • the controller of the adjusting mechanism and the controller of the adjustable speed fan are connected to control the opening and the inclination of the fish scale sieve, the rotation speed of the second release drum and the cleaning centrifugal fan, and the second Remove the angle of the roller cover guide bar.
  • the second detaching roller cover guide bar angle adjusting device comprises a linear electric cylinder, an adjusting rod, a guide bar, a carrier plate 1, a carrier plate 2, a U-shaped shaft 1, a U-shaped shaft 2 and a U-shaped shaft 3 composition.
  • Linear electric The cylinder and the adjusting rod are located outside the second off-roller cover, and the guide bar, the carrier plate 1, the carrier plate 2, the U-shaped shaft 1, the U-shaped shaft 2 and the U-shaped shaft 3 are located inside the second release roller cover.
  • the guide strips are mounted on the carrier plate 2.
  • the carrier plate is mounted on the second release roller top cover through the upper ends of the U-shaped shaft 1 and the U-shaped shaft 2.
  • the carrier plate 2 is mounted on the lower ends of the U-shaped shaft 1 and the U-shaped shaft 2.
  • the carrier plate 1 and the carrier plate 2 are connected by a U-shaped shaft 3.
  • the adjusting rod is driven by the linear electric cylinder to drive the U-shaped rotating shaft to rotate, and the two-stage translation of the carrying plate is driven to drive the guiding strip to rotate, thereby adjusting the angle of the guiding strip.
  • the cleaning sieve is composed of a shaking plate, a fish scale sieve and a tail sieve.
  • the corners of the fish scale screen frame are connected to four servo linear electric cylinders through a support bar, and the servo linear electric cylinder is fixed on the screen frame of the cleaning sieve, and the protrusion amounts of the four servo linear electric cylinders are independently adjustable, and then The adjustment of the dip angle of the fish scale can be achieved.
  • the fish scale screening opening adjustment mechanism is composed of a bottom plate, a linear displacement sensor, a linear electric cylinder, a ball joint link, a fixed pin, a conversion arm, a connecting rod and a connecting plate.
  • the linear displacement sensor and the linear electric cylinder are connected to each other as a whole by a rigid strip.
  • the shifting arm is fixed to the base plate by means of a fixing stud and through a mounting hole.
  • the switching arm is connected to the linear electric cylinder and the connecting rod through the connecting hole one and the connecting hole two, respectively.
  • the connecting plate is welded to the fish scale screen active screen and rigidly connected to the connecting rod.
  • the linear electric cylinder is connected to the measurement and control system through the signal line, and the measurement and control system realizes the movement of the conversion arm by controlling the movement of the linear electric cylinder to extend the shaft, and finally completes the adjustment of the opening of the fish scale.
  • the grain cleaning loss monitoring system comprises a first grain cleaning loss monitoring sensor, a second grain cleaning loss monitoring sensor and a third grain cleaning loss monitoring sensor, wherein the first grain cleaning loss monitoring sensor, The second seed cleaning loss monitoring sensor and the third grain cleaning loss monitoring sensor are independently placed along the width direction of the cleaning sieve, and respectively monitor the grain cleaning loss of the left, middle and right sections of the screening sieve surface.
  • the grain box containing the impurity rate and the breaking rate monitoring device is covered by the shield, the sampling slot sampling slot driving shaft, the limiting plate, the inclined sliding plate, the vibration exciter, the conveyor belt, the monitoring trough, the dust-proof glass, the spectrometer, the installation
  • the frame, signal line and sampling slot drive motor are composed.
  • the shield is welded on the outer wall of the vertical auger of the grain.
  • the sampling slot drives the shaft through the sampling slot and is mounted to the shield through the bearing; the shaft end of the sampling slot drive shaft extends out of the shield and is connected to the sampling slot drive motor through the coupling. .
  • the sampling slot drive motor is fixed on the shield through the connecting bracket; the sampling slot drive motor drives the sampling slot to rotate under the control of the measurement and control system, and the sampling slot uses its own groove to scrape the vertical grain in the auger and the vertical auger spiral blade lifts.
  • the grain and the scraping of the sampling tank gradually fall onto the inclined slide.
  • the single layer of grain reaches above the conveyor belt and prevents the fine components of the exudate from entering the monitoring tank to interfere with the measurement accuracy.
  • Under the conveyor belt a single layer of grain falls neatly into the monitoring tank.
  • the monitoring tank is connected to the shroud, and the monitoring tank is fitted with one side opening of the shroud and embedded in the tempered glass.
  • the spectrometer is mounted on the shield by a mounting bracket, and the mirror of the spectrometer
  • the head detects the grain components flowing into the monitoring tank through the tempered glass, and transmits the collected information to the measurement and control system through the signal line.
  • the neural network and the improved non-inferior classification genetic algorithm are used to screen out the optimal band spectrum which can effectively identify the components, and embedded in the measurement and control system.
  • the relevant calculation model calculates the impurity content and breaking rate of the grain in the vertical grain auger in real time.
  • the measurement and control system can reveal the work of the combined harvester cleaning system according to the grain removal loss rate and the grain box grain impurity rate, the fish scale sieve opening degree, the fish scale sieve inclination angle and the fan rotation speed obtained by cluster analysis.
  • the relationship between parameters and performance parameters affects the law, and based on the optimal operation control target and energy conservation rule, combined with the control system control performance model (ITAE criterion) to establish an adaptive control model of the cleaning system, based on the grain cleaning loss monitoring system monitoring
  • ITAE criterion control performance model
  • the grain removal loss rate and grain impurity content of each interval, the grain content of the grain box monitored by the crushing rate monitoring device, and the opening degree of the scale sieve and the rotation speed of the cleaning fan with adjustable inclination and speed can be adjusted in real time.
  • the combine harvester cleaning unit is operated at its optimum.
  • the measurement and control system can detect the loss rate of the grain entrainment detected by the grain entrainment loss monitoring system, the grain content rate of the grain box, the rate of breakage of the grain box and the power consumption of the second off-roller, and the hydraulic motor.
  • the rotation speed and the angle of the guide bar in the top of the threshing drum cover reveal the power consumption and rotation speed of the second off-roller of the combined harvester threshing separation system, the angle of the guide bar in the top of the barrel of the threshing drum and the performance parameters (grain entrainment loss)
  • ITAE criterion control system control performance model
  • the angle of the guide bar in the top of the threshing drum is the input amount, and the rotation speed of the second off-roller and the top
  • the present invention also provides a method for adaptive adjustment of an adaptive combine harvester, and the measurement and control system can achieve the best working performance of the combine harvester by the following steps: the specific steps are: S1: combined harvester work
  • the measurement and control system obtains the second detachment drum power consumption, the second detachment drum rotation speed, the angle of the guide strip in the threshing drum cover, the grain entrainment loss rate, the grain cleaning loss rate, the grain box impurity ratio, the breaking rate, and the fish scale.
  • the opening degree, the scale of the fish scale, and the fan speed are used to characterize the operation status of the combine harvester.
  • S2 The measurement and control system performs abnormal data substitution, missing data completion, and data denoising preprocessing on the monitored data to eliminate the influence of random and uncertain factors on subsequent data analysis.
  • S3 the power consumption of the second off-roller obtained by the measurement and control system in real time, the rotation speed of the second off-roller, the angle of the guide bar in the top of the threshing drum, the loss rate of the grain entrainment, the loss rate of the grain cleaning, the impurity content of the grain bin, and the broken
  • the time series of the rate, scale opening, scale screen inclination and fan speed are analyzed by cluster analysis to reveal the joint collection.
  • the correlation law of intelligent regulation and control between machine threshing separation and cleaning system is obtained, and based on the optimal operation control target and energy conservation rule, the control weight model of grain entrainment loss, breaking rate, cleaning loss and impurity content is studied.
  • the control system control performance model (ITAE criterion) establishes an adaptive adjustment model for the control weight of the whole system.
  • the adaptive adjustment model of the measurement and control system takes each monitoring quantity as an input quantity, and after inference calculation, outputs corresponding control signals in real time to control the opening degree and inclination angle of the fish scale sieve, the second release drum and the cleaning
  • the rotation speed of the centrifugal fan and the angle of the throttling roller cover guide bar are such that the grain entrainment loss rate of the combine harvester, the grain removal loss rate, the grain content of the grain bin, the fracture rate and the power consumption of the second release drum are distributed. Within a reasonable range.
  • the beneficial effects of the invention are as follows: (1)
  • the combined harvester capable of adaptively adjusting the working parameters of the threshing separation and cleaning device designed by the patent can automatically adjust various working parameters according to the work quality in the operation process, while improving production efficiency.
  • the failure rate is controlled within a certain range, and the operation adaptability and trouble-free working time of the whole machine are greatly improved, which is of great significance for solving the technical bottleneck restricting the operation performance, efficiency and harvest adaptability of the grain combine harvester.
  • the combined harvester with adaptive working parameters of threshing separation and cleaning device proposed in this patent can be used for harvesting rice, wheat, rapeseed and soybean, which promotes the technological progress of the harvesting machinery industry and provides food security. Theory, technology and equipment support.
  • Figure 1 is a front view of a combine harvester with adaptive adjustment of the working parameters of the threshing separation and cleaning device.
  • Figure 2 is a front elevational view of the second detachment roller cover guide bar angle adjusting device of the combine harvester.
  • Figure 3 is a plan view of the second detachment roller cover guide bar angle adjusting device of the combine harvester.
  • Figure 4 is a schematic view showing the working principle of the second detaching roller cover guide bar angle adjusting device of the combine harvester.
  • Figure 5 is a top plan view of the combine harvester cleaning screen scale screen opening adjustment device.
  • Fig. 6 is a view showing the measurement of the opening adjustment device of the fish scale sieve of the combine harvester.
  • Figure 7 is a plan view of the transfer arm of the combine harvester cleaning screen scale opening adjustment device.
  • Figure 8 is a side view of the combine harvester cleaning screen scale screen tilt adjustment device.
  • Figure 9 is a side elevational view, in side elevation, of the combine harvester cleaning screen scale screen tilt adjustment device.
  • Figure 10 is a top plan view of the combined harvester grain cleaning loss monitoring system installation.
  • Fig. 11 is a front view showing the apparatus for monitoring the grain content and the rate of breakage.
  • 1-angled roller cover guide bar angle adjustment device 1-1-101-linear electric cylinder, 1-1022-adjustment rod, 1-103-second second release roller top cover, 1-104 guide bar, 1-105 Carrier plate 1, 1-106 carrier plate 2, 1-107U type shaft 1, 1-108U type shaft 2 and 1-109U type shaft 3; 2 - second threshing drum, 3-second off-roller power consumption measuring device, 4-hydraulic motor, 5-bracket, 6-seed entrainment loss monitoring system, 7-seed cleaning loss monitoring system, 7-01-first Grain cleaning loss monitoring sensor, 7-02- second grain cleaning loss monitoring sensor, 7-03-third grain cleaning loss monitoring sensor, 8-clear screening, 8-01-floor, 8-02- straight line Displacement sensor, 8-03-linear electric cylinder, 8-04-ball joint, 8-05-fixed pin, 8-06-transfer arm, 8-06-01-connecting hole one, 8-06-02 Connecting hole 2 and 80-06-03 mounting hole, 8-07-link, 8-
  • the combine harvester capable of adaptively adjusting the working parameters of the threshing separation and cleaning device of the embodiment includes a second release roller cover guide bar angle adjusting device 1 , a second release roller 2 , and a second release roller.
  • Power consumption measuring device 3 hydraulic motor 4, bracket 5, grain entrainment loss monitoring system 6, grain cleaning loss monitoring system 7, cleaning screen 8, speed-selectable cleaning fan 9, first off-roller 10, vertical transmission Grain auger 11, grain inclusion rate, breaking rate monitoring device 12 and measurement and control system 13.
  • the second release roller cover guide bar angle adjusting device 1 is located above the top cover of the second release roller 2, the hydraulic motor 4 is located at the tail of the second release roller 2, and the hydraulic motor 4 and the second release roller 2 are connected by a coupling.
  • the second detaching drum power consumption measuring device 3 is located between the second detaching drum 2 and the hydraulic motor 4.
  • the second detachment drum power consumption measuring device 3 and the hydraulic motor 4 are fixed to the combine harvester wall by the bracket 5.
  • the cleaning screen 8 is located below the second release drum 2, and the cleaning fan 9 with adjustable speed is located at the left front of the cleaning screen 8.
  • the first detaching drum 10 is located at the front of the second detaching drum 2, and cleans the upper left portion of the screen 8.
  • the grain entrainment loss monitoring system 6 is mounted at the rear of the second release cylinder 2 separating the concave plates, and the grain cleaning loss monitoring system 7 is installed at the tail of the cleaning sieve 8.
  • the grain inclusion rate and breakage rate monitoring device 12 is mounted on the outer wall 11-02 of the vertical grain auger. Also included is a measurement and control system 13, an input end of the measurement and control system 13 and the second off-drum power consumption measuring device 3, a hydraulic motor 4 controller, a grain entrainment loss monitoring system 6, a grain cleaning loss monitoring system 7, and a cleaning screen 8
  • the fish scale sieve opening adjustment mechanism controller, the controller of the adjustable speed fan 9 with adjustable speed, the grain impurity rate and the breaking rate monitoring device 12 are connected, the output end of the measurement and control system 13 and the hydraulic motor 4,
  • the fish scale sieve opening adjustment mechanism controller of the cleaning sieve 8 and the controller of the adjustable speed cleaning fan 9 are connected to control the opening degree of the fish scale sieve, the second release roller 2 and the Describe the rotation speed of the centrifugal fan 9 and the angle of the second release roller cover guide bar The angle of the guide strips (1-104) on the adjustment device.
  • the second detaching roller cover guide bar angle adjusting device 1 is composed of a linear electric cylinder 1-101, an adjusting rod 1102, a guide bar 1-104, a carrier plate 1-1-10, and a carrier. Plate two 1-106, U-shaped shaft -1-107, U-shaped shaft two 1-108 and U-shaped shaft three 1-109.
  • the linear electric cylinder 1-101 and the adjusting rod 1-102 are located on the outer side of the second release roller top cover 1-103, the guide bar 1-104, the carrier plate 1-1-10, the carrier plate two 1-106, the U-shaped shaft 1 -107, U-shaped shaft two 1-108 and U-shaped shaft three 1-109 are located inside the second release roller top cover 1-103.
  • the guide strips 1-104 are mounted on the carrier plates 1-1-10.
  • the carrier plates 1-105 are mounted on the second release roller top cover 1-103 through the upper ends of the U-shaped shafts 1-1-10 and the U-shaped shafts 1-108.
  • the carrier plates 2 - 106 are mounted on the lower ends of the U-shaped shafts 1 - 107 and the U - shaped shafts 2 - 108.
  • the carrier plate 1-1-10 and the carrier plate two 1-106 are connected by a U-shaped shaft three 1-109.
  • the adjusting rod 1-102 is driven by the linear electric cylinder 1-101 to drive the U-shaped shaft to rotate 1-1-10), and drives the carrier plate to shift 1-1-10 to drive the guiding strip 1-104 to rotate. Adjustment of the angle of the guide bar 1-04.
  • the scale opening adjustment mechanism consists of a bottom plate 8-01, a linear displacement sensor 8-02, a linear electric cylinder 8-03, a ball joint 8-04, and a fixed pin 8-05.
  • the conversion arm 8-06, the connecting rod 8-07, and the connecting plate 8-08 are composed.
  • the linear displacement sensor 8-02 and the linear electric cylinder 8-03 are attached to the bottom plate 8-01 as a whole by being connected by a rigid strip.
  • the shifting arm 8-06 is mounted on the bottom plate 8-01 by means of a fixing stud 8-05 and through a mounting hole 8-06-03.
  • the shifting arm 8-06 is connected to the linear electric cylinder 8-03 and the connecting rod 8-07 through the connecting hole 8-06-01 and the connecting hole 2-8-06-02, respectively.
  • the connecting plate 8-08 is welded to the fish scale screen active screen and rigidly connected to the connecting rod 8-07.
  • the linear electric cylinder 8-03 is connected to the measurement and control system 13 through a signal line, and the measurement and control system 13 realizes the movement of the conversion arm 8-06 by controlling the movement of the linear electric cylinder 8-03 to extend the shaft, and finally completes the adjustment of the opening of the fish scale.
  • the grain cleaning loss monitoring system 7 is composed of three first seed cleaning loss monitoring sensors 7-01 and a second grain cleaning loss monitoring sensor which are independently placed along the width direction of the cleaning sieve 8. 7-02 and the third grain cleaning loss monitoring sensor 7-03 are composed, respectively, to monitor the grain cleaning loss between the left, middle and right cells of the screen surface.
  • the corners 8-12 of the 8-10 frame of the fish scale screen are connected to the four servo linear electric cylinders 8-11 through the support bars 8-10, and the servo linear electric cylinders 8-11 are fixed on the screen frame of the cleaning sieve 8, 4
  • the protrusion amount of the servo linear electric cylinder 8-11 is independently adjustable, and the adjustment of the inclination angle of the fish scale screen 8-09 can be realized.
  • the grain bin containing rate and breaking rate monitoring device 12 is composed of a shroud 12-01, a sampling slot 12-02, a sampling slot driving shaft 12-03, a limiting plate 12-04, and a diagonal sliding plate 12-05.
  • the exciter 12-06, the conveyor belt 12-07, the monitoring tank 12-08, the dust-proof glass 12-09, the mounting bracket (12-10), the spectrometer 12-11, the signal line 12-12, and the sampling slot drive motor are composed.
  • the shroud 12-01 is welded to the vertical auger outer wall 11-02 of the grain, and the sampling tank 12-02 is driven by the sampling tank.
  • the shaft 12-03 is mounted to the shroud 12-01 via a bearing; the end of the sampling slot drive shaft 12-03 extends beyond the shroud 12-01 and is coupled to the sampling slot drive motor via a coupling.
  • the sampling slot drive motor is fixed on the shield 12-01 through the connecting bracket; the sampling slot drive motor drives the sampling slot 12-02 to rotate under the control of the measurement and control system 13, and the sampling slot 12-02 uses its own groove to scrape the vertical grain
  • the grain inside the auger is vertically lifted by the auger spiral blade 11-01, and the scraping material of the sampling tank 12-02 is gradually dropped onto the inclined slide plate 12-05.
  • the single layer of grain reaches above the conveyor belt 12-07 and prevents the fine components of the exudate from entering the monitoring tank 12-08 to interfere with the measurement accuracy.
  • the single layer of grain falls neatly into the monitoring tank 12-08.
  • the monitoring tank 12-08 is connected to the shroud 12-01, and the monitoring tank 12-08 is fitted to one side of the shroud 12-01 and is embedded in the tempered glass.
  • the spectrometer 12-11 is mounted on the shield 12-01 through the mounting bracket 12-10, and the lens of the spectrometer 12-11 detects the grain component flowing into the monitoring tank 12-08 through the tempered glass, and collects it through the signal line 12-12.
  • the information is passed to the measurement and control system 13.
  • the neural network and the improved non-inferior classification genetic algorithm are used to screen out the optimal band spectrum which can effectively identify each component, and embed in the measurement and control system 13 for the characteristics of each component in the vertical grain auger.
  • the relevant calculation model is used to calculate the impurity content and breaking rate of the grains in the vertical grain auger in real time.
  • the measurement and control system 13 can reveal the loss rate of the grain cleaning and the grain content of the grain bin, the scale opening of the scale, the dip angle of the scale and the fan speed, and reveal the combined harvesting system by cluster analysis.
  • the relationship between the working parameters and the performance parameters affects the law, and based on the optimal operating control objectives and energy conservation rules, combined with the control system control performance model (ITAE criteria) to establish an adaptive control model of the cleaning system, according to the grain cleaning loss monitoring system (7)
  • the grain removal loss rate and the grain impurity content of each monitored interval, the grain content of the grain bin and the crush rate monitoring device 12 monitor the grain content of the grain bin, and adjust the opening degree, inclination angle and rotation speed of the fish scale screen 8-09 in real time.
  • the measurement and control system 13 can also be based on the grain entrainment loss rate monitored by the grain entrainment loss monitoring system 6, the grain inclusion rate, the rate of breakage of the grain box detected by the crushing rate monitoring device 12, and the power consumption of the second off-roller 2, hydraulic pressure.
  • the control performance model (ITAE criterion) establishes an adaptive regulation model for the threshing separation system, and the grain entrainment loss detected by the grain entrainment loss monitoring system 6 and the grain box grain content and the crushing rate monitoring device 12 are monitored.
  • the power consumption of the second detachment drum 2, the rotation speed of the hydraulic motor 4, the angle of the guide bar 1-104 in the top cover of the barrel 2 as an input amount, and the rotation speed of the second detachment drum 2 is adjusted in real time. 2 and a threshing cylinder cover guide angle 1-104 bar, and the residence time of the grains reasonable control axial movement speed of the threshing and separating system in the combine harvester
  • the threshing separation unit works at its optimum.
  • This embodiment also provides a method for the adaptive combine harvester to achieve its optimal performance by relying on the measurement and control system 13, and the specific working steps are as follows:
  • the measurement and control system 13 obtains the power consumption of the second detaching drum 2, the rotation speed of the second detaching drum 2, the angle of the 1-400 inner guiding strip of the threshing drum 2, the grain entrainment loss rate, and the grain cleaning.
  • the loss rate and grain bin content, breakage rate, scale opening, scale screen inclination and fan speed are used to characterize the operation status of the combine harvester.
  • the measurement and control system 13 performs abnormal data substitution, missing data completion, and data denoising preprocessing on the monitored data to eliminate the influence of random and uncertain factors on subsequent data analysis.
  • S3 the power consumption of the second release drum 2 obtained by the measurement and control system 13 in real time, the rotation speed of the second release drum 2, the angle of the guide bar 1-104 in the top cover of the barrel 2, the grain entrainment loss rate, the grain removal loss rate, and
  • the parameter time series of grain box impurity ratio, breaking rate, scale opening, scale screen inclination angle and fan speed are analyzed by cluster analysis to reveal the correlation law of the intelligent control of the threshing separation and clearing system of the combine harvester.
  • Optimal operation control target and energy conservation rule study the grain weight loss, breakage rate, cleaning loss, and control weight model of the inclusion rate, combined with the control system control performance model (ITAE criterion) to establish the adaptive adjustment of the control weight of the whole system model.
  • ITAE criterion control system control performance model
  • the adaptive adjustment model of the measurement and control system 13 takes each monitoring quantity as an input quantity, and after inference calculation, outputs corresponding control signals in real time to control the opening degree and inclination of the fish scale screen 8-09, and the second separation roller 2 And the rotation speed of the cleaning centrifugal fan 9 and the angle of the top cover guide bar 1-104 of the threshing drum 2, so that the grain entrainment loss rate of the combine harvester, the grain cleaning loss rate, and the grain content and the breaking rate in the grain box The power consumption of the second detaching drum 2 is distributed within a reasonable range.
  • the speed, the angle of the guide bar 1-104 in the top cover of the threshing drum 2, the grain entrainment loss rate, the grain cleaning loss rate, the grain bin content, the breaking rate, the scale opening, the scale screen inclination and the fan speed to characterize the combined harvest The working status of the machine.
  • the measurement and control system 13 performs abnormal data substitution, missing data completion, and data denoising preprocessing on the monitored data to eliminate the influence of random and uncertain factors on subsequent data analysis.
  • S3 the power consumption of the second release drum 2 obtained by the measurement and control system 13 in real time, the rotation speed of the second release drum 2, the angle of the guide bar 1-104 in the top cover of the barrel 2, the grain entrainment loss rate, the grain removal loss rate, and
  • the parameter time series of grain box impurity ratio, breaking rate, scale opening, scale screen inclination angle and fan speed are analyzed by cluster analysis to reveal the correlation law of the intelligent control of the threshing separation and clearing system of the combine harvester.
  • Optimal operation control target and energy conservation rule study the grain weight loss, breakage rate, cleaning loss, and control weight model of the inclusion rate, combined with the control system control performance model (ITAE criterion) to establish the adaptive adjustment of the control weight of the whole system model.
  • ITAE criterion control system control performance model
  • the adaptive adjustment model of the measurement and control system 13 takes each monitoring quantity as an input quantity, and after inference calculation, outputs corresponding control signals in real time to control the opening degree and inclination of the fish scale screen 8-09, and the second separation roller 2 And the rotation speed of the cleaning centrifugal fan 9 and the angle of the top cover guide bar 1-104 of the threshing drum 2, so that the grain entrainment loss rate of the combine harvester, the grain cleaning loss rate, and the grain content and the breaking rate in the grain box The power consumption of the second detaching drum 2 is distributed within a reasonable range.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Threshing Machine Elements (AREA)

Abstract

公开了一种能够进行自适应调节的联合收获机及自适应调节方法，联合收获机包括第二脱粒滚筒顶盖导向条角度调节装置(1), 第二脱粒滚筒(2), 第二脱粒滚筒功耗测量装置(3), 液压马达(4), 支架(5), 籽粒夹带损失监测系统(6)，籽粒清选损失监测系统(7)，清选筛(8), 转速可调的清选风机(9)，第一脱粒滚筒(10)，输粮搅龙(11)，籽粒含杂率、破碎率监测装置(12)和测控系统(13)。测控系统可根据建立的控制模型实时控制鱼鳞筛片(8-09)的开度、第二脱粒滚筒和清选离心风机的转速及第二脱粒滚筒顶盖内导向条角度，以使联合收获机工作在籽粒夹带损失率、籽粒清选损失率、粮箱籽粒含杂率、籽粒破碎率最小的最佳作业状态，在提高生产效率的同时，提高了整机的无故障工作时间和适应性。

Description

一种能够进行自适应调节的联合收获机及自适应调节方法 技术领域
本发明属于联合收获机自适应控制领域，具体涉及一种脱粒分离、清选装置工作参数可自适应调节的联合收获机及其自适应调节方法。
背景技术
先进农业装备正迅速吸收和应用电子信息科技发展的成果，农业机械自动化和智能化是现代农业装备的发展趋势。国外对联合收获机自动化与智能化方面的研究已取得了丰富的成果。如Huisman,Voo Loo和Heijning通过检测搅龙的扭矩来判断喂入量的大小，对作业速度进行控制，Kruse和Krutz通过发动机的负荷对作业速度进行控制，Andersen描述了通过检测收获谷物的体积对作业速度进行控制，日本久保田PR0481-M型联合收获机采用橡胶履带和半喂入式轴流滚筒，具有负荷自动显示、方向自控、喂入量自动调节、超负荷时发动机自动停止和自动注油等功能；纽荷兰、迪尔等公司的联合收获机上安装了电子信息显示、电子驾驶操纵等系统，这些装置主要控制机器的常规参数，如发动机转速、机油压力和温度、燃油量、电压等，也控制随机工作性能参数，如实际行驶速度、动力输出轴转速、作业面积、作业效率以及工作时间等；英国Massey Ferguson公司的“Field Star”(农田之星)系统终端具有非常重要的系统诊断功能，一旦系统出现故障，用户可通过诊断工具来发现故障，从而快速的解决故障。近年来，国内在提高联合收获机自动化和智能化水平方面做了大量研究，取得了一定的成果，缩短了与国外先进技术的差距。如介战等采用倾斜输送器对底板的压力来检测喂入量，张认成通过建立脱粒空间内谷物运动数学模型和功耗模型，设计了脱粒系统仿真控制器和以单片机为核心的仿真控制试验台。季彬彬则利用喂入主动轴扭矩对喂入量进行实时检测，设计了神经网络控制器对作业速度进行控制，卢文涛通过对滚筒驱动液压系统的油压检测喂入量，并通过模糊控制对行走速度进行预测，利用PID算法进行作业速度的控制；黑龙江八一农垦大学开发出了脱粒滚筒及各工作轴转速监视系统；江苏大学研制了基于霍尔传感器和89C51单片机的联合收获机转动部件转速报警装置；江苏大学提出了一直籽粒夹带损失监测方法并开发了籽粒夹带损失监测传感器，西北农林科技大学研制了联合收获机脱粒滚筒转速监控系统。
从国内外对联合收获机自动控制的研究可以看出，将先进的信息技术和智能控制技术应用到联合收获机上，是联合收获机自动控制发展的必然趋势。以上研究为联合收 获机的自动控制提供了不少思路，但也存在一定的局限：(1)研究对象主要集中在脱粒滚筒的负荷上，其它工作参数考虑很少，多属于单输入控制信号的控制系统，存在滞后或者参数检测不准等缺点；(2)大多数研究处于试验阶段，没有开发实际的自动控制系统和相应的执行机构应用于联合收获机上。因此性能良好的多输入多输出联合收获机作业状态自适应控制系统是保证联合收获机作业性能重要的前提。
发明内容
前期研究表明，鱼鳞筛开度、鱼鳞筛倾角和风机转速是影响籽粒清选损失率和粮箱籽粒含杂率的主要因素，而第二脱离滚筒的功耗、转速和脱粒滚筒顶盖内导向条的角度是影响籽粒夹带损失率，粮箱籽粒破碎率率的主要因素。为实现联合收获机工作过程中工作参数能够根据监测到的性能参数实时调节的目的，本发明提供了一种脱粒分离、清选装置工作参数可自适应调节的联合收获机及其自适应调节方法。
本发明是通过以下技术手段实现上述技术目的：一种脱粒分离、清选装置工作参数可自适应调节的联合收获机，包括第二脱离滚筒顶盖导向条角度调节装置,第二脱离滚筒,第二脱离滚筒功耗测量装,液压马达,支架,籽粒夹带损失监测系统,籽粒清选损失监测系统，清选筛,转速可调的清选风机，第一脱离滚筒，垂直输粮搅龙，籽粒含杂率、破碎率监测装置和测控系统。第二脱离滚筒顶盖导向条角度调节装置位于第二脱离滚筒顶盖的上方，液压马达位于第二脱离滚筒的尾部，液压马达和第二脱离滚筒通过联轴器相连，第二脱离滚筒功耗测量装置位于第二脱离滚筒和液压马达之间。第二脱离滚筒功耗测量装置和液压马达通过支架固定在联合收获机机壁上。清选筛位于第二脱离滚筒的下方，转速可调的清选风机位于清选筛的左前方。第一脱离滚筒位于第二脱离滚筒前部，清选筛的左上部。籽粒夹带损失监测系统安装在第二脱离滚筒分离凹板的后部，籽粒清选损失监测系统安装在清选筛的尾部。籽粒含杂率、破碎率监测装置安装在垂直输粮搅龙的外壁上。还包括测控系统，所述测控系统的输入端与所述第二脱离滚筒功耗测量装置、液压马达控制器、籽粒夹带损失监测系统、籽粒清选损失监测系统、清选筛的鱼鳞筛片开度调节机构控制器，转速可调的清选风机的控制器，籽粒含杂率、破碎率监测装置相连，所述测控系统的输出端与所述液压马达，清选筛的鱼鳞筛片开度调节机构控制器、转速可调的清选风机的控制器相连，用来控制调节所述鱼鳞筛片的开度及倾角、所述第二脱离滚筒和所述清选离心风机的转速及第二脱离滚筒顶盖导向条角度。
上述方案中，所述第二脱离滚筒顶盖导向条角度调节装置由直线电动缸、调节杆、导向条、承载板一、承载板二、U型转轴一、U型转轴二和U型转轴三组成。直线电动 缸和调节杆位于第二脱离滚筒顶盖的外侧，导向条、承载板一、承载板二、U型转轴一、U型转轴二和U型转轴三位于第二脱离滚筒顶盖的内侧。导向条安装在承载板二上。承载板一通过U型转轴一和U型转轴二的上端安装在第二脱离滚筒顶盖上。承载板二安装在U型转轴一和U型转轴二的下端。承载板一和承载板二通过U型转轴三相连。工作时，调节杆在直线电动缸的推动下，带动U型转轴一转动，并带动承载板二平移，带动导向条转动，进而实现导向条角度的调节。
上述方案中，所述清选筛由抖动板、鱼鳞筛和尾筛组成。所述鱼鳞筛边框的边角通过支撑条与四个伺服直线电动缸相连，伺服直线电动缸固定在清选筛的筛框上，四个伺服直线电动缸的伸出量均独立可调，进而可实现鱼鳞筛倾角的调整。
上述方案中，所述清选筛的鱼鳞筛的开度可以通过鱼鳞筛开度调节机构进行电动调节。所述鱼鳞筛开度调节机构由底板，直线位移传感器，直线电动缸，球头连杆，固定柱销，转换臂，连杆，连接板组成。直线位移传感器和直线电动缸通过刚性条相连之后作为一个整体固定在底板上。转换臂利用固定柱销)并通过安装孔安装在底板上。转换臂通过连接孔一和连接孔二分别与直线电动缸和连杆相连。连接板焊接在鱼鳞筛主动筛片上，并与连杆刚性相连。直线电动缸通过信号线与测控系统相连，测控系统通过控制直线电动缸伸出轴的运动实现带动转换臂运动，最终完成鱼鳞筛开度的调节。
上述方案中，所述籽粒清选损失监测系统包括第一籽粒清选损失监测传感器、第二籽粒清选损失监测传感器和第三籽粒清选损失监测传感器，其中第一籽粒清选损失监测传感器、第二籽粒清选损失监测传感器和第三籽粒清选损失监测传感器沿清选筛宽度方向独立放置，分别监测清选筛筛面上左、中、右三个区间的籽粒清选损失量。
上述方案中，所述粮箱含杂率、破碎率监测装置由护罩，取样槽取样槽驱动轴，限位板，斜滑板，激振器，传送带，监测槽，隔尘玻璃，光谱仪，安装架，信号线和取样槽驱动电机组成。护罩焊接在籽粒垂直搅龙外壁上，取样槽利用取样槽驱动轴并通过轴承安装到护罩上；取样槽驱动轴一端轴头伸出护罩外部，通过联轴器与取样槽驱动电机相连。取样槽驱动电机通过连接支架固定在护罩上；取样槽驱动电机在测控系统的控制下带动取样槽转动，取样槽利用本身的凹槽刮取垂直输粮搅龙内籽粒垂直搅龙螺旋叶片提升的谷物，并使取样槽的一次刮取物逐渐落到斜滑板上。在激振器的振动和限位板的联合作用下，单层谷物到达传送带上方，并防止脱出物的细小成分进入监测槽干扰测量精度。在传送带的带动下，单层谷物整齐落入监测槽中。监测槽与护罩相连，监测槽贴合护罩的一侧开孔并嵌入钢化玻璃。光谱仪通过安装架安装在护罩上，光谱仪的镜 头透过钢化玻璃检测流入监测槽中的谷物成分，并通过信号线把采集的信息传入到测控系统内。通过前期准备试验，针对垂直输粮搅龙内各成分的特性，运用神经网络并结合改进型非劣分类遗传算法筛选出能有效识别出各成分的最优波段光谱，并通过嵌入在测控系统内的相关计算模型实时计算出垂直输粮搅龙内籽粒的含杂率和破碎率。
其中，所述测控系统可根据实时获取的籽粒清选损失率和粮箱籽粒含杂率，鱼鳞筛开度、鱼鳞筛倾角和风机转速，通过聚类分析，揭示联合收获机清选系统各工作参数与性能参数之间的关联影响规律，并基于最优作业控制目标和能量守恒法则，结合控制系统控制性能模型(ITAE准则)建立清选系统自适应调控模型，根据籽粒清选损失监测系统监测到的各区间的籽粒清选损失率和籽粒含杂率、破碎率监测装置监测到的粮箱籽粒含杂率，实时调整鱼鳞筛的开度及倾角、转速可调的清选风机的转速，使联合收获机清选装置工作在最佳状态。此外，所述测控系统可根据籽粒夹带损失监测系统监测到的籽粒夹带损失率，籽粒含杂率、破碎率监测装置监测到的粮箱籽粒破碎率率和第二脱离滚筒的功耗、液压马达转速和脱粒滚筒顶盖内导向条的角度，通过聚类分析，揭示联合收获机脱粒分离系统的第二脱离滚筒的功耗、转速、脱粒滚筒顶盖内导向条角度与性能参数(籽粒夹带损失率、粮箱籽粒破碎率和第二脱离滚筒的功耗)之间的关联影响规律，并基于最优作业控制目标和能量守恒法则，结合控制系统控制性能模型(ITAE准则)建立脱粒分离系统自适应调控模型，以籽粒夹带损失监测系统监测到的籽粒夹带损失量和粮箱籽粒含杂率、破碎率监测装置监测到的粮箱籽粒破碎率，第二脱离滚筒的功耗、液压马达转速、脱粒滚筒顶盖内导向条角度为输入量，实时调整第二脱离滚筒的转速及及脱粒滚筒顶盖导向条角度，合理控制谷物在脱粒分离系统中的滞留时间和轴向移动速度，使联合收获机脱粒分离装置工作在最佳状态。
此外，本发明还提供了一种自适应联合收获机进行自适应调节的方法，测控系统通过以下步骤能使联合收获机整机达到最佳的工作性能：具体步骤为：S1：联合收获机工作过程中，测控系统实时获取第二脱离滚筒功耗、第二脱离滚筒转速、脱粒滚筒顶盖内导向条角度、籽粒夹带损失率、籽粒清选损失率和粮箱含杂率、破碎率，鱼鳞筛开度、鱼鳞筛倾角和风机转速来表征联合收获机的作业状态。S2：测控系统对监测到的数据进行异常数据替代、缺失数据补齐、数据消噪预处理，以消除随机、不确定性因素对后续数据分析的影响。S3：将测控系统实时获取的第二脱离滚筒的功耗、第二脱离滚筒的转速、脱粒滚筒顶盖内导向条角度、籽粒夹带损失率、籽粒清选损失率和粮箱含杂率、破碎率，鱼鳞筛开度、鱼鳞筛倾角和风机转速的参数时间序列通过聚类分析，揭示联合收 获机脱粒分离、清选系统之间智能调控的关联影响规律，并基于最优作业控制目标和能量守恒法则，研究籽粒夹带损失、破碎率、清选损失、含杂率的调控权重模型，结合控制系统控制性能模型(ITAE准则)建立整机系统调控权重的自适应调整模型。S4：测控系统的自适应调整模型以各监测量为输入量，经过推理计算后实时输出相应的控制信号来控制所述鱼鳞筛的开度、倾角，所述第二脱离滚筒和所述清选离心风机的转速及脱粒滚筒顶盖导向条角度，以使联合收获机的籽粒夹带损失率、籽粒清选损失率和粮箱内籽粒含杂率、破碎率和第二脱离滚筒的功耗分布在合理的范围内。
本发明的有益效果：(1)应用本专利设计的脱粒分离、清选装置工作参数可自适应调节的联合收获机能根据作业过程中的作业质量自动调整各种工作参数，在提高生产效率的同时，将故障率控制在一定范围内，同时大大提高了整机的作业适应性和无故障工作时间，对解决制约谷物联合收获机作业性能、效率和收获适应性的技术瓶颈具有重要意义。(2)本专利提出的脱粒分离、清选装置工作参数可自适应调节的联合收获机可用于水稻、小麦、油菜、大豆的收获，推动了收获机械行业的技术进步，还可为粮食安全提供理论、技术和装备保障。
附图说明
图1是一种脱粒分离、清选装置工作参数可自适应调节的联合收获机主视图。
图2是联合收获机第二脱离滚筒顶盖导向条角度调节装置主视图。
图3是联合收获机第二脱离滚筒顶盖导向条角度调节装置俯视图。
图4是联合收获机第二脱离滚筒顶盖导向条角度调节装置工作原理示意图。
图5是联合收获机清选筛鱼鳞筛片开度调节装置顶视图。
图6是联合收获机清选筛鱼鳞筛片开度调节装置测视图。
图7是联合收获机清选筛鱼鳞筛片开度调节装置转换臂俯视图。
图8是联合收获机清选筛鱼鳞筛片倾角调节装置侧视图。
图9是联合收获机清选筛鱼鳞筛片倾角调节装置侧视图左视图。
图10是联合收获机籽粒清选损失监测系统安装俯视图。
图11是籽粒含杂率、破碎率监测装置主视图。
图中：1-脱粒滚筒顶盖导向条角度调节装置,1-101-直线电动缸、1-102-调节杆、1-103-第二脱离滚筒顶盖、1-104导向条、1-105承载板一、1-106承载板二、1-107U型转轴一、1-108U型转轴二和1-109U型转轴三；2-第二脱粒滚筒,3-第二脱离滚筒功耗测量装置,4-液压马达,5-支架,6-籽粒夹带损失监测系统,7-籽粒清选损失监测系统，7-01-第一 籽粒清选损失监测传感器,7-02-第二籽粒清选损失监测传感器,7-03-第三籽粒清选损失监测传感器，8-清选筛,8-01-底板，8-02-直线位移传感器，8-03-直线电动缸，8-04-球头连杆，8-05-固定柱销，8-06-转换臂，8-06-01-连接孔一，8-06-02连接孔二和80-06-03安装孔，8-07-连杆，8-08-连接板,8-09鱼鳞筛片,8-10-支撑条、8-11-伺服直线电动缸、8-12-鱼鳞筛边框的边角,8-13-抖动板和8-14-尾筛；9-转速可调的清选风机，10-第一脱离滚筒，11-输粮搅龙，12-含杂率、破碎率监测装置，13-测控系统；11-01-籽粒垂直搅龙螺旋叶片，11-02-籽粒垂直搅龙外壁；12-01护罩，12-02-取样槽，12-03-取样槽驱动轴，12-04-限位板，12-05-斜滑板，12-06-激振器，12-07-传送带，12-08-监测槽，12-09-隔尘玻璃，12-10-安装架，12-11-光谱仪，12-12-信号线。
具体实施方式
下面结合附图以及具体实施例对本发明作进一步的说明，但本发明的保护范围并不限于此。
如图1所示，本实施例的脱粒分离、清选装置工作参数可自适应调节的联合收获机包括第二脱离滚筒顶盖导向条角度调节装置1,第二脱离滚筒2,第二脱离滚筒功耗测量装置3,液压马达4,支架5,籽粒夹带损失监测系统6,籽粒清选损失监测系统7，清选筛8,转速可调的清选风机9，第一脱离滚筒10，垂直输粮搅龙11，籽粒含杂率、破碎率监测装置12和测控系统13。第二脱离滚筒顶盖导向条角度调节装置1位于第二脱离滚筒2顶盖的上方，液压马达4位于第二脱离滚筒2的尾部，液压马达4和第二脱离滚筒2通过联轴器相连，第二脱离滚筒功耗测量装置3位于第二脱离滚筒2和液压马达4之间。第二脱离滚筒功耗测量装置3和液压马达4通过支架5固定在联合收获机机壁上。清选筛8位于第二脱离滚筒2的下方，转速可调的清选风机9位于清选筛8的左前方。第一脱离滚筒10位于第二脱离滚筒2前部，清选筛8的左上部。籽粒夹带损失监测系统6安装在第二脱离滚筒2分离凹板的后部，籽粒清选损失监测系统7安装在清选筛8的尾部。籽粒含杂率、破碎率监测装置12安装在垂直输粮搅龙的外壁11-02上。还包括测控系统13，测控系统13的输入端与所述第二脱离滚筒功耗测量装置3、液压马达4控制器、籽粒夹带损失监测系统6、籽粒清选损失监测系统7、清选筛8的鱼鳞筛片开度调节机构控制器，转速可调的清选风机9的控制器，籽粒含杂率、破碎率监测装置12相连，所述测控系统13的输出端与所述液压马达4，清选筛8的鱼鳞筛片开度调节机构控制器、转速可调的清选风机9的控制器相连，用来控制调节所述鱼鳞筛片的开度、所述第二脱离滚筒2和所述清选离心风机9的转速及第二脱离滚筒顶盖导向条角 度调节装置上的导向条(1-104)的角度。
如图2,3,4所示，第二脱离滚筒顶盖导向条角度调节装置1由直线电动缸1-101、调节杆1-102、导向条1-104、承载板一1-105、承载板二1-106、U型转轴一1-107、U型转轴二1-108和U型转轴三1-109组成。直线电动缸1-101和调节杆1-102位于第二脱离滚筒顶盖1-103的外侧，导向条1-104、承载板一1-105、承载板二1-106、U型转轴一1-107、U型转轴二1-108和U型转轴三1-109位于第二脱离滚筒顶盖1-103的内侧。导向条1-104安装在承载板二1-106上。承载板一1-105通过U型转轴一1-107和U型转轴二1-108的上端安装在第二脱离滚筒顶盖1-103上。承载板二1-106安装在U型转轴一1-107和U型转轴二1-108的下端。承载板一1-105和承载板二1-106通过U型转轴三1-109相连。工作时，调节杆1-102在直线电动缸1-101的推动下，带动U型转轴一1-107)转动，并带动承载板二1-106平移，带动导向条1-104转动，进而实现导向条1-04角度的调节。
如图5,6,7所示，鱼鳞筛开度调节机构由底板8-01，直线位移传感器8-02，直线电动缸8-03，球头连杆8-04，固定柱销8-05，转换臂8-06，连杆8-07，连接板8-08组成。直线位移传感器8-02和直线电动缸8-03通过刚性条相连之后作为一个整体固定在底板8-01上。转换臂8-06利用固定柱销8-05并通过安装孔8-06-03安装在底板8-01上。转换臂8-06通过连接孔一8-06-01和连接孔二8-06-02分别与直线电动缸8-03和连杆8-07相连。连接板8-08焊接在鱼鳞筛主动筛片上，并与连杆8-07刚性相连。直线电动缸8-03通过信号线与测控系统13相连，测控系统13通过控制直线电动缸8-03伸出轴的运动实现带动转换臂8-06运动，最终完成鱼鳞筛开度的调节。
如图8,9,10所示，籽粒清选损失监测系统7由三个沿清选筛8宽度方向独立放置的第一籽粒清选损失监测传感器7-01、第二籽粒清选损失监测传感器7-02和第三籽粒清选损失监测传感器7-03组成，分别监测筛面左、中、右三个小区间的籽粒清选损失量。鱼鳞筛8-09边框的边角8-12通过支撑条8-10与4个伺服直线电动缸8-11相连，伺服直线电动缸8-11固定在清选筛8的筛框上，4个伺服直线电动缸8-11的伸出量均独立可调，进而可实现鱼鳞筛8-09倾角的调整。
如图11所示，粮箱含杂率、破碎率监测装置12由护罩12-01，取样槽12-02取样槽驱动轴12-03，限位板12-04，斜滑板12-05，激振器12-06，传送带12-07，监测槽12-08，隔尘玻璃12-09，安装架(12-10)、光谱仪12-11、信号线12-12和取样槽驱动电机组成。护罩12-01焊接在籽粒垂直搅龙外壁11-02上，取样槽12-02利用取样槽驱动 轴12-03并通过轴承安装到护罩12-01上；取样槽驱动轴12-03一端轴头伸出护罩12-01外部，通过联轴器与取样槽驱动电机相连。取样槽驱动电机通过连接支架固定在护罩12-01上；取样槽驱动电机在测控系统13的控制下带动取样槽12-02转动，取样槽12-02利用本身的凹槽刮取垂直输粮搅龙内籽粒垂直搅龙螺旋叶片11-01提升的谷物，并使取样槽12-02的一次刮取物逐渐落到斜滑板12-05上。在激振器12-06的振动和限位板12-04的联合作用下，单层谷物到达传送带12-07上方，并防止脱出物的细小成分进入监测槽12-08干扰测量精度。在传送带12-07的带动下，单层谷物整齐落入监测槽12-08中。监测槽12-08与护罩12-01相连，监测槽12-08贴合护罩12-01的一侧开孔并嵌入钢化玻璃。光谱仪12-11通过安装架12-10安装在护罩12-01上，光谱仪12-11的镜头透过钢化玻璃检测流入监测槽12-08中的谷物成分，并通过信号线12-12把采集的信息传入到测控系统13内。通过前期准备试验，针对垂直输粮搅龙内各成分的特性，运用神经网络并结合改进型非劣分类遗传算法筛选出能有效识别出各成分的最优波段光谱，并通过嵌入在测控系统13内的相关计算模型实时计算出垂直输粮搅龙内籽粒的含杂率和破碎率。
工作过程中，测控系统13可根据实时获取的籽粒清选损失率和粮箱籽粒含杂率，鱼鳞筛开度、鱼鳞筛倾角和风机转速，通过聚类分析，揭示联合收获机清选系统各工作参数与性能参数之间的关联影响规律，并基于最优作业控制目标和能量守恒法则，结合控制系统控制性能模型(ITAE准则)建立清选系统自适应调控模型，根据籽粒清选损失监测系统(7)监测到的各区间的籽粒清选损失率和籽粒含杂率、破碎率监测装置12监测到的粮箱籽粒含杂率，实时调整鱼鳞筛8-09的开度及倾角、转速可调的清选风机9的转速，使联合收获机清选装置工作在最佳状态。测控系统13还可根据籽粒夹带损失监测系统6监测到的籽粒夹带损失率，籽粒含杂率、破碎率监测装置12监测到的粮箱籽粒破碎率率和第二脱离滚筒2的功耗、液压马达4转速和脱粒滚筒2顶盖内导向条1-104的角度，通过聚类分析，揭示联合收获机脱粒分离系统的第二脱离滚筒2的功耗、转速、脱粒滚筒2顶盖内导向条1-104角度与性能参数(籽粒夹带损失率、粮箱籽粒破碎率和第二脱离滚筒2的功耗)之间的关联影响规律，并基于最优作业控制目标和能量守恒法则，结合控制系统控制性能模型(ITAE准则)建立脱粒分离系统自适应调控模型，以籽粒夹带损失监测系统6监测到的籽粒夹带损失量和粮箱籽粒含杂率、破碎率监测装置12监测到的粮箱籽粒破碎率，第二脱离滚筒2的功耗、液压马达4转速、脱粒滚筒2顶盖内导向条1-104角度为输入量，实时调整第二脱离滚筒2的转速及及脱粒滚筒2顶盖导向条1-104角度，合理控制谷物在脱粒分离系统中的滞留时间和轴向移动速度，使联合收获机 脱粒分离装置工作在最佳状态。
本实施例还提供一种该自适应式联合收获机依靠测控系统13达到其最佳工作性能的方法，具体工作步骤如下：
S1：联合收获机工作过程中，测控系统13实时获取第二脱离滚筒2功耗、第二脱离滚筒2转速、脱粒滚筒2顶盖内导向条1-104角度、籽粒夹带损失率、籽粒清选损失率和粮箱含杂率、破碎率，鱼鳞筛开度、鱼鳞筛倾角和风机转速来表征联合收获机的作业状态。
S2：测控系统13对监测到的数据进行异常数据替代、缺失数据补齐、数据消噪预处理，以消除随机、不确定性因素对后续数据分析的影响。
S3：将测控系统13实时获取的第二脱离滚筒2的功耗、第二脱离滚筒2的转速、脱粒滚筒2顶盖内导向条1-104角度、籽粒夹带损失率、籽粒清选损失率和粮箱含杂率、破碎率，鱼鳞筛开度、鱼鳞筛倾角和风机转速的参数时间序列通过聚类分析，揭示联合收获机脱粒分离、清选系统之间智能调控的关联影响规律，并基于最优作业控制目标和能量守恒法则，研究籽粒夹带损失、破碎率、清选损失、含杂率的调控权重模型，结合控制系统控制性能模型(ITAE准则)建立整机系统调控权重的自适应调整模型。
S4：测控系统13的自适应调整模型以各监测量为输入量，经过推理计算后实时输出相应的控制信号来控制所述鱼鳞筛8-09的开度、倾角，所述第二脱离滚筒2和所述清选离心风机9的转速及脱粒滚筒2顶盖导向条1-104角度，以使联合收获机的籽粒夹带损失率、籽粒清选损失率和粮箱内籽粒含杂率、破碎率和第二脱离滚筒2的功耗分布在合理范围内。
转速、脱粒滚筒2顶盖内导向条1-104角度、籽粒夹带损失率、籽粒清选损失率和粮箱含杂率、破碎率，鱼鳞筛开度、鱼鳞筛倾角和风机转速来表征联合收获机的作业状态。
S2：测控系统13对监测到的数据进行异常数据替代、缺失数据补齐、数据消噪预处理，以消除随机、不确定性因素对后续数据分析的影响。
S3：将测控系统13实时获取的第二脱离滚筒2的功耗、第二脱离滚筒2的转速、脱粒滚筒2顶盖内导向条1-104角度、籽粒夹带损失率、籽粒清选损失率和粮箱含杂率、破碎率，鱼鳞筛开度、鱼鳞筛倾角和风机转速的参数时间序列通过聚类分析，揭示联合收获机脱粒分离、清选系统之间智能调控的关联影响规律，并基于最优作业控制目标和能量守恒法则，研究籽粒夹带损失、破碎率、清选损失、含杂率的调控权重模型，结合控制系统控制性能模型(ITAE准则)建立整机系统调控权重的自适应调整模型。
S4：测控系统13的自适应调整模型以各监测量为输入量，经过推理计算后实时输出相应的控制信号来控制所述鱼鳞筛8-09的开度、倾角，所述第二脱离滚筒2和所述清选离心风机9的转速及脱粒滚筒2顶盖导向条1-104角度，以使联合收获机的籽粒夹带损失率、籽粒清选损失率和粮箱内籽粒含杂率、破碎率和第二脱离滚筒2的功耗分布在合理范围内。
所述实施例为本发明的优选的实施方式，但本发明并不限于上述实施方式，在不背离本发明的实质内容的情况下，本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。

Claims (7)

  1. 一种能够进行自适应调节的联合收获机，其特征在于，包括第二脱离滚筒顶盖导向条角度调节装置(1)，第二脱离滚筒(2)，第二脱离滚筒功耗测量装置(3)，液压马达(4)，支架(5)，籽粒夹带损失监测系统(6)，籽粒清选损失监测系统(7)，清选筛(8)，转速可调的清选风机(9)，第一脱离滚筒(10)，输粮搅龙(11)，籽粒含杂率、破碎率监测装置和测控系统(13)；第二脱离滚筒顶盖导向条角度调节装置(1)位于第二脱离滚筒(2)顶盖的上方，液压马达(4)位于第二脱离滚筒(2)的尾部，液压马达(4)和第二脱离滚筒(2)通过联轴器相连，第二脱离滚筒功耗测量装置(3)位于第二脱离滚筒(2)和液压马达(4)之间；第二脱离滚筒功耗测量装置(3)和液压马达(4)通过支架(5)固定在联合收获机机壁上；清选筛(8)位于第二脱离滚筒(2)的下方，转速可调的清选风机(9)位于清选筛(8)的左前方；第一脱离滚筒(10)位于第二脱离滚筒(2)前部，处在清选筛(8)的左上部；籽粒夹带损失监测系统(6)安装在第二脱离滚筒(2)分离凹板的后部，籽粒清选损失监测系统(7)安装在清选筛(8)的尾部；输粮搅龙(11)由水平输粮搅龙和垂直输粮搅龙组成，籽粒含杂率、破碎率监测装置(12)安装在垂直输粮搅龙的外壁(11-02)上；所述测控系统(13)分别与所述第二脱离滚筒功耗测量装置(3)、液压马达(4)、籽粒夹带损失监测系统(6)、籽粒清选损失监测系统(7)、清选筛(8)的鱼鳞筛片开度调节机构、转速可调的清选风机(9)、籽粒含杂率、破碎率监测装置(12)和第二脱离滚筒顶盖导向条角度调节装置(1)连接，用来控制调节所述清选筛(8)的鱼鳞筛片的开度及倾角、所述第二脱离滚筒(2)和所述清选离心风机(9)的转速以及第二脱离滚筒顶盖导向条角度调节装置上的导向条(1-104)的角度。
  2. 根据权利要求1所述的一种能够进行自适应调节的联合收获机，其特征在于，所述第二脱离滚筒顶盖导向条角度调节装置(1)由直线电动缸(1-101)、调节杆(1-102)、导向条(1-104)、承载板一(1-105)、承载板二(1-106)、U型转轴一(1-107)、U型转轴二(1-108)和U型转轴三(1-109)组成，直线电动缸(1-101)和调节杆(1-102)位于第二脱离滚筒顶盖(1-103)的外侧，导向条(1-104)、承载板一(1-105)、承载板二(1-106)、U型转轴一(1-107)、U型转轴二(1-108)和U型转轴三(1-109)位于第二脱离滚筒顶盖(1-103)的内侧；导向条(1-104)安装在承载板二(1-106)上，承载板一(1-105)通过U型转轴一(1-107)和U型转轴二(1-108)的上端安装在第二脱离滚筒顶盖(1-103)上；承载板二(1-106)安装在U型转轴一(1-107)和U型转轴二(1-108)的下端，承载板一(1-105)和承载板二(1-106)通过U型转轴三(1-109)相连。
  3. 根据权利要求1所述的一种能够进行自适应调节的联合收获机，其特征在于，所述清选筛(8)由抖动板(8-13)、鱼鳞筛(809)和尾筛(8-14)组成，所述鱼鳞筛(809)边框的边角(8-12)通过支撑条(8-10)与四个伺服直线电动缸(8-11)相连，伺服直线电动缸(8-11)固定在清选筛(8)的筛框上，四个伺服直线电动缸(8-11)的伸出量均独立可调，进而可实现鱼鳞筛(809)倾角的调整。
  4. 根据权利要求3所述的一种能够进行自适应调节的联合收获机，其特征在于，所述清选筛(8)的鱼鳞筛(809)的开度可以通过鱼鳞筛开度调节机构进行电动调节，所述鱼鳞筛开度调节机构由底板(8-01)，直线位移传感器(8-02)，直线电动缸(8-03)，球头连杆(8-04)，固定柱销(8-05)，转换臂(8-06)，连杆(8-07)，连接板(8-08)组成；直线位移传感器(8-02)和直线电动缸(8-03)通过刚性条相连之后作为一个整体固定在底板(8-01)上，转换臂(8-06)利用固定柱销(8-05)并通过安装孔(8-06-03)安装在底板(8-01)上，转换臂(8-06)通过连接孔一(8-06-01)和连接孔二(8-06-02)分别与直线电动缸(8-03)和连杆(8-07)相连，连接板(8-08)焊接在鱼鳞筛主动筛片上，并与连杆(8-07)刚性相连；直线电动缸(8-03)通过信号线与测控系统(13)相连，测控系统(13)通过控制直线电动缸(8-03)伸出轴的运动实现带动转换臂(8-06)运动，最终完成鱼鳞筛开度的调节。
  5. 根据权利要求1所述的一种能够进行自适应调节的联合收获机，其特征在于，所述籽粒清选损失监测系统(7)包括第一籽粒清选损失监测传感器(7-01)、第二籽粒清选损失监测传感器(7-02)和第三籽粒清选损失监测传感器(7-03)，其中第一籽粒清选损失监测传感器(7-01)、第二籽粒清选损失监测传感器(7-02)和第三籽粒清选损失监测传感器(7-03)沿清选筛(8)宽度方向独立放置，分别监测清选筛(8)筛面上左、中、右三个区间的籽粒清选损失量。
  6. 根据权利要求1所述的一种能够进行自适应调节的联合收获机，其特征在于，所述籽粒含杂率、破碎率监测装置(12)由护罩(12-01)、取样槽(12-02)、取样槽驱动轴(12-03)、限位板(12-04)、斜滑板(12-05)、激振器(12-06)、传送带(12-07)、监测槽(12-08)、隔尘玻璃(12-09)、光谱仪(12-11)、安装架(12-10)、信号线(12-12)和取样槽驱动电机组成；护罩(12-01)焊接在籽粒垂直搅龙外壁(11-02)上，取样槽(12-02)利用取样槽驱动轴(12-03)并通过轴承安装到护罩(12-01)上；取样槽驱动轴(12-03)一端轴头伸出护罩(12-01)外部，通过联轴器与取样槽驱动电机相连，取样槽驱动电机通过连接支架固定在护罩(12-01)上，斜滑板(12-05)位于取样槽(12-02)下方，并固定在籽粒垂直搅龙外壁(11-02)上，斜滑板(12-05)上设有限位板(12-04)和激振 器(12-06)；传送带(12-07)输入端位于斜滑板(12-05)下方，输出端传送带(12-07)位于监测槽(12-08)上方，监测槽(12-08)与护罩(12-01)相连，监测槽(12-08)贴合护罩(12-01)的一侧开孔并嵌入钢化玻璃；光谱仪(12-11)通过安装架(12-10)安装在护罩(12-01)上，光谱仪(12-11)的镜头透过钢化玻璃检测流入监测槽(12-08)中的谷物成分，并通过信号线(12-12)把采集的信息传入到测控系统(13)内。
  7. 一种利用权利要求1中所述的能够进行自适应联合收获机进行自适应调节的方法，其特征在于,测控系统(13)通过以下步骤使联合收获机整机达到最佳工作性能：
    S1：联合收获机工作过程中，测控系统(13)实时获取第二脱离滚筒(2)功耗、第二脱离滚筒(2)转速、脱粒滚筒(2)顶盖内导向条(1-104)角度、籽粒夹带损失率、籽粒清选损失率和粮箱含杂率、破碎率，鱼鳞筛开度、鱼鳞筛倾角和风机转速来表征联合收获机的作业状态；
    S2：测控系统(13)对监测到的数据进行异常数据替代、缺失数据补齐、数据消噪预处理，以消除随机、不确定性因素对后续数据分析的影响；
    S3：将测控系统(13)实时获取的第二脱离滚筒(2)的功耗、第二脱离滚筒(2)的转速、脱粒滚筒(2)顶盖内导向条(1-104)角度、籽粒夹带损失率、籽粒清选损失率和粮箱含杂率、破碎率，鱼鳞筛开度、鱼鳞筛倾角和风机转速的参数时间序列通过聚类分析，揭示联合收获机脱粒分离、清选系统之间智能调控的关联影响规律，并基于最优作业控制目标和能量守恒法则，研究籽粒夹带损失、破碎率、清选损失、含杂率的调控权重模型，结合控制系统控制性能模型(ITAE准则)建立整机系统调控权重的自适应调整模型；
    S4：测控系统(13)的自适应调整模型以各监测量为输入量，经过推理计算后实时输出相应的控制信号来控制所述鱼鳞筛(8-09)的开度、倾角，所述第二脱离滚筒(2)和所述清选离心风机(9)的转速及脱粒滚筒(2)顶盖导向条(1-104)角度，以使联合收获机的籽粒夹带损失率、籽粒清选损失率和粮箱内籽粒含杂率、破碎率和第二脱离滚筒(2)的功耗分布在最优的范围内。
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CN112906229A (zh) * 2021-03-04 2021-06-04 农业农村部南京农业机械化研究所 收割机用谷物分离装置的性能测试方法及系统
CN113228949A (zh) * 2021-04-30 2021-08-10 张冬絮 一种自动人工智能脱粒机
CN113412724B (zh) * 2021-06-21 2022-04-15 湖南农业大学 二次检测喂入量且脱粒间隙可调的收割机及其调节方法
CN113412724A (zh) * 2021-06-21 2021-09-21 湖南农业大学 二次检测喂入量且脱粒间隙可调的收割机及其调节方法
CN113575118A (zh) * 2021-07-27 2021-11-02 农业农村部南京农业机械化研究所 一种风送式蚕豆联合收割机
CN115119608A (zh) * 2022-06-30 2022-09-30 扬州市金谷机械有限公司 一种玉米穗茎一体化收获智能控制方法
US12102041B2 (en) 2022-08-30 2024-10-01 Calmer Holding Company, Llc Methods and systems for threshing/separating grains and legumes utilizing concaves
US11877538B1 (en) 2022-08-30 2024-01-23 Calmer Holding Company, Llc Threshing grains and legumes utilizing concaves with adjustable openings
USD1031793S1 (en) 2022-08-30 2024-06-18 Calmer Holding Company, Llc Separating grate
USD1032666S1 (en) 2022-08-30 2024-06-25 Calmer Holding Company, Llc MOG limiting subassembly for combine concave
USD1031791S1 (en) 2022-08-30 2024-06-18 Calmer Holding Company, Llc Straight bar concave
USD1031792S1 (en) 2022-08-30 2024-06-18 Calmer Holding Company, Llc Round bar concave
CN116202574A (zh) * 2023-04-28 2023-06-02 太原理工大学 液压支架工作状态的评价方法
CN117063699B (zh) * 2023-09-12 2024-05-28 吉林大学 一种三行带玉米芯回收功能的玉米籽粒收获机
CN117063699A (zh) * 2023-09-12 2023-11-17 吉林大学 一种三行带玉米芯回收功能的玉米籽粒收获机
CN117730681A (zh) * 2023-12-28 2024-03-22 江苏大学 一种减少大豆割台破损率的测控系统
CN118383150A (zh) * 2024-04-03 2024-07-26 九方泰禾国际重工(青岛)股份有限公司 一种能够清选的谷物收获机

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