WO2021104530A1

WO2021104530A1 - Cereal harvester smart adjustment system and control method therefor

Info

Publication number: WO2021104530A1
Application number: PCT/CN2020/140051
Authority: WO
Inventors: 耿振科; 魏本同; 李素霞; 谢青臣
Original assignee: 中联农业机械股份有限公司
Priority date: 2019-11-29
Filing date: 2020-12-28
Publication date: 2021-06-03
Also published as: CN110720302A

Abstract

A cereal harvester smart adjustment system, comprising an AI controller (1) and a checking unit. The AI controller (1) receives and analyzes the information checked by the checking unit. The checking unit comprises a cereal kernel checking unit, a harvest cylinder rotation speed measurement unit, a harvester sieve openness measurement unit, and a harvester concave clearance measurement unit. A cereal harvester smart adjustment control method. The AI control unit (1), on the basis of image information obtained by a grain tank camera A (18), a grain tank camera B (19), and an auger camera (17), calculates the impurity content and the breakage rate of grain; when the impurity content and the breakage rate surpass set thresholds, numerical values for sieve openness, concave clearance, cylinder rotation speed, fan rotation speed, reel rotation speed, and operating speed that must be matched are determined, and said numerical values that must be matched are transmitted to a whole-vehicle control unit (2); the whole-vehicle control unit (2) correspondingly adjusts the sieve openness, the concave clearance, the cylinder rotation speed, the fan rotation speed, the reel rotation speed, and the operating speed to reach the required matching values. The system features a simple structure and convenient operation, and effectively ensures the operating quality and efficiency of a harvester.

Description

Intelligent adjustment system and control method of grain harvester

Technical field

The invention relates to an intelligent adjustment system of a grain harvester and a control method thereof.

Background technique

Harvesters often need to work across regions. Due to different regions and different soil topography, harvesters need to adjust related mechanisms to adapt to the local terrain. At present, mechanical vehicles require agricultural machinery users to manually adjust related components and make appropriate adjustments based on experience. However, in actual operations, normal operations cannot be guaranteed after adjustment. The adjustment may affect the driving speed, the impurity rate and crushing rate of the grain, and the feed rate of the harvester, which greatly affects the quality and efficiency of the operation.

The most relevant prior art related to the present invention is the patent named "Reaper Intelligent Adjustment System" (Patent No.: 201310198284.5). This patent can only adjust the drum torque during harvester operations to avoid clogging of the harvester. However, the quality and efficiency of operations cannot be fundamentally guaranteed.

Summary of the invention

The purpose of the present invention is to provide an intelligent adjustment system and control method for a grain harvester, which can effectively ensure the working quality and efficiency of the harvester.

Based on the same purpose of the invention, the present invention has two independent technical solutions:

1. An intelligent adjustment system for a grain harvester, comprising an AI control unit and a detection unit provided on the harvester. The AI control unit receives and analyzes and processes the information detected by the detection unit. The detection unit includes a grain detection unit and a harvester. Drum speed detection unit, harvester sieve opening detection unit and harvester intaglio gap detection unit.

Further, the grain detection unit includes several grain image acquisition elements for acquiring image information of the grains in the granary. The signal output terminal of the image acquisition element is connected to the AI control unit, and the AI control unit judges the grains according to the image information. Impurity rate and broken rate.

Further, the drum rotation speed detection unit includes a first sensor installed on the drum; the screen opening detection unit includes a second sensor installed on the screen; the concave plate gap detection unit includes a concave plate The third sensor;

The signal output ends of the first sensor, the second sensor, and the third sensor are connected to the vehicle control unit of the harvester, and the vehicle control unit is in communication connection with the AI control unit;

The signal output ends of the vehicle control unit are respectively connected to the threshing drum speed regulating proportional solenoid valve, the concave plate gap regulating motor control unit, and the screen regulating motor control unit.

Further, it also includes a fan speed detection unit of the harvester. The fan speed detection unit includes a fourth sensor installed on the fan for detecting the rotation speed of the fan. The signal output end of the fourth sensor is connected to the vehicle control of the harvester. Unit, the signal output terminal of the vehicle control unit is connected to the fan speed regulating proportional solenoid valve.

Further, it also includes a harvester puller wheel rotation speed detection unit, which includes a fifth sensor installed on the puller wheel shaft, and the signal output end of the fifth sensor is connected to the harvester vehicle The control unit, the signal output terminal of the vehicle control unit is connected to the motor control unit of the reel.

Further, it also includes a vehicle speed detection unit, the vehicle speed detection unit includes a sixth sensor installed on the gearbox; the signal output terminal of the sixth sensor is connected to the vehicle control unit; the signal output terminal of the vehicle control unit is connected to the vehicle speed Control the proportional solenoid valve.

Further, the grain detection unit includes an elevator camera, which is used to capture images of the impurity and breakage rate of grains in the elevator; the signal output terminal of the elevator camera is connected to the AI control unit.

Further, it also includes a crop shape detection unit, the crop shape detection unit includes a front camera; also includes a header height detection unit, the header height detection unit includes a seventh sensor installed on the header; the front The signal output terminal of the set camera is connected to the AI control unit; the signal output terminal of the seventh sensor is connected to the vehicle control unit; the signal output terminal of the vehicle control unit is connected to the header height adjustment solenoid valve.

Further, it also includes a steering detection unit, which includes an eighth sensor for detecting the steering angle of the harvester; the signal output terminal of the eighth sensor is connected to the vehicle control unit, and the signal output terminal of the vehicle control unit Connected to the integrated solenoid valve group used to control the steering of the harvester.

Further, it further includes a positioning detection unit, the positioning detection unit includes a GPS positioning module, and the signal output terminal of the GPS positioning module is connected to the AI control unit.

2. A control method for the intelligent adjustment system of a grain harvester, at least including the following steps:

S1: The grain detection unit collects the image information of the grains in the granary and feeds it back to the AI control unit;

S2: The AI control unit analyzes the collected image information and calculates the impurity content and crushing rate of the grain in the granary in real time;

S3: The AI control unit compares the real-time calculation result with the preset kernel impurity rate and crushing rate parameter range; when the real-time calculation result is not within the range of the set value, the AI control system determines the drum speed, sieve opening and concave The matching value of the plate gap in the current state, and the above required matching value is fed back to the harvester vehicle control unit;

S4: The vehicle control unit adjusts the drum speed, screen opening, and intaglio gap accordingly to achieve the required matching value.

S5: Repeat steps S1-S4 until the harvester stops working.

Further, the AI control unit can also perform adjustment control according to the lodging and density parameters of the crop, at least including the following steps:

S1: The front camera collects crop lodging and dense image information and feeds it back to the AI control unit;

S2: The AI control unit analyzes the collected image information to calculate crop lodging and density parameter values in real time;

S3: The AI control unit compares the real-time calculation result with the preset crop lodging and dense parameter range; when the real-time calculation result is not within the range of the set value, the AI control unit determines the reel speed, the height of the cutting platform, and the operating speed , The matching value of the steering angle in the current state, and the above-mentioned required matching value is fed back to the harvester vehicle control unit;

S4: The vehicle control unit adjusts the reel speed, header height, operating speed, and steering angle accordingly;

S5: Repeat steps S1, -S4, until the harvester stops working.

Furthermore, the AI control unit can also perform automatic driving control. According to the image information obtained by the front camera and the positioning information obtained by the GPS positioning module, the driving path is calculated, and the driving path information is transmitted to the vehicle control unit, and the vehicle control is adjusted accordingly Operating speed and steering angle.

The beneficial effects of the present invention:

The grain detection unit of the present invention collects the image information of the grains in the granary and feeds it back to the AI control unit; the AI control unit analyzes the collected image information and calculates the impurity rate and the broken rate of the grains in the granary in real time; the AI control unit compares the real-time calculation result with the prediction Compare the range of impurity content and crushing rate of the set grain; when the real-time calculation result is not within the preset parameter range, the AI control system determines the matching value of the drum speed, the opening of the screen and the concave plate gap in the current state, and The above required matching values are fed back to the harvester vehicle control unit; the vehicle control unit correspondingly adjusts the drum speed, screen opening, and intaglio gap to achieve the required matching values, effectively guaranteeing the quality of work, and improving work efficiency.

The front camera of the present invention collects crop lodging and dense image information and feeds it back to the AI control unit; the AI control unit analyzes the collected image information to calculate crop lodging and dense parameter values in real time; the AI control unit compares the real-time calculation result with the preset crop lodging , Dense parameter range for comparison; when the real-time calculation result is not within the range of the set value, the AI control unit determines the matching values of the reel speed, header height, operating speed, and steering angle in the current state, and matches the above requirements The value is fed back to the harvester vehicle control unit; the vehicle control unit adjusts the reel speed, header height, operating speed, and steering angle accordingly to achieve the required matching values, further ensuring the quality of the work and improving the efficiency of the work.

The invention includes a steering angle sensor and a GPS positioning module. The AI control unit calculates the driving path according to the image information obtained by the front camera and the positioning information obtained by the GPS positioning module, and transmits the driving path information to the vehicle control unit, and the vehicle controls the corresponding Adjust the operating speed and steering angle, saving time and effort, and effectively improving operating efficiency.

In summary, the present invention has simple structure and convenient operation, solves a series of problems affecting the operation caused by manual adjustment of various parts of the harvester in the operation process, saves time and labor costs, and greatly improves operation efficiency.

Description of the drawings

Figure 1 is a schematic diagram of the circuit for automatically adjusting vehicle speed and steering system of the present invention;

Figure 2 is a schematic diagram of the circuit for automatically adjusting the crushing rate and the impurity content of the present invention;

Figure 3 is a flow chart of the control method of the present invention;

Figure 4 is a schematic diagram of the layout of the components of the complete machine of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the embodiments shown in the drawings, but it should be noted that these embodiments are not limiting to the present invention, and those of ordinary skill in the art make functional, method, or structural improvements based on these embodiments. Equivalent changes or substitutions fall within the protection scope of the present invention.

Example one:

Intelligent adjustment system of grain harvester

As shown in Figure 4, under the cab 3, from front to back, there are reel 4, header 21, threshing drum 23, concave plate 5, sieve 31, in which the threshing drum 23 and concave plate 5 are arranged between There is a fan 26, a granary and an elevator are provided on the rear side of the cab, and the elevator is used to transport the processed crops from the screen 31 to the granary, which is the prior art.

The grain detection unit includes a granary camera A 18 and a granary camera B 19, which are installed in the granary to take images of the impurity and crushing rate of the grains in the granary; the reel speed sensor (the fifth sensor) 11 is installed in the reel The wheel shaft is used to detect the rotation speed of the reel 4 during operation; the drum rotation speed sensor (the first sensor) is installed on the threshing drum 23 to detect the real-time rotation speed of the drum during operation; the concave plate gap sensor (the third sensor), Installed on the concave plate 5, used to detect the gap of the concave plate; the screen opening sensor (second sensor), installed on the screen of the sieve 31, used to detect the opening of the screen; fan speed sensor (fourth sensor) , Installed on the fan bearing seat, used to detect the speed of the fan 26; vehicle speed sensor (sixth sensor) 24, installed on the gearbox, used to detect the driving speed; the grain detection unit also includes the elevator camera 17, installed On the side of the elevator, it is used to take pictures of the impurity and broken rate of the grains in the elevator; the front camera 13 is used to take crop lodging and dense images; the header height sensor (seventh sensor) is installed on the header 21, used to detect the height of the header during operation; steering angle sensor (eighth sensor), installed on the left side of the rear axle 30, used to detect the steering angle of the harvester; GPS positioning module 14, used to perform the harvester Positioning. The integral solenoid valve group 22 is installed in front of the driver's platform for controlling automatic steering. The vehicle speed control proportional valve 20 is installed on the rear side of the engine, and the driving speed is controlled by the plunger variable pump.

As shown in Figure 1 and Figure 2, the signal output terminals of the front camera 13 and the GPS positioning module 14 are connected to the AI control unit (AI controller) 1, and the signal output terminals of the

granary cameras

18, 19 and the elevator camera 17 are connected to AI Control unit, AI control unit (AI controller) 1 and vehicle control unit (vehicle controller) 2 are connected through CAN bus communication.

The signal output terminals of the vehicle speed sensor 24, the steering angle sensor, the reel speed sensor 11, the header height sensor, the drum speed sensor, the concave plate gap sensor, the screen opening sensor, and the fan speed sensor are connected to the vehicle control unit. The signal output terminal of the vehicle control unit is connected to the header height-adjusting proportional solenoid valve, the vehicle speed control proportional solenoid valve 20, the reel motor (reel stepless variable speed motor 12) control unit, and the integral type used to control the steering of the harvester Solenoid valve group 22, threshing drum speed regulating proportional solenoid valve, concave plate gap regulating motor 28 control unit, screen regulating motor control unit, fan speed regulating proportional solenoid valve 25 (fan motor proportional valve).

Embodiment two:

Control method of intelligent adjustment system of grain harvester

As shown in Figure 3, the AI control unit calculates the impurity and crushing rate of grain based on the image information obtained by the granary camera and the elevator camera (grain grain detection unit); when the impurity rate and the crushing rate exceed the set threshold , Based on the real-time data transmitted by the corresponding sensor, determine the required matching screen opening, concave plate gap, drum speed, fan speed, reel speed, operating speed value, and transmit the above required matching value to the vehicle control Unit: The vehicle control unit correspondingly adjusts the opening of the screen, the gap between the concave plates, the rotation speed of the drum, the rotation speed of the fan, the rotation speed of the reel, and the operating speed to achieve the required matching value. Repeat the above steps of adjusting the impurity content and crushing rate of the grain until the harvester stops working.

The AI control unit calculates the lodging and dense parameter values of the crop according to the image information obtained by the front camera; when the parameter value exceeds the set threshold, it judges the required matching reel speed and cutting speed based on the real-time data transmitted by the corresponding sensor. The platform height, operating speed, steering angle value, and the above required matching values are transmitted to the vehicle control unit. The vehicle control unit adjusts the reel speed, header height, operating speed, and steering angle accordingly to achieve the required Match value. Repeat the steps until the harvester stops working. Repeat the steps of adjusting according to the lodging and density parameters of the crops until the harvester stops working.

The AI control unit calculates the driving path based on the image information obtained by the front camera and the positioning information obtained by the GPS positioning module, and transmits the driving path information to the vehicle control unit. The vehicle control adjusts the operating speed and steering angle accordingly to realize automatic driving.

Embodiment three:

Control method of intelligent adjustment system of grain harvester

The driver selects the mode through the panel buttons. There are two modes: walking mode and working mode. In the travel mode, the opening of the screen, the gap between the concave plates, the speed of the drum, the speed of the reel, the speed of the fan, and the height of the header are not adjustable. The speed of the drum, the speed of the reel and the fan speed are zero, and the vehicle speed can be adjusted in real time. In the field operation, the button is switched to the operation mode, and an intelligent adjustment system of the grain harvester officially begins to work. The control method in the operating mode is the same as in the second embodiment.

In the operation mode, the driver can view the specific parameter values of each component during the operation in real time through the display, such as the drum speed value, the recessed plate gap, the screen opening, the fan speed, the reel speed, the operating speed and the current grain crushing The rate and impurity rate, the lodging density value of the crop, realize the human-computer interaction.

The series of detailed descriptions listed above are only specific descriptions of feasible implementations of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementations or implementations made without departing from the technical spirit of the present invention All changes shall be included in the protection scope of the present invention.

For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description, and therefore it is intended to fall within the claims. All changes within the meaning and scope of the equivalent elements of are included in the present invention.

Claims

An intelligent adjustment system for a grain harvester, including an AI control unit and a detection unit arranged on the harvester. The AI control unit receives and analyzes and processes the information detected by the detection unit. The detection unit includes a grain detection unit and a rotation speed of the harvester drum Detection unit, harvester sieve opening detection unit and harvester intaglio gap detection unit.
The intelligent adjustment system of a grain harvester according to claim 1, wherein the grain detection unit includes a plurality of grain image acquisition elements for collecting image information of grains in the granary, and the image acquisition element The signal output terminal is connected to the AI control unit, and the AI control unit judges the impurity rate and the broken rate of the grains according to the image information.
The intelligent adjustment system for a grain harvester according to claim 1, wherein the drum rotation speed detection unit includes a first sensor installed on the drum; the screen opening detection unit includes a screen installed on the screen. The second sensor; the concave plate gap detection unit includes a third sensor installed on the concave plate;

The signal output ends of the first sensor, the second sensor, and the third sensor are connected to the vehicle control unit of the harvester, and the vehicle control unit is in communication connection with the AI control unit;

The signal output ends of the vehicle control unit are respectively connected to the threshing drum speed regulating proportional solenoid valve, the concave plate gap regulating motor control unit, and the screen regulating motor control unit.
The intelligent adjustment system for a grain harvester according to claim 1, characterized in that it further comprises a harvester fan rotation speed detection unit, and the fan rotation speed detection unit includes a fourth sensor installed on the fan for detecting the rotation speed of the fan, The signal output terminal of the fourth sensor is connected to the vehicle control unit of the harvester, and the signal output terminal of the vehicle control unit is connected to the fan speed regulating proportional solenoid valve.
The intelligent adjustment system of a grain harvester according to claim 1, characterized in that it further comprises a harvester bucket wheel rotation speed detection unit, and the bucket wheel rotation speed detection unit includes a fifth wheel mounted on the bucket wheel shaft. The signal output terminal of the fifth sensor is connected to the whole vehicle control unit of the harvester, and the signal output terminal of the whole vehicle control unit is connected to the motor control unit of the reel.
The intelligent adjustment system for a grain harvester according to claim 1, characterized in that it further comprises a vehicle speed detection unit, said vehicle speed detection unit comprising a sixth sensor installed on a gearbox; the signal output of the sixth sensor The terminal is connected to the vehicle control unit; the signal output terminal of the vehicle control unit is connected to the vehicle speed control proportional solenoid valve.
The intelligent adjustment system of a grain harvester according to claim 1, wherein the grain detection unit comprises an elevator camera, and the elevator camera is used to capture the impurity rate and the broken rate of the grain in the elevator Image; The signal output terminal of the camera of the elevator is connected to the AI control unit.
The intelligent adjustment system for a grain harvester according to any one of claims 1 to 7, characterized in that it further comprises a crop shape detection unit, and the crop shape detection unit comprises a front camera arranged at the front end of the harvester; and It includes a header height detection unit, the header height detection unit includes a seventh sensor installed on the header; the signal output terminal of the front camera is connected to the AI control unit; the signal output terminal of the seventh sensor is connected to the entire Vehicle control unit; the signal output terminal of the vehicle control unit is connected to the header height-adjusting proportional solenoid valve.
The intelligent adjustment system for a grain harvester according to claim 8, further comprising a steering detection unit, and the steering detection unit includes an eighth sensor for detecting the steering angle of the harvester; The signal output terminal is connected to the vehicle control unit, and the signal output terminal of the vehicle control unit is connected to an integral solenoid valve group used to control the steering of the harvester.
The intelligent adjustment system for a grain harvester according to claim 9, further comprising a positioning detection unit, the positioning detection unit comprising a GPS positioning module, and the signal output terminal of the GPS positioning module is connected to the AI control unit.
A control method of an intelligent adjustment system of a grain harvester includes at least the following steps:

S1: The grain detection unit collects the image information of the grains in the granary and feeds it back to the AI control unit;

S2: The AI control unit analyzes the collected image information and calculates the impurity content and crushing rate of the grain in the granary in real time;

S3: The AI control unit compares the real-time calculation result with the preset kernel impurity rate and crushing rate parameter range; when the real-time calculation result is not within the preset parameter range, the AI control system determines the drum speed, screen opening and The matching value of the concave plate gap in the current state, and the above required matching value is fed back to the harvester vehicle control unit;

S4: The vehicle control unit adjusts the drum speed, screen opening, and intaglio gap accordingly to achieve the required matching value.

S5: Repeat steps S1-S4 until the harvester stops working.
The control method according to claim 11, wherein the AI control unit can also perform adjustment and control according to the lodging and density parameters of the crop, at least including the following steps:

S1 ' : The front camera collects crop lodging and dense image information and feeds it back to the AI control unit;

S2 ' : The AI control unit analyzes the collected image information to calculate crop lodging and dense parameter values in real time;

S3 ' : The AI control unit compares the real-time calculation result with the preset crop lodging and dense parameter range; when the real-time calculation result is not within the range of the set value, the AI control unit determines the reel speed, the height of the cutting platform, and the operating speed , The matching value of the steering angle in the current state, and the above-mentioned required matching value is fed back to the harvester vehicle control unit;

S4 ' : The vehicle control unit adjusts the reel speed, header height, operating speed, and steering angle accordingly;

S5 ' : Repeat steps S1 ' -S4 ' until the harvester stops working.
The control method according to claim 11, characterized in that: the AI control unit can also perform automatic driving control, calculate the driving path according to the image information obtained by the front camera and the positioning information obtained by the GPS positioning module, and transmit the driving path information To the vehicle control unit, the vehicle control adjusts the operating speed and steering angle accordingly.