WO2021104530A1 - Système de réglage intelligent de moissonneuse de céréales et son procédé de commande - Google Patents

Système de réglage intelligent de moissonneuse de céréales et son procédé de commande Download PDF

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Publication number
WO2021104530A1
WO2021104530A1 PCT/CN2020/140051 CN2020140051W WO2021104530A1 WO 2021104530 A1 WO2021104530 A1 WO 2021104530A1 CN 2020140051 W CN2020140051 W CN 2020140051W WO 2021104530 A1 WO2021104530 A1 WO 2021104530A1
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WIPO (PCT)
Prior art keywords
control unit
harvester
detection unit
grain
vehicle control
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PCT/CN2020/140051
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English (en)
Chinese (zh)
Inventor
耿振科
魏本同
李素霞
谢青臣
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中联农业机械股份有限公司
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Publication of WO2021104530A1 publication Critical patent/WO2021104530A1/fr

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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

Definitions

  • the invention relates to an intelligent adjustment system of a grain harvester and a control method thereof.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the signal output terminal of the vehicle control unit is connected to the fan speed regulating proportional solenoid valve.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a control method for the intelligent adjustment system of a grain harvester at least including the following steps:
  • the grain detection unit 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 content and crushing rate of the grain in the granary in real time;
  • 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.
  • 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;
  • the AI control unit analyzes the collected image information to calculate crop lodging and density parameter values in real time
  • 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;
  • 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 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.
  • 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.
  • 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
  • FIG. 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.
  • 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;
  • 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
  • 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).
  • 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.
  • the driver selects the mode through the panel buttons.
  • walking 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.
  • 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.
  • 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.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)
  • Combines (AREA)
  • Guiding Agricultural Machines (AREA)
  • Outside Dividers And Delivering Mechanisms For Harvesters (AREA)

Abstract

Système de réglage intelligent de moissonneuse de céréales, comprenant un dispositif de commande IA (1) et une unité de vérification. Le dispositif de commande IA reçoit et analyse les informations vérifiées par l'unité de vérification. L'unité de vérification comprend une unité de vérification de noyau de céréale, une unité de mesure de vitesse de rotation de cylindre de récolte, une unité de mesure d'ouverture de tamis de moissonneuse et une unité de mesure d'évidement concave de moissonneuse. L'invention concerne également un procédé de commande de réglage intelligent de moissonneuse de céréales. L'unité de commande IA (1), sur la base d'informations d'image obtenues par une caméra à réservoir de grains A (18), une caméra à réservoir de grains B (19) et une caméra à vis sans fin (17), calcule la teneur en impuretés et le taux de rupture de grain ; lorsque la teneur en impuretés et le taux de rupture dépassent des seuils définis, les valeurs numériques pour l'ouverture du tamis, l'évidement concave, la vitesse de rotation de cylindre, la vitesse de rotation de ventilateur, la vitesse de rotation de la bobine et la vitesse de fonctionnement qui doivent être mises en correspondance sont déterminées, et lesdites valeurs numériques qui doivent être mises en correspondance sont transmises à une unité de commande de véhicule entier (2) ; l'unité de commande de véhicule entier (2) règle de manière correspondante l'ouverture du tamis, l'évidement concave, la vitesse de rotation du cylindre, la vitesse de rotation du ventilateur, la vitesse de rotation de la bobine et la vitesse de fonctionnement pour atteindre les valeurs de correspondance requises. Le système présente une structure simple et un fonctionnement pratique, et assure efficacement la qualité de fonctionnement et l'efficacité d'une moissonneuse.
PCT/CN2020/140051 2019-11-29 2020-12-28 Système de réglage intelligent de moissonneuse de céréales et son procédé de commande WO2021104530A1 (fr)

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