CN114223386A - A kind of control method of combine harvester reel operating parameter control system - Google Patents
A kind of control method of combine harvester reel operating parameter control systemDownload PDFInfo
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- CN114223386A CN114223386ACN202210174686.0ACN202210174686ACN114223386ACN 114223386 ACN114223386 ACN 114223386ACN 202210174686 ACN202210174686 ACN 202210174686ACN 114223386 ACN114223386 ACN 114223386A
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- 238000000034methodMethods0.000titleclaimsabstractdescription21
- 238000006073displacement reactionMethods0.000claimsabstractdescription7
- 230000001105regulatory effectEffects0.000claimsdescription45
- 230000001276controlling effectEffects0.000claimsdescription40
- 244000068988Glycine maxSpecies0.000claimsdescription13
- 244000046052Phaseolus vulgarisSpecies0.000claimsdescription6
- 244000038559crop plantsSpecies0.000claimsdescription6
- 238000005259measurementMethods0.000claimsdescription6
- 238000001514detection methodMethods0.000claimsdescription3
- 230000000712assemblyEffects0.000claims1
- 238000000429assemblyMethods0.000claims1
- 238000012544monitoring processMethods0.000abstractdescription5
- 238000003306harvestingMethods0.000description9
- 235000010469Glycine maxNutrition0.000description4
- 238000012806monitoring deviceMethods0.000description4
- 238000010586diagramMethods0.000description3
- 230000003031feeding effectEffects0.000description3
- 241000196324EmbryophytaSpecies0.000description1
- 238000011217control strategyMethods0.000description1
- 230000007547defectEffects0.000description1
- 238000013461designMethods0.000description1
- 230000000694effectsEffects0.000description1
- 238000006467substitution reactionMethods0.000description1
- 238000012360testing methodMethods0.000description1
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- 238000000844transformationMethods0.000description1
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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
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/01—Devices for leading crops to the mowing apparatus
- A01D57/02—Devices for leading crops to the mowing apparatus using reels
- A01D57/025—Devices for leading crops to the mowing apparatus using reels with synchronised driving means
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Outside Dividers And Delivering Mechanisms For Harvesters (AREA)
- Harvester Elements (AREA)
Abstract
Description
Technical Field
The invention relates to a reel regulating and controlling system, in particular to a regulating and controlling method of a reel operation parameter regulating and controlling system of a combined harvester, and belongs to the technical field of agricultural machinery.
Background
When the combine harvester is used for harvesting crops such as soybeans, a cutting knife of the header cuts soybean plants, and the reel dials the soybean plants into the header along the trend, so that the feeding auger of the header is convenient for conveying the soybean plants backwards. The rotating speed of the reel, the positions of the reel relative to the front and the back of the soybean plants and the height of the reel relative to the soybean plants directly influence the reel feeding effect. In practice, the height difference of soybean plants of different varieties is large, even if soybeans of the same variety have different growth vigor, the height difference of the plants is obvious, so that the vertical position, the front position and the rear position of the reel need to be adjusted in a targeted manner in order to obtain an ideal reel harvesting effect; meanwhile, the feeding amount of the reel can be changed along with the change of the operation speed of the combine harvester, and the rotating speed of the reel also needs to be correspondingly adjusted.
The retrieval shows that Chinese patent document with the application number of 201910126390.X discloses a combine harvester reel self-adaptive adjusting system and a combine harvester, which comprise a collision force monitoring device, a rotating speed adjusting and monitoring device, a measurement and control system and an advancing speed monitoring radar. The measurement and control system monitors the conditions of the impact force, the rotating speed and the advancing speed of the reel through signals of the impact force monitoring device, the rotating speed adjusting and monitoring device and the advancing speed monitoring radar, and controls the rotating speed of the reel in real time according to a preset control strategy, so that the impact force of the reel on crops is reduced in the operation process of the reel of the combine harvester, the loss of a cutting table is reduced, and the operation efficiency is improved. In addition, chinese patent application No. 202010639357.X discloses a combine harvester reel control system and method, the system includes a satellite positioning receiver, a driving device, a controller and a rotation speed sensor; the rotating speed sensor acquires the actual rotating speed of the reel and transmits the actual rotating speed to the controller, and the controller provides a speed regulating signal for the driving device according to the actual rotating speed and the operation running speed; the invention can realize that the rotating speed of the reel can be automatically adjusted according to the operation running speed of the combine harvester in the operation process of the harvester, the adjustment is accurate and rapid, and the operation efficiency and the quality are improved while the crop feeding amount is ensured. However, the prior art only realizes the regulation and control of the rotating speed of the reel, and does not consider the influence of the front, rear, upper and lower positions of the reel on the reel feeding effect and the harvest quality, so that the problem of adapting to different crop heights cannot be solved.
Disclosure of Invention
The invention aims to: aiming at the defects in the prior art, the combined harvester reel operation parameter regulating and controlling system with wide adaptability is provided, and meanwhile, a corresponding regulating and controlling method is provided, so that ideal harvesting operation can be guaranteed under various conditions.
In order to achieve the purposes, the basic technical scheme of the combined harvester reel operation parameter adjusting and controlling system is as follows: the device comprises a reel supported above a header at the front end of the harvester through a reel adjusting device, a reel speed-regulating hydraulic motor driving the reel to rotate and a control unit containing an intelligent device;
the cutting table is provided with a GPS speed sensor for detecting the advancing speed of the cutting table and a rotating speed sensor for detecting a reel;
the reel adjusting device comprises a reel supporting frame with the rear end hinged to the header, a lifting hydraulic cylinder is arranged between the middle part of the reel supporting frame and the header, the front part of the reel supporting frame and a sliding block assembly supporting a reel rotating shaft form a moving pair, the rear end of the sliding block assembly is hinged to the front end of a connecting rod, and the rear end of the connecting rod is hinged to a crank rod with the rotating center supported to the header and driven by an electric push rod;
the header still is equipped with the ultrasonic sensor that detects the harvest height of crops, detects the flexible linear displacement sensor of hydraulic cylinder, and the signal output termination control unit of each sensor, control unit's corresponding control output end connects controlled end of hydraulic cylinder, electric putter and reel speed governing hydraulic motor respectively.
When the combined harvester reel control system works, the control unit realizes the regulation and control of the crop-pulling reel operation parameters of the combined harvester according to the following regulation and control method:
first step, inputting empirical parametersk1 、H0、hd0
k1For carrying out the speed of the harvestervVehicle with wheelsWith the rotation speed n of reelReel for standing grainAn empirical value of;
H0the difference value is allowed for the experience of the difference between the height of the crop plant and the height of the central shaft of the reel;
hd0is the average height value of the crops;
secondly, reading detection signals of a GPS speed measurement sensor, a rotating speed sensor, an ultrasonic sensor and a linear displacement sensor;
thirdly, regulating and controlling operation parameters, including regulating and controlling the rotating speed of the reel, regulating and controlling the height of the reel and regulating and controlling the front and rear positions of the reel by branches
The rotation speed of the reel is regulated and controlled according to GPS speed measurement sensingHarvester speed detected by the devicevVehicle with wheelsAnd the rotation speed n of the reel detected by the rotation speed sensorReel for standing grainCalculating the operating speed ratiok=vVehicle with wheels/nReel for standing grainThen is compared with a predetermined valuek1And (3) comparison:
when in usek1＞1.1kWhen the standing grain is detected, controlling a standing grain shifting wheel speed-regulating hydraulic motor to increase the rotating speed of the standing grain shifting wheel, otherwise, continuously judging;
if it isk1＜0.9kWhen the rotation speed of the reel is reduced, the reel speed-regulating hydraulic motor is controlled to reduce the rotation speed of the reel, otherwise, the rotation speed returns to the second step;
the height of the reel is regulated and controlled according to the height of the soybean plants detected by the ultrasonic sensorhdCalculating the difference delta H between the height of the bean plant and the height of the central shaft of the reel, and then calculating the difference H between the height of the bean plant and the height of the central shaft of the reel and the allowable difference H0And (3) comparison:
when Δ H > H0When the standing grain reel is in the first step, controlling a lifting hydraulic cylinder to lift the height of the standing grain reel, otherwise, controlling the lifting hydraulic cylinder to reduce the height of the standing grain reel, and then returning to the second step;
the front and back positions of the reel are regulated and controlled according to the height of the crop plants detected by the ultrasonic sensorhdFirst, determine whether to compare with the average height of the crophd0If the absolute value of the deviation exceeds the deviation threshold value, returning to the second step if the absolute value of the deviation does not exceed the deviation threshold value; if so, the electric push rod is correspondingly controlled to lead the reel to shift a set distance back and forth after the deviation direction is judged, and then the second step is returned.
The deviation threshold is 15 cm, and the set distance is 1/3 of the deviation, namely: (hd- hd0）/3。
Therefore, the system of the invention realizes the monitoring and adjustment of the front and back upper and lower positions of the reel through a reasonably designed mechanism on the basis of solving the problem of monitoring and adjustment of the rotating speed of the reel, and simultaneously provides a feasible corresponding closed-loop regulation and control method, so that the combine harvester has wide adaptability to ensure that the ideal harvesting quality can be obtained under various conditions.
Drawings
The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Fig. 2 is a schematic perspective view of the embodiment of fig. 1.
Fig. 3 is a schematic perspective view of the reel regulating device in the embodiment of fig. 1.
Fig. 4 is a schematic structural view of a reel regulating device in the embodiment of fig. 1.
FIG. 5 is a schematic structural diagram of a hydraulic regulation system adopted in the embodiment of FIG. 1.
FIG. 6 is a block diagram of the regulatory logic of the embodiment of FIG. 1.
Detailed Description
Example one
The seedling pulling wheel operation parameter adjusting and controlling system of the soybean combine harvester is composed as shown in fig. 1 and fig. 2, and aseedling pulling wheel 2 driven by a seedling pulling wheel speed adjustinghydraulic motor 3 is supported above aharvesting platform 1 at the front end of the harvester through a seedling pullingwheel adjusting device 6.
Thereel adjusting device 6 comprises a pair of arm-shaped reel support frames 6-1, the rear ends of which are fixedly connected through connecting pipes 6-7 and are hinged to theheader 1 through hinge support shafts 1-1, as shown in fig. 3 and 4. A lifting hydraulic cylinder 4 is arranged between the middle part of the reel supporting frame 6-1 and the cutting table 1. The front part of the reel supporting frame 6-1 is in a rod shape with a rectangular section, and forms a moving pair with a sliding block component for supporting a reel rotating shaft. Specifically, the sliding block assembly is composed of a sliding block main body 6-2 with an arc concave at the upper part and a rear extension hinging section 6-3 fixedly connected with the sliding block main body, the rear end of the sliding block assembly is hinged with the front end of a connecting rod 6-4 through the rear extension hinging section 6-3, the rear end of the connecting rod 6-4 is hinged with a crank rod 6-5 of which the rotating center is supported on theheader 1, the crank rod 6-5 is fixedly connected with a hinging rod 6-6 of which adjusting holes are distributed at intervals in the length direction, and the hinging rod 6-6 is hinged with the extending end of anelectric push rod 7 of which the cylinder body is hinged on theheader 1 through selecting one of the adjusting holes, so that the crank rod 6-5 can be driven to rotate through theelectric push rod 7, and the position of the reel in the front and rear direction can be adjusted through the sliding block assembly; and the initial front and back positions of the reel can be changed as required by selecting the adjusting holes. When theelectric push rod 7 stretches back and forth, the hinge rod 6-6 drives the crank rod 6-5 to rotate, so that the combined sliding block is driven to slide on the reel supporting frame 6-1, and the reel is pushed forwards or pulled backwards.
The cutting table 1 is provided with a GPS speed sensor for detecting the advancing speed of the cutting table and a rotatingspeed sensor 8 for synchronously detecting the real-time online rotating speed of the reel, an ultrasonic sensor 9 for detecting the height of harvested crops is arranged in the middle of the cutting table 1, a linear displacement sensor 5 for synchronously detecting the extension of a lifting hydraulic cylinder is arranged on one side of the lifting hydraulic cylinder 4, the signal output end of each sensor is connected with the corresponding signal input end of an industrial personal computer serving as a control unit, the corresponding control output end of the industrial personal computer is connected with the controlled end of anelectric push rod 7, and the controlled ends of the lifting hydraulic cylinder 4 and the reel speed-regulatinghydraulic motor 3 are respectively connected through a hydraulic regulating system.
The hydraulic regulation system is specifically formed as shown in fig. 5, an oil supply pump which is connected with an overflow valve M in a side way is connected with a reel lifting hydraulic cylinder 4 through a first three-position four-way electromagnetic proportional reversing valve to form a reel height regulation loop; a reel speed regulating and controlling loop is formed after the reel speed regulating motor is connected with the second three-position four-way electromagnetic proportional reversing valve; the height regulating output end of the industrial personal computer is connected with the electromagnet coils DT1 and DT2 at two ends of the first three-position four-way electromagnetic proportional reversing valve, and the rotating speed regulating output end of the industrial personal computer is connected with the electromagnet coils DT3 and DT4 at two ends of the second three-position four-way electromagnetic proportional reversing valve. In addition, the oil supply pump is connected with the reel lifting hydraulic cylinder 4 through a three-position four-way manual reversing valve S1 to form a reel height manual control loop.
When the combined harvester reel control system works, the industrial personal computer realizes the control of the operation parameters of the reel of the combined harvester according to the following control steps (see figure 6):
first step, inputting empirical parametersk1 、H0、hd0
k1For carrying out the speed of the harvestervVehicle with wheelsWith the rotation speed n of reelReel for standing grainA reasonable empirical value of;
H0the difference value is allowed for the experience of the difference between the height of the crop plant and the height of the central shaft of the reel;
hd0for the average height of the crop, this example was carried out by applying the average height to the harvested plotsAnd 5 data are measured by a five-point method and then are averaged to obtain the target.
Secondly, reading detection signals of a GPS speed measurement sensor, a rotating speed sensor, an ultrasonic sensor and a linear displacement sensor;
step three, regulating and controlling operation parameters, including regulating and controlling the rotating speed of the reel, regulating and controlling the height of the reel and regulating and controlling the front and rear positions of the reel by branches:
1) reel speed regulation-control according to harvester speed detected by GPS speed sensorvVehicle with wheelsAnd the rotation speed n of the reel detected by the rotation speed sensorReel for standing grainCalculating the operating speed ratiok=vVehicle with wheels/nReel for standing grainAnd then compared with a preset value k 1:
when k1 is more than 1.1k, controlling DT3 to be electrified, increasing the oil supply flow of the reel speed-regulatinghydraulic motor 3, and increasing the rotating speed of thereel 2, otherwise, continuing to judge;
if k1 is less than 0.9k, controlling DT3 to be electrified and reducing the oil supply flow of the reel speed-adjustinghydraulic motor 3, and reducing the rotating speed of thereel 2, otherwise, controlling DT3 and DT4 not to be electrified and returning to the second step;
in addition, when an emergency condition or a need is met, the DT4 is controlled to be electrified, and thereel 2 rotates reversely.
2) Reel height control according to soybean plant height detected by ultrasonic sensorhdCalculating the difference delta H between the height of the bean plant and the height of the central shaft of the reel, and then calculating the difference H between the height of the bean plant and the height of the central shaft of the reel and the allowable difference H0And (3) comparison:
when delta H is larger than H0, controlling DT1 to be electrified, controlling the lifting hydraulic cylinder to extend to lift the height of the reel, otherwise, controlling DT2 to be electrified, controlling the lifting hydraulic cylinder to retract to reduce the height of the reel, and then returning to the second step;
furthermore, the harvester can adjust the height of thereel 2 by means of a manual regulating valve S1 as appropriate during transportation, driving or emergency.
3) Front and back position regulation of reel according to the height of crop plant detected by ultrasonic sensorhdFirst, determine whether to compare with the average height of the crophd0The absolute value of the deviation exceeding a deviation threshold of 15 cm, e.g.Otherwise, returning to the second step; if so, the electric push rod is correspondingly controlled to lead the reel to shift a set distance (after the deviation direction is judged)hd- hd0）/3，hdIs greater thanhd0When the utility model is used, the utility model moves,hdis less thanhd0Then the time is moved forward and the second step is returned.
Selecting (A)hd- hd0) The reason why/3 is the set distance is that according to design calculation and practice verification, when the harvester is in an initial state, namely, when the reel operation is started, if the distance L1 between the highest point of the reel and the cutting platform is about 3 times of the front-back horizontal distance L2 (see figure 1) between the reel fingers completing the reel operation and the center line of the rotating shaft, namely L2/L1 is approximately equal to 1/3, the reel operation process of the reel is most smooth, the loss is small, and the efficiency is high, so when the height of an object is changed, the corresponding front-back position is also subjected to equal proportion adjustment of 1/3, and the smooth and efficient working state is favorably maintained.
Tests show that the operation parameters of the rotation speed of the reel, the front and rear positions of the reel and the upper and lower positions of the reel are reasonably regulated and controlled in a closed loop manner, so that the combined harvester has good adaptability to the harvesting of soybeans of different varieties and different growth vigors, and can ensure an ideal reel feeding effect, thereby laying a foundation for ensuring the harvesting quality.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (6)
1. A method for regulating and controlling the operation parameter of a reel of a combined harvester comprises a reel (2) which is supported above a header (1) at the front end of the harvester through a reel regulating device (6), a reel speed regulating hydraulic motor (3) for driving the reel to rotate and a control unit containing an intelligent device;
the cutting table is provided with a GPS speed sensor for detecting the advancing speed of the cutting table and a rotating speed sensor (8) for detecting a reel; the method is characterized in that:
the reel adjusting device (6) comprises a reel supporting frame (6-1) with the rear end hinged to the header, a lifting hydraulic cylinder (4) is arranged between the middle part of the reel supporting frame (6-1) and the header, the front part of the reel supporting frame (6-1) and sliding block assemblies (6-2 and 6-3) supporting a reel rotating shaft form a moving pair, the rear end of the sliding block assembly is hinged with the front end of a connecting rod (6-4), and the rear end of the connecting rod is hinged with a crank rod (6-5) with the rotating center supported on the header and driven by an electric push rod (7);
the header is also provided with an ultrasonic sensor (9) for detecting the height of harvested crops and a linear displacement sensor (5) for detecting the extension of the lifting hydraulic cylinder, the signal output ends of the sensors are connected with a control unit, and the corresponding control output ends of the control unit are respectively connected with the lifting hydraulic cylinder, an electric push rod and the controlled end of a reel speed-regulating hydraulic motor;
the regulation and control method comprises the following steps:
first step, inputting empirical parametersk1 、H0、hd0
k1For carrying out the speed of the harvestervVehicle with wheelsWith the rotation speed n of reelReel for standing grainAn empirical value of;
H0the difference value is allowed for the experience of the difference between the height of the crop plant and the height of the central shaft of the reel;
hd0is the average height value of the crops;
secondly, reading detection signals of a GPS speed measurement sensor, a rotating speed sensor, an ultrasonic sensor and a linear displacement sensor;
thirdly, regulating and controlling operation parameters, including regulating and controlling the rotating speed of the reel, regulating and controlling the height of the reel and regulating and controlling the front and rear positions of the reel by branches
The rotating speed of the reel is regulated and controlled according to the harvester speed detected by the GPS speed measuring sensorvVehicle with wheelsAnd the rotation speed n of the reel detected by the rotation speed sensorReel for standing grainCalculating the operating speed ratiok=vVehicle with wheels/nReel for standing grainThen is compared with a predetermined valuek1And (3) comparison:
when in usek1＞1.1kWhen the standing grain is detected, controlling a standing grain shifting wheel speed-regulating hydraulic motor to increase the rotating speed of the standing grain shifting wheel, otherwise, continuously judging;
if it isk1＜0.9kWhen the rotation speed of the reel is reduced, the reel speed-regulating hydraulic motor is controlled to reduce the rotation speed of the reel, otherwise, the rotation speed returns to the second step;
the height of the reel is regulated and controlled according to the height of the soybean plants detected by the ultrasonic sensorhdCalculating the difference delta H between the height of the bean plant and the height of the central shaft of the reel, and then calculating the difference H between the height of the bean plant and the height of the central shaft of the reel and the allowable difference H0And (3) comparison:
when Δ H > H0When the standing grain reel is in the first step, controlling a lifting hydraulic cylinder to lift the height of the standing grain reel, otherwise, controlling the lifting hydraulic cylinder to reduce the height of the standing grain reel, and then returning to the second step;
the front and back positions of the reel are regulated and controlled according to the height of the crop plants detected by the ultrasonic sensorhdFirst, determine whether to compare with the average height of the crophd0If the absolute value of the deviation exceeds the deviation threshold value, returning to the second step if the absolute value of the deviation does not exceed the deviation threshold value; if so, the electric push rod is correspondingly controlled to lead the reel to shift a set distance back and forth after the deviation direction is judged, and then the second step is returned.
2. The regulation and control method of the combined harvester reel operation parameter regulation and control system as claimed in claim 1, is characterized in that: the crank rod in the combined harvester reel operation parameter control system is fixedly connected with hinge rods of adjusting holes distributed at intervals in the length direction, and the hinge rods are hinged with the extending end of an electric push rod of the header through one of the adjusting holes and a cylinder body.
3. The method for regulating and controlling the crop pulling wheel operation parameter regulating and controlling system of the combined harvester according to claim 2, characterized in that: the sliding block assembly in the combined harvester reel operation parameter control system is composed of a sliding block main body with an arc concave at the upper part and a rear extension hinge section fixedly connected with the sliding block main body, and the rear extension hinge section is hinged with the front end of the connecting rod.
4. The regulation and control method of the combined harvester reel operation parameter regulation and control system as claimed in claim 1, 2 or 3, characterized in that: the control unit in the combined harvester reel operation parameter control system is respectively connected with the controlled ends of a lifting hydraulic cylinder and a reel speed-regulating hydraulic motor through a hydraulic control system; an oil supply pump of the hydraulic regulation system is connected with a reel lifting hydraulic cylinder through a first electromagnetic proportional directional valve to form a reel height regulation loop, and is connected with a reel speed regulation motor through a second electromagnetic proportional directional valve to form a reel rotating speed regulation loop; the height regulating output end of the control circuit is connected with the electromagnet coils at two ends of the first electromagnetic proportional reversing valve, and the rotating speed regulating output end of the control circuit is connected with the electromagnet coils at two ends of the second electromagnetic proportional reversing valve.
5. The method for regulating and controlling the crop pulling wheel operation parameter regulating and controlling system of the combined harvester according to claim 4, which is characterized in that: an oil supply pump of the hydraulic regulating and controlling system in the combined harvester reel operation parameter regulating and controlling system is also connected with a reel lifting hydraulic cylinder through a manual reversing valve to form a reel height manual control loop.
6. The regulation and control method of the combined harvester reel operation parameter regulation and control system as claimed in claim 5, characterized in that: the deviation threshold value in the combined harvester reel operation parameter control system is 15 cm, and the set distance is 1/3 of the deviation.
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| CN202210174686.0ACN114223386B (en) | 2022-02-25 | 2022-02-25 | Regulation and control method of combined harvester reel operation parameter regulation and control system |
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| CN114847007A (en)* | 2022-06-07 | 2022-08-05 | 四川农业大学 | A kind of soybean harvester reel device and control method |
| CN114916306A (en)* | 2022-04-29 | 2022-08-19 | 农业农村部南京农业机械化研究所 | Automatic regulating and controlling method and system for reel of rape harvester |
| CN116868777A (en)* | 2023-08-22 | 2023-10-13 | 农业农村部南京农业机械化研究所 | Active feeding header for particle recovery and its drive control system and control equipment |
| CN117242978A (en)* | 2023-11-17 | 2023-12-19 | 山西农业大学 | Double-chain tooth type grain combine harvester header |
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