技术领域Technical field
本发明涉及农业生产技术领域，特别涉及一种用于减小收获损失的拨禾轮转速调节装置及控制方法。The invention relates to the technical field of agricultural production, and in particular to a reel speed adjustment device and a control method for reducing harvest losses.
背景技术Background technique
作为割台的重要组成部分，拨禾轮转速太高会增加对籽粒的冲击，转速过慢，植株会被割刀推倒，增加籽粒损失。As an important part of the header, if the reel speed is too high, it will increase the impact on the grains. If the speed is too slow, the plants will be pushed over by the cutter, increasing the loss of grains.
现有技术中有拨禾轮转速与前进速度的匹配，但是其未考虑不同割台高度或者不同作物对拨禾速比的影响不同，造成调节不精确，无法彻底改变损失大的问题。The existing technology has the matching of the reel speed and the forward speed, but it does not take into account the different effects of different header heights or different crops on the reel speed ratio, resulting in inaccurate adjustment and the inability to completely change the problem of large losses.
发明内容Contents of the invention
针对现有技术中存在的不足，本发明提供了一种用于减小收获损失的拨禾轮转速调节装置及控制方法，实现不同作物收获时拨禾轮转速与前进速度匹配，为联合收割机稳定性控制奠定基础，降低收割机故障率，显著减少割台损失，降低劳动强度。In view of the shortcomings in the prior art, the present invention provides a reel speed adjustment device and a control method for reducing harvest losses, achieving matching of the reel speed and forward speed when harvesting different crops, and is a combine harvester Stability control lays the foundation for reducing harvester failure rates, significantly reducing header losses and reducing labor intensity.
本发明是通过以下技术手段实现上述技术目的的。The present invention achieves the above technical objectives through the following technical means.
一种用于减小收获损失的拨禾轮转速调节装置，割台上安装拨禾轮，所述拨禾轮上设有拨禾轮调节装置，所述拨禾轮调节装置用于调节拨禾轮直径，还包括传感器、液压马达、步进电机、控制器和高度调节装置；A reel speed adjustment device for reducing harvest losses. A reel is installed on the header. The reel is provided with a reel adjustment device. The reel adjustment device is used to adjust the reel. wheel diameter, also includes sensors, hydraulic motors, stepper motors, controllers and height adjustments;
所述液压马达用于驱动拨禾轮转盘转动；所述步进电机用于驱动拨禾轮调节装置；所述高度调节装置用于调节拨禾轮高度；The hydraulic motor is used to drive the reel turntable to rotate; the stepper motor is used to drive the reel adjustment device; the height adjustment device is used to adjust the height of the reel;
至少一个传感器位于拨禾轮转盘处，用于检测拨禾轮转盘的转速、拨禾轮安装高度和拨禾轮直径；At least one sensor is located at the reel turntable and is used to detect the rotation speed of the reel turntable, the installation height of the reel and the diameter of the reel;
至少一个传感器位于割台处，用于检测割台高度和收获作物的高度；At least one sensor is located at the header for detecting the height of the header and the height of the harvested crop;
所述控制器根据采集的收获作物的高度、拨禾轮安装高度、拨禾轮半径和割台高度，确定拨禾速比λ，所述控制器根据拨禾速比λ判断是否需要调节拨禾轮半径或/和割台高度或/和拨禾轮安装高度；所述控制器根据割台前进速度确定拨禾轮转速的目标值；The controller determines the reel speed ratio λ based on the collected height of the harvested crop, the installation height of the reel, the radius of the reel and the height of the header. The controller determines whether the reel needs to be adjusted based on the reel speed ratio λ. The wheel radius or/and the height of the header or/and the installation height of the reel; the controller determines the target value of the reel speed according to the forward speed of the header;
所述控制器根据目标值与拨禾轮实际转速的转速差，通过模糊PID算法得出输出量，所述控制器根据输出量控制比例电磁阀调节开度，用于控制液压马达输出转速。The controller obtains the output through the fuzzy PID algorithm based on the speed difference between the target value and the actual speed of the reel. The controller controls the proportional solenoid valve to adjust the opening according to the output to control the output speed of the hydraulic motor.
进一步，所述拨禾轮的转盘处安装霍尔传感器，用于检测拨禾轮转盘的转速；所述拨禾轮上安装第一位移传感器，用于检测拨禾轮安装高度H；所述拨禾轮上安装第二位移传感器，用于检测拨禾轮半径R；所述割台上安装第三位移传感器，用于检测割台高度h；所述割台上安装红外传感器，用于检测收获作物的高度L。Further, a Hall sensor is installed on the reel's turntable for detecting the rotation speed of the reel's turntable; a first displacement sensor is installed on the reel for detecting the installation height H of the reel; A second displacement sensor is installed on the reel to detect the radius R of the reel; a third displacement sensor is installed on the header to detect the height h of the header; an infrared sensor is installed on the header to detect harvesting Crop height L.
进一步，所述控制器根据采集的收获作物的高度、拨禾轮安装高度、拨禾轮半径和割台高度，确定拨禾速比λ，具体为：Further, the controller determines the reel speed ratio λ based on the collected height of the harvested crops, the installation height of the reel, the radius of the reel and the height of the header, specifically as follows:
其中：in:
R为拨禾轮半径；R is the radius of the reel;
H为拨禾轮安装高度；H is the installation height of the reel;
h为割台高度；h is the height of the header;
L为收获作物的高度。L is the height of the harvested crop.
一种用于减小收获损失的拨禾轮转速调节装置的控制方法，包括如下步骤：A control method of a reel speed adjustment device for reducing harvest losses, including the following steps:
根据收获作物确定标准的拨禾速比λ0范围为[λmin,λmax]；The standard range of the reeling speed ratio λ0 determined based on the harvested crops is [λmin , λmax ];
根据采集的收获作物的高度L、拨禾轮安装高度H、拨禾轮半径R和割台高度h，确定拨禾速比λ，具体为：According to the collected height L of the harvested crops, the installation height H of the reel, the radius R of the reel and the height h of the header, determine the reel speed ratio λ, specifically as follows:
若拨禾速比则通过调节拨禾轮直径或/和割台高度或/和拨禾轮安装高度使拨禾速比λ∈[λmin,λmax]；If the reeling speed ratio Then by adjusting the diameter of the reel or/and the height of the header or/and the installation height of the reel, the reel speed ratio λ∈[λmin , λmax ];
当λ∈[λmin,λmax]时，根据割台前进速度vm确定拨禾轮转速的目标值，具体为：When λ∈[λmin ,λmax ], the target value of the reel speed is determined according to the forward speed vm of the header, specifically:
其中割台前进速度vm通过速度传感器获取；The forward speed vm of the header is obtained through the speed sensor;
根据拨禾轮转速的目标值与拨禾轮实际转速的转速差，通过模糊PID算法得出输出量，根据输出量控制比例电磁阀调节开度，控制液压马达输出转速，从而使拨禾轮实际转速接近拨禾轮转速的目标值。According to the difference between the target speed of the reel and the actual speed of the reel, the output is obtained through the fuzzy PID algorithm. According to the output, the proportional solenoid valve is controlled to adjust the opening and the output speed of the hydraulic motor is controlled, so that the actual speed of the reel is The rotation speed is close to the target value of the reel rotation speed.
进一步，若拨禾速比优先通过驱动拨禾轮调节装置调节拨禾轮半径，若调节拨禾轮直径后的拨禾速比/>则调节割台高度或/和拨禾轮安装高度使拨禾速比λ∈[λmin,λmax]。Furthermore, if the reeling speed is Priority is given to adjusting the reel radius by driving the reel adjustment device. If the reel speed ratio is adjusted after adjusting the reel diameter/> Then adjust the height of the header or/and the installation height of the reel to make the reel speed ratio λ∈[λmin , λmax ].
进一步，若拨禾速比λ＜λmin时，通过驱动拨禾轮调节装置增加拨禾轮半径；若拨禾速比λ＞λmax时，先通过驱动拨禾轮调节装置减小拨禾轮半径，再通过增加割台高度或/和拨禾轮安装高度。Furthermore, if the reel speed ratio λ＜λmin , the reel radius is increased by driving the reel adjustment device; if the reel speed ratio λ>λmax , the reel radius is first reduced by driving the reel adjustment device. radius, and then by increasing the header height or/and the reel installation height.
进一步，根据水稻确定的标准拨禾速比λ0∈[1.3,1.5]；根据油菜确定的标准拨禾速比λ0∈[1.4,1.8]；根据谷子确定的标准拨禾速比λ0∈[1.5,1.7]。Furthermore, the standard reeling speed ratio λ0 ∈ [1.3, 1.5] is determined based on rice; the standard reeling speed ratio λ0 ∈ [1.4, 1.8] is determined based on rapeseed; the standard reeling speed ratio λ0 ∈ is determined based on millet. [1.5,1.7].
本发明的有益效果在于：The beneficial effects of the present invention are:
本发明用于减小收获损失的拨禾轮转速调节装置及控制方法，采用方法采用模糊PID控制，提高精度与响应速度，判断拨禾速比是否处于合适区间，若不在合适区间，调整拨禾速比到合适区间后，再根据数学模型进行精确匹配，即保证拨禾轮转速与收获机前进速度的匹配调节，又保证拨禾速比值处于合适区间，实现不同作物收获时拨禾轮转速与前进速度匹配，降低了收获损失，提高了收获质量，降低了劳动力强度。The present invention uses a reel speed adjustment device and a control method for reducing harvest losses. The method adopts fuzzy PID control to improve accuracy and response speed. It determines whether the reel speed ratio is in the appropriate range. If it is not in the appropriate range, adjust the reel speed. After the speed ratio reaches the appropriate range, accurate matching is performed based on the mathematical model, which not only ensures the matching adjustment of the reel speed and the forward speed of the harvester, but also ensures that the reel speed ratio is in the appropriate range, so as to realize the matching between the reel speed and the harvesting speed of different crops. Matching forward speed reduces harvest losses, improves harvest quality, and reduces labor intensity.
附图说明Description of the drawings
图1为本发明所述用于减小收获损失的拨禾轮转速调节装置示意图。Figure 1 is a schematic diagram of the reel speed adjustment device used to reduce harvest losses according to the present invention.
图2为本发明所述用于减小收获损失的拨禾轮转速调节装置控制原理图。Figure 2 is a control principle diagram of the reel speed adjustment device used to reduce harvest losses according to the present invention.
图3为本发明所述用于减小收获损失的拨禾轮转速调节装置的控制方法流程图。Figure 3 is a flow chart of the control method of the reel speed adjusting device for reducing harvest loss according to the present invention.
图中：In the picture:
101-液压马达；102-霍尔传感器；103-步进电机；104-齿轮机构；105-第二位移传感器。101-hydraulic motor; 102-Hall sensor; 103-stepper motor; 104-gear mechanism; 105-second displacement sensor.
具体实施方式Detailed ways
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。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and are not to be construed as limiting the present invention.
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“轴向”、“径向”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "axial", The orientations or positional relationships indicated by "radial", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. , rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
如图1所示，本发明所述的用于减小收获损失的拨禾轮转速调节装置，割台上安装拨禾轮，所述拨禾轮上设有拨禾轮调节装置，所述拨禾轮调节装置用于调节拨禾轮直径，步进电机103通过齿轮机构104与拨禾轮调节装置连接，通过步进电机103驱动拨禾轮调节装置；拨禾轮调节装置为现有结构，其具体不再叙述。本发明所述的用于减小收获损失的拨禾轮转速调节装置还包括传感器、液压马达101、控制器、高度调节装置和拨禾轮调节装置；As shown in Figure 1, in the reel speed adjustment device for reducing harvest loss according to the present invention, a reel is installed on the header, and a reel adjustment device is provided on the reel. The reel adjustment device is used to adjust the diameter of the reel. The stepper motor 103 is connected to the reel adjustment device through the gear mechanism 104, and drives the reel adjustment device through the stepper motor 103; the reel adjustment device is an existing structure. The details will not be described again. The reel speed adjustment device for reducing harvest loss according to the present invention also includes a sensor, a hydraulic motor 101, a controller, a height adjustment device and a reel adjustment device;
所述液压马达101驱动拨禾轮转盘转动；所述高度调节装置调节拨禾轮高度；所述拨禾轮的转盘处安装霍尔传感器102，用于检测拨禾轮转盘的转速；所述拨禾轮上安装第一位移传感器，用于检测拨禾轮安装高度H；所述拨禾轮上安装第二位移传感器105，用于检测拨禾轮半径R；所述割台上安装第三位移传感器，用于检测割台高度h；所述割台上安装红外传感器，用于检测收获作物的高度L。The hydraulic motor 101 drives the reel turntable to rotate; the height adjustment device adjusts the height of the reel; a Hall sensor 102 is installed on the reel's turntable for detecting the rotation speed of the reel; A first displacement sensor is installed on the reel for detecting the installation height H of the reel; a second displacement sensor 105 is installed on the reel for detecting the radius R of the reel; a third displacement sensor is installed on the header. A sensor is used to detect the height h of the header; an infrared sensor is installed on the header to detect the height L of the harvested crops.
所述控制器根据采集的收获作物的高度、拨禾轮安装高度、拨禾轮半径和割台高度，确定拨禾速比λ，所述控制器根据拨禾速比λ判断是否需要调节拨禾轮半径或/和割台高度或/和拨禾轮安装高度；所述控制器根据割台前进速度确定拨禾轮转速的目标值；The controller determines the reel speed ratio λ based on the collected height of the harvested crop, the installation height of the reel, the radius of the reel and the height of the header. The controller determines whether the reel needs to be adjusted based on the reel speed ratio λ. The wheel radius or/and the height of the header or/and the installation height of the reel; the controller determines the target value of the reel speed according to the forward speed of the header;
所述控制器根据目标值与拨禾轮实际转速的转速差，通过模糊PID算法得出输出量，所述控制器根据输出量控制比例电磁阀调节开度，用于控制液压马达101输出转速。The controller obtains the output through the fuzzy PID algorithm based on the speed difference between the target value and the actual speed of the reel. The controller controls the proportional solenoid valve to adjust the opening according to the output to control the output speed of the hydraulic motor 101.
如图2和图3所示，本发明所述的用于减小收获损失的拨禾轮转速调节装置的控制方法，包括如下步骤：As shown in Figures 2 and 3, the control method of the reel speed adjustment device for reducing harvest loss according to the present invention includes the following steps:
根据收获作物确定标准的拨禾速比λ0范围为[λmin,λmax]；收获作物可通过试验得到对应收获作物的拨禾速比范围，如根据水稻确定的标准拨禾速比λ0∈[1.3,1.5]，根据油菜确定的标准拨禾速比λ0∈[1.4,1.8]，根据谷子确定的标准拨禾速比λ0∈[1.5,1.7]。The standard range of the reeling speed ratio λ0 determined based on the harvested crops is [λmin , λmax ]; the range of the harvested crops can be obtained through experiments, such as the standard reeling speed ratio λ0 determined based on rice. ∈[1.3,1.5], the standard reeling speed ratio λ0 ∈[1.4,1.8] determined based on rapeseed, and the standard reeling speed ratio λ0 ∈[1.5,1.7] determined based on millet.
控制器根据采集的收获作物的高度L、拨禾轮安装高度H、拨禾轮半径R和割台高度h，确定拨禾速比λ，具体为：The controller determines the reel speed ratio λ based on the collected height L of the harvested crops, the installation height H of the reel, the radius R of the reel and the height h of the header, specifically as follows:
若拨禾速比则优先通过驱动拨禾轮调节装置调节拨禾轮半径，这是由于拨禾轮半径大小对损失率的影响最小。若调节拨禾轮直径后的拨禾速比/>则调节割台高度或/和拨禾轮安装高度使拨禾速比λ∈[λmin,λmax]；具体如下：If the reeling speed ratio Then, priority is given to adjusting the reel radius by driving the reel adjustment device, because the size of the reel radius has the smallest impact on the loss rate. If the reel speed ratio is adjusted after adjusting the diameter of the reel/> Then adjust the height of the header or/and the installation height of the reel to make the reel speed ratio λ∈[λmin ,λmax ]; the details are as follows:
若拨禾速比λ＜λmin时，通过驱动拨禾轮调节装置增加拨禾轮半径；若拨禾速比λ＞λmax时，先通过驱动拨禾轮调节装置减小拨禾轮半径，再通过增加割台高度或/和拨禾轮安装高度。If the reel speed ratio λ＜λmin , increase the radius of the reel by driving the reel adjustment device; if the reel speed ratio λ>λmax , first reduce the radius of the reel by driving the reel adjustment device, Then increase the header height or/and the reel installation height.
当λ∈[λmin,λmax]时，根据割台前进速度vm确定拨禾轮转速的目标值，具体为：When λ∈[λmin ,λmax ], the target value of the reel speed is determined according to the forward speed vm of the header, specifically:
其中割台前进速度vm通过速度传感器获取；The forward speed vm of the header is obtained through the speed sensor;
根据拨禾轮转速的目标值与拨禾轮实际转速的转速差，通过模糊PID算法得出输出量，根据输出量控制比例电磁阀调节开度，控制液压马达101输出转速，从而使拨禾轮实际转速接近拨禾轮转速的目标值。According to the speed difference between the target speed of the reel and the actual speed of the reel, the output is obtained through the fuzzy PID algorithm, and the proportional solenoid valve is controlled to adjust the opening according to the output to control the output speed of the hydraulic motor 101, thereby making the reel The actual rotation speed is close to the target value of the reel rotation speed.
下面以水稻为实施例：The following uses rice as an example:
根据水稻确定的标准拨禾速比λ0∈[1.3,1.5]；The standard reeling speed ratio λ0 ∈[1.3,1.5] determined based on rice;
若控制器得出的拨禾速比λ＜1.3时，则首选通过增大拨禾轮半径R增大拨禾速比，同时根据拨禾轮安装高度要求可知，R的变化范围为：控制器驱动步进电机103带动齿轮机构104改变拨禾轮半径 R，使拨禾速比进入到合适区间。If the reel speed ratio λ obtained by the controller is less than 1.3, the first choice is to increase the reel speed ratio by increasing the reel radius R, and at the same time, according to the reel installation height It can be seen from the requirements that the variation range of R is: The controller drives the stepper motor 103 to drive the gear mechanism 104 to change the radius R of the reel so that the reel speed ratio enters a suitable range.
若控制器得出的拨禾速比λ＞1.5时，则在满足安装高度的要求下适当减小拨禾轮半径R 可获得合适拨禾速比，上述只是在改变拨禾轮半径R的方法上改变拨禾速比，也可通过微调割台高度h以及拨禾轮安装高度H调节拨禾速比。If the reel speed ratio λ obtained by the controller is >1.5, then the appropriate reel speed ratio can be obtained by appropriately reducing the reel radius R while meeting the installation height requirements. The above is only a method of changing the reel radius R. The reel speed ratio can also be adjusted by fine-tuning the header height h and the reel installation height H.
若拨禾速比值处于该作物的合适区间，即λ在1.3-1.5之间，则通过控制器采集霍尔传感器102信号得到当前拨禾轮转速，同样通过速度传感器采集得到收获机前进速度Vm，速度传感器安装在履带轮主动轮上。If the reel speed ratio is in the appropriate range for the crop, that is, λ is between 1.3-1.5, the controller collects the Hall sensor 102 signal to obtain the current reel speed, and also collects the harvester forward speed Vm through the speed sensor. The speed sensor is installed on the track wheel driving wheel.
控制器根据计算得到拨禾轮目标转速，根据拨禾轮转速的目标值与拨禾轮实际转速的转速差，通过模糊PID算法得出输出量，根据输出量控制比例电磁阀调节开度，控制液压马达101输出转速，从而使拨禾轮实际转速接近拨禾轮转速的目标值。所述比例电磁阀驱动液压马达101带动拨禾轮达到目标转速实现与收获机前进速度的匹配。所述控制器根据收获机前进速度的改变实时调节拨禾轮转速，形成一个自适应的闭环控制系统。The controller is based on The target speed of the reel is calculated. According to the difference between the target speed of the reel and the actual speed of the reel, the output is obtained through the fuzzy PID algorithm. According to the output, the proportional solenoid valve is controlled to adjust the opening and the hydraulic motor is controlled 101 Output the rotation speed so that the actual rotation speed of the reel is close to the target value of the reel rotation speed. The proportional solenoid valve drives the hydraulic motor 101 to drive the reel to reach the target rotation speed to match the forward speed of the harvester. The controller adjusts the reel speed in real time according to changes in the forward speed of the harvester, forming an adaptive closed-loop control system.
本发明公开了一种用于减小收获损失的拨禾轮转速调节装置的控制方法，驾驶员在收获时可以在显示屏上选择收获的作物类型自动匹配适合该作物的拨禾速比范围，若拨禾速比不适合，则通过调节进入合适区间，通过变直径拨禾轮改变直径R，或者改变安装高度H或者割台高度h使拨禾速比值达到合适范围，随后根据计算与前进速度匹配的拨禾轮转速，通过模糊PID算法计算输出控制量，驱动比例电磁阀带动液压马达101调整拨禾轮转速，前进速度由步进电机调节，以实现两者的匹配，在满足拨禾轮转速与前进速度的匹配调节下，也使收获作物时拨禾速比处于合适范围，降低收获损失，提高收获质量。The invention discloses a control method of a reel speed adjustment device for reducing harvest losses. When harvesting, the driver can select the type of crop to be harvested on the display screen and automatically match the reel speed ratio range suitable for the crop. If the reel speed ratio is not suitable, adjust it into the appropriate range, change the diameter R by changing the diameter of the reel, or change the installation height H or header height h to make the reel speed ratio reach the appropriate range, and then according to the calculation and forward speed To match the reel speed, the output control quantity is calculated through the fuzzy PID algorithm. The proportional solenoid valve is driven to drive the hydraulic motor 101 to adjust the reel speed. The forward speed is adjusted by the stepper motor to achieve matching between the two and satisfy the requirements of the reel. The matching adjustment of the rotation speed and the forward speed also keeps the reel speed ratio in the appropriate range when harvesting crops, reducing harvest losses and improving harvest quality.
应当理解，虽然本说明书是按照各个实施例描述的，但并非每个实施例仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。It should be understood that although this specification is described in terms of various embodiments, not each embodiment only contains an independent technical solution. This description of the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole. , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施例的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施例或变更均应包含在本发明的保护范围之内。The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the protection scope of the present invention. Any equivalent embodiments or embodiments that do not deviate from the technical spirit of the present invention are not intended to limit the protection scope of the present invention. All changes should be included in the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111642918.2ACN114342665B (en) | 2021-12-29 | 2021-12-29 | A reel speed adjustment device and control method for reducing harvest losses |
| Application Number | Priority Date | Filing Date | Title |
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| CN202111642918.2ACN114342665B (en) | 2021-12-29 | 2021-12-29 | A reel speed adjustment device and control method for reducing harvest losses |
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| CN114342665A CN114342665A (en) | 2022-04-15 |
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| CN202111642918.2AActiveCN114342665B (en) | 2021-12-29 | 2021-12-29 | A reel speed adjustment device and control method for reducing harvest losses |
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