A threshing drum control system and method with closed-loop control strategy

Abstract

The invention discloses a threshing drum control system and method with a closed-loop control strategy. The control system uses the grain breakage rate as a detection and control target, and the control system and control strategy used can automatically adjust the threshing drum rotation speed, concave plate gap and guide plate angle. The system includes a mechanical assembly, an image acquisition assembly, a limit assembly, an output control assembly, a central controller and a manual interaction assembly. The image acquisition assembly acquires the grain image after threshing by the mechanical assembly; the image acquisition assembly is connected to the Wi-Fi interface of the central controller through Wi-Fi communication; the limit assembly is connected to the digital interface of the central controller through an input bus; the output control assembly is connected to the output interface of the central controller through an output bus; and the manual interaction assembly is connected to the LAN interface of the central controller through an Ethernet bus. The control system and method can increase the harvesting speed of the combine harvester, reduce the harvested grain breakage rate, and also increase the mean trouble-free working time of the harvesting machinery.

Description

Technical Field

[0001] The present invention belongs to the technical field of grain threshing, and more specifically, relates to a threshing drum control system and method with a closed-loop control strategy. Background Art

[0002] As a key component of grain combine harvesters, the threshing drum has an important impact on the grain harvesting speed and quality. Designing a reasonable control strategy for the threshing drum can not only increase the harvesting speed of the combine harvester and reduce the breakage rate of the harvested grains, but also prevent the threshing system from being blocked and increase the mean trouble-free working time. The current threshing drum control system is mainly based on open-loop control, which mainly adjusts the threshing drum speed according to the travel speed of the combine harvester. The control logic is single and the controllable elements are scarce, making it difficult to achieve the optimal working state of the threshing system. Summary of the invention

[0003] The present invention aims to solve the problem that the threshing drum lacks a closed-loop control strategy and has a single controllable element, and provides a threshing drum control system and method with a closed-loop control strategy. The control system uses the grain breakage rate as a detection and control target, and the control system and control strategy used can automatically adjust the threshing drum speed, concave plate gap and guide plate angle.

[0004] A threshing drum control system and method with a closed-loop control strategy comprises a mechanical assembly, an image acquisition assembly, a limit assembly, an output control assembly, a central controller and a manual interaction assembly.

[0005] The image acquisition assembly acquires the image of the grains threshed by the mechanical assembly; the image acquisition assembly is connected to the Wi-Fi interface of the central controller via Wi-Fi communication; the limit assembly is connected to the digital interface of the central controller via an input bus; the output control assembly is connected to the output interface of the central controller via an output bus; and the manual interaction assembly is connected to the LAN interface of the central controller via an Ethernet bus.

[0006] The image acquisition assembly B includes an image recognition sensor and a Wi-Fi transmitting module; the image recognition sensor is installed on the frame assembly, facing the bottom of the concave plate assembly; the Wi-Fi transmitting module is installed behind the image recognition sensor; the image recognition sensor is a CMOS image sensor, the sensor size is not less than 1 / 3 inch, and the graphic pixel is not less than 800×600.

[0007] The limit assembly includes a concave plate limit switch and a guide plate limit switch; the concave plate limit switch is installed on the concave plate motor support; the guide plate limit switch is installed on the upper cover; the concave plate limit switch and the guide plate limit switch are capacitive proximity switches, and the sensing distance is not less than 3mm.

[0008] The output control assembly includes a concave plate adjustment motor driver, a concave plate gap adjustment motor, a guide plate adjustment relay module, a guide plate adjustment motor, a variable motor controller and a drum speed adjustment motor.

[0009] The concave plate adjustment motor driver is installed inside the control box, and the concave plate gap adjustment motor is installed on the concave plate motor support; the concave plate gap adjustment motor is a stepping motor, and the motor power is not less than 1.5kW; the central controller E controls the forward and reverse rotation of the concave plate gap adjustment motor through the concave plate adjustment motor driver, and the gap between the concave plate assembly and the threshing drum can be adjusted through the rotation of the concave plate gap adjustment motor, and the adjustment range is 9 to 45mm.

[0010] The deflector adjustment relay module is installed inside the control box, and the deflector adjustment motor is installed on the upper cover; the deflector adjustment motor is an electric push rod motor with a thrust of not less than 2kN; the central controller controls the extension and retraction of the deflector adjustment motor through the deflector adjustment relay module, and the deflector angle of the upper cover assembly can be adjusted through the push of the deflector adjustment motor, and the adjustment range is 2 to 12°.

[0011] The drum speed regulating motor is installed on the frame assembly, and the variable motor controller is integrated at the tail of the drum speed regulating motor; the drum speed regulating motor is a bevel-axis variable motor, and the maximum speed is not less than 1000rpm; the central controller controls the speed of the drum speed regulating motor through the variable motor controller, and the speed of the threshing drum can be adjusted by driving the drum speed regulating motor, and the adjustment range is 450-950rpm.

[0012] The central controller is installed inside the control box, and the control box is fixed in the harvester cockpit; the central controller is an embedded microcontroller with a clock frequency of not less than 72MHz, not less than 12 IO ports, not less than 4 digital-to-analog conversion channels, and not less than 3 SPI interfaces.

[0013] The manual interaction assembly includes a display / control touch screen and a data storage unit; the display / control touch screen is installed on the front panel of the control box, and the display / control touch screen transmits data with the central controller through the Ethernet bus. The display / control touch screen can set control parameters and display the roller working status data; the data storage unit is installed inside the control box, and the data storage unit records the control commands issued by the central controller; the display / control touch screen is a resistive touch screen, the panel size is not less than 7 inches, and the LAN interface is not less than 1.

[0014] A threshing drum control method with a closed-loop control strategy, the method comprising the following steps:

[0015] Step 1, setting the rotation speed n0 of the threshing drum, the concave plate gap d0, and the guide plate angle a0 through the display / control touch screen; all the set values ​​enter the central controller through the Ethernet bus; the central controller controls the rotation speed of the drum speed regulating motor to reach n0 through the variable motor controller; the central controller adjusts the gap between the concave plate assembly and the threshing drum to reach d0 through the concave plate regulating motor driver and the concave plate gap regulating motor; the central controller adjusts the guide plate angle of the upper cover assembly to reach a0 through the guide plate regulating relay module and the guide plate regulating motor;

[0016] Step 2: The image acquisition assembly obtains the grain image after threshing and transmits it to the central controller via Wi-Fi signal;

[0017] Step 3: The central controller recognizes the grain image. First, the grain part in the image is identified and the number of pixels p occupied by all the grains is calculated. a ; Then, according to the different colors and color depths of the grain area, the damaged grains and intact grains are distinguished, and the number of pixels p occupied by the damaged grains is obtained. b ; Calculate the grain breakage rate

[0018] Step 4: The central controller makes a closed-loop intelligent decision based on the crushing rate c;

[0019] Step 4.1: If the crushing rate c is less than 2%, enter the decision-making process of increasing the threshing speed; first determine the speed setting n of the threshing drum. t Whether the maximum speed of 950rpm is reached, if it is judged to be no, the speed setting of the threshing drum is increased, and the current speed setting n t Add 10rpm on the basis of t If the maximum speed of 950rpm has been reached, the concave plate clearance setting d t Whether it reaches the maximum value of 45mm, if it is judged to be no, increase the concave plate gap and set d in the existing plate gap t Add 2mm on the basis; if the concave plate gap is set to d t If the maximum value of 45 mm has been reached, the guide plate angle setting is a t Whether it reaches the maximum value of 12°, if it is judged to be no, then increase the deflector angle setting, and set the deflector angle at the existing deflector angle. t Add 1° on the basis of t If the maximum value of 12° has been reached, the recording process will be entered directly;

[0020] Step 4.2: If the crushing rate c is greater than 5%, enter the decision-making process of reducing the threshing speed; first determine the speed setting n of the threshing drum. tWhether the minimum speed of 950rpm is reached, if it is judged to be no, the speed setting of the threshing drum is reduced, and the current speed setting n t If the speed setting of the threshing drum is n t If the minimum speed of 450rpm has been reached, the concave plate clearance setting d t Whether it reaches the minimum value of 9mm, if it is judged as no, the concave plate gap is reduced and the existing plate gap is set to d t If the concave plate clearance is set to d t If the minimum value of 9mm has been reached, the guide plate angle setting is a t Whether it reaches the minimum value of 3°, if it is judged to be no, then reduce the guide plate angle setting, and set the existing guide plate angle to a t If the guide plate angle is set to a t If the minimum value of 3° has been reached, the recording process will be entered directly;

[0021] Step 4.3: If the damage rate c is between 2% and 5%, directly enter the recording process;

[0022] Step 4.4: During the recording process, the central controller E sets the crushing rate c and the rotation speed n t , concave plate gap setting d t 、Deflector angle setting a t The four parameters are transmitted to the data storage unit via the LAN bus for storage;

[0023] Step 5: After the closed-loop control strategy is executed, wait for 30 seconds for stable operation;

[0024] Step 6: Receive information from the display / control touch screen 12 to determine whether an end command is input.

[0025] Step 6.1: If the result of the end command is judged to be no, re-enter step 2 to continue working.

[0026] Step 6.2: If the result of judging whether to end the command is yes, end the control.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. Use image recognition methods to quickly determine the grain breakage rate after threshing, and provide a calculation method for the grain breakage rate.

[0029] 2. Taking the grain breakage rate as the basis for closed-loop control, the interference factors caused by the intermediate links of threshing are eliminated, the control process is simplified, and it is easy to implement.

[0030] 3. The control system regularly stores the instantaneous crushing rate, speed setting, concave plate gap setting, and guide plate angle setting parameters of the threshing process, providing basic data for the subsequent calculation and optimization design of reasonable threshing system parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a principle block diagram of a threshing drum control system with a closed-loop control strategy of the present invention;

[0032] Figure 2 The mechanical structure diagram of the threshing drum with a closed-loop control strategy of the present invention;

[0033] Figure 3 It is a component installation diagram of a threshing drum control system with a closed-loop control strategy of the present invention;

[0034] Figure 4 It is the installation diagram of the control box of the present invention;

[0035] Figure 5 is a flow chart of the control method of the present invention;

[0036] Figure 6 It is a closed-loop decision-making flow chart of the present invention;

[0037] In the figure: A, mechanical assembly; B, image acquisition assembly; C, limit assembly; D, control output assembly; E, central controller; F, manual interaction assembly; 1, threshing drum; 2, concave plate assembly; 3, upper cover assembly; 4, frame assembly; 5, image recognition sensor; 6, Wi-Fi transmitter module; 7, concave plate limit switch; 8, guide plate limit switch; 9, concave plate adjustment motor driver; 10, concave plate gap adjustment motor; 11, guide plate adjustment relay module; 12, guide plate adjustment motor; 13, variable motor controller; 14, drum speed adjustment motor; 15, display / control touch screen; 16, data storage unit; 17, concave plate motor support; 18, upper cover; 19, control box. DETAILED DESCRIPTION

[0038] See also Figure 1 A threshing drum control system and method with a closed-loop control strategy includes a mechanical assembly A, an image acquisition assembly B, a limit assembly C, an output control assembly D, a central controller E and a manual interaction assembly F.

[0039] The image acquisition assembly B obtains the image of the grain threshed by the mechanical assembly A; the image acquisition assembly B is connected to the Wi-Fi interface of the central controller E through Wi-Fi communication; the limit assembly C is connected to the digital interface of the central controller E through the input bus; the output control assembly D is connected to the output interface of the central controller E through the output bus; the manual interaction assembly F is connected to the LAN interface of the central controller E through the Ethernet bus.

[0040] See also Figure 2 The mechanical assembly A comprises a threshing drum 1, a concave plate assembly 2, an upper cover assembly 3, and a frame assembly 4; the rear axle and the front axle of the threshing drum 1 are installed on the frame assembly 4 through support bearings, the concave plate assembly 2 is installed directly below the threshing drum 1, surrounds the threshing drum 1 in a semicircular shape, and both sides are fixed to the frame assembly 4 by bolts; the upper cover assembly 3 is installed directly above the threshing drum 1, surrounds the threshing drum 1 in a semicircular shape, and both sides are fixed to the frame assembly 4 by bolts; the concave plate assembly 2 and the upper cover assembly 3 are cylindrical and enclose the threshing drum 1 therein.

[0041] See also Figure 3 and Figure 4 The image acquisition assembly B includes an image recognition sensor 5 and a Wi-Fi transmitting module 6; the image recognition sensor 5 is installed on the frame assembly 4, facing the bottom of the concave plate assembly 2; the Wi-Fi transmitting module 6 is installed behind the image recognition sensor 5; the image recognition sensor 5 is a CMOS image sensor, the sensor size is not less than 1 / 3 inch, and the graphic pixel is not less than 800×600.

[0042] The limit assembly C includes a concave plate limit switch 7 and a guide plate limit switch 8; the concave plate limit switch 7 is installed on the concave plate motor support 17; the guide plate limit switch 8 is installed on the upper cover 18; the concave plate limit switch 7 and the guide plate limit switch 8 are capacitive proximity switches, and the sensing distance is not less than 3mm.

[0043] The output control assembly D includes a concave plate adjustment motor driver 9, a concave plate gap adjustment motor 10, a guide plate adjustment relay module 11, a guide plate adjustment motor 12, a variable motor controller 13 and a drum speed adjustment motor 14.

[0044] The concave plate adjustment motor driver 9 is installed inside the control box 19, and the concave plate gap adjustment motor 10 is installed on the concave plate motor support 17; the concave plate gap adjustment motor 10 is a stepping motor, and the motor power is not less than 1.5kW; the central controller E controls the forward and reverse rotation of the concave plate gap adjustment motor 10 through the concave plate adjustment motor driver 9, and the gap between the concave plate assembly 2 and the threshing drum 1 can be adjusted through the rotation of the concave plate gap adjustment motor 10, and the adjustment range is 9 to 45mm.

[0045] The deflector adjustment relay module 11 is installed inside the control box 19, and the deflector adjustment motor 12 is installed on the upper cover 18; the deflector adjustment motor 12 is an electric push rod motor with a thrust of not less than 2kN; the central controller E controls the extension and retraction of the deflector adjustment motor 12 through the deflector adjustment relay module 11, and the deflector angle of the upper cover assembly 3 can be adjusted through the push of the deflector adjustment motor 12, and the adjustment range is 2 to 12°.

[0046] The drum speed regulating motor 14 is installed on the frame assembly 4, and the variable motor controller 13 is integrated at the tail of the drum speed regulating motor 14; the drum speed regulating motor 14 is a bevel-axis variable motor, and the maximum speed is not less than 1000rpm; the central controller E controls the speed of the drum speed regulating motor 14 through the variable motor controller 13, and the speed of the threshing drum 1 can be adjusted by driving the drum speed regulating motor 14, and the adjustment range is 450-950rpm.

[0047] The central controller E is installed inside the control box 19, and the control box 19 is fixed in the harvester cockpit; the central controller E is an embedded microcontroller with a clock frequency of not less than 72MHz, not less than 12 IO ports, not less than 4 digital-to-analog conversion channels, and not less than 3 SPI interfaces.

[0048] The manual interaction assembly F includes a display / control touch screen 15 and a data storage unit 16; the display / control touch screen 15 is installed on the front panel of the control box 19, and the display / control touch screen 15 transmits data with the central controller E via the Ethernet bus. The display / control touch screen 15 can set control parameters and display the roller working status data; the data storage unit 16 is installed inside the control box 19, and the data storage unit 16 records the control commands issued by the central controller E; the display / control touch screen 15 is a resistive touch screen, the panel size is not less than 7 inches, and the LAN interface is not less than 1.

[0049] See also Figure 5 and Figure 6 , a threshing drum control method with a closed-loop control strategy, the method comprising the following steps:

[0050] Step 1, set the speed n0 of the threshing drum 1, the concave plate gap d0, and the guide plate angle a0 through the display / control touch screen 15; all the set values ​​enter the central controller E through the Ethernet bus; the central controller E controls the speed of the drum speed adjustment motor 14 to reach n0 through the variable motor controller 13; the central controller E adjusts the gap between the concave plate assembly 2 and the threshing drum 1 to d0 through the concave plate adjustment motor driver 9 and the concave plate gap adjustment motor 10; the central controller E adjusts the guide plate angle of the upper cover assembly 3 to a0 through the guide plate adjustment relay module 11 and the guide plate adjustment motor 12;

[0051] Step 2: The image acquisition assembly B obtains the grain image after threshing and transmits it to the central controller E via Wi-Fi signal;

[0052] Step 3: The central controller E recognizes the grain image. First, the grain part in the image is identified and the number of pixels p occupied by all the grains is calculated. a ; Then, according to the different colors and color depths of the grain area, the damaged grains and intact grains are distinguished, and the number of pixels p occupied by the damaged grains is obtained. b ; Calculate the grain breakage rate

[0053] Step 4: The central controller E makes a closed-loop intelligent decision based on the crushing rate c;

[0054] Step 4.1: If the crushing rate c is less than 2%, enter the decision-making process of increasing the threshing speed; first determine the speed setting n of the threshing drum 1 t Whether the maximum speed of 950rpm is reached, if it is judged to be no, the speed setting of the threshing drum 1 is increased, and the current speed setting n is set to t On the basis of adding 10rpm; if it is determined that the speed setting of the threshing drum 1 is n t If the maximum speed of 950rpm has been reached, the concave plate clearance setting d t Whether it reaches the maximum value of 45mm, if it is judged to be no, increase the concave plate gap and set d in the existing plate gap t Add 2mm on the basis; if the concave plate gap is set to d t If the maximum value of 45 mm has been reached, the guide plate angle setting is a t Whether it reaches the maximum value of 12°, if it is judged to be no, then increase the deflector angle setting, and set the deflector angle at the existing deflector angle. t Add 1° on the basis of t If the maximum value of 12° has been reached, the recording process will be entered directly;

[0055] Step 4.2: If the crushing rate c is greater than 5%, enter the decision-making process of reducing the threshing speed; first determine the speed setting n of the threshing drum 1 t Whether the minimum speed of 950rpm is reached, if it is judged to be no, the speed setting of the threshing drum 1 is reduced, and the speed setting of the threshing drum 1 is set to the current speed setting n t If the speed setting of the threshing drum 1 is determined to be n t If the minimum speed of 450rpm has been reached, the concave plate clearance setting d t Whether it reaches the minimum value of 9mm, if it is judged as no, the concave plate gap is reduced and the existing plate gap is set to d t If the concave plate clearance is set to d t If the minimum value of 9mm has been reached, the guide plate angle setting is a t Whether it reaches the minimum value of 3°, if it is judged to be no, then reduce the guide plate angle setting, and set the existing guide plate angle to a t If the guide plate angle is set to a t If the minimum value of 3° has been reached, the recording process will be entered directly;

[0056] Step 4.3: If the damage rate c is between 2% and 5%, directly enter the recording process;

[0057] Step 4.4: During the recording process, the central controller E sets the crushing rate c and the rotation speed n t , concave plate gap setting d t 、Deflector angle setting a t The four parameters are transmitted to the data storage unit 16 via the LAN bus for storage;

[0058] Step 5: After the closed-loop control strategy is executed, wait for 30 seconds for stable operation;

[0059] Step 6: Receive information from the display / control touch screen 15 to determine whether an end command is input.

[0060] Step 6.1: If the result of the end command is judged to be no, re-enter step 2 to continue working.

[0061] Step 6.2: If the result of judging whether to end the command is yes, end the control.

Claims

1. A threshing drum control method with a closed-loop control strategy, the method comprising the following steps: Step 1: The rotation speed n0, the concave plate gap d0, and the guide plate angle a0 of the threshing drum (1) are set through the display / control touch screen (15); all the set values ​​enter the central controller (E) through the Ethernet bus; the central controller (E) controls the rotation speed of the drum speed regulating motor (14) to reach n0 through the variable motor controller (13); the central controller (E) adjusts the gap between the concave plate assembly (2) and the threshing drum (1) to reach d0 through the concave plate regulating motor driver (9) and the concave plate gap regulating motor (10); the central controller (E) adjusts the guide plate angle of the upper cover assembly (3) to reach a0 through the guide plate regulating relay module (11) and the guide plate regulating motor (12); Step 2, the image acquisition assembly (B) obtains the grain image after threshing, and transmits it to the central controller (E) via Wi-Fi signal; Step 3: The central controller (E) recognizes the grain image, first identifies the grain part in the image, and calculates the number of pixels p occupied by all the grains. a ; Then, according to the different colors and color depths of the grain area, the damaged grains and intact grains are distinguished, and the number of pixels pb occupied by the damaged grains is obtained; the grain breakage rate is calculated Step 4: The central controller (E) makes a closed-loop intelligent decision based on the crushing rate c; Step 4.1: If the crushing rate c is less than 2%, enter the decision-making process of increasing the threshing speed; first determine the speed setting n of the threshing drum (1) t Whether the maximum speed of 950 rpm is reached, if it is judged to be no, the speed setting of the threshing drum (1) is increased, and the current speed setting n is set to t If the speed setting of the threshing drum (1) is n t If the maximum speed of 950rpm has been reached, the concave plate clearance setting d t Whether it reaches the maximum value of 45mm, if it is judged to be no, increase the concave plate gap and set d in the existing plate gap t Add 2mm on the basis; if the concave plate gap is set to d t If the maximum value of 45 mm has been reached, the guide plate angle setting is a t Whether it reaches the maximum value of 12°, if it is judged to be no, then increase the deflector angle setting, and set the deflector angle at the existing deflector angle. t Add 1° on the basis of t If the maximum value of 12° has been reached, the recording process will be entered directly; Step 4.2: If the crushing rate c is greater than 5%, enter the decision-making process of reducing the threshing speed; first determine the speed setting n of the threshing drum (1) t Whether the minimum speed of 950 rpm is reached, if it is judged to be no, the speed setting of the threshing drum (1) is reduced, and the speed setting of the threshing drum (1) is increased to the current speed setting n. t If the speed setting of the threshing drum (1) is determined to be n t If the minimum speed of 450rpm has been reached, the concave plate clearance setting d t Whether it reaches the minimum value of 9mm, if it is judged as no, the concave plate gap is reduced and the existing plate gap is set to d t If the concave plate clearance is set to d t If the minimum value of 9mm has been reached, the guide plate angle setting is a t Whether it reaches the minimum value of 3°, if it is judged as no, then reduce the guide plate angle setting, and set the existing guide plate angle a t If the guide plate angle is set to a t If the minimum value of 3° has been reached, the recording process will be entered directly; Step 4.3: If the damage rate c is between 2% and 5%, directly enter the recording process; Step 4.4: During the recording process, the central controller (E) sets the crushing rate c and the rotation speed n t , concave plate gap setting d t 、Deflector angle setting a t The four parameters are transmitted to the data storage unit (16) via the LAN bus for storage; Step 5: After the closed-loop control strategy is executed, wait for 30 seconds for stable operation; Step 6: receiving information from the display / control touch screen (15) to determine whether an end command has been input; Step 6.1: If the result of the end command is judged to be no, re-enter step 2 to continue working; Step 6.2: If the result of judging whether to end the command is yes, end the control.

2. A threshing drum control system with a closed-loop control strategy using claim 1, characterized in that: It includes mechanical assembly (A), image acquisition assembly (B), limit assembly (C), output control assembly (D), central controller (E) and manual interaction assembly (F); The image acquisition assembly (B) acquires the image of the grains threshed by the mechanical assembly (A); the image acquisition assembly (B) is connected to the Wi-Fi interface of the central controller (E) via Wi-Fi communication; the limit assembly (C) is connected to the digital interface of the central controller (E) via an input bus; the output control assembly (D) is connected to the output interface of the central controller (E) via an output bus; and the manual interaction assembly (F) is connected to the LAN interface of the central controller (E) via an Ethernet bus.

3. The threshing drum control system with a closed-loop control strategy according to claim 2 is characterized in that: The mechanical assembly (A) comprises a threshing drum (1), a concave plate assembly (2), an upper cover assembly (3), and a frame assembly (4); the rear axle and the front axle of the threshing drum (1) are installed on the frame assembly (4) through support bearings; the concave plate assembly (2) is installed directly below the threshing drum (1) and surrounds the threshing drum (1) in a semicircular shape, and both sides are fixed to the frame assembly (4) by bolts; the upper cover assembly (3) is installed directly above the threshing drum (1) and surrounds the threshing drum (1) in a semicircular shape, and both sides are fixed to the frame assembly (4) by bolts; the concave plate assembly (2) and the upper cover assembly (3) are cylindrical and surround the threshing drum (1).

4. The threshing drum control system with a closed-loop control strategy according to claim 2 is characterized in that: The image acquisition assembly (B) comprises an image recognition sensor (5) and a Wi-Fi transmitting module (6); the image recognition sensor (5) is mounted on the frame assembly (4) and directly opposite to the bottom of the concave plate assembly (2); the Wi-Fi transmitting module (6) is mounted behind the image recognition sensor (5); the image recognition sensor (5) is a CMOS image sensor, the sensor size is not less than 1 / 3 inch, and the image pixel is not less than 800×600.

5. The threshing drum control system with a closed-loop control strategy according to claim 2 is characterized in that: The limit assembly (C) comprises a concave plate limit switch (7) and a guide plate limit switch (8); the concave plate limit switch (7) is mounted on a concave plate motor support (17); the guide plate limit switch (8) is mounted on an upper cover (18); the concave plate limit switch (7) and the guide plate limit switch (8) are capacitive proximity switches, and the sensing distance is not less than 3 mm.

6. The threshing drum control system with a closed-loop control strategy according to claim 2 is characterized in that: The output control assembly (D) comprises a concave plate adjustment motor driver (9), a concave plate gap adjustment motor (10), a guide plate adjustment relay module (11), a guide plate adjustment motor (12), a variable motor controller (13) and a drum speed adjustment motor (14); The concave plate adjustment motor driver (9) is installed inside the control box (19), and the concave plate gap adjustment motor (10) is installed on the concave plate motor support (17); the concave plate gap adjustment motor (10) is a stepping motor, and the motor power is not less than 1.5kW; the central controller (E) controls the forward and reverse rotation of the concave plate gap adjustment motor (10) through the concave plate adjustment motor driver (9), and the gap between the concave plate assembly (2) and the threshing drum (1) can be adjusted through the rotation of the concave plate gap adjustment motor (10), and the adjustment range is 9 to 45 mm; The deflector plate regulating relay module (11) is installed inside the control box (19), and the deflector plate regulating motor (12) is installed on the upper cover (18); the deflector plate regulating motor (12) is an electric push rod motor, and the thrust is not less than 2kN; the central controller (E) controls the extension and retraction of the deflector plate regulating motor (12) through the deflector plate regulating relay module (11), and the deflector plate angle of the upper cover assembly (3) can be adjusted through the push of the deflector plate regulating motor (12), and the adjustment range is 2 to 12 degrees; The drum speed regulating motor (14) is mounted on the frame assembly (4), and the variable motor controller (13) is integrated at the tail of the drum speed regulating motor (14); the drum speed regulating motor (14) is a bevel-axis variable motor, and the maximum speed is not less than 1000 rpm; the central controller (E) controls the speed of the drum speed regulating motor (14) through the variable motor controller (13), and the speed of the threshing drum (1) can be adjusted by driving the drum speed regulating motor (14), and the adjustment range is 450-950 rpm.

7. The threshing drum control system with a closed-loop control strategy according to claim 2 is characterized in that: The central controller (E) is installed inside a control box (19), and the control box (19) is fixed in the harvester cockpit; the central controller (E) is an embedded microcontroller, whose clock frequency is not less than 72MHz, the number of IO ports is not less than 12, the number of digital-to-analog conversion channels is not less than 4, and the number of SPI interfaces is not less than 3.

8. The threshing drum control system with a closed-loop control strategy according to claim 2 is characterized in that: The manual interaction assembly (F) comprises a display / control touch screen (15) and a data storage unit (16); the display / control touch screen (15) is installed on the front panel of the control box (19), the display / control touch screen (15) transmits data with the central controller (E) via an Ethernet bus, and the display / control touch screen (15) can set control parameters and display the working status data of the drum; the data storage unit (16) is installed inside the control box (19), and the data storage unit (16) records the control commands issued by the central controller (E); the display / control touch screen (15) is a resistive touch screen, the panel size is not less than 7 inches, and the number of LAN interfaces is not less than 1.

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