Method, System, Medium and Device for Nozzle Return of Maize Combine Harvester with Stem and Ear Harvesting Function

Abstract

The present invention belongs to the field of agricultural machinery, and particularly relates to a method, system, medium and device for the return of a spray boom of a corn combine harvester with ear and straw harvesting function. The method includes: judging whether the ear box or the straw box of the corn combine harvester with ear and straw harvesting function is in the returned position, and generating a first judgment result; when the first judgment result is yes, judging the position of the spray boom of the corn combine harvester with ear and straw harvesting function, and controlling the left rotation solenoid valve or the right rotation solenoid valve of the spray boom based on the position of the spray boom; judging whether the material guide plate of the corn combine harvester with ear and straw harvesting function is in the returned position, and generating a second judgment result; when the second judgment result is yes, controlling the spray boom to descend to a preset position to complete the return. Through the present invention, accurate positioning can be achieved, the spray boom can be accurately and efficiently returned, the failure rate of the spray boom can be reduced, and the production efficiency can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery, and particularly relates to a method, system, medium and equipment for the return of the nozzle of a corn combine harvester with ear and straw harvesting function. Background Art

[0002] In the prior art, the control of the nozzle return is too single and few factors are considered, so manual intervention is required. However, manual intervention makes operations such as the descent of the nozzle consume a lot of time and energy, and it is easy to cause accidents such as nozzle collision due to misoperation. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method, system, medium and equipment for the return of the nozzle of a corn combine harvester with ear and straw harvesting function.

[0004] The technical solution of the present invention to solve the above technical problem is as follows: A method for the return of the nozzle of a corn combine harvester with ear and straw harvesting function includes:

[0005] Step 1, determine whether the ear box or straw box of the corn combine harvester with ear and straw harvesting function is in the returned position, and generate a first determination result;

[0006] Step 2, when the first determination result is yes, determine the position of the nozzle of the corn combine harvester with ear and straw harvesting function, and control the left rotation solenoid valve or right rotation solenoid valve of the nozzle based on the nozzle position;

[0007] Step 3, determine whether the deflector of the corn combine harvester with ear and straw harvesting function is in the returned position, and generate a second determination result;

[0008] Step 4, when the second determination result is yes, control the nozzle to descend to a preset position to complete the return.

[0009] The beneficial effect of the present invention is that through the collection and processing of the nozzle position signal by the controller, the solenoid valve and the motor are controlled to automatically retract the nozzle to the nozzle return position. This control method can reduce the time and energy required for people to find the nozzle descent position when controlling the nozzle return, reduce the nozzle collision caused by manual operation, collect the nozzle position signal through the controller, accurately locate, and accurately and efficiently return the nozzle, reduce the nozzle failure rate, and improve the production efficiency.

[0010] On the basis of the above technical solution, the present invention can be further improved as follows.

[0011] Further, before step 1, it further includes:

[0012] Obtain the control information of the one-key return switch of the nozzle. When the control information is for return, execute step 1.

[0013] Further, the specific process of controlling the left - hand solenoid valve of the spray barrel based on the position of the spray barrel is as follows:

[0014] Start the left - hand solenoid valve, and continuously judge whether the position of the spray barrel is in the horizontal direction to generate a third judgment result. When the third judgment result is yes, control the left - hand solenoid valve to stop working.

[0015] Further, the specific process of controlling the right - hand solenoid valve of the spray barrel based on the position of the spray barrel is as follows:

[0016] Start the right - hand solenoid valve, and continuously judge whether the position of the spray barrel is in the horizontal direction to generate a fourth judgment result. When the fourth judgment result is yes, control the right - hand solenoid valve to stop working.

[0017] Further, when the second judgment result is yes, the specific process of controlling the spray barrel to descend to a preset position is as follows:

[0018] Continuously judge the current position of the spray barrel. When the current position has not reached the preset position, continue to descend until the spray barrel descends to the preset position.

[0019] Another technical solution for the present invention to solve the above - mentioned technical problems is as follows: A spray - barrel return system for a corn harvester with ear and straw harvesting function, comprising:

[0020] A first judgment module is used for: judging whether the ear box or straw box of the corn harvester with ear and straw harvesting function is in the returned position to generate a first judgment result;

[0021] A first control module is used for: when the first judgment result is yes, judging the position of the spray barrel of the corn harvester with ear and straw harvesting function, and controlling the left - hand solenoid valve or right - hand solenoid valve of the spray barrel based on the position of the spray barrel;

[0022] A second judgment module is used for: judging whether the deflector of the corn harvester with ear and straw harvesting function is in the returned position to generate a second judgment result;

[0023] A second control module is used for: when the second judgment result is yes, controlling the spray barrel to descend to a preset position to complete the return.

[0024] The beneficial effects of the present invention are as follows: By collecting and processing the spray - barrel position signals by the controller, controlling the solenoid valve and the motor to work, the spray barrel is automatically retracted to the spray - barrel return position. This control method can reduce the time and energy required for people to accurately find the spray - barrel descent position when controlling the spray barrel to return, reduce the collision of the spray barrel caused by manual operation, accurately position by collecting the spray - barrel position signals by the controller, accurately and efficiently return the spray barrel, reduce the failure rate of the spray barrel, and improve the production efficiency.

[0025] Further, it further includes:

[0026] An acquisition module is configured to: acquire the control information of the one-key return switch of the spray gun, and execute the first judgment module when the control information is for return.

[0027] Further, the specific process of controlling the left-handed solenoid valve of the spray gun based on the position of the spray gun is as follows:

[0028] Start the left-handed solenoid valve, and continuously judge whether the position of the spray gun is in the horizontal direction to generate a third judgment result. When the third judgment result is yes, control the left-handed solenoid valve to stop working.

[0029] Further, the specific process of controlling the right-handed solenoid valve of the spray gun based on the position of the spray gun is as follows:

[0030] Start the right-handed solenoid valve, and continuously judge whether the position of the spray gun is in the horizontal direction to generate a fourth judgment result. When the fourth judgment result is yes, control the right-handed solenoid valve to stop working.

[0031] Further, when the second judgment result is yes, the specific process of controlling the spray gun to descend to a preset position is as follows:

[0032] Continuously judge the current position of the spray gun, and continue to descend until the spray gun descends to the preset position when the current position does not reach the preset position.

[0033] Another technical solution for the present invention to solve the above technical problems is as follows: A storage medium stores instructions, and when a computer reads the instructions, the computer is made to execute the method described in any one of the above.

[0034] The beneficial effects of the present invention are as follows: By collecting and processing the position signals of the spray gun by the controller, controlling the solenoid valve and the motor to work, and automatically retracting the spray gun to the spray gun return position, this control method can reduce the time and effort for people to find the spray gun descent position when controlling the spray gun to return, reduce the collision of the spray gun caused by manual operation, collect the spray gun position signals by the controller, accurately locate, accurately and efficiently return the spray gun, reduce the failure rate of the spray gun, and improve production efficiency.

[0035] Another technical solution for the present invention to solve the above technical problems is as follows: An electronic device includes the above storage medium and a processor that executes the instructions in the above storage medium.

[0036] The beneficial effects of the present invention are as follows: By collecting and processing the position signals of the spray barrel by the controller, the solenoid valve and the motor are controlled to automatically retract the spray barrel to the spray barrel return position. This control method can reduce the time and effort required for people to accurately find the descending position of the spray barrel when controlling the return of the spray barrel, reduce the collision of the spray barrel caused by manual operation, collect the position signals of the spray barrel through the controller, accurately position, and accurately and efficiently return the spray barrel to its position, reduce the failure rate of the spray barrel, and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic flow chart provided for an embodiment of the spray barrel return method of a corn combine harvester with both ear and stalk harvesting function of the present invention;

[0038] Figure 2 It is a structural framework diagram provided for an embodiment of the spray barrel return system of a corn combine harvester with both ear and stalk harvesting function of the present invention;

[0039] Figure 3 It is a complete flow chart provided for an embodiment of the spray barrel return method of a corn combine harvester with both ear and stalk harvesting function of the present invention;

[0040] Figure 4 It is a complete structural framework diagram provided for an embodiment of the spray barrel return method of a corn combine harvester with both ear and stalk harvesting function of the present invention;

[0041] Figure 5 It is a structural diagram of a corn combine harvester provided for an embodiment of the spray barrel return method of a corn combine harvester with both ear and stalk harvesting function of the present invention.

[0042] 1. Display screen, 2. Switch panel, 3. Controller, 4. Horizontal position sensor of the spray barrel, 5. Feeding plate motor, 6. Proximity sensor for the return of the feeding plate, 7. Proximity sensor for the return of the ear box support, 8. Proximity sensor for the return of the straw box, 9. Solenoid valve. DETAILED DESCRIPTION OF THE INVENTION

[0043] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0044] As Figure 1 shown, a spray barrel return method for a corn combine harvester with both ear and stalk harvesting function includes:

[0045] Step 1, determining whether the ear box or the straw box of the corn combine harvester with both ear and stalk harvesting function has returned, and generating a first determination result;

[0046] Step 2, when the first determination result is yes, determining the position of the spray barrel of the corn combine harvester with both ear and stalk harvesting function, and controlling the left-handed solenoid valve 9 or the right-handed solenoid valve 9 of the spray barrel based on the position of the spray barrel;

[0047] Step 3, determine whether the deflector of the corn combine harvester returns to its position, generating a second judgment result;

[0048] Step 4, when the second judgment result is yes, control the spray boom to descend to a preset position to complete the return.

[0049] In some possible implementation manners, by collecting and processing the spray boom position signal through the controller 3, controlling the solenoid valve 9 and the motor to work, and automatically retracting the spray boom to the spray boom return position. This control method can reduce the time and effort for people to accurately find the descending position of the spray boom when controlling the spray boom to return, reduce the collision of the spray boom caused by manual operation, collect the spray boom position signal through the controller 3, accurately position, and accurately and efficiently return the spray boom, reduce the failure rate of the spray boom, and improve the production efficiency.

[0050] It should be noted that as Figure 5 shown, the display screen 1 is installed on the left front column of the cab; the switch panel 2 is installed on the armrest box and communicates via CAN bus; the controller 3 is installed on the bracket in the box under the co-pilot seat; the horizontal position sensor 4 of the spray boom is installed on the nozzle holder, and the change of the nozzle position will cause the change of the internal position signal of the sensor, and the position of the spray boom is determined by the change of the position signal; the deflector motor 5 is installed on the front side of the nozzle pipe and drives the deflector to rotate when rotating; the deflector return proximity sensor 6 (inductive iron) is installed on the front side of the nozzle pipe near the deflector; the ear box support return proximity sensor 7 (inductive iron) is installed on the side of the ear box support to sense the side of the ear box support; the grass box return proximity sensor 8 (inductive iron) is installed on the lower limit block of the grass box, and when the grass box returns, it will sense the bottom surface of the grass box; the solenoid valve 9 is installed on the chassis frame. To facilitate the understanding of this solution, the control process and the physical structure will be described in combination as Figure 3 and Figure 4 shown, this solution includes: a display screen 1, a switch panel 2, a controller 3, a spray boom height angle sensor (angle sensor), a spray boom horizontal angle sensor, a limit switch, a motor (deflector motor 5), a proximity sensor (the position of the inductive iron, when an iron block approaches the sensing range, the Hall element inside the sensor works, turns on the power supply and the signal, and sends out a signal), and a solenoid valve 9 (the solenoid valve 9 includes a left-handed solenoid valve 9 and a right-handed solenoid valve 9).

[0051] Calibrate the middle position of the spray boom horizontal angle sensor through the display screen 1, and calibrate the spray boom return position of the spray boom height angle sensor;

[0052] Press the one-key return switch of the spray boom on the switch panel 2, and send it to the controller 3 through the CAN bus. The controller 3 receives the signal;

[0053] The controller 3 detects whether the straw box and the ear box are in the return position through the ear box return limit switch and the straw box return limit switch. If no return is required, the operation is directly ended. If return is required, the following operations are carried out;

[0054] The controller 3 detects the position of the spray boom through the angle sensor (i.e., determines whether the spray boom is in the horizontal position);

[0055] When the spray boom is in the left position, the controller 3 sends a signal to the right rotation solenoid valve 9 of the spray boom. The right rotation solenoid valve 9 of the spray boom works, and the spray boom rotates to the right. When the spray boom rotates to the middle position, the solenoid valve 9 stops working;

[0056] When the spray boom is in the right position, the controller 3 sends a signal to the left rotation solenoid valve 9 of the spray boom. The left rotation solenoid valve 9 of the spray boom works, and the spray boom rotates to the left. When the spray boom rotates to the middle position, the solenoid valve 9 stops working;

[0057] When the spray boom is in the middle position in the horizontal direction, the controller 3 sends a signal to the guide plate motor 5. The guide plate motor 5 rotates forward to return to the position. At the same time, it is judged whether the guide plate has returned to the position. If it has not returned, the return operation continues. If it has returned properly, the subsequent operations are started;

[0058] After the guide plate returns to the position, the guide plate return limit switch sends a signal to the controller 3;

[0059] The controller 3 sends a signal, the guide plate motor 5 stops working, and at the same time sends a signal to the spray boom lowering solenoid valve 9;

[0060] The spray boom lowering solenoid valve 9 starts to work. When the spray boom descends to the return position, the spray boom height sensor sends a signal to the controller 3;

[0061] The controller 3 sends a signal, and the spray boom lowering solenoid valve 9 stops working, and the spray boom return is completed.

[0062] The present invention has the following characteristics. The maturity of the integrated, embedded system, and local area network vehicle control unit (BCM) data bus technology makes the integration of agricultural machinery electronic control become the development trend of agricultural machinery electronic control technology;

[0063] Intelligent. The application of intelligent technology and computer technology, the connection of the bus switch with logical function, the vehicle control unit and the lighting drive unit (BCM), and the connection with the vehicle lighting execution unit form an integrated control system;

[0064] Networked. With more and more electronic control devices applied to agricultural machinery, the data communication between vehicle-mounted electronic devices becomes more and more important. It is very necessary to have an agricultural machinery electronic control system based on a distributed control system for a large amount of data to be exchanged quickly;

[0065] Electronic and electrical control technology has been widely applied in the field of agricultural machinery, greatly improving the comprehensive performance of agricultural machinery and making great progress in various aspects such as safety and comfort of agricultural machinery.

[0066] Preferably, in any of the above embodiments, before step 1, it further includes:

[0067] Obtain the control information of the one-key return switch of the spray boom. When the control information is for return, execute step 1.

[0068] Preferably, in any of the above embodiments, the specific process of controlling the left-handed solenoid valve 9 of the spray boom based on the position of the spray boom is:

[0069] Start the left-handed solenoid valve 9, and continuously judge whether the position of the spray boom is in the horizontal direction position to generate a third judgment result. When the third judgment result is yes, control the left-handed solenoid valve 9 to stop working.

[0070] Preferably, in any of the above embodiments, the specific process of controlling the right-handed solenoid valve 9 of the spray boom based on the position of the spray boom is:

[0071] Start the right-handed solenoid valve 9, and continuously judge whether the position of the spray boom is in the horizontal direction position to generate a fourth judgment result. When the fourth judgment result is yes, control the right-handed solenoid valve 9 to stop working.

[0072] Preferably, in any of the above embodiments, the specific process of controlling the spray boom to descend to a preset position when the second judgment result is yes is:

[0073] Continuously judge the current position of the spray boom. When the current position does not reach the preset position, continue to descend until the spray boom descends to the preset position.

[0074] As Figure 2 shown, a spray boom return system for a corn combine harvester with ear and straw harvesting function includes:

[0075] The first judgment module 100 is used for: judging whether the ear box or straw box of the corn combine harvester with ear and straw harvesting function is in the return position to generate a first judgment result;

[0076] The first control module 200 is used for: when the first judgment result is yes, judging the position of the spray boom of the corn combine harvester with ear and straw harvesting function, and controlling the left-handed solenoid valve 9 or the right-handed solenoid valve 9 of the spray boom based on the position of the spray boom;

[0077] The second judgment module 300 is used for: judging whether the deflector of the corn combine harvester with ear and straw harvesting function is in the return position to generate a second judgment result;

[0078] The second control module 400 is configured to: when the second judgment result is yes, control the spray tube to descend to a preset position to complete the return.

[0079] The beneficial effects of the present invention are as follows: By collecting and processing the spray tube position signal by the controller 3, controlling the solenoid valve 9 and the motor to work, automatically retracting the spray tube to the spray tube return position. This control method can reduce the time and energy required for people to accurately find the spray tube descent position when controlling the spray tube to return, reduce the collision of the spray tube caused by manual operation, collect the spray tube position signal through the controller 3, accurately locate, and accurately and efficiently return the spray tube, reduce the failure rate of the spray tube, and improve production efficiency.

[0080] Preferably, in any of the above embodiments, it further includes:

[0081] The acquisition module is configured to: acquire the control information of the one-key return switch of the spray tube, and when the control information is to perform the return, execute the first judgment module 100.

[0082] Preferably, in any of the above embodiments, the specific process of controlling the left-handed solenoid valve 9 of the spray tube based on the spray tube position is as follows:

[0083] Start the left-handed solenoid valve 9, and continuously judge whether the spray tube position is in the horizontal direction position to generate a third judgment result. When the third judgment result is yes, control the left-handed solenoid valve 9 to stop working.

[0084] Preferably, in any of the above embodiments, the specific process of controlling the right-handed solenoid valve 9 of the spray tube based on the spray tube position is as follows:

[0085] Start the right-handed solenoid valve 9, and continuously judge whether the spray tube position is in the horizontal direction position to generate a fourth judgment result. When the fourth judgment result is yes, control the right-handed solenoid valve 9 to stop working.

[0086] Preferably, in any of the above embodiments, the specific process of controlling the spray tube to descend to the preset position when the second judgment result is yes is as follows:

[0087] Continuously judge the current position of the spray tube, and continue to descend when the current position has not reached the preset position until the spray tube descends to the preset position.

[0088] Another technical solution for the present invention to solve the above technical problems is as follows: A storage medium stores instructions, and when a computer reads the instructions, the computer is made to execute the method as described in any one of the above.

[0089] In some possible embodiments, by collecting and processing the nozzle position signal through the controller 3, the solenoid valve 9 and the motor are controlled to automatically retract the nozzle to the nozzle return position. This control method can reduce the time and effort required for a person to find the nozzle descent position when controlling the nozzle to return, and reduce the nozzle collision caused by manual operation. By collecting the nozzle position signal through the controller 3, accurate positioning is achieved, and the nozzle is accurately and efficiently returned to its position, reducing the failure rate of the nozzle and improving production efficiency.

[0090] Another technical solution for the present invention to solve the above technical problems is as follows: An electronic device includes the above storage medium and a processor that executes the instructions in the above storage medium.

[0091] In some possible embodiments, by collecting and processing the nozzle position signal through the controller 3, the solenoid valve 9 and the motor are controlled to automatically retract the nozzle to the nozzle return position. This control method can reduce the time and effort required for a person to find the nozzle descent position when controlling the nozzle to return, and reduce the nozzle collision caused by manual operation. By collecting the nozzle position signal through the controller 3, accurate positioning is achieved, and the nozzle is accurately and efficiently returned to its position, reducing the failure rate of the nozzle and improving production efficiency.

[0092] Readers should understand that in the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0093] In several embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the method embodiments described above are merely illustrative. For example, the division of steps is only a logical function division, and there can be other division methods in actual implementation. For example, multiple steps can be combined or integrated into another step, or some features can be ignored or not executed.

[0094] When the above method is implemented in the form of software functional units and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0095] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art in the technical field disclosed by the present invention can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for the return of the spray boom of a corn combine harvester with stalk and ear harvesting function, characterized in that, Including: Step 1: Determine whether the ear box or straw box of the corn combine harvester with ear and straw harvesting function is in the retracted position, generating a first determination result; Step 2: When the first determination result is yes, determine the position of the spray boom of the corn combine harvester with ear and straw harvesting function, and control the left - hand solenoid valve or right - hand solenoid valve of the spray boom based on the position of the spray boom; Step 3: Determine whether the deflector of the corn combine harvester with ear and straw harvesting function is in the retracted position, generating a second determination result; Step 4: When the second determination result is yes, control the spray boom to descend to a preset position to complete the retraction; The specific process of controlling the left - hand solenoid valve of the spray boom based on the position of the spray boom is as follows: Start the left - hand solenoid valve, and continuously determine whether the position of the spray boom is in the horizontal position, generating a third determination result. When the third determination result is yes, control the left - hand solenoid valve to stop working; The specific process of controlling the right - hand solenoid valve of the spray boom based on the position of the spray boom is as follows: Start the right - hand solenoid valve, and continuously determine whether the position of the spray boom is in the horizontal position, generating a fourth determination result. When the fourth determination result is yes, control the right - hand solenoid valve to stop working; The specific process of controlling the spray boom to descend to the preset position when the second determination result is yes is as follows: Continuously determine the current position of the spray boom. When the current position has not reached the preset position, continue to descend until the spray boom descends to the preset position.

2. The nozzle return method of a corn combine harvester with both stalk and ear harvesting function according to claim 1, characterized in that, Before step 1, it further includes: Obtain the control information of the one - key retraction switch of the spray boom. When the control information is for retraction, execute step 1.

3. A nozzle return system for a corn combine harvester with ear and stalk harvesting function, adopting the nozzle return method for a corn combine harvester with ear and stalk harvesting function as described in claim 1, characterized in that, The system includes: The first determination module is used for: determining whether the ear box or straw box of the corn combine harvester with ear and straw harvesting function is in the retracted position, generating a first determination result; The first control module is used for: when the first determination result is yes, determining the position of the spray boom of the corn combine harvester with ear and straw harvesting function, and controlling the left - hand solenoid valve or right - hand solenoid valve of the spray boom based on the position of the spray boom; The second determination module is used for: determining whether the deflector of the corn combine harvester with ear and straw harvesting function is in the retracted position, generating a second determination result; The second control module is used for: when the second determination result is yes, controlling the spray boom to descend to a preset position to complete the retraction.

4. The nozzle return system of a corn harvester with combined stalk and ear harvesting as claimed in claim 3, characterized in that, It further includes: The acquisition module is used for: obtaining the control information of the one - key retraction switch of the spray boom. When the control information is for retraction, execute the first determination module.

5. A storage medium, characterized in that, Instructions are stored in the medium. When the computer reads the instructions, the computer executes the method according to claim 1 or 2.

6. An electronic device, characterized in that, Including the storage medium according to claim 5 and a processor for executing the instructions in the storage medium.

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