Automatic row alignment method and device for corn harvester and corn harvester

Abstract

The application discloses a corn harvester automatic alignment method and device and a corn harvester. The method comprises the following steps: acquiring a deviation value of the forward direction of the corn harvester in real time; determining an interval range in which the absolute value of the deviation value is located, and executing a direction control strategy corresponding to the interval range. According to the segmented adjustment mode of the deviation value of the forward direction of the corn harvester, the adjustment frequency can be greatly reduced under the premise of ensuring the adjustment accuracy of the system, the stability and smoothness of the system are ensured, the service life and reliability of the special adjustment system are increased, and the maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of corn harvesters, in particular to a corn harvester automatic alignment method and device and corn harvester. BACKGROUND

[0002] When the corn harvester is working, the driver needs to adjust the direction at all times to ensure that the aligned corn plants to be harvested are correctly introduced into the middle of the adjacent two dividers, so as to achieve good harvesting effect. At present, most corn harvesters do not have automatic alignment technology, and basically rely on the driver to manually control the direction, which requires high driving skills of the driver, and is easy to cause excessive fatigue due to long-term high mental stress.

[0003] A small part of corn harvesters automatically align through a speed grading PID adjustment mode, but this mode gives too high weight to the working driving speed of the corn harvester, which deviates from the actual working condition. Moreover, this mode still cannot change the frequent adjustment of the direction, which results in poor system smoothness and greatly reduces the service life and reliability of the steering mechanism, and even the adjustment frequency exceeds the adjustment frequency of the manually adjusted corn harvester. The adjustment mechanism is always in the direction adjustment, which greatly reduces the service life and increases the maintenance cost, and the system reliability is poor. SUMMARY

[0004] The present application relates to the technical field of corn harvesters, in particular to a corn harvester automatic alignment method and device and corn harvester.

[0005] To solve the above technical problems, the present application provides a corn harvester automatic alignment method, which comprises: acquiring a deviation value of the forward direction of the corn harvester in real time; determining the interval range where the absolute value of the deviation value is located, and executing the direction control strategy corresponding to the interval range.

[0006] The beneficial effects of the present application are: according to the deviation value of the forward direction of the corn harvester, the segmented adjustment mode is adopted, which can greatly reduce the adjustment frequency while ensuring the adjustment accuracy of the system, ensure the stability and smoothness of the system, increase the service life and reliability of the special adjustment system, and reduce the maintenance cost.

[0007] On the basis of the above technical scheme, the utility model can also be improved as follows.

[0008] Further, the deviation value of the forward direction of the corn harvester is acquired in real time, which comprises: collecting the distance difference between the dividers and the adjacent two rows of corn plants through the alignment sensors installed on both sides of the dividers to generate left rotation angle and right rotation angle; and determining the deviation value of the forward direction of the corn harvester according to the difference between the left rotation angle and the right rotation angle.

[0009] Further, the direction control strategy corresponding to the execution interval range comprises: when the absolute value of the deviation value is greater than zero and less than or equal to a first preset deviation angle, keeping the current advancing direction of the corn harvester unchanged; when the absolute value of the deviation value is greater than the first preset deviation angle and less than or equal to a second preset deviation angle, determining whether to adjust the direction according to the change rate of the deviation value; and when the absolute value of the deviation value is greater than or equal to the second preset deviation angle, adjusting the direction; wherein the first preset deviation angle is less than the second preset deviation angle, the first preset deviation angle is a maximum allowed deviation value multiplied by a first percentage, and the second preset deviation angle is a maximum allowed deviation angle multiplied by a second percentage.

[0010] The beneficial effect of the above further scheme is that the corn harvester is kept in the current advancing direction in the low deviation stage to ensure the smoothness of the system, deviation is corrected in the high deviation stage regardless of whether the change trend of the deviation meets the requirements, and whether to adjust the direction is determined according to the change rate of the deviation value in the medium deviation stage. In this way, the adjustment frequency is greatly reduced on the premise of ensuring the adjustment accuracy of the system, the stability and smoothness of the system are ensured, and the service life and reliability of the special regulation system are increased.

[0011] Further, whether to adjust the direction is determined according to the change rate of the deviation value, comprising: when the change rate of the deviation value is less than a preset value, keeping the current advancing direction of the corn harvester unchanged; and when the change rate of the deviation value is greater than or equal to the preset value, adjusting the direction.

[0012] The beneficial effect of the above further scheme is that the change trend (first derivative) of the deviation is greater than the set value, which indicates that the direction is likely to change to a more deviated direction, and correction measures are taken at this time; otherwise, the change trend (first derivative) of the deviation is less than the set value, which indicates that the deviation is large but still does not have the danger of further deterioration, and the current advancing direction of the corn harvester is kept unchanged to ensure the smoothness of the system.

[0013] Further, the first preset percentage is in a range of 35% to 45%, and the second preset percentage is in a range of 65% to 75%.

[0014] The beneficial effect of the above further scheme is that the absolute value of the deviation value is greater than zero and less than or equal to the first preset deviation angle, the current advancing direction of the corn harvester is kept unchanged, the total adjustment times are reduced by about 5%, when the absolute value of the deviation value is greater than the first preset deviation angle and less than or equal to the second preset deviation angle, whether to adjust the direction is determined according to the change rate of the deviation value, and the total adjustment times of the system are reduced by about 2%.

[0015] Further, the first preset percentage is 40%, and the second preset percentage is 70%.

[0016] The beneficial effect of adopting the further scheme is that the hierarchical adjustment strategy optimizes and improves the system smoothness while reducing the adjustment frequency, and to a certain extent, reduces the labor intensity of the driver.

[0017] Further, when the direction is adjusted, if the deviation value is greater than zero, the forward direction of the corn harvester is adjusted to the right; if the deviation value is less than zero, the forward direction of the corn harvester is adjusted to the left.

[0018] To solve the above technical problems, the application provides a corn harvester automatic alignment device, comprising a data acquisition module and a data processing module; the data acquisition module is used for acquiring the deviation value of the forward direction of the corn harvester in real time; the data processing module is used for determining the interval range of the absolute value of the deviation value and executing the direction control strategy corresponding to the interval range.

[0019] To solve the above technical problems, the application provides a computer readable storage medium, comprising instructions, when the instructions are run on the computer, the computer executes the corn harvester automatic alignment method provided by the above technical solution.

[0020] To solve the above technical problems, the application provides a corn harvester automatic alignment device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, when the processor executes the program, the corn harvester automatic alignment method provided by the above technical solution is realized.

[0021] To solve the above technical problems, the application provides a corn harvester, comprising alignment sensors installed on both sides of the divider and the corn harvester automatic alignment device provided by the above technical solution.

[0022] Additional aspects of the application and its advantages will be set forth in part in the following description, will become apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The corn harvester automatic alignment method flow chart provided by an embodiment of the application;

[0024] Figure 2 The corn harvester automatic alignment method flow chart provided by another embodiment of the application;

[0025] Figure 3 The alignment sensor installation structure schematic diagram provided by an embodiment of the application. DETAILED DESCRIPTION

[0026] The present disclosure is described in detail by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all. The present disclosure can also be implemented or applied by other different specific embodiments, and various modifications or changes can be made to the details in the specification without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present disclosure.

[0027] It should be noted that the various aspects of the embodiments described below are within the scope of the appended claims. It should be apparent that the aspects described herein can be embodied in a wide variety of forms and that any specific structure and / or function described herein is merely illustrative. Based on the disclosure provided, one skilled in the art should appreciate that an aspect described herein can be implemented independently of any other aspects and that two or more of these aspects can be combined in various ways. For example, an apparatus can be implemented and / or a method can be practiced using any number of the aspects set forth herein. In addition, such an apparatus can be implemented and / or such a method can be practiced using other structure and / or functionality in addition to or other than one or more of the aspects set forth herein.

[0028] Figure 1 The automatic row alignment method flow chart of the corn harvester is provided. As shown in the figure, the method comprises: Figure 1

[0029] S1, the deviation value of the forward direction of the corn harvester is acquired in real time.

[0030] The embodiment of the present application can collect the distance difference between the divider and the adjacent two rows of corn plants through the row alignment sensor installed on both sides of the divider, generate the left rotation angle and the right rotation angle, and determine the deviation value of the forward direction of the corn harvester according to the difference between the left rotation angle and the right rotation angle. The row alignment sensor can use GMV1815100002 or GMV1815100003.

[0031] S2, determine the interval range where the absolute value of the deviation value is located, and execute the direction control strategy corresponding to the interval range.

[0032] ​The corn harvester automatic alignment method provided by the embodiment of the application can greatly reduce the adjustment frequency on the premise of ensuring the system adjustment precision, ensure the stability and smoothness of the system, increase the service life and reliability of the special adjustment system, and reduce the maintenance cost, by using the segmented adjustment mode according to the deviation value of the advancing direction of the corn harvester.

[0033] Optionally, the direction control strategy corresponding to the interval range is executed, including: when the absolute value of the deviation value is greater than zero and less than or equal to a first preset deviation angle, keeping the current advancing direction of the corn harvester unchanged; when the absolute value of the deviation value is greater than the first preset deviation angle and less than or equal to a second preset deviation angle, determining whether to perform direction adjustment according to the change rate of the deviation value; when the absolute value of the deviation value is greater than or equal to the second preset deviation angle, performing direction adjustment; wherein the first preset deviation angle is less than the second preset deviation angle, the first preset deviation angle is the maximum allowed deviation value multiplied by a first percentage, and the second preset deviation angle is the maximum allowed deviation angle multiplied by a second percentage.

[0034] The embodiment of the application uses the segmented adjustment mode, keeps the current advancing direction of the corn harvester unchanged in the low deviation stage to ensure the smoothness of the system, performs deviation correction in the high deviation stage regardless of whether the change trend of the deviation meets the requirements, and determines whether to perform direction adjustment according to the change rate of the deviation value in the medium deviation stage. In this way, the adjustment frequency is greatly reduced on the premise of ensuring the system adjustment precision, the stability and smoothness of the system are ensured, the service life and reliability of the special adjustment system are increased, and the maintenance cost is reduced.

[0035] The direction adjustment is determined according to the change rate of the deviation value, including: when the change rate of the deviation value is less than a preset value, keeping the current advancing direction of the corn harvester unchanged; and when the change rate of the deviation value is greater than or equal to the preset value, performing direction adjustment.

[0036] In the embodiment of the application, when the change trend (first derivative) of the deviation is greater than a set value, it indicates that the direction is likely to change to a more deviated direction, and deviation correction measures are taken at this time; otherwise, when the change trend (first derivative) of the deviation is less than the set value, it indicates that the deviation is large, but there is no danger of further deterioration, and the current advancing direction of the corn harvester is kept unchanged to ensure the smoothness of the system.

[0037] The first preset percentage is 35%-45%; and the second preset percentage is 65%-75%. Preferably, the first preset percentage is 40%, and the second preset percentage is 70%. In the embodiment of the application, when the absolute value of the deviation value is greater than zero and less than or equal to the first preset deviation angle, the current advancing direction of the corn harvester is kept unchanged; the total adjustment times are reduced by about 5 times; when the absolute value of the deviation value is greater than the first preset deviation angle and less than or equal to the second preset deviation angle, whether to perform direction adjustment is determined according to the change rate of the deviation value; the total adjustment times of the system are reduced by about 2 times. The hierarchical adjustment strategy reduces the adjustment frequency, optimizes and improves the smoothness of the system, and reduces the labor intensity of the driver to a certain extent.

[0038] Specifically, when the direction adjustment is performed, if the deviation value is greater than zero, the advancing direction of the corn harvester is controlled to be adjusted to the right; if the deviation value is less than zero, the advancing direction of the corn harvester is controlled to be adjusted to the left.

[0039] The application will be described in detail below with reference to a specific example. The specific implementation process is as shown in Figure 2 .

[0040] 1. Real-time acquisition of the deviation value of the advancing direction of the corn harvester.

[0041] As shown in Figure 3 , a divider 2 is installed on a header 1, and a left alignment sensor 3 and a right alignment sensor 4 are installed on both sides of the divider 2. The distance difference between the divider 2 and the adjacent two rows of corn plants 5 is collected by the alignment sensors, that is, a rotation angle θ 左 and θ 右 is generated after the alignment sensor is touched and rotated backward through a rocker arm. The closer the divider is to the plant, the larger the rotation angle, and vice versa. The angle difference Δθ represents the deviation of the advancing direction.

[0042] Δθ = θ 左 - θ 右 , (-θ max / 2 ≤ Δθ ≤ θ max / 2), θ max ≥ 0;

[0043] wherein Δθ is the deviation value of the advancing direction of the corn harvester, θ 左 is the output value of the left alignment sensor of the divider; θ 右 is the output value of the right alignment sensor of the divider; and θ max is the maximum allowable deviation value (the maximum allowable deviation is set as the Δθ measured when the left or right sensor has separated from the corn plant).

[0044] 2. Determine the range of the absolute value of the deviation value, and execute the corresponding direction control strategy.

[0045] Determine the range of the absolute value of the deviation value |Δθ|. Specifically, there are three ranges: (0-40) %θ max , (40-70) %θ max , and (70-100) %θ max .

[0046] Different algorithms are implemented for the above three segments respectively:

[0047] (1) When |Δθ|<40%θ max , although there is a certain deviation in the direction, the deviation value is small, and the system does not make direction adjustment;

[0048] (2) When 40%θ max ≤|Δθ|≤70%θ max , the direction deviation is already large, but still within the tolerable range, at this time the system calculates the rate of change of Δθ, that is, the first-order derivative of Δθ, and obtains

[0049] When , (a is a set value), the system does not make direction adjustment;

[0050] When , the system makes direction adjustment;

[0051] (3) When |Δθ|≥70%θ max , at this time the direction deviation is already large and will easily exceed the deviation limit θ max , at this time no matter what is, the system makes direction adjustment.

[0052] The following compares the actual test of the prior art scheme (manual adjustment, speed grading PID adjustment) and the embodiment scheme of the present application. The test process is as follows:

[0053] 1. Install a row following sensor on a corn harvester without automatic row following function, to collect the deviation value and deviation time proportion of the whole machine running direction in the manual adjustment scheme;

[0054] 2. Install a detection sensor on the direction machine of the corn harvester without automatic row following function, to collect the direction adjustment frequency in the manual adjustment scheme;

[0055] 3. On the controller of the corn harvester with automatic row following function, compile the control program according to the speed grading PID adjustment algorithm, and collect the deviation value and deviation time proportion of the whole machine running direction, as well as the direction adjustment frequency in the scheme;

[0056] 4. In the corn harvester controller of automatic alignment function, the control program is programmed according to the embodiment algorithm of the application, and the deviation value of the whole machine running direction and the deviation time proportion in the scheme, and the direction adjustment frequency are collected.

[0057] The test results are shown in Table 1 and Table 2. The content in Table 1 represents the time proportion of each segment of the direction deviation in the whole operation time; the content in Table 2 represents the direction adjustment frequency.

[0058] Table 1

[0059]

[0060] The test results of Table 1 show that the original scheme 1 has a large precision deviation, and 8.5% of the time exceeds the maximum deviation θ max ; the deviation median of the original scheme 1 and scheme 2 is located in (40-70)%*θ max . The embodiment technical scheme of the application has obvious advantages, the deviation median falls within (0-40)%*θmax, and the time proportion is as high as 57.6% (70-100)%*θ max . The high deviation time proportion is only 9.6%. The results show that the embodiment case of the application has high adjustment precision and small error.

[0061] Table 2

[0062]

[0063] The test results of Table 2 show that the overall adjustment frequency of the original scheme 1 and scheme 2 is obviously higher than that of the embodiment scheme of the application, and the embodiment scheme of the application can greatly reduce the overall adjustment frequency.

[0064] In general, the embodiment scheme of the application filters the lower direction deviation (0-40)%*θ max by simplifying the algorithm; further, by calculating the direction change trend, the higher direction deviation segment 70-100)%*θ max is filtered. Most of the direction adjustment limits the adjustment frequency to a very low level, greatly maintains the smoothness of the whole vehicle, and improves the service life of the direction adjustment mechanism. The algorithm is also optimized compared with scheme 2, and the computing power of the controller is saved.

[0065] The embodiment of the application provides a corn harvester automatic alignment device, which comprises a data acquisition module and a data processing module; the data acquisition module is used for acquiring the deviation value of the forward direction of the corn harvester in real time; and the data processing module is used for determining the interval range where the absolute value of the deviation value is located, and executing the direction control strategy corresponding to the interval range.

[0066] The embodiment of the present application provides a computer readable storage medium, comprising instructions, when the instructions are executed on a computer, the computer executes the corn harvester automatic alignment method provided by the above technical solution.

[0067] The embodiment of the present application provides a corn harvester automatic alignment device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, when the processor executes the program, the corn harvester automatic alignment method provided by the above technical solution is realized.

[0068] The embodiment of the present application provides a corn harvester, comprising alignment sensors installed on both sides of the divider and the corn harvester automatic alignment device provided by the above technical solution.

[0069] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above described device and unit can refer to the corresponding process in the foregoing method embodiment, and will not be repeated here.

[0070] In several embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented by other ways. For example, the above described device embodiment is only schematic, for example, the division of units is only a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0071] The unit described as a separate component can be or can not be physically separated, and the component displayed as a unit can be or can not be a physical unit, that is, it can be located in one place, or it can be distributed to a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment of the present application.

[0072] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0073] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0074] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of automatically aligning a corn harvester with a row, comprising: The method comprises the following steps: Real-time acquisition of deviation value of corn harvester advancing direction; The real-time acquisition of deviation value of corn harvester advancing direction comprises: Collecting distance difference between the divider and adjacent two rows of corn plants through the row-to-row sensors installed on both sides of the divider to generate left rotation angle and right rotation angle; Determining deviation value of corn harvester advancing direction according to the difference between the left rotation angle and the right rotation angle; Determining interval range where the absolute value of the deviation value is located, and executing direction control strategy corresponding to the interval range; The execution of the direction control strategy corresponding to the interval range comprises: When the absolute value of the deviation value is greater than zero and less than or equal to a first preset deviation angle, the current advancing direction of the corn harvester is kept unchanged; When the absolute value of the deviation value is greater than the first preset deviation angle and less than or equal to a second preset deviation angle, it is determined whether to adjust the direction according to the change rate of the deviation value; When the absolute value of the deviation value is greater than the second preset deviation angle, the direction is adjusted; The first preset deviation angle is smaller than the second preset deviation angle, the first preset deviation angle is the maximum allowed deviation value multiplied by a first percentage, and the second preset deviation angle is the maximum allowed deviation value multiplied by a second percentage; The determination of whether to adjust the direction according to the change rate of the deviation value comprises: When the change rate of the deviation value is less than a preset value, the current advancing direction of the corn harvester is kept unchanged; and when the change rate of the deviation value is greater than or equal to the preset value, the direction is adjusted.

2. The method of automatically row aligning a corn harvester according to claim 1, wherein, The first percentage is in the range of 35%-45%, and the second percentage is in the range of 65%-75%.

3. The method of automatically row aligning a corn harvester of claim 2, wherein, The first percentage is 40%, and the second percentage is 70%.

4. The method of automatic row alignment for a corn harvester of claim 1, wherein, When the direction is adjusted, if the deviation value is greater than zero, the advancing direction of the corn harvester is adjusted to the right; and if the deviation value is less than zero, the advancing direction of the corn harvester is adjusted to the left.

5. An automatic row unit for a corn harvester, comprising: The method comprises: A data acquisition module is configured to acquire deviation value of corn harvester advancing direction in real time; The real-time acquisition of deviation value of corn harvester advancing direction comprises: Collecting distance difference between the divider and adjacent two rows of corn plants through the row-to-row sensors installed on both sides of the divider to generate left rotation angle and right rotation angle; Determining deviation value of corn harvester advancing direction according to the difference between the left rotation angle and the right rotation angle; A data processing module is configured to determine interval range where the absolute value of the deviation value is located, and execute direction control strategy corresponding to the interval range; The execution of the direction control strategy corresponding to the interval range comprises: When the absolute value of the deviation value is greater than zero and less than or equal to a first preset deviation angle, the current advancing direction of the corn harvester is kept unchanged; When the absolute value of the deviation value is greater than the first preset deviation angle and less than or equal to a second preset deviation angle, it is determined whether to adjust the direction according to the change rate of the deviation value; When the absolute value of the deviation value is greater than the second preset deviation angle, the direction is adjusted; The first preset deviation angle is smaller than the second preset deviation angle, the first preset deviation angle is the maximum allowed deviation value multiplied by a first percentage, and the second preset deviation angle is the maximum allowed deviation value multiplied by a second percentage; The first preset angle is less than the second preset angle, the first preset angle is a maximum allowable deviation value multiplied by a first percentage, and the second preset angle is the maximum allowable deviation value multiplied by a second percentage. The determining whether to perform direction adjustment according to the change rate of the deviation value comprises: When the change rate of the deviation value is less than a preset value, the current advancing direction of the corn harvester is kept unchanged; and when the change rate of the deviation value is greater than or equal to the preset value, direction adjustment is performed.

6. A corn harvester automatic row alignment device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, The processor implements the method for automatically aligning rows of the corn harvester according to any one of claims 1 to 4 when executing the program.

7. A corn harvester characterized by The corn harvester comprises row alignment sensors installed on both sides of a divider and the automatic row alignment device of claim 6.

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