Harvester unloading cylinder non-retraction detection alarm method, device, system and harvester

Abstract

The application discloses a kind of harvester unloading cylinder non-recovery detection alarm method, device, system and harvester, method includes: continuously detecting unloading push rod state information, when according to the unloading push rod state information determines that unloading cylinder has completed unloading, start timing;If receiving unloading cylinder recovery instruction within preset time, then directly execute unloading cylinder safety return detection;If unloading cylinder recovery instruction is not received within the preset time, or, the throttle opening degree change rate is greater than preset value within the preset time, then alarm prompts to recover unloading cylinder, until detecting unloading cylinder recovery instruction, execute unloading cylinder safety return detection.The application can avoid the danger of unloading cylinder non-recovery or unloading cylinder non-recovery to position in time;And the application has low cost, algorithm model is accurate, simple and reliable.

Description

Technical Field

[0001] This invention relates to the field of harvester technology, and in particular to a harvester method, device, system, and harvester for detecting and alarming when the unloading hopper of a harvester is not retracted. Background Technology

[0002] Because harvesting machinery has a variety of complex functions, in order to meet the needs of actual work and manufacturing costs, the overall structure of the machine body is generally designed to be compact. This makes it difficult for the harvester driver to observe the position of the unloading canister while in the cab.

[0003] The main function of the unloading hopper on a harvester is to unload grain after harvesting crops. It is generally installed at the rear of the harvester's grain tank and can be controlled to rise, fall, extend, and retract, offering a relatively large range of motion. However, the grain tank separates the unloading hopper from the cab, making it difficult for the driver to observe its position and obtain timely information on whether the hopper has retracted.

[0004] 1) If the driver forgets to retract the unloading canister after unloading the grain and drives the harvester, it may collide with other vehicles, buildings, trees, or other objects, resulting in damage to the vehicle, injury to personnel, or other dangers (if the canister is not retracted).

[0005] 2) Sometimes, when the driver is operating the unloading canister normally, due to mechanical or hydraulic system failure of the harvester, the unloading canister may not be able to be retracted to the target position normally. If the driver does not know this critical information and continues to drive, it will also cause a collision hazard (due to failure to retract normally). Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a method, device, system and harvester for detecting and alarming when the unloading hopper of a harvester is not retracted, which addresses the problems existing in the prior art.

[0007] To address the aforementioned technical problems, this invention provides a method for detecting and alarming the failure to retract the unloading hopper of a harvester, comprising: continuously acquiring the status information of the unloading push rod; starting a timer when it is determined from the unloading push rod status information that the unloading hopper has completed unloading; if a retraction command for the unloading hopper is received within a preset time, directly performing a safe return detection of the unloading hopper; if no retraction command for the unloading hopper is received within the preset time or the rate of change of throttle opening within the preset time is greater than a preset value, triggering an alarm to prompt the retraction of the unloading hopper, until a retraction command for the unloading hopper is detected, and then performing a safe return detection of the unloading hopper.

[0008] To solve the above-mentioned technical problems, the present invention also provides a detection and alarm device for unretracted grain unloading hopper of a harvester, comprising: a signal acquisition module and a signal processing module;

[0009] The signal acquisition module is used to continuously acquire the status information of the unloading pusher; the signal processing module is used to start timing when it is determined that the unloading hopper has completed unloading based on the status information of the unloading pusher; if a retraction command for the unloading hopper is received within a preset time, the unloading hopper safety return detection is directly executed; if no retraction command for the unloading hopper is received within a preset time or the rate of change of throttle opening within a preset time is greater than a preset value, an alarm is triggered to retract the unloading hopper until a retraction command for the unloading hopper is detected, and then the unloading hopper safety return detection is executed.

[0010] To solve the above-mentioned technical problems, the present invention also provides a harvester unloading hopper failure detection alarm device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the harvester unloading hopper failure detection alarm method provided by the above-mentioned technical solution.

[0011] To solve the above-mentioned technical problems, the present invention also provides a harvester unloading hopper non-retractable detection alarm system, including a proximity switch sensor installed below the unloading push rod, an infrared sensing device installed at both ends of the unloading hopper bracket, and the harvester unloading hopper non-retractable detection alarm device provided in the above technical solution;

[0012] The proximity switch sensor is used to detect the status information of the unloading push rod and send it to the unloading hopper non-retractable detection alarm device of the harvester; the infrared sensor is used to acquire the status information of the unloading hopper and send it to the unloading hopper non-retractable detection alarm device of the harvester.

[0013] To solve the above-mentioned technical problems, the present invention also provides a harvester, including the harvester unloading hopper failure detection alarm system provided by the above technical solution.

[0014] The beneficial effects of this invention are as follows: It can determine whether the unloading hopper has completed unloading based on the status information of the unloading pusher. When unloading is confirmed to be complete, it checks whether a hopper retraction command is received within a preset time. If received, it directly checks whether the hopper has safely returned to its original position. If no command is received within the preset time, or if the throttle opening suddenly increases within the preset time, an alarm prompts the user to retract the hopper. This process continues until a hopper retraction command is detected, at which point a safe return detection of the hopper is performed. This invention can promptly avoid the danger of the hopper not retracting or not retracting properly. Furthermore, this invention is low-cost, and its algorithm model is accurate, simple, and reliable.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] Figure 1 This is a flowchart of a harvester unloading hopper not retracting detection alarm method provided in an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of a harvester unloading hopper not retracted detection alarm system provided in an embodiment of the present invention;

[0018] Figure 3 Flowchart of a harvester unloading hopper not retracted detection alarm method provided in another embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram illustrating the state of the unloading cylinder not returning to the unloading support according to an embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram showing the state of the unloading cylinder returning to the unloading support according to an embodiment of the present invention. Detailed Implementation

[0021] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. This disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0022] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0023] Figure 1 This is a flowchart illustrating a harvester unloading hopper not retracting detection and alarm method provided in an embodiment of the present invention. Figure 1 As shown, the method includes:

[0024] S1, continuously acquire the status information of the unloading pusher, and start timing when it is determined from the status information of the unloading pusher that the unloading drum has completed unloading;

[0025] S2, if a grain unloading hopper retraction command is received within the preset time, the grain unloading hopper safety return detection will be executed directly;

[0026] S3. If no unloading hopper retraction command is received within the preset time or the throttle opening change rate is greater than the preset value within the preset time, an alarm will be triggered to retract the unloading hopper until a unloading hopper retraction command is detected, and the unloading hopper safety return detection will be performed.

[0027] The above embodiments of the present invention can determine whether the unloading hopper has completed unloading based on the status information of the unloading pusher. When it is determined that unloading has been completed, it checks whether a retraction command for the unloading hopper is received within a preset time. If received, it directly checks whether the unloading hopper has safely returned to its original position. If no command is received within the preset time or the throttle opening suddenly increases within the preset time, an alarm is triggered to prompt the user to retract the unloading hopper. This continues until a retraction command is detected, at which point a safe return detection of the unloading hopper is performed. The present invention can promptly avoid the danger of the unloading hopper not retracting or not retracting to its proper position; furthermore, the present invention is low in cost, and the algorithm model is accurate, simple, and reliable.

[0028] Optionally, when it is determined that the unloading hopper has completed unloading based on the status information of the unloading push rod, the process includes: after the harvester starts, continuously detecting whether the unloading push rod is pressed down by a proximity switch sensor installed on the unloading push rod; when the unloading push rod is detected to be pressed down, continuously detecting whether the unloading push rod is pulled up by a proximity switch sensor; when the unloading push rod is detected to be pulled up, it is determined that the unloading hopper has completed unloading.

[0029] In the above embodiments of the present invention, a proximity switch sensor installed on the unloading push rod continuously detects the status information of the unloading push rod. When the unloading push rod is detected to be pressed down, it indicates that the unloading hopper has started unloading grain; when the unloading hopper push rod is detected to be pulled up, it indicates that the unloading hopper has completed unloading. The proximity switch sensor can quickly and accurately obtain the status information of the unloading push rod. Based on the status information of the unloading push rod, the unloading status of the harvester can be accurately determined, thereby facilitating accurate judgment of whether the unloading hopper has been retracted in time and avoiding the danger of the unloading hopper not being retracted or not being retracted to the correct position.

[0030] Optionally, when the unloading push rod is detected to be pressed down, the throttle opening signal is acquired. When the throttle opening signal is zero, it is determined that the unloading process is in motion. If the throttle opening signal is greater than zero, it is determined that the unloading process is in a stationary state. If the unloading process is in motion, the preset time is set to the first preset time. If the unloading process is in a stationary state, the preset time is set to the second preset time. The first preset time is less than the second preset time.

[0031] In this embodiment of the invention, after the harvester starts, the proximity switch sensor continuously detects whether the unloading push rod is pressed down; when the unloading push rod is detected to be pressed down, the vehicle controller (VCU) reads the throttle opening CAN message; when the throttle opening signal is zero, it is determined that the harvester is in the process of unloading while moving; if the throttle opening signal is greater than zero, it is determined that the harvester is in the process of unloading while stationary.

[0032] When the machine is stationary and unloading grain, the proximity switch sensor continuously detects whether the unloading push rod is pulled up. Once the pull up is detected, it is determined that the unloading of grain by the harvester has been completed. Then, it starts timing the duration of not receiving the unloading can retract button signal. If the duration exceeds 30 seconds, or if the throttle opening suddenly increases within 30 seconds, it is assumed that the driver has forgotten to retract the unloading can and an alarm is immediately issued to remind the driver.

[0033] When the machine is in the walking unloading state, the proximity switch sensor continuously detects whether the unloading push rod is pulled up. When it is detected that the unloading is completed, the unloading is determined to be completed. Then, the timer starts to count the duration of no unloading can retraction button signal. If the duration exceeds 5 seconds, or the throttle opening changes suddenly within 5 seconds, it is assumed that the driver has forgotten to retract the unloading can and an alarm is immediately issued to remind the driver.

[0034] In the above embodiments of the present invention, different timing durations are set according to the harvester's operating state (moving or stationary) during unloading. When the harvester is stationary during unloading, the vehicle itself is in a relatively safe state. Even if the unloading canister is not retracted within a short period of time, the vehicle body remains stationary, preventing the unloading canister from colliding with surrounding objects. Therefore, a 30-second timing can be set to give the driver time to operate autonomously, while also preventing the driver from forgetting to retract the unloading canister after too long. When the harvester is moving during unloading, the vehicle itself is in motion. If the unloading canister is not retracted in time after unloading, it may collide with surrounding objects. A shorter 5-second timing is set to remind the driver to retract the unloading canister before the harvester has moved too far, preventing accidents in advance.

[0035] Optionally, the unloading hopper safety return detection is performed, including: when a command to retract the unloading hopper is received, the unloading hopper safety return detection stage is entered and timing begins, and infrared signals are continuously detected by infrared sensing devices installed at both ends of the unloading hopper support; if the infrared signal is cut off within a third preset time, it is confirmed that the unloading hopper has safely returned to its original position; if the infrared signal is not cut off within the third preset time, it is confirmed that the unloading hopper has not safely returned to its original position, and an alarm is triggered to indicate that the unloading hopper has not safely returned to its original position.

[0036] In the above embodiments of the present invention, if the driver presses the one-button retraction button within a limited time, the unloading hopper safety return detection phase is immediately initiated. Upon entering this phase, a timer begins, and simultaneously, an infrared sensor mounted on the unloading hopper continuously detects the infrared signal. If the infrared signal is detected to be cut off within one minute, the unloading hopper is considered to have safely returned to its original position. If no cut-off infrared signal is detected within one minute, the unloading hopper is considered not to have safely returned to its original position, and an alarm is immediately triggered. This achieves the purpose of alerting the driver if the unloading hopper has not been retracted.

[0037] In this embodiment of the invention, the alarm prompts may include at least one of the following: interface display reminders, audible and visual alarm reminders, and voice broadcast reminders. By using multiple alarm prompts, drivers are promptly reminded to retract the unloading canister, thus avoiding the dangers that may occur if the unloading canister is not retracted or not retracted properly.

[0038] This invention also provides a harvester unloading hopper retraction detection alarm device, comprising: a signal acquisition module and a signal processing module. The signal acquisition module is used to continuously detect the status information of the unloading push rod; the signal processing module is used to start timing when it is determined from the unloading push rod status information that the unloading hopper has completed unloading; if a retraction command for the unloading hopper is received within a preset time, the unloading hopper safety return detection is directly executed; if no retraction command for the unloading hopper is received within the preset time or the throttle opening change rate is greater than a preset value within the preset time, an alarm is triggered to prompt the retraction of the unloading hopper, until a retraction command for the unloading hopper is detected, and the unloading hopper safety return detection is executed.

[0039] This invention also provides a harvester unloading hopper failure detection alarm device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The feature is that when the processor executes the program, it implements the harvester unloading hopper failure detection alarm method provided in the above embodiments.

[0040] It should be noted that the harvester unloading hopper failure detection alarm device provided in this embodiment of the invention can be a specially set terminal device, or it can be implemented by the harvester's own vehicle controller (VCU).

[0041] like Figure 2 As shown, this embodiment of the invention also provides a harvester unloading hopper failure detection alarm system, including a proximity switch sensor installed below the unloading push rod, infrared sensing devices installed at both ends of the unloading hopper bracket, and the harvester unloading hopper failure detection alarm device provided in the above embodiment (referring to the one described in this embodiment). Figure 2 (VCU in the middle).

[0042] The proximity switch sensor is used to detect the status information of the unloading push rod and sends it to the harvester's unloading hopper retraction detection alarm device. The proximity switch sensor is mainly responsible for detecting the status of the harvester's unloading push rod to determine whether the harvester is in the unloading state.

[0043] Specifically, a proximity switch sensor installed below the unloading push rod is responsible for detecting whether the unloading push rod is pressed down / lifted, and sends this information to the vehicle control unit (VCU) in digital signal form. After the harvester starts, the proximity switch sensor continuously detects whether the unloading push rod is pressed down. When the proximity switch sensor senses the unloading push rod approaching, it sends a high-level signal to the VCU. When the VCU receives the high-level signal, it considers the harvester to be in the unloading state. The VCU reads the throttle opening CAN message; when the throttle opening signal is zero, it is determined that the harvester is in the process of unloading while moving; if the throttle opening signal is greater than zero, it is determined that the harvester is in the process of unloading while stationary.

[0044] When the unloading push rod is pulled up, the proximity switch sensor cannot detect the approach of the unloading push rod and sends a low-level signal to the VCU. When the VCU receives the low-level signal, it considers that the harvester is in a non-unloading state.

[0045] Infrared sensing devices are used to acquire the status information of the unloading hopper and send it to the harvester's unloading hopper retraction detection alarm device. The infrared sensing device includes infrared transmitters and infrared sensors installed at both ends of the unloading hopper support. The infrared transmitters and sensors are primarily responsible for detecting whether the unloading hopper has returned to a safe position. Figure 4 and 5 As shown, when the unloading drum is not in its original position, the infrared sensor can continuously detect infrared signals; when the unloading drum returns to its original position, the infrared signals are cut off.

[0046] The harvester unloading canister failure detection and alarm system also includes a battery and a BUCK chopper. The battery is connected to the infrared transmitter through the BUCK chopper. After the battery voltage is stepped down by the BUCK chopper, it powers the infrared transmitter. The infrared sensor is connected to the vehicle controller VCU.

[0047] The vehicle control unit (VCU) is primarily responsible for collecting sensor signals and CAN signals, performing logic processing, and sending an alarm signal to the display screen when certain conditions are met. When the unloading hopper retraction button is pressed, a CAN message is sent to the VCU to execute the unloading hopper retraction operation. The display screen is mainly responsible for displaying alarm signals to remind the driver that the harvester's unloading hopper has not been retracted or has not been retracted to a safe position. In this embodiment of the invention, it may also include a light alarm device, a buzzer, and a voice broadcasting device, thereby enabling alarms to be issued through multiple forms such as sound, light, and voice broadcasting.

[0048] The following sections detail the static unloading process, the mobile unloading process, and the safety return detection stage of the unloading hopper.

[0049] A. Static unloading of grain:

[0050] (1) The proximity switch sensor continuously detects whether the unloading push rod is pulled up.

[0051] (2) When the unloading push rod is detected to be pulled up, it is determined that the unloading of the harvester has been completed.

[0052] (3) Then start timing the duration of not receiving the unloading drum retraction button signal. If the duration exceeds 30s, or if the duration is less than 30s but the VCU detects a sudden increase in the throttle opening, then send an alarm signal for the unloading drum not retracting to the display screen via the CAN bus, and at the same time, the buzzer will sound an alarm until the unloading drum retraction button is detected to be pressed, and then enter the unloading drum safety return detection stage.

[0053] (4) If the unloading drum retraction button is pressed within 30 seconds, the unloading drum safety return detection stage will be entered directly.

[0054] B. Unloading grain while walking:

[0055] (1) The proximity switch sensor continuously detects whether the unloading push rod is pulled up.

[0056] (2) When the unloading push rod is detected to be pulled up, it is determined that the unloading of the harvester has been completed.

[0057] (3) Then start timing the duration of not receiving the unloading drum retraction button signal. If the duration exceeds 5s, or if the duration is less than 5s but the VCU detects a sudden change in the throttle opening, send an alarm signal for unloading drum not retracted to the display screen via the CAN bus, and at the same time, the buzzer will sound an alarm until the unloading drum retraction button is detected to be pressed, and enter the unloading drum safety return detection stage.

[0058] (4) If the unloading drum retraction button is pressed within 5 seconds, the unloading drum safety return detection stage will be entered directly.

[0059] C. Grain unloading hopper safety return detection stage:

[0060] Once the unloading hopper enters the safe return-to-position detection phase, the timer starts, and the infrared sensor installed on the unloading hopper continuously detects the infrared signal. If the infrared signal is cut off within 1 minute, the unloading hopper is considered to have safely returned to its position; if no cut-off infrared signal is detected within 1 minute, the unloading hopper is considered not to have safely returned to its position, and an alarm signal indicating that the unloading hopper has not returned to the safe position is sent to the display screen via the CAN bus, while a buzzer sounds an alarm.

[0061] The following is combined Figure 2 and Figure 3 The present invention will be described in further detail below.

[0062] like Figure 2 As shown, the harvester unloading hopper not retracted detection alarm system provided in this embodiment of the invention mainly includes an infrared transmitter, an infrared sensor, a battery, a BUCK chopper, a VCU (vehicle controller), a proximity switch sensor, and a display screen.

[0063] like Figure 3 As shown, during harvesting operation, the proximity switch sensor continuously detects whether the unloading push rod is pressed down. When the unloading push rod is detected to be pressed down, it is determined that the harvester has entered the unloading mode, and the VCU reads the throttle opening CAN message; when the throttle opening signal is zero, it is determined that it is in the process of unloading while moving; if the throttle opening signal is greater than zero, it is determined that it is in the process of unloading while stationary.

[0064] When the machine is stationary during unloading, the proximity switch sensor continuously monitors whether the unloading push rod is pulled up. Once the unloading push rod is detected as pulled up, the unloading is considered complete. A timer then begins to count the duration without receiving a signal from the unloading hopper retraction button. If the duration exceeds 30 seconds, or if the duration is less than 30 seconds but the VCU detects a sudden increase in throttle opening, an alarm signal indicating the unloading hopper has not retracted is sent to the display screen via the CAN bus, and a buzzer sounds. This continues until the unloading hopper retraction button is detected being pressed, initiating the unloading hopper safety return detection phase. If the unloading hopper retraction button is detected being pressed within 30 seconds, the machine directly enters the unloading hopper safety return detection phase.

[0065] When the machine is in the walking unloading state, the proximity switch sensor continuously detects whether the unloading push rod is pulled up. Once the unloading push rod is detected as pulled up, it is determined that the unloading is complete. Then, a timer begins to count the duration without receiving a signal from the unloading hopper retraction button. If the duration exceeds 5 seconds, or if the duration is less than 5 seconds but the VCU detects a sudden change in throttle opening, an alarm signal indicating that the unloading hopper has not retracted is sent to the display screen via the CAN bus, and a buzzer sounds simultaneously. This continues until the unloading hopper retraction button is detected being pressed, entering the unloading hopper safety return detection stage. If the unloading hopper retraction button is detected being pressed within 5 seconds, the machine directly enters the unloading hopper safety return detection stage.

[0066] It should be noted that although the harvester is in a walking state when unloading grain, it is also moving at a low speed. If the throttle opening changes within 5 seconds, it may be that the driver has forgotten to retract the unloading canister and is preparing to accelerate to move the vehicle to a different location (under normal circumstances, the driver will not suddenly increase the throttle during continuous operation). Therefore, it is necessary to remind the driver immediately to avoid danger.

[0067] Once the unloading hopper enters the safe return-to-position detection phase, the timer starts, and the infrared sensor installed on the unloading hopper continuously detects the infrared signal. If the infrared signal is cut off within 1 minute, the unloading hopper is considered to have safely returned to its position; if no cut-off infrared signal is detected within 1 minute, the unloading hopper is considered not to have safely returned to its position, and an alarm signal indicating that the unloading hopper has not returned to the safe position is sent to the display screen via the CAN bus, while a buzzer sounds an alarm.

[0068] This invention also provides a harvester, including the harvester unloading hopper failure detection alarm system provided in the above embodiments.

[0069] This invention determines whether the unloading hopper has completed unloading based on the status information of the unloading pusher. When unloading is confirmed to be complete, it checks whether a hopper retraction command is received within a preset time. If received, it directly checks whether the hopper has safely returned to its original position. If no command is received within the preset time, or if the throttle opening suddenly increases within the preset time, an alarm prompts the user to retract the hopper. This process continues until a hopper retraction command is detected, at which point a safe return detection of the hopper is performed. This invention can promptly prevent the danger of the hopper not retracting or not retracting properly. Furthermore, this invention is low-cost, requiring no additional measuring equipment; it relies solely on the harvesting machinery's built-in equipment, requiring only the addition of an infrared measuring device to achieve accurate detection and alarm. The algorithm model is accurate, simple, and reliable.

[0070] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0071] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0072] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0073] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0074] If the integrated unit is implemented as a software functional unit 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 this 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for detecting and alarming when the unloading hopper of a harvester is not retracted, characterized in that, include: The status information of the unloading push rod is continuously acquired. When it is determined from the status information of the unloading push rod that the unloading drum has completed unloading, the timer is started. If a retraction command for the unloading hopper is received within a preset time, the unloading hopper safety return detection will be executed directly. If no retraction command for the unloading hopper is received within a preset time or the rate of change of throttle opening within the preset time is greater than a preset value, an alarm will be triggered to retract the unloading hopper until a retraction command for the unloading hopper is detected, and then the unloading hopper safety return detection will be executed. When it is determined that the unloading cylinder has completed unloading based on the unloading pusher status information, the following steps are included: After the harvester starts, a proximity switch sensor installed on the unloading push rod continuously detects whether the unloading push rod is pressed down. When the unloading push rod is detected to be pressed down, the proximity switch sensor continuously detects whether the unloading push rod is pulled up. When the unloading push rod is detected to be pulled up, it is determined that the unloading drum has completed unloading. After the unloading push rod is detected to be pressed down, the method also includes acquiring the throttle opening signal. When the throttle opening signal is zero, it is determined that the unloading process is in motion; if the throttle opening signal is greater than zero, it is determined that the unloading process is in a stationary state. If the grain is being unloaded while the grain is being moved, the preset time is set to a first preset time; if the grain is being unloaded while stationary, the preset time is set to a second preset time. The first preset time is less than the second preset time.

2. The method according to claim 1, characterized in that, The execution of the grain unloading hopper safety return detection includes: When the unloading hopper retraction command is received, the unloading hopper safety return detection stage is entered and the timer starts. The infrared signal is continuously detected by the infrared sensing devices installed at both ends of the unloading hopper support. If the infrared signal is cut off within the third preset time, it is confirmed that the unloading hopper has safely returned to its position. If no infrared signal is detected to be cut off within the third preset time, it is confirmed that the unloading hopper has not safely returned to its original position, and an alarm is triggered to indicate that the unloading hopper has not safely returned to its original position.

3. The method according to claim 2, characterized in that, The alarm notification may take the form of at least one of the following: interface display notification, sound and light alarm notification, and voice broadcast notification.

4. A detection and alarm device for unretracted grain unloading hopper of a harvester, characterized in that, include: The signal acquisition module is used to continuously acquire the status information of the unloading pusher. The signal processing module is used to start timing when it is determined from the unloading pusher status information that the unloading drum has completed unloading; If a retraction command for the unloading hopper is received within a preset time, the unloading hopper safety return detection will be executed directly. If no retraction command for the unloading hopper is received within a preset time or the rate of change of throttle opening within the preset time is greater than a preset value, an alarm will be triggered to retract the unloading hopper until a retraction command for the unloading hopper is detected, and then the unloading hopper safety return detection will be executed. When it is determined that the unloading cylinder has completed unloading based on the unloading pusher status information, the following steps are included: After the harvester starts, a proximity switch sensor installed on the unloading push rod continuously detects whether the unloading push rod is pressed down. When the unloading push rod is detected to be pressed down, the proximity switch sensor continuously detects whether the unloading push rod is pulled up. When the unloading push rod is detected to be pulled up, it is determined that the unloading drum has completed unloading. After the unloading push rod is detected to be pressed down, the method also includes acquiring the throttle opening signal. When the throttle opening signal is zero, it is determined that the unloading process is in motion; if the throttle opening signal is greater than zero, it is determined that the unloading process is in a stationary state. If the grain is being unloaded while the grain is being moved, the preset time is set to a first preset time; if the grain is being unloaded while stationary, the preset time is set to a second preset time. The first preset time is less than the second preset time.

5. A detection and alarm device for unretracted grain hopper of a harvester, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the harvester unloading canister failure detection alarm method as described in any one of claims 1 to 3.

6. A detection and alarm system for unretracted grain hoppers on a harvester, characterized in that, It includes a proximity switch sensor installed below the unloading push rod, an infrared sensing device installed at both ends of the unloading cylinder support, and the harvester unloading cylinder non-retraction detection alarm device as described in claim 5; The proximity switch sensor is used to acquire the status information of the unloading push rod and send it to the unloading cylinder of the harvester for non-retraction detection alarm device; The infrared sensing device is used to acquire the status information of the unloading hopper and send it to the unloading hopper non-retraction detection alarm device of the harvester.

7. The harvester unloading hopper failure detection and alarm system according to claim 6, characterized in that, It also includes a storage battery and a BUCK chopper. The infrared sensing device includes an infrared transmitter and an infrared sensor. The storage battery is connected to the infrared transmitter through the BUCK chopper to power the infrared transmitter. The infrared sensor is connected to the harvester's unloading hopper non-retractable detection alarm device.

8. A harvester, characterized in that, Includes the harvester unloading hopper failure detection alarm system as described in claim 6 or 7.

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