A method for detecting the force feeding amount of a grain combine harvester reel

Abstract

The application discloses a kind of grain combine harvester action force feeding amount detection methods, according to the forward speed V of combine harvester, crop height L, action force F of swather and swather speed n fitting out the biomass B model of swather picking crop;According to formula (1), the actual feeding amount Q of grain combine harvester is predicted, and the operating parameter of grain combine harvester is adjusted according to the actual feeding amount.The advantages of the present application are that the detection device is installed quickly and conveniently, the feeding amount can be predicted when the crop does not enter the combine harvester, the working speed of the combine harvester can be adjusted in time, the combine harvester is operated within the rated feeding amount range, and the working efficiency and working quality are improved.

Description

Technical Field

[0001] This invention relates to the field of crop harvesting, and in particular to a method for detecting the feeding amount of the reel force of a grain combine harvester. Background Technology

[0002] Combine harvesters can complete multiple processes such as cutting, threshing, cleaning, and separating in one operation, greatly shortening the harvesting cycle and improving grain harvesting efficiency compared to traditional segmented harvesting. However, many problems have been discovered during their widespread application. For example, when the field harvesting environment of combine harvesters is complex and variable (plant height, density, ground undulation, etc.), the operator needs to make timely and reasonable adjustments to the operating speed, reel speed, and operating height of the combine harvester to ensure that the feed rate remains within a stable range. Since manual adjustment is required after observing and detecting harvesting abnormalities, prolonged high-intensity operation can easily lead to operator fatigue. If adjustments are not made in time, the combine harvester may malfunction, thus greatly reducing harvesting efficiency. If the feed rate is too high, it may cause material blockage during conveying, and in severe cases, it may even lead to damage to parts. If the feed rate is too low, the combine harvester cannot achieve its optimal performance.

[0003] Feed rate is a very important operating parameter for grain combine harvesters. Predicting the biomass before the crop enters the combine harvester and then adjusting the harvester's operating speed in a timely manner to keep the harvester operating within the rated feed rate range is of great significance for improving harvesting efficiency and quality and ensuring safe and efficient production.

[0004] Traditional methods for testing feed rate typically involve manually or with the aid of auxiliary devices collecting the stalks and debris discharged from the tail of the combine harvester. The average feed rate of the combine harvester during that time period is obtained by dividing the sum of the collected material mass and grain mass by the collection time. This method yields the most accurate test results, but it cannot achieve real-time online monitoring of the feed rate.

[0005] Currently, the main methods for online monitoring of grain combine harvester feed rate are as follows: 1) Indirectly predicting feed rate by collecting torque and speed changes of key working components (such as screw conveyors, headers, inclined conveyors, threshing drums, etc.) using torque sensors; 2) Reflecting feed rate changes by detecting the extrusion pressure of materials on the bridge bottom plate using pressure sensors; 3) Obtaining feed rate information through image processing technology. The first two methods require installing torque sensors or strain gauges on the combine harvester, which is extremely inconvenient due to the need to disassemble and modify relevant working components. The third method requires installing a camera in front of the cab, which can predict biomass before the crop enters the combine harvester, but cameras are expensive, and the dust generated during field harvesting results in blurry images, significantly impacting the predicted yield value after image processing. Furthermore, existing online feed rate monitoring methods for grain combine harvesters detect the amount of material after the crop enters the machine, adjusting the operating speed only when the feed rate exceeds the rated range. During this period, excessive feed rate can easily cause machine blockage. Summary of the Invention

[0006] The purpose of this invention is to provide a method for detecting the feeding amount of the reel force in a grain combine harvester.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The present invention discloses a method for detecting the feed amount of a grain combine harvester by fitting a model of the biomass B extracted by the harvester's reel based on the forward speed V of the grain combine harvester, the crop height L, the reel force F, and the reel speed n. After determining the biomass B extracted by the harvester's reel based on the model, the actual feed amount Q of the grain combine harvester is predicted according to formula (1), and the operating parameters of the grain combine harvester are adjusted according to the actual feed amount Q. The formula (1) is Q=B·(Lh) / L, where h is the crop stubble height.

[0009] Furthermore, V is acquired by a ground speed radar installed at the drive wheel axle of the grain harvester; L is acquired by a crop height sensor installed on the top of the grain harvester cab; F is acquired by a reel force acquisition device installed on the reel lever of the grain harvester; n is acquired by the data acquisition frequency of the reel force acquisition device; and h is acquired by a header height sensor installed on the side plate of the divider of the grain harvester.

[0010] Furthermore, both the crop height sensor and the header height sensor are laser rangefinders.

[0011] Furthermore, the force acquisition device of the reel includes a force sensor and a retaining bar; after the retaining bar comes into contact with the crop, it transmits the force exerted by the crop on the retaining bar to the force sensor; two reel force acquisition devices are symmetrically installed on any one reel lever.

[0012] Furthermore, the method for obtaining the rotational speed n of the reel is as follows: the reel force acquisition device collects data once for each revolution of the reel, and the rotational speed of the reel is calculated based on the frequency of the collected data.

[0013] The advantages of this invention are that the detection device is quick and easy to install, can detect the feed amount before the crop enters the combine harvester, and can adjust the operating speed of the combine harvester in a timely manner so that the combine harvester operates within the rated feed amount range, thereby improving operating efficiency and quality. Attached Figure Description

[0014] Figure 1 This is a circuit connection block diagram of the method described in this invention.

[0015] Figure 2 This is a schematic diagram showing the installation positions of each device in the method described in this invention.

[0016] Figure 3 yes Figure 2 A magnified view of a portion of the image.

[0017] Figure 4 This is a schematic diagram of the sensor mounting bracket and laser ranging sensor described in this invention.

[0018] Figure 5 This is a schematic diagram of the structure of the force collection device of the reel in the method of the present invention.

[0019] Figure 6 This is a schematic diagram showing the installation position of the force collection device for the reel in the method described in this invention. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] The present invention provides a method for detecting the feeding amount of a grain combine harvester by fitting a model of crop biomass B extracted by the harvester's reel based on the forward speed V of the grain combine harvester, crop height L, reel force F, and reel speed n; predicting the actual feeding amount Q of the grain combine harvester according to formula (1); and adjusting the operating parameters of the grain combine harvester according to the actual feeding amount.

[0022] The formula (1) is Q=B·(Lh) / L; where B is the biomass of the crop harvested by the reel of the grain combine harvester; and h is the stubble height of the crop.

[0023] The theoretical basis is:

[0024] The feed rate of a grain harvester is related to its processing capacity. To ensure optimal processing capacity, it's necessary to predict the feed rate based on the crop biomass ahead of the harvester. If the feed rate exceeds or falls below the harvester's rated range, parameters such as operating speed can be adjusted to maintain optimal processing capacity.

[0025] The biomass in front of a grain harvester is related to factors such as the harvester's forward speed V, crop height L, reel force F, and reel rotation speed n. The reel's effective height H is generally controlled at 2 / 3 of the crop height L. The inventors of this application collected a large amount of data on crop biomass in front of the grain harvester, as well as data on influencing factors related to this data. Using a BP (BackPropagation) neural network, they processed and learned from the raw data to fit a model predicting the crop biomass B extracted by the reel. Based on this model, they predicted the crop biomass extracted by the reel. By subtracting the stubble height from the actual harvested crop height from the total unharvested crop height, and multiplying the ratio of the actual harvested crop height to the total unharvested crop height by the extracted crop biomass B, they obtained the predicted value of the actual feed rate Q of the grain harvester.

[0026] In the B model for predicting the crop biomass harvested by the reel of a grain harvester, the forward speed V of the grain harvester is obtained by a ground speed radar installed at the bridge of the grain harvester's drive wheel.

[0027] The crop height L is obtained by a crop height sensor installed on the top of the harvester's cab; the reel height H can also be obtained by a reel height sensor installed on the fixed side plate of the reel; the crop stubble height h is obtained by a header height sensor installed on the side plate of the divider. All three sensors—crop height sensor, reel height sensor, and header height sensor—are laser rangefinders.

[0028] The reel force F is obtained by a reel force acquisition device installed on the reel lever of the grain combine harvester;

[0029] The reel rotation speed n is obtained by the sampling frequency of the reel force acquisition device; the method for obtaining the reel rotation speed by the sampling frequency of the reel force acquisition device is as follows: the force acquisition device will collect the force value once for each revolution of the reel, and the reel rotation speed is obtained according to the frequency of the collected data.

[0030] The force acquisition device for the reel includes a force sensor and a retaining bar; after the retaining bar comes into contact with the crop, it transmits the force exerted by the crop on the retaining bar to the force sensor; two force acquisition devices for the reel are symmetrically installed on the reel lever.

[0031] When the grain combine harvester is working, the reel force acquisition device transmits the detected crop bending force and acquisition frequency (reel speed) to the intelligent controller via a wireless transmitter; the crop height sensor transmits the detected crop height, the reel height sensor transmits the reel height, and the ground speed radar transmits the combine harvester's operating speed to the intelligent controller simultaneously, thus obtaining the working condition data of the grain combine harvester. The grain combine harvester is also equipped with an intelligent controller and a display, which are used to process the working condition data obtained during the operation of the grain combine harvester according to the fitted biomass model and formula (1), and to issue control commands to the grain combine harvester in a timely manner to adjust the operating parameters of the grain combine harvester based on the processing results.

[0032] like Figure 1 The circuit connection diagram shown shows that the signal output terminal of the force sensor is electrically connected to the signal input terminal of the conversion module, the signal output terminal of the conversion module is electrically connected to the signal input terminal of the wireless transmission module, and the wireless transmission module transmits the signal via Bluetooth, which is then acquired by the wireless receiving module of the intelligent controller; the signal output terminals of the laser rangefinder (crop height sensor, reel height sensor, header height sensor) and the ground speed radar are simultaneously electrically connected to the signal input terminal of the intelligent controller; the signal output terminal of the intelligent controller is electrically connected to the signal input terminal of the terminal display.

[0033] Example 2: A specific application example of the method for detecting the feeding amount of the reel force in a grain combine harvester according to this application.

[0034] like Figure 2 , Figure 3 As shown, a crop height sensor 1 is mounted on the top of the harvester cab 3 via a bracket 2. A terminal display 4 is installed inside the cab 3. A header height sensor 9 and a reel ground clearance sensor 11 are mounted on the fixed side plates of the divider 6 and reel 7 via sensor mounting brackets 12, respectively. A reel force acquisition device 5 is mounted on the reel 7 lever 8. A ground speed radar 10 is installed at the drive wheel axle. The intelligent controller and signal conversion module can be installed in a convenient maintenance location on the harvester body, but are not shown in the figure.

[0035] like Figure 4 The image shows a laser rangefinder sensor mounted on the sensor mounting bracket 12. The sensor mounting bracket 12 is an L-shaped mounting plate. One end of the plate is used to mount the header height sensor 9, the reel height sensor 11, or the crop height sensor 1. The other end of the mounting plate is used to fix it to the side plate or bracket 2 of the divider 6 or the reel 7.

[0036] The laser rangefinder mainly consists of a sensor column 12.1, a laser transmitter 12.2, and a laser receiver 12.3. When working, the transmitter aims at the object and emits a laser pulse. The laser pulse reflected back after passing through the object is received by the receiver. The distance to the target can be determined by the time it takes for the laser pulse to be emitted and returned to be received.

[0037] Figure 4 The demonstration shows a laser rangefinder sensor passing through an opening in a mounting plate and being secured to the plate using a nut. Those skilled in the art can choose a suitable mounting method based on the selected sensor.

[0038] like Figure 5 As shown, the force acquisition device 5 for the reel includes a force sensor 5.1 and a retaining rod 5.2; the force sensor 5.1 is fixed to the fixing clip 5.3 and the retaining rod 5.2 respectively by round-head bolts. The other end of the fixing clip 5.3 is fixed to the lever 8 of the reel 7. Since the lever 8 rotates on its own axis while revolving with the reel 7, to prevent interference with the central spoke, two sets of force acquisition devices 5 for the reel are symmetrically installed on the lever 8, such as... Figure 6 As shown. When the reel 7 is reeling the crop, the baffle 5.2 first comes into contact with the crop, causing it to bend. The bending force generated by the crop acts on the baffle 5.2, which then transmits the force to the force sensor 5.1, thus collecting the force from the reel.

[0039] When the combine harvester is working, the reel force acquisition device transmits the detected crop bending force and acquisition frequency (reel speed) to the intelligent controller via a wireless transmitter; the crop height sensor transmits the detected crop height, the reel height sensor transmits the reel height, and the ground speed radar transmits the combine harvester's operating speed to the intelligent controller simultaneously, thus obtaining the working condition data of the grain combine harvester. The data is processed according to the fitted reel-harvested crop biomass model and formula (1), and based on the processing results, control commands are sent to the grain combine harvester to adjust its operating parameters in a timely manner.

Claims

1. A method for detecting the feeding amount of the reel force in a grain combine harvester, characterized in that: Based on the forward speed V of the grain combine harvester, the crop height L, the reel force F, and the reel speed n, a BP neural network is used to process and learn the raw data to fit a model of the biomass B extracted by the combine harvester's reel. After determining the biomass B extracted by the combine harvester's reel according to the model, the actual feed amount Q of the grain combine harvester is predicted according to formula (1). The operating parameters of the grain combine harvester are adjusted according to the actual feed amount Q. The formula (1) is Q=B·(Lh) / L, where h is the crop stubble height. The forward speed V is obtained by the ground speed radar installed at the drive wheel bridge of the grain harvester; the crop height L is obtained by the crop height sensor installed on the top of the grain harvester cab; the reel force F is obtained by the reel force acquisition device installed on the reel lever of the grain harvester; the reel speed n is obtained by the data acquisition frequency of the reel force acquisition device; the crop stubble height h is obtained by the header height sensor installed on the side plate of the divider of the grain harvester. The force acquisition device of the reel includes a force sensor and a retaining bar; after the retaining bar comes into contact with the crop, it transmits the force exerted by the crop on the retaining bar to the force sensor; two reel force acquisition devices are symmetrically installed on any one reel bar. The method for obtaining the rotational speed n of the reel is as follows: the reel force acquisition device collects data once for each revolution of the reel, and the rotational speed of the reel is calculated based on the frequency of the collected data.

2. The method for detecting the feeding amount of the reel force in a grain combine harvester according to claim 1, characterized in that: Both the crop height sensor and the header height sensor are laser rangefinders.

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