A reed harvester with root residue removal device and a control method thereof

Abstract

The application provides a reed harvester with a root residue removal device and a control method thereof. The root residue removal device is arranged at the bottom of a reed combine harvester conveying device and comprises a removal brush module, a detection module and a control module. The removal brush module comprises a brush, a rotating shaft and a motor. The rotating shaft is connected to the motor output shaft, and the brush is arranged on the rotating shaft. The detection module is connected to the removal brush module and the control module respectively, used for detecting the removal module motor speed, the reed moisture content and the reed combine harvester conveying device torque, and transmitting signals to the control module. The control module is used for receiving the signals detected by the detection module and controlling the motor speed according to the signals. The detection module detects the changes of the reed moisture content and the feeding amount, so that the control module adaptively adjusts the motor speed of the reed root residue removal device, improves the automation degree and the removal efficiency of the reed root residue removal device of the reed combine harvester, and effectively improves the harvesting quality of the reed.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery and equipment technology, and in particular relates to a reed harvester with a root debris removal device and its control method. Background Technology

[0002] Reed is a perennial herbaceous plant and one of the most productive grasses in the world. In China, reed cultivation has a broad market prospect. Currently, the reed planting area in my country has reached millions of acres, and this number continues to grow. The promising prospects for reed cultivation lie not only in its high yield and wide range of applications but also in its high economic value. Reeds can be used not only in pulp, textiles, and papermaking but also extensively in the development of bioenergy, such as the production of biodiesel and biogas. Furthermore, reeds have high medicinal value and are widely used in the preparation of traditional Chinese medicine.

[0003] Because reeds grow in watery areas such as ponds, riverbanks, and streams, reed harvesters often leave behind a significant amount of debris at the base of the reeds during the harvesting process, including mud, weeds, and stems and leaves. Therefore, to facilitate bundling, handling, and storage after harvesting, this debris needs to be removed from the reed roots. However, current reed harvesters do not incorporate a device for removing this debris from the roots. Furthermore, due to variations in the moisture content of the reeds at harvest and the feed rate of the harvester, the operating parameters of the reed root debris removal device cannot be adjusted in real-time according to different operating environments. Summary of the Invention

[0004] To address the aforementioned technical problems, one objective of this invention is to provide a reed harvester with a root debris removal device that detects the amount of reeds fed in and the moisture content, automatically controls the motor speed of the root debris removal device, and matches it in real time according to different operating environments to improve the debris removal effect.

[0005] One objective of this invention is to provide a control method for a reed harvester with a root debris removal device, which detects the feed amount and moisture content of the reeds, automatically controls the motor speed of the root debris removal device, and matches it in real time according to different working environments to improve the debris removal effect.

[0006] Note that the description of these objectives does not preclude the existence of other objectives. One aspect of the invention does not require achieving all of the above objectives. Objectives other than those described above can be extracted from the description, drawings, and claims.

[0007] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0008] A reed harvester with a root debris removal device includes a root debris removal device; the root debris removal device is disposed below a longitudinal conveying device;

[0009] The root debris removal device includes a cleaning brush module, a detection module, and a control module;

[0010] The cleaning brush module includes a brush, a rotating shaft, and a motor. The rotating shaft is connected to the output shaft of the motor, and the brush is mounted on the rotating shaft.

[0011] The detection module is connected to the cleaning brush module and the control module respectively, and is used to detect the motor speed of the cleaning module, the moisture content of the reeds and the torque of the conveying device of the reed combine harvester, and transmit the signal to the control module.

[0012] The control module is connected to the cleaning brush module and the detection module respectively. The control module is used to receive the signal detected by the detection module, input the reed moisture content and the torque of the conveying device of the reed combine harvester into the adaptive control model for root debris removal, and obtain the optimal motor speed. The optimal motor speed is compared with the actual motor speed detected by the detection module, and the actual motor speed is adjusted to the optimal motor speed.

[0013] In the above scheme, the detection module includes a moisture content sensor;

[0014] The moisture content sensor is used to detect the moisture content of reeds.

[0015] In the above scheme, the detection module also includes a torque sensor;

[0016] The torque sensor is used to detect the torque of the conveying device of the reed combine harvester.

[0017] In the above scheme, the detection module further includes a speed sensor;

[0018] The speed sensor is used to detect the motor speed.

[0019] In the above scheme, the adaptive control model for root debris removal adopts a regression model. The regression model for the relationship between feed rate and moisture content on the speed of motor (104-3) is as follows:

[0020] Motor speed = a + bx1 + cx2 + dx1x2 + ex1 2 +fx2 2

[0021] Where a, b, c, d, e, and f are the coefficients of each regression coefficient, which are obtained through experiments, and x1 is the feed amount and x2 is the moisture content.

[0022] A control method for a reed harvester with a root debris removal device, comprising the following steps:

[0023] Step S1: Conduct field trials or bench tests to establish an adaptive control model for root debris removal;

[0024] Step S2: The detection module detects the actual motor speed, reed moisture content, and conveyor torque of the reed combine harvester;

[0025] Step S3: Input the moisture content of the reeds and the torque of the conveying device of the reed combine harvester into the adaptive control model described in step S1 to obtain the optimal motor speed;

[0026] Step S4: Compare the optimal motor speed described in step S3 with the actual speed of the detected motor described in step S2, and adjust the actual speed of the detected motor to the optimal motor speed.

[0027] In the above scheme, when establishing the adaptive control model in step S1, the feed amount corresponding to different torques is first obtained by field tests or bench tests, and the required rotation speed of the cleaning brush under different moisture contents and different feed amounts is obtained, thereby establishing an adaptive control model for root debris removal.

[0028] In the above scheme, in step S4, if the actual motor speed is lower than the optimal motor speed, the comparison and judgment result of the control module is output, and the motor speed is controlled to increase; if the actual motor speed is equal to the optimal motor speed, the control module does not output an adjustment signal; if the actual motor speed is higher than the optimal motor speed, the comparison and judgment result of the control module is output, and the motor speed is controlled to decrease.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] According to one aspect of the present invention, the root debris removal device provides power to the brush via a motor, and the detection module detects changes in the moisture content of the reeds and the feeding amount, thereby enabling the control module to adaptively adjust the motor speed of the root debris removal device, improving the automation level and removal efficiency of the root debris removal device of the reed combine harvester, and effectively improving the harvest quality of the reeds.

[0031] Note that the description of these effects does not preclude the existence of other effects. One aspect of the invention does not necessarily have all the aforementioned effects. Effects other than those described above can be readily observed and extracted from the description, drawings, claims, etc. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a reed harvester according to one embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the root debris removal device according to an embodiment of the present invention.

[0034] Figure 3 This is a schematic diagram of the installation position of the moisture content sensor according to one embodiment of the present invention.

[0035] Figure 4 This is a schematic diagram showing the connection relationship between the detection module and the control module according to one embodiment of the present invention.

[0036] Figure 5 This is a block diagram of the feedback control of the control module according to one embodiment of the present invention.

[0037] In the diagram: 101, longitudinal conveying device; 104-1, brush; 104-2, rotating shaft; 104-3, motor; 104-6, moisture content sensor; 104-4, torque sensor; 104-5, speed sensor. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0039] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "front," "rear," "left," "right," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] Example 1

[0042] Figure 1 The image shows a preferred embodiment of a reed harvester with a root debris removal device, including the root debris removal device;

[0043] The root debris removal device is located below the longitudinal conveying device 101;

[0044] Figure 2 As shown, the root debris removal device includes a cleaning brush module, a detection module, and a control module;

[0045] The cleaning brush module includes a brush 104-1, a rotating shaft 104-2, and a motor 104-3. The rotating shaft 104-2 is connected to the output shaft of the motor 104-3, and the brush 104-1 is mounted on the rotating shaft 104-2.

[0046] like Figure 4 As shown, the detection module is connected to the cleaning brush module and the control module respectively, and is used to detect the speed of the cleaning module motor 104-3, the moisture content of the reeds and the torque of the conveying device of the reed combine harvester, and transmit the signal to the control module;

[0047] The control module is connected to the cleaning brush module and the detection module respectively. The control module is used to receive the signal detected by the detection module, input the reed moisture content and the torque of the conveying device of the reed combine harvester into the adaptive control model for root debris removal, and obtain the optimal motor speed 104-3. The optimal motor speed 104-3 is compared with the actual motor speed 104-3 detected by the detection module, and the actual motor speed 104-3 is adjusted to the optimal motor speed 104-3.

[0048] In the above scheme, the detection module includes a moisture content sensor 104-6;

[0049] The moisture content sensor 104-6 is used to detect the moisture content of reeds and transmit the moisture content parameters to the control module in real time.

[0050] like Figure 3 As shown, according to this embodiment, preferably, the moisture content sensor 104-6 is mounted on a bracket at the lower conveyor belt of the transverse conveying device.

[0051] In the above scheme, the detection module also includes a torque sensor 104-4, which transmits the torque parameters to the control module in real time;

[0052] The torque sensor 104-4 is used to detect the torque of the conveying device of the reed combine harvester.

[0053] According to this embodiment, preferably, the torque sensor 104-4 is disposed on the drive shaft of the longitudinal conveying device 101.

[0054] In the above scheme, the detection module also includes a speed sensor 104-5;

[0055] The speed sensor 104-5 is used to detect the speed of the motor 104-3 and transmit the speed parameters of the motor 104-3 to the control module in real time.

[0056] The root debris removal device of the present invention provides power to the brush 104-1 through the motor 104-3. The detection module detects the changes in the moisture content of the reeds and the amount of feed, thereby enabling the control module to adaptively adjust the speed of the motor 104-3 of the root debris removal device, improving the automation level and removal efficiency of the root debris removal device of the reed combine harvester, and effectively improving the harvest quality of reeds.

[0057] The adaptive control model for root debris removal adopts a regression model. The regression model for the relationship between feed rate and moisture content on the speed of motor (104-3) is as follows:

[0058] Motor speed = a + bx1 + cx2 + dx1x2 + ex1 2 +fx2 2

[0059] Where a, b, c, d, e, and f are the coefficients of each regression coefficient, which are obtained through experiments, and x1 is the feed amount and x2 is the moisture content.

[0060] Example 2

[0061] A control method for a reed harvester with a root debris removal device as described in Embodiment 1 includes the following steps:

[0062] Step S1: Conduct field trials or bench tests to establish an adaptive control model for root debris removal;

[0063] Step S2: The detection module detects the actual speed of motor 104-3, the moisture content of reeds, and the torque of the conveying device of the reed combine harvester;

[0064] Step S3: Input the moisture content of the reeds and the torque of the conveying device of the reed combine harvester into the adaptive control model described in step S1 to obtain the optimal motor speed 104-3.

[0065] Step S4: Compare the optimal motor speed 104-3 described in step S3 with the actual speed of the detection motor 104-3 described in step S2, and adjust the actual speed of the detection motor 104-3 to the optimal motor speed 104-3.

[0066] In the above scheme, when establishing the adaptive control model in step S1, the feed amount corresponding to different torques is first obtained by field tests or bench tests, and the required rotational speed of the cleaning brush under different moisture contents and different feed amounts is obtained, thereby establishing the adaptive control model.

[0067] In one embodiment of the present invention, the preferred process for establishing the adaptive control model is as follows:

[0068] a. Based on the requirements for root debris removal and the variation range of feed rate and moisture content during the operation, use DesignExpert software to select feed rate x1 and moisture content x2 as influencing factors. According to the center rotation combination design test method, arrange 16 sets of tests (including 4 factorial tests, 4 axial tests and 8 center tests) with 2 factors and 5 levels (coded as: -1.414; -1; 0; +1 and +1.414). Record the speed of motor 104-3 required to achieve the root debris removal requirements in each set of tests. *** represents the speed to be determined. The specific value will appear after inputting the specific feed rate x1 and moisture content x2.

[0069] Table 1. Experimental scheme for the central rotation combination of root debris removal

[0070]

[0071] b. Using Design Export software, regression analysis was performed on the motor speed data of 104-3 collected from 16 sets of experiments. The regression model for the influence of feed rate and moisture content on the motor speed of 104-3 was obtained as follows:

[0072] Motor speed = a + bx1 + cx2 + dx1x2 + ex1 2 +fx2 2

[0073] Where a, b, c, d, e, and f are the coefficients of each regression coefficient term, and these values ​​are obtained through experiments.

[0074] like Figure 5 As shown, in step S4, if the actual speed of motor 104-3 is lower than the optimal speed of motor 104-3, the comparison and judgment result of the control module will be output, and the speed of motor 104-3 will be increased; if the actual speed of motor 104-3 is equal to the optimal speed of motor 104-3, the control module will not output an adjustment signal; if the actual speed of motor 104-3 is higher than the optimal speed of motor 104-3, the comparison and judgment result of the control module will be output, and the speed of motor 104-3 will be decreased.

[0075] By performing regression analysis on the speed data of motor 104-3 collected in the experiment, an adaptive control model of motor 104-3 speed during actual operation can be obtained, thereby realizing timely adjustment of motor 104-3 speed, improving the effect of debris removal and the quality of reed harvesting.

[0076] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0077] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A reed harvester with a root debris removal device, characterized in that, Includes a root debris removal device; the root debris removal device is disposed below the longitudinal conveying device; The root debris removal device includes a cleaning brush module, a detection module, and a control module; The cleaning brush module includes a brush (104-1), a rotating shaft (104-2), and a motor (104-3). The rotating shaft (104-2) is connected to the output shaft of the motor (104-3), and the brush (104-1) is mounted on the rotating shaft (104-2). The detection module is connected to the cleaning brush module and the control module respectively, and is used to detect the motor (104-3) speed of the cleaning brush module, the moisture content of the reeds and the torque of the conveying device of the reed combine harvester, and transmit the signal to the control module. The control module is connected to the cleaning brush module and the detection module respectively. The control module is used to receive the signal detected by the detection module, input the reed moisture content and the torque of the conveying device of the reed combine harvester into the adaptive control model for root debris removal, and obtain the optimal motor (104-3) speed. The optimal motor (104-3) speed is compared with the actual motor (104-3) speed detected by the detection module, and the detected actual motor (104-3) speed is adjusted to the optimal motor (104-3) speed. The adaptive control model for root debris removal adopts a regression model, where the feed rate and moisture content affect the rotational speed of the motor (104-3). The regression model for the rapid generation of influence is as follows: Motor speed = a + bx 1 +cx 2 +dx 1 x 2 +ex 1 2 +fx 2 2 in, a,b,c,d,e,f These are the coefficients of each regression term; these values ​​were obtained experimentally. x 1 This is the amount of feed. x 2 This refers to the moisture content.

2. The reed harvester with a root debris removal device according to claim 1, characterized in that, The detection module includes a moisture content sensor (104-6). The moisture content sensor (104-6) is used to detect the moisture content of reeds.

3. The reed harvester with a root debris removal device according to claim 1, characterized in that, The detection module also includes a torque sensor (104-4). The torque sensor (104-4) is used to detect the torque of the conveying device of the reed combine harvester.

4. The reed harvester with a root debris removal device according to claim 1, characterized in that, The detection module also includes a speed sensor (104-5). The speed sensor (104-5) is used to detect the speed of the motor (104-3).

5. A control method for a reed harvester with a root debris removal device according to any one of claims 1-4, characterized in that, Includes the following steps: Step S1: Conduct field trials or bench tests to establish an adaptive control model for root debris removal; the root debris... The adaptive control model for residual removal adopts a regression model. The regression model for the relationship between feed rate and moisture content on the speed of motor (104-3) is as follows: Motor speed = a + bx 1 +cx 2 +dx 1 x 2 +ex 1 2 +fx 2 2 in, a,b,c,d,e,f These are the coefficients of each regression term; these values ​​were obtained experimentally. x 1 This is the amount of feed. x 2 Moisture content; Step S2: The detection module is used to detect the actual speed of the motor (104-3), the moisture content of the reeds, and the torque of the conveying device of the reed combine harvester; Step S3: Input the moisture content of the reeds and the torque of the conveying device of the reed combine harvester into the adaptive control model described in step S1 to obtain the optimal motor (104-3) speed; Step S4: Compare the optimal motor (104-3) speed described in step S3 with the actual motor (104-3) speed detected in step S2, and adjust the actual motor (104-3) speed detected to the optimal motor (104-3) speed.

6. The control method for a reed harvester with a root debris removal device according to claim 5, characterized in that, In step S1, when establishing the adaptive control model for root debris removal, the feed rate corresponding to different torques is first obtained through field tests or bench tests, and the required rotational speed of the cleaning brush under different moisture contents and different feed rates is obtained, thereby establishing the adaptive control model for root debris removal.

7. The control method for a reed harvester with a root debris removal device according to claim 5, characterized in that, In step S4, if the actual speed of motor (104-3) is lower than the optimal speed of motor (104-3), the comparison and judgment result of the control module is output, and the speed of motor (104-3) is increased; if the actual speed of motor (104-3) is equal to the optimal speed of motor (104-3), the control module does not output an adjustment signal; if the actual speed of motor (104-3) is higher than the optimal speed of motor (104-3), the comparison and judgment result of the control module is output, and the speed of motor (104-3) is decreased.

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