A self-propelled green forage harvesting and bundling integrated machine control method

Abstract

This invention discloses a control method for a self-propelled forage harvesting and baling integrated machine, comprising the following steps: Step S10, start-up detection; Step S20, execution of the baling main program; Step S30, selection of system mode; Step S20 includes the following steps: Step S21, supply start; Step S22, netting operation; Step S23, netting operation. This invention enables fully automated operation of the machine and, in the event of a malfunction, promptly issues an alarm and automatically pauses operation, effectively preventing production accidents. Furthermore, through the development and application of global functions, the self-propelled forage harvesting and baling integrated machine can pause and resume operation at any point, achieving a higher level of automation and intelligence. This not only improves the flexibility and reliability of the entire vehicle but also further reduces the failure rate and production costs.

Description

Technical Field

[0001] This invention belongs to the field of silage harvester operation control technology. Specifically, this invention relates to a control method for a self-propelled forage harvester and baler. Background Technology

[0002] In northern my country, most crops are harvested only once a season, leading to a shortage of forage, especially fresh green fodder, in autumn and winter. Traditional livestock farming mostly uses dry feed, which involves drying and storing forage in summer or autumn for use in winter and early spring. This method greatly reduces the nutritional content and palatability of the forage. With the continuous improvement of breeding technology, research has found that silage processing can turn fresh forage into silage, which is fresh, palatable, and solves the problem of forage shortage during seasons.

[0003] Silage is a type of roughage obtained by fermenting fresh green fodder under anaerobic conditions using anaerobic lactic acid bacteria, which inhibits the growth of various bacteria. Silage has a sour and fragrant aroma, is soft and juicy, palatable, and rich in nutrients. It requires little space to store, poses no fire hazard, and is suitable for long-term preservation, making it an excellent source of feed for livestock.

[0004] The processing of silage is accomplished using silage machines, which are classified into three types in terms of structure: self-propelled, suspended, and towed. When all of these types of silage machines are in operation, a special feeder is required to add materials to the forming chamber of the silage machine. The materials are then baled and formed in the forming chamber, and automatically wrapped and unbaled by the wrapping mechanism.

[0005] The existing self-propelled forage harvester and baler is relatively complex to operate, requiring functions such as start-up detection, automatic feeding, automatic netting, automatic bin opening and closing, and automatic circulation. It also needs to ensure that the cutting platform is raised and lowered first during harvesting. Therefore, this electronic control system needs to be developed to achieve automated operation of this model. Summary of the Invention

[0006] This invention provides a control method for a self-propelled forage harvesting and baling integrated machine, which solves the problems mentioned in the background art.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a control method for a self-propelled forage harvesting and baling integrated machine, comprising the following steps:

[0008] Step S10: Power-on test;

[0009] Step S20: Execute the bundling main program;

[0010] Step S30: Select system mode;

[0011] Step S20 includes the following steps:

[0012] Step S21, supply begins;

[0013] Step S22, outgoing network operation;

[0014] Step S23: Web wrapping work.

[0015] Preferably, step S21 includes the following steps:

[0016] Step S211: Press the supply start button;

[0017] Step S212: Confirm whether the cutting platform lifting solenoid valve is open. If yes, return to repeat the judgment; otherwise, proceed to the next step.

[0018] Step S213: Confirm whether the cutting platform lowering solenoid valve is open. If yes, return to repeat the judgment; otherwise, proceed to the next step.

[0019] Step S214: Confirm whether the fully closed signal is open. If yes, proceed to the next step; otherwise, close the motor forward rotation solenoid valve and turn off the supply indicator light.

[0020] Step S215: Confirm whether the transmission engagement signal is open. If so, open the forward rotation solenoid valve of the motor, light up the supply indicator light, and proceed to the next step. Otherwise, close the forward rotation solenoid valve of the motor and turn off the supply indicator light.

[0021] Preferably, step S22 includes the following steps:

[0022] Step S221: Confirm whether a full molding signal has been received. If not, return to repeat the judgment. If yes, stop the supply motor solenoid valve, control the motor to open, and after a 2-second delay, open the supply motor forward rotation solenoid valve for 0.7 seconds, and then proceed to the next step.

[0023] Step S222: Confirm whether the cam switch signal is turned on within 20 seconds. If so, stop the control motor and proceed to step S23. Otherwise, proceed to step S223.

[0024] Step S223: Control the motor to stop, the buzzer at 0.5 Hz alarms, report "Check cam switch" fault, and report "After handling the fault, press manual exit, then press reset" prompt;

[0025] In step S224, after the operator has dealt with the fault, press the reset button, then cancel the 0.5 Hz buzzer alarm, cancel the display "Check Cam Switch", and finally return to step S222.

[0026] Preferably, step S23 includes the following steps:

[0027] Step S231: Confirm whether the netting switch signal is detected within 6 seconds. If so, turn on the netting warning light and then time for 10 seconds. After 10 seconds, proceed to step S32. Otherwise, proceed to step S324.

[0028] Step S232: Confirm whether the winding switch signal is disconnected. If so, after a delay of 0.5 seconds, the winding completion indicator light will illuminate, and then proceed to step S233. Otherwise, repeat the judgment process.

[0029] Step S233: Confirm whether the fixed blade switch signal is disconnected. If yes, proceed to step S234; otherwise, proceed to step S30.

[0030] Step S234: The netting warning light is turned off, the buzzer at 0.5 Hz alarms, and the fault message "Please check netting status" is announced. The message "Please press manual netting removal after troubleshooting" is also announced. Then the netting abnormality indicator light is turned on.

[0031] Step S235: After the operator has dealt with the net fault, press the reset button to cancel the 0.5 Hz buzzer alarm, cancel the display "Please check net status", turn off the net entanglement abnormality light, and then press the manual net removal button to return to step S22.

[0032] Preferably, step S10 includes the following steps:

[0033] Step S11: The system powers on and displays the company logo;

[0034] Step S12: Confirm whether the fully closed signal is open. If yes, proceed to the next step. Otherwise, if the "Please check if the molding chamber is closed" fault occurs, report the "Please check the fully closed switch" fault, and sound a 0.5 Hz alarm. Then, the molding chamber is manually closed by the operator before proceeding to the next step.

[0035] Step S13: Cancel the 0.5 Hz buzzer alarm, cancel the "Please check if the molding chamber is closed" fault display, and cancel the "Please check the fully closed switch" fault display;

[0036] Step S14: Confirm whether the cam switch signal is open. If yes, proceed to step S16. Otherwise, report a "waiting for cam switch reset" fault, control the motor to open, and then proceed to the next step.

[0037] Step S15: Confirm again whether the cam switch signal is open within 20 seconds. If yes, control the motor to turn off and proceed to step 16. Otherwise, control the motor to turn off, report the "Please check the cam switch" fault, and sound a 0.5 Hz alarm. Press the reset button to cancel the 0.5 Hz alarm, and then press the reset button again to proceed to step 14.

[0038] Step S16: Cancel the "Wait for cam switch to reset" display, cancel the "Please check cam switch" display, then display "Power-on test completed", delay for 1 second, and then cancel the "Power-on test completed" display.

[0039] Preferably, step S30 includes the following steps:

[0040] Step S31: Confirm the system selection mode. If it is in automatic mode, proceed to step S32; if it is in manual mode, proceed to step S33.

[0041] Step S32, Automatic mode;

[0042] Step S33, manual mode;

[0043] Step S34, then after a 0.5-second delay, the oil pump turns on, and after a 10-second delay, the oil pump turns off, and then the main bundling program enters the next cycle.

[0044] Preferably, step S32 includes the following steps:

[0045] Step S321: Confirm whether the cutting platform lifting solenoid valve is open. If yes, return to repeat the judgment; otherwise, proceed to the next step.

[0046] Step S322: Confirm whether the cutting platform lowering solenoid valve is open. If yes, return to repeat the judgment. Otherwise, execute the opening solenoid valve and pilot valve opening, and then proceed to the next step.

[0047] Step S323: Confirm whether the fully open signal is activated within 10 seconds. If so, after a delay of 0.2 seconds, close the opening solenoid valve and the pilot valve, and then proceed to step S34. Otherwise, close the opening solenoid valve and the pilot valve, and then sound a 0.5 Hz alarm to report a fault message "Please check the fully open switch", and then proceed to the next step.

[0048] In step S324, after the operator has dealt with the fault, they press the reset button to cancel the 0.5 Hz buzzer alarm and announce "Please switch to manual mode for manual switching," then proceed to step S31.

[0049] Preferably, step S33 includes the following steps:

[0050] Step S331: Press the opening button, the opening solenoid valve opens, and the pilot valve opens;

[0051] Step S332: After the operator observes the full-open indicator light appear, release the opening button. The opening solenoid valve closes, the pilot valve closes, and then the winding completion indicator light goes out. The total number of bundles in the system increases by one, and the current number of bundles in the system increases by one.

[0052] Step S333: Press the close button, the close solenoid valve opens, and the pilot valve opens;

[0053] In step S334, after the operator observes the fully closed indicator light appear, they release the chamber opening button, the chamber closing solenoid valve closes, the pilot valve closes, and then proceed to step S34.

[0054] The beneficial effects of adopting the above technical solutions are:

[0055] I. This invention enables the machine to operate fully automatically throughout the entire process, and in the event of a malfunction, it will promptly issue an alarm and automatically suspend operation, effectively preventing production accidents.

[0056] Second, through the development and application of global functions, the self-propelled forage harvesting and baling machine can pause and resume operation at any point, achieving a higher level of automation and intelligence. This not only improves the flexibility and reliability of the whole vehicle, but also further reduces the failure rate and production costs. Attached Figure Description

[0057] Figure 1 This is the overall flowchart of the present invention;

[0058] Figure 2 This is the main flowchart for the bundling process;

[0059] Figure 3 This is a flowchart showing the start of the supply process;

[0060] Figure 4 This is a flowchart of the outgoing network process;

[0061] Figure 5 This is a flowchart of the web-wrapping process;

[0062] Figure 6 This is a flowchart of the power-on detection process;

[0063] Figure 7 This is a flowchart for selecting the system mode;

[0064] Figure 8 This is a flowchart of the automatic state mode;

[0065] Figure 9 This is a flowchart of the manual mode. Detailed Implementation

[0066] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and to facilitate its implementation.

[0067] Example 1:

[0068] Specifically, such as Figures 1 to 6 As shown, a control method for a self-propelled forage harvesting and baling machine includes the following steps:

[0069] Step S10: Power-on test;

[0070] Step S20: Execute the bundling main program;

[0071] Step S30: Select system mode;

[0072] Step S20 includes the following steps:

[0073] Step S21, supply begins;

[0074] Step S22, outgoing network operation;

[0075] Step S23: Web wrapping work.

[0076] Preferably, step S21 includes the following steps:

[0077] Step S211: Press the supply start button;

[0078] Step S212: Confirm whether the cutting platform lifting solenoid valve is open. If yes, return to repeat the judgment; otherwise, proceed to the next step.

[0079] Step S213: Confirm whether the cutting platform lowering solenoid valve is open. If yes, return to repeat the judgment; otherwise, proceed to the next step.

[0080] Step S214: Confirm whether the fully closed signal is open. If yes, proceed to the next step; otherwise, close the motor forward rotation solenoid valve and turn off the supply indicator light.

[0081] Step S215: Confirm whether the transmission engagement signal is open. If so, open the forward rotation solenoid valve of the motor, light up the supply indicator light, and proceed to the next step. Otherwise, close the forward rotation solenoid valve of the motor and turn off the supply indicator light.

[0082] Preferably, step S22 includes the following steps:

[0083] Step S221: Confirm whether a full molding signal has been received. If not, return to repeat the judgment. If yes, stop the supply motor solenoid valve, control the motor to open, and after a 2-second delay, open the supply motor forward rotation solenoid valve for 0.7 seconds, and then proceed to the next step.

[0084] Step S222: Confirm whether the cam switch signal is turned on within 20 seconds. If so, stop the control motor and proceed to step S23. Otherwise, proceed to step S223.

[0085] Step S223: Control the motor to stop, the buzzer at 0.5 Hz alarms, report "Check cam switch" fault, and report "After handling the fault, press manual exit, then press reset" prompt;

[0086] In step S224, after the operator has dealt with the fault, press the reset button, then cancel the 0.5 Hz buzzer alarm, cancel the display "Check Cam Switch", and finally return to step S222.

[0087] It should be noted that the full-cycle switch is in constant vibration and may be triggered multiple times. Therefore, after each trigger, the signal needs to be locked, and then the lock should be released at the start of the next cycle (the next supply).

[0088] Preferably, step S23 includes the following steps:

[0089] Step S231: Confirm whether the netting switch signal is detected within 6 seconds. If so, turn on the netting warning light and then time for 10 seconds. After 10 seconds, proceed to step S32. Otherwise, proceed to step S324.

[0090] Step S232: Confirm whether the winding switch signal is disconnected. If so, after a delay of 0.5 seconds, the winding completion indicator light will illuminate, and then proceed to step S233. Otherwise, repeat the judgment process.

[0091] Step S233: Confirm whether the fixed blade switch signal is disconnected. If yes, proceed to step S234; otherwise, proceed to step S30.

[0092] Step S234: The netting warning light is turned off, the buzzer at 0.5 Hz alarms, and the fault message "Please check netting status" is announced. The message "Please press manual netting removal after troubleshooting" is also announced. Then the netting abnormality indicator light is turned on.

[0093] Step S235: After the operator has dealt with the net fault, press the reset button to cancel the 0.5 Hz buzzer alarm, cancel the display "Please check net status", turn off the net entanglement abnormality light, and then press the manual net removal button to return to step S22.

[0094] Preferably, step S10 includes the following steps:

[0095] Step S11: The system powers on and displays the company logo;

[0096] Step S12: Confirm whether the fully closed signal is open. If yes, proceed to the next step. Otherwise, if the "Please check if the molding chamber is closed" fault occurs, report the "Please check the fully closed switch" fault, and sound a 0.5 Hz alarm. Then, the molding chamber is manually closed by the operator before proceeding to the next step.

[0097] Step S13: Cancel the 0.5 Hz buzzer alarm, cancel the "Please check if the molding chamber is closed" fault display, and cancel the "Please check the fully closed switch" fault display;

[0098] Step S14: Confirm whether the cam switch signal is open. If yes, proceed to step S16. Otherwise, report a "waiting for cam switch reset" fault, control the motor to open, and then proceed to the next step.

[0099] Step S15: Confirm again whether the cam switch signal is open within 20 seconds. If yes, control the motor to turn off and proceed to step 16. Otherwise, control the motor to turn off, report the "Please check the cam switch" fault, and sound a 0.5 Hz alarm. Press the reset button to cancel the 0.5 Hz alarm, and then press the reset button again to proceed to step 14.

[0100] Step S16: Cancel the "Wait for cam switch to reset" display, cancel the "Please check cam switch" display, then display "Power-on test completed", delay for 1 second, and then cancel the "Power-on test completed" display.

[0101] It should be noted that if the fully closed signal is not detected when the machine is turned on, it may be that the chamber is not closed in place or the fully closed switch is faulty. If it is not closed in place, the user needs to use the manual button to close the chamber. In this case, there is no risk of personal injury to replace the fully closed switch and there is no need to reset it.

[0102] In addition, the winding motor rotates once to reset the cam switch. If no cam switch signal is detected for more than 20 seconds, the alarm detection cycle will begin. At this time, the first reset command is only used to turn off the buzzer alarm. After troubleshooting, the operator is required to press the reset button again to wake up the fault troubleshooting result detection.

[0103] Finally, the power-on test must be performed item by item. If an item gets stuck, it must be eliminated before moving on to the next item. Full-process testing is not allowed.

[0104] This electronic control system enables the detection of the vehicle's operational status, fully automated operation of the vehicle, and functions such as fault alarms and display of fault handling reminders, achieving intelligent, automated, and safe operation of the vehicle.

[0105] Example 2:

[0106] Specifically, such as Figures 7 to 9 As shown, step S30 includes the following steps:

[0107] Step S31: Confirm the system selection mode. If it is in automatic mode, proceed to step S32; if it is in manual mode, proceed to step S33.

[0108] Step S32, Automatic mode;

[0109] Step S33, manual mode;

[0110] Step S34, then after a 0.5-second delay, the oil pump turns on, and after a 10-second delay, the oil pump turns off, and then the main bundling program enters the next cycle.

[0111] Step S32 includes the following steps:

[0112] Step S321: Confirm whether the cutting platform lifting solenoid valve is open. If yes, return to repeat the judgment; otherwise, proceed to the next step.

[0113] Step S322: Confirm whether the cutting platform lowering solenoid valve is open. If yes, return to repeat the judgment. Otherwise, execute the opening solenoid valve and pilot valve opening, and then proceed to the next step.

[0114] Step S323: Confirm whether the fully open signal is activated within 10 seconds. If so, after a delay of 0.2 seconds, close the opening solenoid valve and the pilot valve, and then proceed to step S34. Otherwise, close the opening solenoid valve and the pilot valve, and then sound a 0.5 Hz alarm to report a fault message "Please check the fully open switch", and then proceed to the next step.

[0115] In step S324, after the operator has dealt with the fault, they press the reset button to cancel the 0.5 Hz buzzer alarm and announce "Please switch to manual mode for manual switching," then proceed to step S31.

[0116] Step S33 includes the following steps:

[0117] Step S331: Press the opening button, the opening solenoid valve opens, and the pilot valve opens;

[0118] Step S332: After the operator observes the full-open indicator light appear, release the opening button. The opening solenoid valve closes, the pilot valve closes, and then the winding completion indicator light goes out. The total number of bundles in the system increases by one, and the current number of bundles in the system increases by one.

[0119] Step S333: Press the close button, the close solenoid valve opens, and the pilot valve opens;

[0120] In step S334, after the operator observes the fully closed indicator light appear, they release the chamber opening button, the chamber closing solenoid valve closes, the pilot valve closes, and then proceed to step S34.

[0121] It should be noted that the global function used in this document can be effectively triggered at any time during the entire vehicle operation process. When the system is powered on, the power-on detection function is executed first. After the power-on detection is completed, the global function can be manually triggered at any time.

[0122] Transmission engagement function: Press the transmission engagement switch, confirm whether the cutting table lifting solenoid valve is open. If it is not open, confirm whether the cutting table lowering solenoid valve is open. If it is not open (ensuring cutting table priority), execute the action of opening the transmission engagement solenoid valve, opening the pilot valve, and closing the transmission separation solenoid valve. The display shows "Please wait 5 seconds before pressing 'Start Supply'" (ensuring the forming chamber is fully engaged). Then the transmission engagement indicator light illuminates. After a 5-second delay, the transmission engagement solenoid valve closes, the pilot valve closes, and then the display "Please wait 5 seconds before pressing 'Start Supply'" is canceled.

[0123] Drive separation function: Press the drive separation switch, check if the header lifting solenoid valve is open. If not, check if the header lowering solenoid valve is open. If not (ensuring header priority), the supply motor forward rotation solenoid valve closes, the supply motor forward rotation indicator light goes out, then the drive separation solenoid valve opens, the pilot valve opens, the drive engagement solenoid valve closes, then the drive separation indicator light illuminates, and after a 5-second delay, the drive separation solenoid valve closes, and the pilot valve closes.

[0124] Oil injection action: Press the oil injection button to turn on the oil injection pump, and turn off the oil injection pump after 10 seconds (the molding chamber rotates once every 10 seconds).

[0125] Cutting platform lifting function: Pressing the cutting platform lifting button opens the cutting platform lifting solenoid valve and the pilot valve; releasing the cutting platform lifting button closes the cutting platform lifting solenoid valve and the pilot valve.

[0126] Cutting platform lowering function: Pressing the cutting platform lowering button opens the cutting platform lowering solenoid valve and the pilot valve; releasing the cutting platform lowering button closes the cutting platform lowering solenoid valve and the pilot valve.

[0127] Opening function: Press the opening button, the opening valve opens, the pilot valve opens; release the opening button, the opening valve closes, and the pilot valve closes.

[0128] Closing function: Pressing the closing button opens the closing valve and the pilot valve; releasing the closing button closes the closing valve and the pilot valve.

[0129] In addition, the priority transmission separation of the cutting platform, the oil injection switch, the lifting and lowering of the cutting platform, the opening and closing of the bin can all be performed at any time during the bundling and wrapping process, without interfering with the bundling and wrapping procedure.

[0130] Through the development and application of global functions, the self-propelled forage harvesting and baling machine can pause and resume operation at any point, achieving a higher level of automation and intelligence. This not only improves the flexibility and reliability of the whole vehicle, but also further reduces the failure rate and production costs.

[0131] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A control method for a self-propelled forage harvesting and baling integrated machine, characterized in that, Includes the following steps: Step S10: Power-on test; Step S20: Execute the bundling main program; Step S30: Select system mode; Step S20 includes the following steps: Step S21, supply begins; Step S22, outgoing network operation; Step S23, web wrapping work; Step S21 includes the following steps: Step S211: Press the supply start button; Step S212: Confirm whether the cutting platform lifting solenoid valve is open. If yes, return to repeat the judgment; otherwise, proceed to the next step. Step S213: Confirm whether the cutting platform lowering solenoid valve is open. If yes, return to repeat the judgment; otherwise, proceed to the next step. Step S214: Confirm whether the fully closed signal is open. If yes, proceed to the next step; otherwise, close the motor forward rotation solenoid valve and turn off the supply indicator light. Step S215: Confirm whether the transmission engagement signal is open. If so, open the forward rotation solenoid valve of the motor, turn on the supply indicator light, and proceed to the next step. Otherwise, close the forward rotation solenoid valve of the motor and turn off the supply indicator light. Step S10 includes the following steps: Step S11: The system powers on and displays the company logo; Step S12: Confirm whether the fully closed signal is open. If yes, proceed to the next step. Otherwise, if the "Please check if the molding chamber is closed" fault occurs, report the "Please check the fully closed switch" fault, and sound a 0.5 Hz alarm. Then, the molding chamber is manually closed by the operator before proceeding to the next step. Step S13: Cancel the 0.5 Hz buzzer alarm, cancel the "Please check if the molding chamber is closed" fault display, and cancel the "Please check the fully closed switch" fault display; Step S14: Confirm whether the cam switch signal is open. If yes, proceed to step S16. Otherwise, report a "waiting for cam switch reset" fault, control the motor to open, and then proceed to the next step. Step S15: Confirm again whether the cam switch signal is open within 20 seconds. If yes, control the motor to turn off and proceed to step 16. Otherwise, control the motor to turn off, report the "Please check the cam switch" fault, and sound a 0.5 Hz alarm. Press the reset button to cancel the 0.5 Hz alarm, and then press the reset button again to proceed to step 14. Step S16: Cancel the "Wait for cam switch to reset" display, cancel the "Please check cam switch" display, then display "Power-on test completed", delay for 1 second, then cancel the "Power-on test completed" display. Step S30 includes the following steps: Step S31: Confirm the system selection mode. If it is in automatic mode, proceed to step S32; if it is in manual mode, proceed to step S33. Step S32, Automatic mode; Step S33, manual mode; Step S34, then after a 0.5-second delay, the oil pump turns on, and after a 10-second delay, the oil pump turns off, and then the main bundling program enters the next cycle.

2. The control method for a self-propelled forage harvesting and baling integrated machine according to claim 1, characterized in that, Step S22 includes the following steps: Step S221: Confirm whether a full molding signal has been received. If not, return to repeat the judgment. If yes, stop the supply motor solenoid valve, control the motor to open, and after a 2-second delay, open the supply motor forward rotation solenoid valve for 0.7 seconds, and then proceed to the next step. Step S222: Confirm whether the cam switch signal is turned on within 20 seconds. If so, stop the control motor and proceed to step S23. Otherwise, proceed to step S223. Step S223: Control the motor to stop, the buzzer at 0.5 Hz alarms, report "Check cam switch" fault, and report "After handling the fault, press manual exit, then press reset" prompt; In step S224, after the operator has dealt with the fault, press the reset button, then cancel the 0.5 Hz buzzer alarm, cancel the display "Check cam switch", and finally return to step S222.

3. The control method for a self-propelled forage harvesting and baling integrated machine according to claim 1, characterized in that, Step S23 includes the following steps: Step S231: Confirm whether the netting switch signal is detected within 6 seconds. If so, turn on the netting warning light and then time for 10 seconds. After 10 seconds, proceed to step S32. Otherwise, proceed to step S324. Step S232: Confirm whether the winding switch signal is disconnected. If so, after a delay of 0.5 seconds, the winding completion indicator light will illuminate, and then proceed to step S233. Otherwise, repeat the judgment process. Step S233: Confirm whether the fixed blade switch signal is disconnected. If yes, proceed to step S234; otherwise, proceed to step S30. Step S234: The netting warning light is turned off, the buzzer at 0.5 Hz alarms, and the fault message "Please check netting status" is displayed. The message "Please press manual netting removal after troubleshooting" is displayed, and then the netting abnormality indicator light is turned on. Step S235: After the operator has dealt with the net fault, press the reset button to cancel the 0.5 Hz buzzer alarm, cancel the display "Please check net status", turn off the net entanglement abnormality light, and then press the manual net removal button to return to step S22.

4. The control method for a self-propelled forage harvesting and baling integrated machine according to claim 1, characterized in that, Step S32 includes the following steps: Step S321: Confirm whether the cutting platform lifting solenoid valve is open. If yes, return to repeat the judgment; otherwise, proceed to the next step. Step S322: Confirm whether the cutting platform lowering solenoid valve is open. If yes, return to repeat the judgment. Otherwise, execute the opening solenoid valve and pilot valve opening, and then proceed to the next step. Step S323: Confirm whether the fully open signal is activated within 10 seconds. If so, after a delay of 0.2 seconds, the opening solenoid valve and the pilot valve will close, and then proceed to step S34. Otherwise, the opening solenoid valve and the pilot valve will close, and then the buzzer will sound an alarm at 0.5 Hz, reporting a fault message "Please check the fully open switch", and then proceed to the next step. In step S324, after the operator has dealt with the fault, they press the reset button to cancel the 0.5 Hz buzzer alarm and announce "Please switch to manual mode for manual switching," then proceed to step S31.

5. The control method for a self-propelled forage harvesting and baling integrated machine according to claim 1, characterized in that, Step S33 includes the following steps: Step S331: Press the opening button, the opening solenoid valve opens, and the pilot valve opens; Step S332: After the operator observes the full-open indicator light appear, release the opening button. The opening solenoid valve closes, the pilot valve closes, and then the winding completion indicator light goes out. The total number of bundles in the system increases by one, and the current number of bundles in the system increases by one. Step S333: Press the close button, the close solenoid valve opens, and the pilot valve opens; In step S334, after the operator observes the fully closed indicator light appear, they release the chamber opening button, the chamber closing solenoid valve closes, the pilot valve closes, and then proceed to step S34.

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