Harvesting machine and method, device and system for anti-blocking control of its threshing cylinder

Abstract

The application relates to the technical field of agricultural machinery, and discloses a harvesting machine, a blocking prevention control method, device and system of a threshing cylinder of the harvesting machine. The blocking prevention control method of the threshing cylinder comprises the following steps: acquiring the rotating speed of the cylinder in real time; in a threshing period starting when the rotating speed of the cylinder drops to a first preset threshold, the walking speed of the harvesting machine is continuously reduced along with the reduction of the rotating speed of the cylinder, and remains unchanged along with the increase of the rotating speed of the cylinder; and after the threshing period, if the rotating speed of the cylinder has increased to the first preset threshold and remains unchanged for a set time, the walking speed of the harvesting machine is increased. The application predicts whether material blocking occurs in the cylinder based on the correlation between the rotating speed of the cylinder and the walking speed of the harvesting machine, and automatically adjusts the walking speed to "only reduce but not increase" in the threshing period after the blocking is judged to relieve the blocking, so that the threshing operation efficiency can be ensured, and the labor intensity of operation is reduced.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, specifically to a harvesting machine and its threshing drum anti-clogging control method, device and system. Background Technology

[0002] When harvesting machinery is operating in the field, the variety and changing conditions of crops, the undulating terrain, the differences in moisture content, and crop lodging all contribute to significant variations in the amount of crops fed into the machine, frequently leading to blockages. Severe blockages can cause downtime for repairs, reducing operating speed and efficiency, directly impacting timely harvesting tasks and the owner's income. Furthermore, they can cause significant damage to the machinery's transmission system.

[0003] Currently, preventing blockages mainly relies on operator skill, requiring extensive experience and high concentration. Operators must pay attention to the sounds emitted by the harvesting machinery's discharge drum and system alarms, and make quick manual adjustments accordingly. This method is highly dependent on the operator's driving skills and experience, and involves high labor intensity, with limited effectiveness in reducing or preventing blockages. Summary of the Invention

[0004] The purpose of this application is to provide a method, device, and system for preventing blockages in harvesting machinery and its threshing drum, so as to at least partially solve the above-mentioned technical problems.

[0005] To achieve the above objectives, a first aspect of this application provides an anti-clogging control method for a threshing drum of a harvesting machine. The anti-clogging control method includes: real-time acquisition of the drum rotation speed of the threshing drum; during a threshing cycle beginning when the acquired drum rotation speed drops to a first preset threshold, controlling the travel speed of the harvesting machine to continuously decrease as the drum rotation speed decreases, and to remain constant as the drum rotation speed increases; and after the threshing cycle is reached, if the drum rotation speed has increased to the first preset threshold and remained there for a set time, controlling the travel speed to increase.

[0006] In this embodiment of the application, the harvesting machinery is equipped with a travel valve for controlling the internal oil circuit of the travel system, and in the anti-blocking control method, the travel speed of the harvesting machinery is controlled by controlling the travel valve.

[0007] In this embodiment of the application, when the travel valve is an electro-hydraulic proportional valve, controlling the travel speed of the harvesting machinery to continuously decrease as the drum speed decreases includes: adjusting the control current of the travel valve to adapt to the change in drum speed based on a preset drum speed-control current curve associated with the working conditions, so as to change the travel speed.

[0008] In this embodiment, the drum speed-control current curve is described by the following formula:

[0009] I=(1-((1-M)×(100+Prog) / 100-(1-M) 3 ×Prog / 100))×(I max -I min )+I min

[0010] In the formula, I represents the required control current of the travel valve;

[0011] M represents an intermediate parameter related to the drum speed, and M = (D i -D min ) / (D n -D min ), D i D represents the current drum speed. n D represents the first preset threshold. min This indicates a second preset threshold that is below the first preset threshold and is used to indicate the start of parking control.

[0012] I max and I min These are the maximum and minimum control current values ​​of the travel valve, respectively.

[0013] Prog is the curve acceleration value; different Prog values ​​are matched with different operating conditions.

[0014] In this embodiment, when the travel valve is an electro-hydraulic proportional valve, the control current of the travel valve is controlled based on the following formula to increase the travel speed:

[0015]

[0016] In the formula, I represents the required control current of the travel valve, I max I1 is the maximum control current value of the travel valve, V1 and V2 represent the travel speeds when the vehicle speed starts to decrease and increase, respectively, and a represents the preset acceleration for increasing the vehicle speed.

[0017] In this embodiment of the application, the anti-blocking control method further includes: acquiring the engine speed of the harvesting machinery in real time; and during the threshing cycle, if the drum speed drops below the first preset threshold and a second preset threshold used to indicate the start of stop control, or if the engine speed is lower than a set value, controlling the harvesting machinery to stop and issuing an alarm.

[0018] In this embodiment of the application, the anti-blocking control method further includes: after the threshing cycle is reached, if the drum rotation speed has not increased to the first preset threshold within a set no-load cycle, then controlling the traveling speed to decrease to a preset minimum speed by a preset deceleration; and after the harvesting machinery travels at the preset minimum speed for another no-load cycle, if the drum rotation speed has not recovered to the first preset threshold, then controlling the harvesting machinery to stop and issuing an alarm prompt, otherwise controlling the traveling speed to increase.

[0019] A second aspect of this application provides a method for preventing blockage in harvesting machinery, comprising: acquiring in real time the rotational speeds of multiple components of the harvesting machinery, wherein the multiple components include at least a threshing drum; performing the aforementioned method for preventing blockage in the threshing drum; and controlling the harvesting machinery to stop and issuing an alarm when the rotational speed of the corresponding component (excluding the threshing drum) is lower than its respective preset rotational speed threshold.

[0020] In the embodiments of this application, the plurality of components further include any one or more of a bridge component, a re-detachment component, a lifting component, and a shredder.

[0021] A third aspect of this application provides a controller, comprising: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement any of the aforementioned anti-blocking control methods.

[0022] A fourth aspect of this application provides an anti-blocking control system for harvesting machinery, comprising: a sensing component for acquiring the rotational speeds of multiple components of the harvesting machinery; any of the aforementioned controllers for acquiring corresponding rotational speeds from the sensing component to perform anti-blocking control; a display component for displaying parameters and providing alarm prompts in response to the anti-blocking control performed by the controller; and an execution component for controlling the vehicle speed in response to the anti-blocking control performed by the controller.

[0023] In this embodiment of the application, the execution component includes a travel valve for controlling the internal oil circuit of the travel system.

[0024] The fifth aspect of this application provides a harvesting machine including any of the aforementioned anti-blocking control systems.

[0025] The sixth aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform any of the aforementioned anti-blocking control methods.

[0026] Through the above technical solution, the embodiments of this application predict whether material blockage will occur in the drum based on the correlation between the drum rotation speed and the walking speed of the harvesting machinery regarding "material blockage", and automatically adjust the walking speed to "only decrease and not increase" during the threshing cycle after the blockage is determined to occur in order to alleviate the blockage, which greatly reduces the dependence on the operator's experience and skills and reduces the labor intensity of operation.

[0027] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0029] Figure 1 The schematic diagram illustrates a flow chart of an anti-clogging control method for a threshing drum according to an embodiment of this application;

[0030] Figure 2 This schematic diagram illustrates the internal hydraulic circuitry of the walking system of a harvesting machine according to an embodiment of this application.

[0031] Figure 3 The diagram illustrates the drum speed-control current curves according to embodiments of this application, matching different operating conditions.

[0032] Figure 4 This illustration schematically shows a process diagram of performing anti-clogging control of the threshing drum in an example according to an embodiment of this application;

[0033] Figure 5 The schematic diagram illustrates a flow chart of an anti-blocking control method for harvesting machinery according to an embodiment of this application;

[0034] Figure 6 A schematic block diagram of a controller according to an embodiment of this application is shown; and

[0035] Figure 7 The diagram schematically illustrates a structural block diagram of an anti-blocking control system for a harvesting machine according to an embodiment of this application.

[0036] Explanation of reference numerals in the attached figures

[0037] 1. Walking system 11. Internal oil circuit

[0038] 12 Electro-hydraulic proportional valve 13 Manual regulating valve

[0039] 100 Sensor Components 200 Vehicle Controller

[0040] 300 Display component 400 Travel valve

[0041] 500 Engine Controller Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0043] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0044] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0045] Before detailing the embodiments of this application, a brief overview of the inventive concept is provided. Threshing drum blockage is one of the most common types of blockage in harvesting machinery. In implementing the embodiments of this application, the inventors discovered that when the threshing drum (taking an axial-flow drum as an example) experiences a decrease in rotational speed (i.e., overload) due to blockage, this can be partially overcome and adjusted by the flywheel inertia of the threshing drum and the engine's reserve torque. Releasing the reserve torque presents the possibility of overcoming the overload and restoring the rotational speed. Based on this, the inventors further conceived of releasing the engine's reserve torque by reducing the overall travel speed of the harvesting machinery, thereby alleviating the blockage, and proposed the following embodiments.

[0046] Figure 1 The illustration schematically shows a flow chart of an anti-clogging control method for a threshing drum according to an embodiment of this application. This anti-clogging control method is for the threshing drum of harvesting machinery. Figure 1 As shown, the anti-blocking control method, for example by the Vehicle Control Unit (VCU), may include the following steps.

[0047] Step S101: Obtain the rotational speed of the threshing drum in real time.

[0048] For example, the rotational speed of the threshing drum is collected in real time by a speed sensor installed at the threshing drum at a set sampling period and transmitted to the vehicle controller.

[0049] In step S102, during the threshing cycle that begins when the obtained drum rotation speed drops to a first preset threshold, the walking speed of the harvesting machinery is controlled to continuously decrease as the drum rotation speed decreases, and remains constant as the drum rotation speed increases.

[0050] The first preset threshold is a drum speed threshold value used to indicate when to start speed reduction control, preferably 0.8 to 0.9 times the rated drum speed. Furthermore, the threshing cycle is the time it takes for material to enter the threshing drum from the header of the harvesting machinery via the bridge component and then exit from the threshing drum, for example, denoted by T1, which represents the time it takes for the material to complete one threshing cycle.

[0051] In the example, the first preset threshold is represented as A1*V 滚筒 V 滚筒 The known rated rotational speed of the threshing drum is represented by A1, which is preferably 0.8 to 0.9. Taking A1 as 0.85 as an example, when the rotational speed of the threshing drum is less than 0.85 times its rated speed, it indicates that the threshing drum is likely blocked. At this time, timing for the threshing cycle T1 begins, and a control scheme to reduce the travel speed is implemented to alleviate drum blockage by releasing the engine's reserve torque. Here, reducing the travel speed means reducing the operating speed of the harvesting machinery, thereby reducing the crop feed rate, which can prevent the blockage from worsening, and even alleviate drum blockage by reducing the feed rate.

[0052] However, during the threshing cycle T1, as the traveling speed decreases, the drum blockage is alleviated, and the drum speed recovers somewhat. But at this point, the material has not yet completed one threshing cycle. If the traveling speed is increased at this time, it can easily cause instability in threshing. Therefore, in the embodiment of this application, during the threshing cycle T1 after a blockage is determined, the traveling speed "only decreases and does not increase," thereby alleviating the blockage and ensuring the stability of threshing.

[0053] Step S103: After the threshing cycle is reached, if the drum speed has increased to the first preset threshold and remained at that speed for a set time, the traveling speed is controlled to increase.

[0054] Following the example above, after the threshing cycle time T1 is reached, if the threshing drum speed increases to A1*V... 滚筒 If the speed is maintained for 0.3 seconds, it indicates that the material blockage problem has been resolved within this threshing cycle. In the next threshing cycle, the vehicle speed can be increased to restore the speed and ensure higher operating efficiency.

[0055] Thus, the anti-clogging control method for the threshing drum in this embodiment considers the correlation between the drum rotation speed and the traveling speed of the harvesting machinery regarding "material blockage." First, it predicts whether material blockage will occur in the drum based on the drum rotation speed. Then, using the threshing cycle as a unit, it ensures that the traveling speed of the harvesting machinery "only decreases and does not increase" within one threshing cycle after a blockage is detected. This alleviates the blockage by reducing the speed while ensuring that threshing stability is not affected. Finally, it determines whether the blockage has been resolved after one threshing cycle. If so, the traveling speed is restored to maintain the original high operating efficiency. Throughout the entire process, both the blockage prediction based on drum rotation speed and the adaptive control for decreasing / increasing traveling speed can be implemented by the controller, significantly reducing reliance on operator experience and skills, and lowering the labor intensity of operation.

[0056] Furthermore, regarding the travel speed control involved in steps S102 and S103, taking wheat harvesting machinery as an example, its travel control method is mostly to use a mechanical handle to control the travel plunger pump and plunger motor, that is, as... Figure 2 As shown, the walking system has an internal oil circuit, which assists in the mechanical handle to control the walking piston pump and piston motor.

[0057] based on Figure 2 The internal oil circuit of the walking system shown in this application provides a simpler solution for controlling the walking speed in a preferred embodiment. This solution involves setting a walking valve for controlling the internal oil circuit of the walking system for the harvesting machinery. The walking valve is connected to the internal oil circuit, and the walking speed of the harvesting machinery can be controlled by controlling the walking valve.

[0058] For example, combining Figure 2 Based on the internal oil circuit 11 of the original walking system 1, an external electro-hydraulic proportional valve 12 (i.e., walking valve) is added to adjust the pressure of the internal oil supply circuit of the walking plunger pump. Even if the mechanical handle position remains unchanged, the electro-hydraulic proportional valve 12 controls the pressure of the control oil entering its matching manual regulating valve 13 to decrease, thereby reducing the pump swashplate angle, reducing the pump output displacement, and reducing or stopping the walking speed.

[0059] The electro-hydraulic proportional valve is essentially a valve assembly, such as a manually adjustable valve with an adapter. In a preferred embodiment of this application, the electro-hydraulic proportional valve refers to a travel valve installed in the hydraulic circuit of the harvesting machinery's internal oil circuit, where the current is controlled by PWMI (where I represents current, i.e., pulse broadband modulation based on current) to regulate the output pressure and control the vehicle speed. Specifically, as follows... Figure 2 As shown, the throttle orifice inside the plunger pump is sealed, and the internal control oil circuit is led out from port G. The control oil pressure is reduced by the external electro-hydraulic proportional valve 12 before returning to the pump's internal oil circuit through port PS. The vehicle control unit (VCU) controls the current of the electro-hydraulic proportional valve 12, adjusting the pressure of the control oil entering the manual regulating valve 13. This controls the pump swashplate angle to decrease or increase, the pump output displacement to decrease or increase, and the travel speed to decrease or increase. Additionally, a bypass shut-off valve and throttle orifice can be added next to the electro-hydraulic proportional valve 12. In case of a fault, the bypass shut-off valve can be manually opened to reconnect the oil circuit.

[0060] In a more preferred embodiment of this application, controlling the travel speed of the harvesting machinery to continuously decrease as the drum rotation speed decreases includes: adjusting the control current of the travel valve to adapt to the change in drum rotation speed based on a preset drum rotation speed-control current curve associated with the working conditions, thereby changing the travel speed.

[0061] The drum speed-control current curve can be described by the following formula:

[0062] I=(1-((1-M)×(100+Prog) / 100-(1-M) 3 ×Prog / 100))×(I max -I min )+I min (1)

[0063] In the formula, I represents the required control current of the travel valve. M is an intermediate parameter related to the drum speed, and M = (D i -D min ) / (D n -D min ), D i D represents the current drum speed. n D represents the first preset threshold. min This represents a second preset threshold, which is a drum speed threshold value used to indicate when parking control should begin. max and I minThese are the maximum and minimum control current values ​​of the travel valve, i.e., the control current values ​​corresponding to the maximum and minimum pressures of the travel valve. Prog is the curve acceleration value; setting different Prog values ​​can achieve different deceleration effects to match different operating conditions, which include, but are not limited to, harvester type, crop type, road conditions, etc. For example... Figure 3 As shown, different values ​​of Prog (0, 20, 40, 60, 80, 100 in the figure) result in different downward trends of the curves, thus presenting different deceleration effects.

[0064] Furthermore, corresponding to deceleration control, in a more preferred embodiment of this application, for the electro-hydraulic proportional valve, the control current of the travel valve is controlled based on the following formula to increase the travel speed:

[0065]

[0066] In the formula, I represents the required control current of the travel valve. max I1 is the maximum control current value of the travel valve, which is the control flow value corresponding to the maximum pressure of the travel valve. I1 is the control current value of the travel valve when the vehicle speed increases. V1 and V2 represent the travel speeds when the vehicle speed decreases and increases, respectively. a represents the preset acceleration for increasing the vehicle speed.

[0067] Furthermore, regarding step S102 above, in a preferred embodiment of this application, the anti-blocking control method may further include: acquiring the engine speed of the harvesting machinery in real time; and, during the threshing cycle, if the drum speed drops to the second preset threshold or the engine speed is lower than a set value, controlling the harvesting machinery to stop and issuing an alarm. Wherein, as described above, the second preset threshold is a drum speed threshold value used to indicate when to initiate stop control.

[0068] For example, information such as engine speed and load rate obtained from relevant sensors on the engine is sent to the vehicle controller via the CAN bus, and the second preset threshold is denoted as, for example, A2*V. 滚筒 Therefore, in a threshing cycle, if the real-time drum speed is lower than A2*V... 滚筒 If the engine speed falls below a set value (e.g., the engine speed threshold for stopping, B1), the machine will stop immediately and an alarm will sound. In other words, if deceleration proves ineffective after a blockage is identified, a stop alarm should be triggered to notify the operator for manual intervention.

[0069] Furthermore, regarding step S103 above, in a preferred embodiment of this application, the anti-blocking control method further includes: after reaching the threshing cycle, if the drum rotation speed has not increased to the first preset threshold within a set idle cycle, then controlling the traveling speed to decrease to a preset minimum speed by a preset deceleration; and after the harvesting machinery has traveled at the preset minimum speed for another idle cycle, if the drum rotation speed has not recovered to the first preset threshold, then controlling the harvesting machinery to stop and issuing an alarm prompt, otherwise controlling the traveling speed to increase.

[0070] The no-load cycle refers to the time when the threshing drum rotates from a second preset threshold (A2*V) under no-load conditions. 滚筒 Increase to rated speed (V) 滚筒 The time for this can be denoted as T2. Continuing from the previous example of speed control within the threshing cycle T1, if the drum speed has not increased to 0.85 times the rated value (A1*V) after the timer reaches T1+T2, then... 滚筒 If the vehicle speed is controlled at 1 m / s, then the vehicle speed will be controlled at 1 m / s. 2 If the speed is reduced to 1 km / h (the preset minimum speed), and the rotational speed increases to 0.85 times the rated value, the speed will be increased to restore the vehicle speed. If the roller still does not return to 0.85 times the rated value after the speed is reduced to 1 km / h and time T2 has elapsed, an alarm will sound and the vehicle will stop. If the rotational speed recovers, the speed will be increased to restore the vehicle speed.

[0071] The following example provides an overall overview of the anti-clogging control method for the threshing drum involved in the above embodiments. Figure 4 This is a schematic flowchart illustrating the process of implementing anti-clogging control of the threshing drum in an example of an embodiment of this application. In this example, the labels of the relevant parameters, such as A1 and A2, are the same as above, and are used as follows: Figure 2 The travel valve shown and as Figure 3 Control is performed using the control curve shown. For example... Figure 4 As shown, this example may include the following steps:

[0072] Step S1: Collect the drum speed and engine speed at a period i.

[0073] Step S2: Determine if the drum speed is lower than A1*V 额定 If yes, continue with step S3; otherwise, proceed with normal operation.

[0074] The selection of A1 should avoid interfering with operations by reducing the machine speed during normal operation, and should not affect normal harvesting. The machine speed should only be reduced when the drum speed drops to a certain level. Because the speed will continue to decrease when overload or speed drop occurs, this value should be taken towards a lower value. Based on operational experience, it is initially set at 0.85, and can usually be varied between 0.8 and 0.9 (including the extreme value) thereafter.

[0075] Step S3: Timer T starts timing, records the current vehicle speed value V1, and controls the current value of the travel valve so that the vehicle speed decreases as the drum speed decreases.

[0076] For information on adjusting the control current of the travel valve, please refer to the section above. Figure 2 The description of that will not be repeated here.

[0077] Step S4: Determine if the drum speed is lower than A2*V 额定 If the engine speed is below B1 (parking drum speed threshold) or the engine speed is below B1 (parking engine speed threshold), stop the vehicle immediately and issue an alarm; otherwise, continue with step S5.

[0078] Among them, the newly acquired drum rotation speed D before time T1 is reached i+1 Less than D i Equation (1) calculates that a lower current value controls the vehicle speed to drop even further; otherwise, the previously calculated current value is maintained, meaning the drum speed increases, but the vehicle speed does not. Additionally, the engine speed threshold B1 for stopping is selected based on the engine speed corresponding to the maximum torque value in the engine's external characteristic data. If this value is 1600 r / min, then B1 is set to 1700 r / min, thus leaving a certain margin for speed reduction. The initial value of A2 is selected empirically, with a preferred value of 0.6.

[0079] Step S5: After timer T reaches time T1, determine whether the drum speed has increased to A1*V. 额定 And hold for 0.3 seconds. If the vehicle speed increases, it will return to its original value; otherwise, the vehicle speed will only decrease and not increase.

[0080] Step S6: After timer T reaches T1+T2, if the drum speed still has not increased to A1*V... 额定 Then control the vehicle speed at 1m / s 2 If the vehicle speed is reduced to 1 km / h by deceleration, and the engine speed increases to A1*V, then... 额定 Then, increase the vehicle speed to recover.

[0081] In step S7, after the vehicle speed drops to 1 km / h and time T2 is elapsed, the drum rotation speed still has not recovered to A1*V. 额定 If the engine speed is restored, the alarm will sound and the vehicle will stop. If the engine speed recovers, the vehicle speed will be increased to restore its normal operation.

[0082] For steps S1-S7 above, the speed reduction involved is carried out according to the above formula (1), and the speed increase and recovery involved is carried out according to the above formula (2). That is, compared with rapidly reducing the speed or rapidly increasing the speed, the "slow reduction and slow increase" of the speed through formula (1) and formula (2) avoids the instability of threshing caused by rapid changes in speed.

[0083] This example demonstrates that the embodiments of this application correlate vehicle speed adjustment with drum rotation speed in a time-segmented manner, achieving precise and automatic control over anti-clogging of the threshing drum. This significantly reduces reliance on operator experience and skills, lowers operational labor intensity, reduces damage to transmission mechanisms caused by blockages, and lowers usage and maintenance costs. Furthermore, by gradually decreasing and increasing the vehicle speed, it improves operational continuity, ensures threshing stability, and guarantees operational efficiency. Additionally, experiments show that this example is based on whether the drum rotation speed decreases to A1*V. 额定 It can predict whether a blockage will occur with an accuracy rate of over 90%, thus accurately predicting potential blockages without false alarms. Furthermore, the blockage prevention effectiveness of this example exceeds 90%, meaning that control actions are taken to prevent a blockage from occurring before it is about to happen, and if no corresponding measures are taken, a blockage will subsequently occur.

[0084] Figure 5 The schematic diagram illustrates a flow chart of an anti-blocking control method for harvesting machinery according to an embodiment of this application. This anti-blocking control method, which takes into account the anti-blocking strategy of the threshing drum in the above embodiment, further considers how to solve the blockage caused by other components, and proposes a control method that applies different anti-blocking strategies to different components.

[0085] like Figure 5 As shown, the anti-blocking control method for the harvesting machinery may include the following steps.

[0086] Step S501: Real-time acquisition of the rotational speed of multiple components of the harvesting machinery.

[0087] The components include a threshing drum, a bridging component, a re-threshing component, a conveying component, and a shredder. The bridging component is mainly a bridging chain rake, the re-threshing component is mainly a re-threshing device and a waste auger, and the conveying device is mainly an elevator and a grain auger.

[0088] Step S502: For the threshing drum, perform the above-described anti-clogging control method for any of the threshing drums.

[0089] The specific methods for preventing clogging of the threshing drum can be found above and will not be repeated here.

[0090] Step S503: For the components other than the threshing drum among the multiple components, when the rotational speed of the corresponding component is lower than its respective preset rotational speed threshold, control the harvesting machinery to stop and issue a blockage alarm.

[0091] If the speed of the bridge chain rake, re-thresher, elevator, and shredder decreases, it means that the corresponding component has malfunctioned and cannot recover on its own. Therefore, the anti-blockage control strategy at this time is to automatically stop the machine to avoid blockage or worsening of the blockage, and to alarm the operator to handle the situation.

[0092] In conjunction with steps S501-S503, in the example, for instance, referring to Table 1 below, blockage prediction conditions and anti-blockage control strategies are set for multiple components, and the vehicle controller executes the control scheme shown in Table 1 to achieve different anti-blockage controls for different components.

[0093] Table 1 Control strategies for each component

[0094]

[0095] According to the control scheme in Table 1, in this example, the real-time rotational speeds of various components such as the threshing drum, re-threshing unit, elevator, and shredder are collected by corresponding speed sensors. Based on the trend of these rotational speed changes, the vehicle control unit (VCU) anticipates the precursors of blockage and issues control commands to reduce / restore the vehicle speed or trigger a stop alarm, thereby adjusting the feed rate and automatically preventing blockage from occurring or worsening. Specifically, reducing or restoring the vehicle speed correspondingly reduces or restores the feed rate of the harvesting machinery.

[0096] Thus, in this embodiment, for threshing drums that can recover after speed loss, the vehicle speed is adaptively adjusted to alleviate blockage. For other components that cannot recover after speed loss, a stop alarm control strategy is implemented to promptly avoid adverse consequences caused by blockage. This achieves precise anti-blockage control by adopting different anti-blockage control strategies based on whether different components can recover after speed loss. This not only prevents blockage in various components but also avoids frequent stops caused by recoverable threshing drums, which would affect operational efficiency and improve the continuity and smoothness of harvesting machinery operations.

[0097] Figure 6 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 6 As shown, this application provides a controller that may include: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement any of the aforementioned anti-blocking control methods, including an anti-blocking control method for the threshing drum and an anti-blocking control method for the entire harvesting machinery.

[0098] In the embodiments of this application, the controller can be configured individually or can be a whole vehicle controller.

[0099] For more details on the implementation and effects of this controller, please refer to the other embodiments described above, which will not be repeated here.

[0100] Figure 7 A schematic block diagram illustrating an anti-blocking control system for harvesting machinery according to an embodiment of this application is shown. Figure 7 As shown, this application embodiment provides an anti-blocking control system for harvesting machinery, which may include: a sensing component 100 for collecting the rotational speeds of multiple components of the harvesting machinery; a controller as described in the above embodiment, taking a vehicle controller 200 as an example, for obtaining the corresponding rotational speed from the sensing component 100 to perform anti-blocking control; a display component 300 for displaying parameters and providing alarm prompts in response to the anti-blocking control performed by the controller; and an execution component, preferably including a travel valve 400 for controlling the internal oil circuit of the travel system, for controlling the vehicle speed in response to the anti-blocking control performed by the controller. Furthermore, depending on the control requirements, an engine controller (ECU) 500 may also be included.

[0101] The sensing component 100 includes multiple speed sensors, which are connected to the vehicle controller 200 via frequency-to-voltage signal output. Each speed sensor is mounted on a bearing of a corresponding component, for example, fixed above the bearing locking sleeve of that component by a bracket.

[0102] The vehicle controller 200 is installed in the cab and fixed to the underside of the driver's seat with bolts. The vehicle controller 200 obtains necessary information from the sensing components 100, enabling it to perform speed monitoring. This means the vehicle controller 200 includes a low-speed monitoring module, a speed correlation monitoring module, a speed drop trend monitoring module, and an engine overload monitoring module. Furthermore, the vehicle controller 200 executes the blockage prediction and control strategies shown in Table 1 above for various components of the harvesting machinery. This means the vehicle controller 200 has a built-in overload prediction model and control strategy module, or it can be understood that the vehicle controller 200 internally performs overload prediction and anti-blockage control through software algorithms.

[0103] The display component 300 is connected to the vehicle controller 200 via a CAN bus. It is, for example, a display, installed in the cab, for example, fixed to a bracket by bolts, and the bracket is set on the front crossbar in the cab.

[0104] The travel valve 400 is an electro-hydraulic proportional valve, and the vehicle controller 200 is connected to the travel valve 400 via a PWMI current signal. This electro-hydraulic proportional valve is installed before the travel hydraulic pump. The valve regulates whether the pressure of the control oil entering the manual regulating valve decreases. If the pressure decreases, the displacement decreases, and the travel speed is reduced or the vehicle stops.

[0105] The engine controller 500 is also connected to the vehicle controller 200 via a CAN bus, for example, using the J1939 bus.

[0106] In such Figure 7 After setting up the anti-blocking control system, field harvesting operations using the anti-blocking control system can include the following three main steps:

[0107] First, when the harvesting machinery is operating normally in the field, information such as rotational speed, engine speed, and load rate of each component is collected.

[0108] Secondly, during field harvesting operations, the system activates its anti-blocking function. The vehicle controller 200 essentially includes a low-speed monitoring module, a speed correlation monitoring module, a speed drop trend monitoring module, and an engine overload monitoring module to monitor corresponding parameters in real time. The overload prediction model algorithm determines whether the speed of each component (such as the threshing drum, re-threshing unit, elevator, shredder, and bridge components) is within the normal range and whether a malfunction is imminent. The algorithm also infers impending overloads, such as a rapid drop in the speed of the threshing drum, bridge shaft, or engine. The judgment or prediction results are transmitted to the control strategy module, which outputs corresponding control actions based on different overload or malfunction conditions, such as alarms, engine shutdown, or speed control (first reducing the vehicle speed and then gradually increasing it after the speed recovers). The operator can adjust the sensitivity of the overload prediction model to adapt to different harvesting conditions and the operator's operating habits.

[0109] Finally, the display component shows the rotational speed and alarm information of each component. This display component includes, but is not limited to, displaying the current real-time rotational speed of each component, engine speed, engine load rate, operating speed, and alarm prompts.

[0110] This application also provides a harvesting machine including the aforementioned anti-blocking control system. This anti-blocking control system expands the functionality of existing harvesting machines, enabling them to match appropriate travel speed control strategies based on different conditions such as component speed reduction and speed recovery, adjusting the real-time material feed rate, and automatically achieving anti-blocking control.

[0111] The harvesting machinery includes, but is not limited to, grain harvesting machinery, corn harvesting machinery, cotton and hemp crop harvesting machinery, vegetable harvesting machinery, flower (tea) harvesting machinery, grain crop harvesting machinery, root and tuber crop harvesting machinery, stalk collection and processing machinery, and various combine harvesters.

[0112] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the aforementioned anti-blocking control method.

[0113] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0115] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0117] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0118] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0119] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0120] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0121] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method of controlling a blocking prevention of a threshing cylinder, characterized by, The anti-blocking control method is for a threshing cylinder of a harvesting machine, and comprises: obtaining a cylinder rotating speed of the threshing cylinder in real time; controlling a walking speed of the harvesting machine to continuously decrease with a decrease of the cylinder rotating speed and to remain unchanged with an increase of the cylinder rotating speed in a threshing period starting when the obtained cylinder rotating speed decreases to a first preset threshold value, wherein the walking valve is an electro-hydraulic proportional valve for controlling an internal oil circuit of a walking system of the harvesting machine; and controlling the walking speed to increase after the threshing period is reached if the cylinder rotating speed has increased to the first preset threshold value and remained unchanged for a set time. The control of the walking speed of the harvesting machine to continuously decrease with the decrease of the cylinder rotating speed comprises adjusting a control current of the walking valve to adapt to the cylinder rotating speed change based on a preset cylinder rotating speed-control current curve associated with a working condition to change the walking speed. The cylinder rotating speed-control current curve is described by the following formula: I = (1 - ((1 - M) x (100 + Prog) / 100 - (1 - M) x Prog / 100)) x (I + I) 3 - I max - I min + I min In the formula, I represents the required control current of the walking valve; M represents an intermediate parameter associated with the drum rotational speed, and M = (D i -D min ) / (D n -D min ), D i represents the current drum rotational speed, D n represents the first preset threshold value, D min represents a second preset threshold value lower than the first preset threshold value and used to indicate the start of the parking control; I max and I min are the maximum and minimum control current values of the walking valve, respectively; Prog is a curve acceleration value, and different Prog values match different working conditions.

2. The anti-blocking control method according to claim 1, characterized by, The control current of the walking valve is controlled to increase the walking speed based on the following formula: wherein I represents a control current of the traveling valve required, I max is a maximum control current value of the traveling valve, I1 is a control current value of the traveling valve when the vehicle speed increase is started to be performed, V1 and V2 respectively represent a traveling vehicle speed when the vehicle speed decrease is started to be performed and when the vehicle speed increase is started to be performed, a represents a preset acceleration at which the vehicle speed increase is performed.

3. The anti-blocking control method according to claim 1, characterized by, The anti-blocking control method further comprises: obtaining an engine rotating speed of the harvesting machine in real time; and controlling the harvesting machine to stop and give an alarm prompt in the threshing period if the cylinder rotating speed decreases to a second preset threshold value or if the engine rotating speed is lower than a set value.

4. The anti-blocking control method according to any one of claims 1 to 3, characterized in that, The anti-blocking control method further comprises: controlling the walking speed to decrease to a preset minimum speed with a preset deceleration after the threshing period is reached if the cylinder rotating speed still does not increase to the first preset threshold value in a set idle period; and controlling the harvesting machine to stop and give an alarm prompt after the harvesting machine walks at the preset minimum speed for another idle period if the cylinder rotating speed still does not recover to the first preset threshold value, or controlling the walking speed to increase.

5. A method of blockage prevention control of a harvesting machine, characterized by, It comprises: obtaining rotating speeds of a plurality of components of the harvesting machine in real time, wherein the plurality of components at least include a threshing cylinder; the anti-blocking control method of the threshing cylinder is executed for the threshing cylinder according to any one of claims 1 to 4; and the harvesting machine is controlled to stop and give an alarm prompt when a rotating speed of a component corresponding to the component other than the threshing cylinder in the plurality of components is lower than a respective corresponding preset rotating speed threshold value.

6. The anti-blocking control method according to claim 5, characterized in that, The plurality of components further include any one or more of a bridge component, a re-threshing component, an elevator component and a chopper.

7. A controller characterized by comprising: It comprises: a memory configured to store instructions; and a processor configured to call the instructions from the memory and capable of implementing the anti-blocking control method according to any one of claims 1 to 6 when the instructions are executed.

8. A blockage prevention control system for a harvesting machine, characterized in that It comprises: a sensing assembly for collecting rotating speeds of a plurality of components of the harvesting machine; the controller according to claim 7 is used to obtain respective rotating speeds from the sensing assembly to execute anti-blocking control. The display assembly displays parameters and gives an alarm prompt in response to the anti-blocking control performed by the controller. And The execution assembly performs vehicle speed control in response to the anti-blocking control performed by the controller.

9. The anti-blocking control system of a harvesting machine according to claim 8, characterized in that, The execution assembly includes a travel valve for controlling an internal oil circuit of a travel system.

10. A harvesting machine characterized in that, The anti-blocking control system of claim 8 or 9.

11. A machine-readable storage medium, characterized in that, The machine readable storage medium has instructions stored thereon for causing a machine to perform the anti-blocking control method according to any one of claims 1 to 6.

Images