Control method and device for silage machine, silage machine and storage medium

Abstract

The application discloses a control method for a silage machine, the silage machine comprising a feeding device, the control method comprising: in a case where the silage machine is harvesting crops and the feeding device is started, detecting a feeding gap variation amount of a feeding inlet of the feeding device in a preset time interval in real time; determining a feeding gap variation speed of the feeding inlet in the preset time interval according to the feeding gap variation amount; in a case where the feeding gap variation speed is greater than a first preset threshold, determining that a hard object exists in the feeding device; and controlling the feeding device to stop working. The hard object entering the feeding device can be effectively detected, and the safe working of the silage machine is protected.

Description

Technical Field

[0001] This application relates to the field of agricultural equipment technology, and specifically to a control method, device, silage machine, and storage medium for a silage harvester. Background Technology

[0002] A silage harvester is a common agricultural harvesting machine mainly used to harvest silage crops such as forage, oats, sugar beets, stems and leaves, and corn. During operation, silage harvesters often encounter debris such as stones and tree trunks. If these objects enter the harvester, they can damage the rotating shredder, causing equipment damage. This not only affects the harvesting speed but also incurs high maintenance costs. Summary of the Invention

[0003] The purpose of this application is to provide a control method, device, forage machine, and storage medium for a forage machine, in order to solve the problem in the prior art where hard objects entering the forage machine affect the safety of the equipment.

[0004] To achieve the above objectives, the first aspect of this application provides a control method for a forage harvester, the forage harvester including a feeding device, the control method comprising:

[0005] While the silage harvester is harvesting crops and the feeding device is activated, the change in the feeding gap of the feeding device at the feeding inlet during a preset time interval is monitored in real time.

[0006] The rate of change of the feed gap at the feed inlet within a preset time interval is determined based on the change in the feed gap.

[0007] If the rate of change of the feeding gap is greater than the first preset threshold, it is determined that there is a hard object inside the feeding device;

[0008] Stop the feeding device from operating.

[0009] In the embodiments of this application, the feeding device is equipped with an angle sensor, and the feeding device includes a first feeding roller. Real-time detection of the change in the feeding gap of the feeding inlet of the feeding device during a preset time interval includes: obtaining the rotation angle of the first feeding roller during the preset time interval in real time through the angle sensor; and determining the change in the feeding gap of the feeding inlet during the preset time interval based on the rotation angle.

[0010] In embodiments of this application, the control method further includes: acquiring the current angle of the first feed roller in real time via an angle sensor; determining the current feed gap at the feed inlet based on the current angle; and controlling the feed device to stop operation when the current feed gap is greater than a second preset threshold.

[0011] In the embodiments of this application, the feeding device includes multiple hydraulic cylinders, each hydraulic cylinder is equipped with a pressure sensor, the forage harvester also includes a display device, and the control method further includes: during the real-time detection of the current feeding gap, detecting the pressure impact value of each hydraulic cylinder through each pressure sensor; determining the maximum pressure impact value among all pressure impact values, and if the maximum pressure impact value is greater than or equal to a third preset threshold, determining the target position of the hard object based on the position of the hydraulic cylinder corresponding to the maximum pressure impact value; sending a first signal containing the target position to the display device, and controlling the display device to display the content of the first signal.

[0012] In embodiments of this application, the forage harvester further includes a display device and a walking pump for controlling the movement of the forage harvester. The control method further includes: when it is determined that a hard object exists in the feeding device, sending a second signal containing the presence of a hard object in the feeding device to the display device, and controlling the display device to display the content of the second signal; controlling the feeding device to stop operation includes: controlling the feeding device to stop operation and the walking pump to stop moving.

[0013] In embodiments of this application, the control method further includes: after the feeding device stops operating, upon receiving an operation instruction from the user and a third signal sent by the user through the display device, controlling the feeding device to start, the walking pump to move, and the header device to rotate forward to harvest crops.

[0014] A second aspect of this application provides a control device for a forage harvester, comprising:

[0015] The memory is configured to store instructions; and

[0016] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the control method for the silage machine described above.

[0017] A third aspect of this application provides a silage machine, comprising:

[0018] Feeding device, used to feed harvested crops;

[0019] According to the control device for the forage machine described above.

[0020] In embodiments of this application, the feeding device includes multiple hydraulic cylinders and a first feeding roller. The forage harvester further includes: an angle sensor installed on the first feeding roller for acquiring the rotation angle of the first feeding roller; multiple pressure sensors, each pressure sensor installed on each hydraulic cylinder, each pressure sensor for detecting the pressure impact value received by each hydraulic cylinder; a header device for harvesting crops; a walking pump for controlling the movement of the forage harvester; and a display device for displaying received signals and sending signals input by the user through the display device.

[0021] The fourth aspect of this application provides a machine-readable storage medium, characterized in that the machine-readable storage medium stores instructions for causing a machine to execute the control method for a silage harvester described above.

[0022] The above technical solution detects the change in the feeding gap of the feeding device at a preset time interval in real time when the forage harvester is harvesting crops and the feeding device is activated. Based on the change in the feeding gap, the rate of change of the feeding gap at the preset time interval is determined. If the rate of change of the feeding gap exceeds a first preset threshold, a hard object is detected within the feeding device, and the feeding device is stopped. This effectively detects hard objects entering the feeding device, ensuring safe operation of the forage harvester.

[0023] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0024] 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:

[0025] Figure 1 A schematic diagram of a silage harvester according to an embodiment of this application is shown.

[0026] Figure 2 The schematic diagram illustrates a flow chart of a control method for a forage harvester according to an embodiment of this application;

[0027] Figure 3 A schematic diagram illustrating the installation of an angle sensor according to an embodiment of this application is shown.

[0028] Figure 4 A schematic diagram illustrating the installation of a hydraulic cylinder according to an embodiment of this application is shown.

[0029] Figure 5 This schematic diagram illustrates a structural block diagram of a control device for a forage harvester according to an embodiment of this application;

[0030] Figure 6 The illustration shows a schematic diagram of the structure of a computer device according to an embodiment of the present application.

[0031] Explanation of reference numerals in the attached figures

[0032] 110 Feeding device 430 Spring assembly

[0033] 111 First feed roller 510 Feeding device

[0034] 112 Second feed roller 511 Hydraulic cylinder

[0035] 120 Shredder Roller 512 Pressure Sensor

[0036] 130 Grain Crushing Roller, 520 Angle Sensor

[0037] 140 Fan 530 Cutting Platform Device

[0038] 150 boom, 540 traveling pump

[0039] 310 Angle Sensor 550 Display Device

[0040] 320 articulated link 560 control device

[0041] 420 hydraulic cylinder 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] Figure 1 A schematic diagram of a feeding device for a silage harvester according to an embodiment of this application is shown. (Reference) Figure 1 The feeding device 110 includes a feeding roller mechanism, which includes a first feeding roller 111 and a second feeding roller 112. The first feeding roller 111 and the second feeding roller 112 move in coordination. By adjusting the feeding gap between the first feeding roller 111 and the second feeding roller 112, the pressure applied by the feeding device to the crop at the feeding inlet can be adjusted so that the compacted crop can be chopped in the subsequent operation.

[0046] Figure 2 A schematic flowchart illustrating a control method for a forage harvester according to an embodiment of this application is shown. Figure 2 As shown, this application provides a control method for a forage harvester, which is applied to, for example... Figure 1 The silage machine shown may include the following steps.

[0047] S202, when the silage harvester is harvesting crops and the feeding device is activated, the change in the feeding gap of the feeding device at the feeding inlet is detected in real time at a preset time interval.

[0048] The feed inlet allows for pre-compression of crops. The feed gap refers to the clearance through which the crops pass. The feed gap is adjustable, thus changing the pressure applied to the crops by the feeding device. The preset time interval is a time interval set by a technician. The difference between the feed gap at the start of the preset time interval and the feed gap at the end of the preset time interval represents the change in feed gap during that time interval.

[0049] exist Figure 1 In this context, the current feeding gap is the distance between the first feeding roller 111 and the second feeding roller 112. The distance between the first feeding roller 111 and the second feeding roller 112 can be detected by detecting the position and orientation of the two feeding rollers. Preferably, one feeding roller can be set as a fixed roller, and the other as a moving roller; the distance between the first feeding roller 111 and the second feeding roller 112 can be detected by acquiring the position and orientation of the moving roller.

[0050] In the embodiments of this application, the feeding device is equipped with an angle sensor, and the feeding device includes a first feeding roller. Real-time detection of the change in the feeding gap of the feeding inlet of the feeding device during a preset time interval includes: obtaining the rotation angle of the first feeding roller during the preset time interval in real time through the angle sensor; and determining the change in the feeding gap of the feeding inlet during the preset time interval based on the rotation angle.

[0051] Specifically, refer to Figure 3 Angle sensor 310 is connected to the first feed roller 111 of the feeding device via hinge link 320. When the first feed roller 111 moves, it drives the hinge link 320 to move. The angle sensor 310 determines the position and orientation of the first feed roller 111 by measuring the rotation angle of the hinge link 320, thereby detecting the current rotation angle of the first feed roller 111 and calculating the current feeding gap at the feeding inlet based on the current rotation angle. Specifically, the radius corresponding to the rotation of the first feed roller 111 can be obtained, and the motion trajectory at the feeding inlet of the first feed roller 111 can be calculated using the arc formula to calculate the current feeding gap at the feeding inlet. 。

[0052] S204, determine the rate of change of the feed gap at the feed inlet within a preset time interval based on the change in the feed gap.

[0053] S206, if the rate of change of the feeding gap is greater than the first preset threshold, it is determined that there is a hard object in the feeding device.

[0054] The feed gap change rate refers to the ratio of the change in feed gap to the preset time interval. When the feed inlet performs pre-compacting operations on crops, the feed roller gap can be adaptively adjusted according to the harvest yield. Crops are usually uniformly compacted, so the change in feed gap is slow, and the feed gap change rate is also slow. The first preset threshold is a threshold set by technicians for the feed gap change rate. If the feed gap change rate exceeds the first preset threshold, it indicates a sudden change in the feed gap, confirming that a hard object has entered the feeding device. If the feeding device continues to operate at this time, the hard object will enter the subsequent crushing device, damaging the crushing blades. Therefore, the feeding device should be stopped to reduce the probability of hard objects entering.

[0055] S210, control the feeding device to stop operating.

[0056] In embodiments of this application, the control method further includes: acquiring the current angle of the first feed roller in real time via an angle sensor; determining the current feed gap at the feed inlet based on the current angle; and controlling the feed device to stop operation when the current feed gap is greater than a second preset threshold.

[0057] The angle sensor can directly detect the current angle of the first feed roller, that is, the angle between the current pose and the default pose of the feed roller. The second preset threshold is a threshold set by technicians for the feed gap. Based on the angle sensor, the current feed gap at the feed inlet is calculated. If the current feed gap is greater than the second preset threshold, it indicates that a hard object may be stuck in the feed roller. Furthermore, if the current feed gap is greater than the second preset threshold, the feed roller will not be able to compact the crops, affecting the working quality of the silage harvester.

[0058] In embodiments of this application, the forage harvester further includes a display device and a walking pump for controlling the movement of the forage harvester. The control method further includes: when it is determined that a hard object exists in the feeding device, sending a second signal containing the presence of a hard object in the feeding device to the display device and controlling the display device to display; controlling the feeding device to stop operation includes: controlling the feeding device to stop operation and the walking pump to stop moving.

[0059] The second signal contains information indicating the presence of a hard object in the feeding device. Upon confirming the presence of a hard object, the second signal is sent to the display device, which then shows the information on the screen, alerting the operator to the presence of a hard object in the feeding device. Simultaneously, the feeding device stops operating, the travel pump stops moving, and the header can be reversed to discharge material. Alternatively, the operator can control the header to reverse and discharge material via the handrail, searching for the stuck hard object within the area of ​​the feeding rollers in front of the header until it is found.

[0060] In embodiments of this application, the control method further includes: after the feeding device stops operating, upon receiving an operation instruction from the user and a third signal sent by the user through the display device, controlling the feeding device to start, the walking pump to move, and the header device to rotate forward to harvest crops.

[0061] The third signal refers to the signal converted from user input commands. After the feeding device stops operating, the operator can check for hard objects. After removing the hard objects, the user can input a command that the hard objects have been removed through the human-machine interface display device. The display device then sends a third signal to the processor based on this command, controlling the feeding device to start, the walking pump to move, and the header device to rotate forward to harvest crops.

[0062] In the embodiments of this application, the feeding device includes multiple hydraulic cylinders, each hydraulic cylinder is equipped with a pressure sensor, the forage harvester also includes a display device, and the control method further includes: during the real-time detection of the current feeding gap, detecting the pressure impact value of each hydraulic cylinder through each pressure sensor; determining the maximum pressure impact value among all pressure impact values; if the maximum pressure impact value is greater than or equal to a third preset threshold, determining the target position of the hard object based on the position of the hydraulic cylinder corresponding to the maximum pressure impact value; sending a first signal containing the target position to the display device, and controlling the display device to display.

[0063] Specifically, the feeding device is connected to multiple hydraulic cylinders, which can drive the first feeding roller of the feeding device to move, thereby adjusting the feeding gap at the feeding inlet. For example... Figure 4 As shown, there is a hydraulic cylinder 420 on each side of the feeding device 110. A pressure sensor is installed at the front end of the rod chamber or the end of the rodless chamber of each hydraulic cylinder. Since the resistance encountered when feeding hard objects into the feeding device is different from that encountered when feeding crops, the hard objects will cause a significant pressure impact on the hydraulic cylinders. The pressure impact caused by the hard object varies at different locations on each hydraulic cylinder. Therefore, the maximum pressure impact value can be determined by detecting the pressure impact value of each hydraulic cylinder using each pressure sensor. The third preset threshold is a threshold preset for the pressure impact value. If the maximum pressure impact value is greater than or equal to the third preset threshold, the target location of the hard object is close to the location of the hydraulic cylinder corresponding to the maximum pressure impact value. The target location of the hard object can be an area. A first signal containing the target location is sent to the display device, which displays the signal to provide feedback to the operator, facilitating the removal of hard objects from the feeding device. Furthermore, the processor can also control the feeding device to stop operating and the travel pump to stop moving based on the first signal, effectively preventing stones from being fed into the shredding drum and protecting the safe operation of the silage harvester.

[0064] After the feeding device stops operating, the operator can check for hard objects based on the target location. After the hard objects are removed, the user can input the instruction that the hard objects have been removed through the human-machine interface display device. The display device then sends a third signal to the processor based on the instruction, controlling the feeding device to start, the walking pump to move, and the header device to rotate forward to harvest crops.

[0065] The above technical solution detects the change in the feeding gap of the feeding device at a preset time interval in real time when the forage harvester is harvesting crops and the feeding device is activated. Based on the change in the feeding gap, the rate of change of the feeding gap at the preset time interval is determined. If the rate of change of the feeding gap exceeds a first preset threshold, a hard object is detected within the feeding device, and the feeding device is stopped. This effectively detects hard objects entering the feeding device, ensuring safe operation of the forage harvester.

[0066] An embodiment of this application provides a silage harvester, comprising:

[0067] Feeding device, used to feed harvested crops;

[0068] According to the control device for the forage machine described above.

[0069] In the embodiments of this application, such as Figure 5 As shown, the feeding device 510 includes multiple hydraulic cylinders 511, and the forage harvester also includes: an angle sensor 520, installed on the feeding device 510, for acquiring the rotation angle of the feeding device 510; multiple pressure sensors 512, each pressure sensor installed on each hydraulic cylinder, each pressure sensor for detecting the pressure impact value received by each hydraulic cylinder; a header device 530 for harvesting crops; a travel pump 540 for controlling the movement of the forage harvester; a display device 550 for displaying received signals and sending signals input by the user through the display device; and a control device 560 for the forage harvester, configured to execute the above-described control method for the forage harvester.

[0070] refer to Figure 1 , Figure 3 as well as Figure 4 In a specific embodiment, such as Figure 1 As shown, the feeding device 110 includes a feeding roller mechanism, which includes a first feeding roller 111 and a second feeding roller 112. The first feeding roller 111 and the second feeding roller 112 move in coordination. By adjusting the feeding gap between the first feeding roller 111 and the second feeding roller 112, the compaction pressure of the crop at the feeding inlet can be adjusted, so that the compacted crop can be chopped subsequently. The feeding roller mechanism is connected to a chopping roller 120, which is connected to a grain crushing roller. The chopping roller 120 can chop the crop, and the grain crushing roller 130 can crush the crop grains. The husks of the grains are discharged by a fan 140 connected to the grain crushing roller 130. Furthermore, the silage machine also includes a tail boom 150 to discharge the chopped crop. Figure 3As shown, the angle sensor 310 is connected to the first feed roller 111 of the feeding device via a hinged link 320. When the first feed roller moves, it drives the hinged link to move. The angle sensor measures the rotation angle of the link to determine the position of the first feed roller, thus detecting the current rotation angle of the first feed roller 111. Figure 4 As shown, the feeding device 110 has a hydraulic cylinder 420 on each side, and a pressure sensor is installed at the front end of the rod chamber or the end of the rodless chamber of each hydraulic cylinder. The cylinder barrels are fixed to the frame of the feeding device 110 by a fixing seat. The feeding device 110 also includes a spring assembly 430, one end of which is connected to the frame of the feeding device 110, and the other end is connected to the first feeding roller 111, which can effectively help the feeding roller pre-compact the crops.

[0071] In one embodiment, the current angle of the first feed roller can be acquired in real time using an angle sensor, and the current feeding gap at the feed inlet can be determined based on the current angle. It can be understood that the spring assembly is connected to the feed roller mechanism and moves along with the feed roller mechanism. Therefore, the spring force on the spring assembly can be calculated based on the spring constant and the current feeding gap. A preset spring force threshold can then be set by the technician. This preset spring force value can be set based on the technician's experience with the feed roller mechanism when it enters hard objects. If the spring force value exceeds the preset spring force threshold, the feeding device will stop operating.

[0072] This application provides a control device for a forage harvester, which may include:

[0073] The memory is configured to store instructions; and

[0074] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned control method for the forage machine.

[0075] Specifically, in this embodiment of the application, the processor can be configured as follows:

[0076] While the silage harvester is harvesting crops and the feeding device is activated, the change in the feeding gap of the feeding device at the feeding inlet during a preset time interval is monitored in real time.

[0077] The rate of change of the feed gap at the feed inlet within a preset time interval is determined based on the change in the feed gap.

[0078] If the rate of change of the feeding gap is greater than the first preset threshold, it is determined that there is a hard object inside the feeding device;

[0079] Stop the feeding device from operating.

[0080] In this embodiment of the application, the processor can also be configured to:

[0081] The feeding device is equipped with an angle sensor and includes a first feeding roller. Real-time detection of the change in the feeding gap of the feeding inlet of the feeding device during a preset time interval includes: obtaining the rotation angle of the first feeding roller during the preset time interval in real time through the angle sensor; and determining the change in the feeding gap of the feeding inlet during the preset time interval based on the rotation angle.

[0082] In this embodiment of the application, the processor can also be configured to:

[0083] The current angle of the first feed roller is obtained in real time by an angle sensor; the current feed gap at the feed inlet is determined based on the current angle; if the current feed gap is greater than a second preset threshold, the feeding device is controlled to stop operation.

[0084] In this embodiment, the feeding device includes multiple hydraulic cylinders, each equipped with a pressure sensor. The forage harvester also includes a display device, and the processor can be configured to:

[0085] During the real-time detection of the current feeding gap, the pressure impact value of each hydraulic cylinder is detected by each pressure sensor; the maximum pressure impact value among all pressure impact values ​​is determined; if the maximum pressure impact value is greater than or equal to a third preset threshold, the target position of the hard object is determined according to the position of the hydraulic cylinder corresponding to the maximum pressure impact value; a first signal containing the target position is sent to the display device, and the display device is controlled to display the content of the first signal.

[0086] In embodiments of this application, the forage harvester further includes a display device and a walking pump for controlling the movement of the forage harvester, and the processor may also be configured to:

[0087] If a hard object is detected in the feeding device, a second signal indicating the presence of a hard object is sent to the display device, and the display device is controlled to display the content of the second signal; controlling the feeding device to stop operation includes controlling the feeding device to stop operation and the walking pump to stop moving.

[0088] In this embodiment of the application, the processor can also be configured to:

[0089] After the feeding device stops operating, upon receiving the user's operation command and a third signal sent by the user through the display device, the system controls the feeding device to start, the walking pump to move, and the header device to rotate forward to harvest crops.

[0090] Through the above technical solution, when the silage harvester is harvesting crops and the feeding device is activated, an angle sensor detects the current rotation angle of the first feeding roller. This allows for real-time monitoring of the feeding gap change at the feeding inlet within a preset time interval, calculating the feeding gap change rate. If the feeding gap change rate exceeds a first preset threshold, a hard object is detected within the feeding device, thus stopping the operation. This effectively detects hard objects entering the feeding device, ensuring safe operation of the silage harvester. Simultaneously, pressure sensors can be installed on the hydraulic cylinders of the feeding device. Based on the pressure impact values ​​detected by different pressure sensors, the location of the hard object within the feeding device is determined and displayed on the display device. This solution allows operators to quickly locate and remove hard objects, improving the efficiency of the silage harvester. The human-machine interface display device receives equipment alerts from the silage harvester and, after removing the hard object, receives user operation information to restart the silage harvester, making its operation safer and more reliable.

[0091] This application also provides a machine-readable storage medium storing instructions that cause the machine to perform the above-described control method for a forage harvester.

[0092] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database stores data for a control method for the silage harvester. The network interface A02 communicates with external terminals via a network connection. When the processor A01 executes the computer program B02, it implements a control method for the silage harvester.

[0093] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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 control method for a silo, characterized in that, The silage machine comprises a feeding device and a display device, the feeding device is provided with an angle sensor, the feeding device comprises a first feeding roller and a plurality of hydraulic cylinders, each hydraulic cylinder is provided with a pressure sensor, the control method comprises: In the case that the silage machine is harvesting crops and the feeding device is started, the rotation angle of the first feeding roller in a preset time interval and the current angle of the first feeding roller are acquired in real time by the angle sensor; The feeding gap change amount of the feeding inlet of the feeding device in the preset time interval is determined according to the rotation angle, and the current feeding gap of the feeding inlet is determined according to the current angle; In the case that the current feeding gap is greater than a second preset threshold, the feeding device is controlled to stop working; The feeding gap change speed of the feeding inlet in the preset time interval is determined according to the feeding gap change amount; In the case that the feeding gap change speed is greater than a first preset threshold, it is determined that there is a hard object in the feeding device; the feeding device is controlled to stop working; In the process of detecting the current feeding gap in real time, the pressure impact value borne by each hydraulic cylinder is detected by each pressure sensor; The maximum pressure impact value among all the pressure impact values is determined, and in the case that the maximum pressure impact value is greater than or equal to a third preset threshold, the target position of the hard object is determined according to the position of the hydraulic cylinder corresponding to the maximum pressure impact value; A first signal containing the target position is sent to the display device, and the display device is controlled to display the content of the first signal.

2. The control method for a silo according to claim 1, characterized in that, The silage machine further comprises a traveling pump for controlling the movement of the silage machine, and the control method further comprises: In the case that it is determined that there is a hard object in the feeding device, a second signal containing that there is a hard object in the feeding device is sent to the display device, and the display device is controlled to display the content of the second signal; The control of the feeding device to stop working comprises: The feeding device is controlled to stop working and the traveling pump is controlled to stop moving.

3. The control method for a silo according to claim 2, characterized in that, The control method further comprises: After the feeding device stops working, in the case that an operation instruction of a user is received and a third signal sent by the user through the display device is received, the feeding device is controlled to start, the traveling pump is controlled to move, and the header device is controlled to rotate forward to harvest crops.

4. A control device for a silo, characterized in that Comprise: a memory configured to store instructions; and a processor configured to call the instructions from the memory and capable of realizing the control method for a silage machine according to any one of claims 1 to 3 when the instructions are executed.

5. A silo, characterized in that Comprise: a feeding device provided with an angle sensor, the feeding device comprising a first feeding roller and a plurality of hydraulic cylinders, each hydraulic cylinder being provided with a pressure sensor, the feeding device being used for feeding harvested crops; an angle sensor installed on the first feeding roller and used for acquiring the rotation angle of the first feeding roller; a plurality of pressure sensors, each pressure sensor being installed on each hydraulic cylinder and each pressure sensor being used for detecting the pressure impact value borne by each hydraulic cylinder; a header device used for harvesting crops; a walking pump for controlling the movement of the silo; a display device for displaying the received signal and transmitting a signal input by a user through the display device; The control device for a silo according to claim 4.

6. A machine-readable storage medium, characterized in that, The machine readable storage medium has stored thereon instructions for causing a machine to perform the control method for a silo according to any one of claims 1 to 3.

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