A combine harvester and a control method thereof

Abstract

The application provides a combine harvester and a control method thereof. The control method of the combine harvester comprises the following steps: receiving a trigger signal sent by a zero sensor, the zero sensor is arranged at a grain tank bracket of the combine harvester, and the trigger signal is triggered when a grain tank falls into the grain tank bracket; starting to record the running hours of an engine of the combine harvester at the same time when the trigger signal is received; judging whether the current running hours reach a set interval time length; if the current running hours do not reach the set interval time length, continuing to record the running hours of the engine; and if the current running hours reach the set interval time length, replacing the zero position information of the grain tank with the position information of the grain tank bracket. The application can solve the problem of zero position information drift of the grain tank by automatic zero setting, so that the grain tank returns to the original position accurately and the operation difficulty of the operator is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of combine harvesters, in particular to a combine harvester and a control method thereof. BACKGROUND

[0002] At present, combine harvesters have been widely applied in grain harvesting at home and abroad, and users require the combine harvesters to have intelligent control functions, such as one-key unfolding and one-key returning.

[0003] For the combine harvester using an encoder and an angle sensor to perceive the position of the unloading cylinder, the zero position information of the unloading cylinder will drift after working for a certain period of time, causing the unloading cylinder to fail to fall into the unloading cylinder bracket when returning, at which time the operator needs to manually operate the control handle to make the unloading cylinder fall into the unloading cylinder bracket and press the "zero reset" button to reset the position information of the unloading cylinder. The above operation process is relatively cumbersome and needs the user to be familiar with the overall operation process to achieve it, which increases the difficulty of the operator's work.

[0004] Based on the above technical problems existing in the combine harvester, there is no relevant solution, and therefore it is urgent to seek an effective solution to solve the above problems. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a combine harvester and a control method thereof to overcome the problem of zero position information drift of the unloading cylinder, which increases the difficulty of the operator's operation.

[0006] In a first aspect, the present application provides a control method of a combine harvester, which comprises: receiving a trigger signal sent by a zero position sensor, the zero position sensor being arranged at an unloading cylinder bracket of the combine harvester, the trigger signal being triggered when the unloading cylinder falls into the unloading cylinder bracket; starting to record the running hours of an engine of the combine harvester at the same time when the trigger signal is received; judging whether the current running hours reach a set interval; if the current running hours do not reach the set interval, continuing to record the running hours of the engine; and if the current running hours reach the set interval, replacing the zero position information of the unloading cylinder with the position information of the unloading cylinder bracket.

[0007] In a possible implementation, the unloading cylinder comprises a vertical unloading cylinder and a horizontal unloading cylinder, wherein the trigger signal is triggered when the horizontal unloading cylinder falls into the unloading cylinder bracket, and the top end of the vertical unloading cylinder is connected with the end of the horizontal unloading cylinder through a curved connecting piece.

[0008] In a possible implementation, the method further comprises: receiving an automatic return instruction signal sent by the control handle; in response to the automatic return instruction signal, controlling the horizontal unloading cylinder to rise to the highest limit; controlling the vertical unloading cylinder to start rotating to drive the horizontal unloading cylinder to rotate; during the rotation of the vertical unloading cylinder, receiving an unloading motor self-contained encoder signal, the encoder signal indicating rotation position information of the horizontal unloading cylinder in the horizontal direction, the unloading motor self-contained encoder being located at the tail of the unloading motor, and the unloading motor being located below the root of the vertical unloading cylinder rotating shaft; according to the encoder signal, determining whether the rotation position information of the horizontal unloading cylinder is located at zero point position information of the unloading cylinder; if the rotation position information of the horizontal unloading cylinder is not located at the zero point position information, controlling the vertical unloading cylinder to continue rotating; if the rotation position information of the horizontal unloading cylinder is located at the zero point position information, controlling the vertical unloading cylinder to stop rotating; and controlling the horizontal unloading cylinder to descend to fall into the unloading cylinder bracket.

[0009] In a possible implementation, the step of controlling the horizontal unloading cylinder to rise to the highest limit comprises: controlling the horizontal unloading cylinder to start rising; during the rising of the horizontal unloading cylinder, receiving a detection signal sent by an angle sensor, the angle sensor being installed at the curved connecting piece, and the detection signal indicating height information of the horizontal unloading cylinder in the vertical direction; according to the detection signal, determining whether the rising height reaches the highest limit; if the rising height of the horizontal unloading cylinder does not reach the highest limit, controlling the vertical unloading cylinder to continue rising; if the rising height of the horizontal unloading cylinder reaches the highest limit, controlling the horizontal unloading cylinder to stop rising.

[0010] In a possible implementation, the step of controlling the horizontal unloading cylinder to descend to fall into the unloading cylinder bracket comprises: controlling the horizontal unloading cylinder to start descending; during the descending of the horizontal unloading cylinder, determining whether a descending time reaches a set time length, the set time length being set in the control system; if the set time length is not reached, controlling the horizontal unloading cylinder to continue descending; if the set time length is reached, the horizontal unloading cylinder falls into the unloading cylinder bracket, and the horizontal unloading cylinder is controlled to stop descending; determining whether the horizontal unloading cylinder falls into the unloading cylinder bracket; if the horizontal unloading cylinder falls into the unloading cylinder bracket, the moving instruction signal sent by the control handle is not responded; if the horizontal unloading cylinder does not fall into the unloading cylinder bracket, the moving instruction signal sent by the control handle is received; in response to the moving instruction signal, the horizontal unloading cylinder is controlled to start moving until the horizontal unloading cylinder falls into the unloading cylinder bracket.

[0011] In a possible implementation, the falling time of the horizontal unloading cylinder is controlled to reach a set time length by the following method: during the falling process of the horizontal unloading cylinder, a detection signal is received from an angle sensor installed at the curved connecting piece, and the detection signal indicates the height information of the horizontal unloading cylinder in the vertical direction; according to the detection signal, it is determined whether the falling time reaches the set time length; if the falling height of the horizontal unloading cylinder does not reach the set time length, the falling of the horizontal unloading cylinder is controlled to continue; if the falling height of the horizontal unloading cylinder reaches the set time length, the falling of the horizontal unloading cylinder is controlled to stop.

[0012] In a possible implementation, the method further includes: receiving a zero reset instruction signal sent by the control handle; in response to the zero reset instruction signal, it is determined whether the unloading cylinder falls into the unloading cylinder bracket; if the unloading cylinder falls into the unloading cylinder bracket, the zero position information of the unloading cylinder is replaced by the position information of the unloading cylinder bracket; if the unloading cylinder does not fall into the unloading cylinder bracket, the zero reset instruction signal is not responded.

[0013] In a second aspect, the embodiments of the present application provide a combine harvester, which includes: a zero position sensor arranged at an unloading cylinder bracket of the combine harvester, the zero position sensor generating a trigger signal when an unloading cylinder falls into the unloading cylinder bracket; and an unloading motor controller configured to: start recording the running hours of an engine of the combine harvester when the trigger signal is received, determine whether the current running hours reach a set interval time length, continue recording the running hours of the engine if the current running hours do not reach the set interval time length, and replace the zero position information of the unloading cylinder by the position information of the unloading cylinder bracket if the current running hours reach the set interval time length.

[0014] In a possible implementation, the unloading cylinder includes a vertical unloading cylinder and a horizontal unloading cylinder, the trigger signal is triggered when the horizontal unloading cylinder falls into the unloading cylinder bracket, and the top end of the vertical unloading cylinder is connected to the end of the horizontal unloading cylinder through a curved connecting piece.

[0015] In a possible implementation, the combine harvester further comprises: a combine harvester support; a grain tank bracket installed on a front end of an upper surface of the combine harvester support, close to an edge region of the grain tank, and provided with a placing groove matched with a surface shape of the horizontal grain tank at an end away from the ground; a controller fixing plate installed at a side wall of the vertical grain tank and perpendicular to the ground, and the grain tank motor controller is installed on the controller fixing plate; and a grain tank motor fixing seat installed at the side wall of the vertical grain tank, and the grain tank motor for driving the vertical grain tank to rotate is installed on the grain tank motor fixing seat.

[0016] The application provides a combine harvester and a control method thereof. The control method of the combine harvester comprises the following steps: receiving a trigger signal sent by a zero sensor, the zero sensor being arranged at a grain tank bracket of the combine harvester, and the trigger signal being triggered when a grain tank falls into the grain tank bracket; starting to record an operating hour of an engine of the combine harvester at the same time when the trigger signal is received; judging whether the current operating hour reaches a set interval; if the current operating hour does not reach the set interval, continuing to record the operating hour of the engine; and if the current operating hour reaches the set interval, replacing zero position information of the grain tank with position information of the grain tank bracket. The application can solve the problem of drift of the zero position information of the grain tank by automatic zeroing, so that the grain tank is accurately returned and the operation difficulty of a machine operator is reduced.

[0017] In order to make the above objectives, features and advantages of the application more apparent, the following will specifically describe a preferred embodiment in combination with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0019] Figure 1A The structure diagram of the combine harvester provided by the embodiments of the application.

[0020] Figure 1B The local enlarged view of the grain tank bracket provided by the embodiments of the application.

[0021] Figure 2 The flowchart of the control method of the combine harvester provided by the embodiments of the application.

[0022] Figure 3Flowchart of the automatic return step provided by the embodiment of the present application.

[0023] Figure 4 Flowchart of the control vertical unloading cylinder rising step provided by the embodiment of the present application.

[0024] Figure 5 Flowchart of the control vertical unloading cylinder falling step provided by the embodiment of the present application.

[0025] Figure 6 Flowchart of the manual zero return step provided by the embodiment of the present application.

[0026] Brief Description of the Drawings:

[0027] 1 - horizontal unloading cylinder, 2 - zero sensor, 3 - unloading cylinder bracket, 4 - combine harvester support, 5 - control handle, 6 - angle sensor, 7 - unloading motor controller, 8 - unloading motor, 9 - unloading motor fixing seat, 10 - controller fixing plate, 11 - vertical unloading cylinder, 12 - curved connecting piece, 13 - limit switch. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of description and illustration, and are not used to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn according to the actual proportions. The flowcharts used in the present application show the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can not be implemented in sequence, and the steps without logical contextual relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowcharts or one or more operations can be removed from the flowcharts by those skilled in the art under the guidance of the content of the present application.

[0029] In addition, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0030] In order to enable those skilled in the art to use the content of the present application, the following embodiments are given in combination with a specific application scenario "combine harvester", and the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of the present application.

[0031] It is worth noting that before the present application, in the existing scheme of the combine harvester unloading process, the operator can manually adjust the unloading cylinder position by controlling the handle, which reduces the labor intensity of the operator, but there are still problems such as difficulty in manual positioning and returning of the unloading cylinder, and during the adjustment process, it still cannot be in place at one time, the adjustment time is long, and the work efficiency cannot be significantly improved. In addition, after the unloading cylinder executes one-key operation for a certain period of time, due to the influence of the encoder in the unloading motor controller on the whole machine electrical environment, the signal drift occurs, resulting in that when the unloading cylinder executes "one-key return" operation, it does not reach the top of the unloading cylinder bracket and starts to fall, causing the "one-key return" operation to fail. At this time, the operator needs to manually operate the control handle to make the unloading cylinder fall into the unloading cylinder bracket, and then click the "zero reset" button in the control handle to reset the unloading cylinder position information. However, in actual application, it is found that the operator often does not want to operate or forget to operate. Therefore, in order to solve the problems of existing combine harvester such as cumbersome operation, high labor intensity, low work efficiency, and unloading cylinder zero position information drift, reduce the difficulty of operator operation and market failure rate, a combine harvester and a control method thereof are urgently needed.

[0032] Based on the above problems, the embodiments of the present application provide a combine harvester and a control method thereof, which solve the problems of existing combine harvester such as cumbersome operation, high labor intensity, low work efficiency, and unloading cylinder zero position information drift, make the unloading cylinder return accurate, and reduce the difficulty of operator operation and market failure rate.

[0033] The defects of the above schemes are the results of the inventors after careful research and practice, therefore, the discovery process of the above problems and the solutions proposed by the present application to solve the above problems in the following should be the contributions of the inventors to the present application in the process of the present application.

[0034] The technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. The components of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0035] It should be noted that like reference numerals and letters refer to like items throughout the drawings, and once an item is defined in one drawing, it is not necessary to further define and explain it in the subsequent drawings.

[0036] It should be noted that in the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] In order to facilitate the understanding of the present application, the technical solutions provided by the present application will be described in detail below in combination with specific embodiments.

[0038] Referring to Figure 1A As shown in the figure, Figure 1A The structure schematic diagram of the combine harvester provided by the embodiment of the present application, the combine harvester comprises: a combine harvester support 4, a zero sensor 2, a grain unloading cylinder, a grain unloading cylinder bracket 3 and a grain unloading motor controller 7.

[0039] Figure 1B The local enlarged view of the grain unloading cylinder bracket provided by the embodiment of the present application. The grain unloading cylinder bracket 3 is installed on the combine harvester support, for example, it is installed on the front end of the combine harvester support 4 near the edge region of the grain unloading cylinder, the end of the grain unloading cylinder bracket 3 away from the ground is provided with a placing groove matched with the surface shape of the horizontal grain unloading cylinder 1, the zero sensor 2 is installed at the grain unloading cylinder bracket 3, the zero sensor 2 generates a trigger signal when the grain unloading cylinder falls into the grain unloading cylinder bracket 3, the grain unloading motor controller 7 is installed on the controller fixing plate 10 perpendicular to the ground on the side wall of the vertical grain unloading cylinder 11, and is used for controlling the operation of the grain unloading cylinder, the grain unloading motor controller 7 is provided with a zero reset button, which is used for manually operating to replace the zero point position information of the grain unloading cylinder with the position information of the grain unloading cylinder bracket.

[0040] In the embodiment of the present application, the zero sensor 2 is used to detect whether the unloading cylinder falls into the unloading cylinder bracket 3. For example, the zero sensor 2 can include a non-contact Hall sensor arranged below the unloading cylinder bracket 3. When the unloading cylinder falls into the unloading cylinder bracket 3, the magnetic field between the unloading cylinder and the non-contact Hall sensor changes, thereby triggering the non-contact Hall sensor to generate a trigger signal. In addition, the zero sensor 2 can also include an infrared sensor arranged beside the unloading cylinder bracket 3. When the unloading cylinder falls into the unloading cylinder bracket 3, the unloading cylinder blocks the infrared sensor, causing the reflection of the infrared light to change, thereby triggering the infrared sensor to generate a trigger signal. In addition, the zero sensor 2 can also include a limit switch 13 arranged below the unloading cylinder bracket 3. When the unloading cylinder falls into the unloading cylinder bracket 3, the limit switch 13 is triggered to generate a trigger signal. In addition, the trigger signal generated by the zero sensor 2 can be a switching signal, for example, a level signal or a CAN signal. When the trigger signal is a level signal, the zero sensor 2 generates a low level signal when the unloading cylinder does not fall into the unloading cylinder bracket 3, and generates a high level signal when the unloading cylinder falls into the unloading cylinder bracket 3. When the trigger signal is a CAN signal, the CAN signal state does not change when the unloading cylinder does not fall into the unloading cylinder bracket 3, and the CAN signal state changes when the unloading cylinder falls into the unloading cylinder bracket 3.

[0041] In a preferred example, the unloading cylinder can include a horizontal unloading cylinder 1 and a vertical unloading cylinder 11. The trigger signal generated by the zero sensor 2 is triggered when the horizontal unloading cylinder 1 falls into the unloading cylinder bracket 3. The end of the vertical unloading cylinder 11 away from the ground is connected to the end of the horizontal unloading cylinder through a curved connecting piece 12.

[0042] In a possible implementation, the horizontal unloading cylinder 1, the curved connecting piece 12, and the vertical unloading cylinder 11 are integrated.

[0043] In a preferred example, the combine harvester further includes an angle sensor 6. The angle sensor 6 is installed at the curved connecting piece 12 and is used to sense the position information of the horizontal unloading cylinder in the vertical direction during the up-down rotation of the horizontal unloading cylinder 1 and send a detection signal to the unloading motor controller 7.

[0044] In a possible implementation, the angle sensor 6 can be a sensor for detecting the position of the horizontal unloading cylinder 1, for example, an arc-shaped angle sensor based on the non-contact Hall principle. The internal Hall element detects the change of the magnetic field and converts it into an electric signal. The unloading motor controller 7 decodes the electric signal to determine the up-down angle position of the horizontal unloading cylinder 1. In addition, the detection signal generated by the angle sensor 6 is a digital signal, for example, a CAN signal.

[0045] In a preferred example, the combine harvester further comprises an encoder, an unloading motor 8. The encoder is installed at the unloading motor 8 for driving the vertical unloading cylinder 11 to operate, for sensing the moving position information of the horizontal unloading cylinder 1 in the horizontal direction during the operation of the vertical unloading cylinder 11 in the vertical direction and sending a detection signal to the unloading motor controller 7. The unloading motor 8 is installed on the unloading motor fixing seat 9 of the central axis of the vertical unloading cylinder 11. The unloading motor controller 7 drives the unloading motor 8 by a large power current to control the operation of the vertical unloading cylinder 11, thereby driving the operation of the horizontal unloading cylinder 1.

[0046] In a preferred example, the combine harvester further comprises a control handle 5. The control handle 5 is used for manually operating to control the operation of the vertical unloading cylinder 11.

[0047] In a possible implementation, when the "up" button of the remote control handle is clicked, the combine harvester receives the instruction signal sent by the control handle 5, and the unloading motor controller 7 controls the horizontal unloading cylinder 1 to rise from the unloading cylinder bracket 3. The "left" or "right" button is clicked, and the unloading motor controller 7 controls the vertical unloading cylinder 11 to rotate left or right. The "down" button is clicked, and the unloading motor controller 7 controls the horizontal unloading cylinder 1 to descend. When the "one-key unfolding (right)" button is clicked, the unloading cylinder first automatically performs the rising action, then rotates right, and stops when unfolded to the right of the vehicle. The "one-key unfolding (backward)" action is similar, and stops when unfolded to the back of the vehicle.

[0048] Figure 2 The flowchart of the control method of the combine harvester provided in the embodiments of the present application. Figure 2 The control method of the combine harvester is executed in the unloading motor controller 7 described above.

[0049] As shown in Figure 2 In step S101, a trigger signal sent by the zero sensor 2 is received.

[0050] In step S102, the running hours of the engine of the combine harvester are recorded at the same time when the trigger signal sent by the zero sensor 2 is received.

[0051] Specifically, the engine refers to the engine of the combine harvester, which is used to provide power support for the operation and operation of the entire combine harvester. The running hours of the engine refer to the time from when the trigger signal sent by the zero sensor 2 is received to when the engine stops running. Recording the running hours of the engine of the combine harvester is to monitor and record the running hours of the engine by the unloading motor controller 7 through the engine E of the combine harvester.

[0052] In step S103, it is judged whether the current running hours reach the set interval.

[0053] Specifically, the interval duration refers to a fixed number of hours. The set interval duration refers to a fixed number of hours, for example, 4h, 8h, 10h, 20h, etc., which is set in the control system of the combine harvester before starting the combine harvester.

[0054] If the current operating hours do not reach the set interval duration, return to step 102.

[0055] If the current operating hours reach the set interval duration, execute step S104: replace the zero position information of the unloading cylinder with the position information of the unloading cylinder bracket 3.

[0056] Specifically, the zero position information of the unloading cylinder is periodically replaced with the position information of the unloading cylinder bracket 3 every time the operating hours of the engine reach a fixed number of hours, for example, 4h, 8h, 10h, 20h, etc.

[0057] Figure 3 The flowchart of the automatic return step provided by the embodiments of the present application. Figure 3 The control method of the combine harvester shown is executed in the unloading motor controller 7 described above.

[0058] As shown in the figure, Figure 3 In step S201, the automatic return instruction signal issued by the control handle 5 is received.

[0059] Specifically, the automatic return instruction signal refers to the signal issued by the control handle 5 to the unloading motor controller 7 when the operator manually presses the "one-key return" button on the control handle 5. After receiving the automatic return instruction signal, the unloading motor controller 7 responds to the automatic return instruction signal to drive the unloading motor to control the operation of the unloading cylinder.

[0060] In step S202, the horizontal unloading cylinder 1 is controlled to rise to the highest limit.

[0061] Specifically, the highest limit refers to the highest point to which the horizontal unloading cylinder 1 can rise.

[0062] In step S203, the vertical unloading cylinder 11 is controlled to rotate to drive the horizontal unloading cylinder 1 to move in the horizontal direction.

[0063] Specifically, controlling the vertical unloading cylinder 11 to rotate refers to the unloading motor controller 7 driving the unloading motor to control the vertical unloading cylinder 11 to rotate around its vertical center axis to drive the horizontal unloading cylinder 1 to move in the horizontal direction. The connection between the end of the vertical unloading cylinder 11 away from the ground and the end of the horizontal unloading cylinder 1 through the curved connecting piece 12, so that when the vertical unloading cylinder 11 rotates, it can drive the horizontal unloading cylinder 1 to move in the horizontal direction.

[0064] In step S204, detection signals from the unloading motor 8 self-encoder are received during rotation of the vertical unloading cylinder 11.

[0065] Specifically, the unloading motor 8 self-encoder refers to an encoder installed on the unloading motor 8, which can rotate with the vertical unloading cylinder 11 when the horizontal unloading cylinder 1 is moved in the horizontal direction by the vertical unloading cylinder 11. The detection signals from the unloading motor 8 self-encoder refer to the real-time rotation detection signals of the horizontal unloading cylinder 1 from the unloading motor 8 self-encoder, which are received by the unloading motor controller 7 during rotation, so as to determine the movement position information of the horizontal unloading cylinder 1.

[0066] In step S205, it is determined whether the movement position information of the horizontal unloading cylinder 1 is located at the zero point position information of the unloading cylinder according to the detection signals.

[0067] Specifically, the movement position information of the horizontal unloading cylinder 1 refers to the height detection information of the horizontal unloading cylinder 1 in the vertical direction from the angle sensor 6 and the detection information of the horizontal unloading cylinder 1 in the horizontal direction from the unloading motor 8 self-encoder, which are real-time sent to the unloading motor controller 7, so as to determine the movement position information of the horizontal unloading cylinder 1. The zero point position information of the unloading cylinder refers to the position information of the horizontal unloading cylinder 1 falling into the unloading cylinder bracket 3 in the control system.

[0068] If the movement position information of the horizontal unloading cylinder 1 is not located at the zero point position, return to step 203.

[0069] If the movement position information of the horizontal unloading cylinder 1 is located at the zero point position, step S206 is performed: control the vertical unloading cylinder 11 to stop rotating.

[0070] In step S207, the horizontal unloading cylinder 1 is controlled to fall into the unloading cylinder bracket 3.

[0071] Figure 4 The flowchart for controlling the horizontal unloading cylinder 1 to rise is provided in the embodiments of the present application. Figure 4 The control method of the combine harvester shown is executed in the unloading motor controller 7 described above.

[0072] As shown in the figure, Figure 4 In step S301, the horizontal unloading cylinder 1 is controlled to rise.

[0073] In step S302, detection signals from the angle sensor 6 are received during rising of the horizontal unloading cylinder 1.

[0074] Specifically, the angle signal sent by the angle sensor 6 refers to that during the lifting of the horizontal unloading cylinder 1, the unloading motor controller 7 receives the detection signal of the horizontal unloading cylinder 1 sent by the angle sensor 6 in real time, so as to determine the moving position information of the horizontal unloading cylinder 1 in the vertical direction.

[0075] In step S303, whether the lifting height reaches the highest limit is judged according to the detection signal of the angle sensor 6.

[0076] If the lifting height of the horizontal unloading cylinder 1 does not reach the highest limit, return to step S301.

[0077] If the lifting height of the horizontal unloading cylinder 1 reaches the highest limit, execute step S304: control the horizontal unloading cylinder 1 to stop lifting.

[0078] Figure 5 The flow chart for controlling the horizontal unloading cylinder 1 to descend provided by the embodiment of the application. Figure 5 The control method of the combine harvester shown is executed in the unloading motor controller 7 described above.

[0079] As shown in the figure, Figure 5 In step S401, control the horizontal unloading cylinder 1 to descend.

[0080] In step S402, during the descending of the horizontal unloading cylinder 1, receive the detection signal sent by the angle sensor 6.

[0081] In step S403, whether the descending height of the horizontal unloading cylinder 1 reaches the set time length is judged.

[0082] Specifically, the set time length refers to the time during which the horizontal unloading cylinder 1 can descend, which is set in the control system, for example, 5s, 8s.

[0083] If the descending height of the horizontal unloading cylinder 1 does not reach the set time length, execute step S404: control the horizontal unloading cylinder 1 to stop descending.

[0084] If the descending height of the horizontal unloading cylinder 1 does not reach the set time length, return to step S401.

[0085] In step S405, whether the horizontal unloading cylinder 1 falls into the unloading cylinder bracket 3 is judged.

[0086] If the horizontal unloading cylinder 1 falls into the unloading cylinder bracket 3, execute step S406: do not receive the moving instruction signal sent by the control handle 5.

[0087] If the horizontal unloading cylinder 1 does not fall into the unloading cylinder bracket 3, execute step S407: receive the moving instruction signal sent by the control handle 5.

[0088] Specifically, the moving instruction signal refers to the operator manually pressing the "up", "down", "left" or "right" button on the control handle 5, the control handle 5 sending a signal to the unloading motor controller 7, and the unloading motor controller 7 driving the unloading motor 8 to control the operation of the unloading cylinder in response to the moving instruction signal after receiving the automatic return instruction signal.

[0089] In step S408, the horizontal unloading cylinder 1 is controlled to fall into the unloading cylinder bracket 3 in response to the moving instruction signal.

[0090] Figure 6 The flowchart of the manual zeroing step provided by the embodiment of the application. Figure 6 The control method of the combine harvester shown is executed in the unloading motor controller 7 described above.

[0091] As shown in the figure, Figure 6 In step S501, a zeroing instruction signal sent by the zeroing button on the control handle 5 or the unloading motor controller 7 is received.

[0092] Specifically, the zeroing instruction signal refers to the operator manually pressing the "zeroing" button on the control handle 5 or the unloading motor controller 7, the control handle 5 or the unloading motor controller 7 sending a signal to the unloading motor controller 7, and the unloading motor controller 7 responding to the zeroing instruction signal after receiving the zeroing instruction signal.

[0093] In step S502, it is determined whether the horizontal unloading cylinder 1 falls into the unloading cylinder bracket 3 in response to the zeroing instruction signal.

[0094] In step S503, if the horizontal unloading cylinder 1 falls into the unloading cylinder bracket 3, the zero point position information of the horizontal unloading cylinder 1 is replaced with the position information of the unloading cylinder bracket 3.

[0095] In step S504, if the horizontal unloading cylinder 1 does not fall into the unloading cylinder bracket 3, the zeroing instruction signal is not responded to.

[0096] The above-described embodiments are merely specific implementations of the application, which are used to illustrate the technical solutions of the application, rather than limit the same. The protection scope of the application is not limited thereto. Although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can make modifications or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features thereof, without departing from the technical scope disclosed by the application. Such modifications, changes or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be covered by the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.

Claims

1. A control method of a combine harvester, characterized by, The method comprises: receiving a trigger signal sent by a zero sensor, the zero sensor being arranged at a grain tank bracket of the combine harvester, the trigger signal being triggered when a grain tank falls into the grain tank bracket, wherein the trigger signal is triggered when the horizontal grain tank falls into the grain tank bracket, and the top end of the vertical grain tank is connected to the end of the horizontal grain tank through a curved connecting piece; starting to record the running hours of the engine of the combine harvester at the same time when the trigger signal is received; judging whether the current running hours reach a set interval; if the current running hours do not reach the set interval, continuing to record the running hours of the engine; if the current running hours reach the set interval, replacing the zero position information of the grain tank with the position information of the grain tank bracket, wherein the method further comprises: receiving an automatic return instruction signal sent by a control handle; in response to the automatic return instruction signal, controlling the horizontal grain tank to rise to the highest limit; controlling the vertical grain tank to start rotating to drive the horizontal grain tank to rotate; during the rotation of the vertical grain tank, receiving a self-encoder signal of a grain unloading motor, the encoder signal indicating the rotating position information of the horizontal grain tank in the horizontal direction, the self-encoder of the grain unloading motor being located at the tail of the grain unloading motor, and the grain unloading motor being located below the root of the rotating shaft of the vertical grain tank; according to the encoder signal, judging whether the rotating position information of the horizontal grain tank is located at the zero position information of the grain tank; if the rotating position information of the horizontal grain tank is not located at the zero position information, controlling the vertical grain tank to continue rotating; if the rotating position information of the horizontal grain tank is located at the zero position information, controlling the vertical grain tank to stop rotating; controlling the horizontal grain tank to descend to fall into the grain tank bracket.

2. The method of claim 1, wherein, The step of controlling the horizontal grain tank to rise to the highest limit comprises: controlling the horizontal grain tank to start rising; during the rising of the horizontal grain tank, receiving a detection signal sent by an angle sensor, the angle sensor being installed at the curved connecting piece, and the detection signal indicating the height information of the horizontal grain tank in the vertical direction; according to the detection signal, judging whether the rising height reaches the highest limit; if the rising height of the horizontal grain tank does not reach the highest limit, controlling the vertical grain tank to continue rising; if the rising height of the horizontal grain tank reaches the highest limit, controlling the horizontal grain tank to stop rising.

3. The method of claim 1, wherein, The step of controlling the horizontal grain tank to descend to fall into the grain tank bracket comprises: controlling the horizontal grain tank to start descending; during the descending of the horizontal grain tank, determining whether the descending time reaches a set time length; if the set time length is not reached, controlling the horizontal grain tank to continue descending; if the horizontal unloading cylinder falls into the unloading cylinder bracket, then controlling the horizontal unloading cylinder to stop descending; judging whether the horizontal unloading cylinder falls into the unloading cylinder bracket; if the horizontal unloading cylinder falls into the unloading cylinder bracket, then not responding to the movement instruction signal sent by the control handle; if the horizontal unloading cylinder does not fall into the unloading cylinder bracket, then receiving the movement instruction signal sent by the control handle; in response to the movement instruction signal, controlling the horizontal unloading cylinder to start moving until the horizontal unloading cylinder falls into the unloading cylinder bracket.

4. The method of claim 3, wherein, The descending time of the horizontal unloading cylinder is controlled to reach a set duration in the following way: during the descending process of the horizontal unloading cylinder, receiving a detection signal sent by an angle sensor, the angle sensor is installed at the curved connecting piece, and the detection signal indicates the height information of the horizontal unloading cylinder in the vertical direction; according to the detection signal, judging whether the descending time reaches the set duration; if the descending height of the horizontal unloading cylinder does not reach the set duration, then controlling the horizontal unloading cylinder to continue descending; if the descending height of the horizontal unloading cylinder reaches the set duration, then controlling the horizontal unloading cylinder to stop descending.

5. The method of claim 1, wherein, The method further comprises: receiving a zero reset instruction signal sent by the control handle; in response to the zero reset instruction signal, judging whether the unloading cylinder falls into the unloading cylinder bracket; if the unloading cylinder falls into the unloading cylinder bracket, then replacing the zero point position information of the unloading cylinder with the position information of the unloading cylinder bracket; if the unloading cylinder does not fall into the unloading cylinder bracket, then not responding to the zero reset instruction signal.

6. A combine harvester characterised in that, The combine harvester comprises: a zero position sensor arranged at the unloading cylinder bracket of the combine harvester, the zero position sensor generates a trigger signal when the unloading cylinder falls into the unloading cylinder bracket, the unloading cylinder comprises a vertical unloading cylinder and a horizontal unloading cylinder, wherein the trigger signal is triggered when the horizontal unloading cylinder falls into the unloading cylinder bracket, and the top end of the vertical unloading cylinder and the end of the horizontal unloading cylinder are connected by a curved connecting piece; an unloading motor controller configured to: start recording the running hours of the engine of the combine harvester at the same time when the trigger signal is received, judge whether the current running hours reach a set interval duration, continue recording the running hours of the engine if the current running hours do not reach the set interval duration, and replace the zero point position information of the unloading cylinder with the position information of the unloading cylinder bracket if the current running hours reach the set interval duration. The unloading motor controller is further configured to: receive an automatic return instruction signal issued by a control handle; in response to the automatic return instruction signal, control the horizontal unloading cylinder to rise to the highest limit; control the vertical unloading cylinder to start rotating to drive the horizontal unloading cylinder to rotate; during rotation of the vertical unloading cylinder, receive an unloading motor self-contained encoder signal, the encoder signal indicating rotation position information of the horizontal unloading cylinder in the horizontal direction, the unloading motor self-contained encoder being located at the tail of the unloading motor, the unloading motor being located below the root of the vertical unloading cylinder rotating shaft; according to the encoder signal, determine whether the rotation position information of the horizontal unloading cylinder is located at zero point position information of the unloading cylinder; if the rotation position information of the horizontal unloading cylinder is not located at the zero point position information, control the vertical unloading cylinder to continue rotating; if the rotation position information of the horizontal unloading cylinder is located at the zero point position information, control the vertical unloading cylinder to stop rotating; control the horizontal unloading cylinder to descend to fall into the unloading cylinder bracket.

7. The combine harvester according to claim 6, characterized in that The combine harvester further comprises: a combine harvester support; an unloading cylinder bracket mounted on the combine harvester support, an end of the unloading cylinder bracket away from the ground being formed with a placement groove matching a surface shape of the horizontal unloading cylinder; a controller fixing plate provided at a side wall of the vertical unloading cylinder and perpendicular to the ground, the unloading motor controller being mounted on the controller fixing plate; an unloading motor fixing seat mounted at the side wall of the vertical unloading cylinder, the unloading motor for driving the vertical unloading cylinder to rotate being mounted on the unloading motor fixing seat.

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