Method and device for controlling a harvester

Abstract

The application discloses a control method and device for a harvester, and the control method comprises the following steps: obtaining loss data of target grain, and determining a loss rate of the target grain based on the loss data of the target grain; obtaining quality data of the target grain, and determining an impurity rate of the target grain based on the quality data of the target grain; the quality data comprises the quality of the target grain and the quality of impurities in the target grain; and based on the loss rate and the impurity rate, adjusting a target device of the harvester so that the loss rate and the impurity rate of the target grain are within corresponding preset ranges. The technical scheme provided by the application realizes full-automatic control harvesting of the harvester, ensures the specialization and consistency of the harvesting effect, is not affected by the subjective experience of the driver on the harvesting effect, reduces the labor intensity of the driver, and improves the operation efficiency and the grain yield.

Description

Technical Field

[0001] This invention relates to the field of harvesting control of harvesters, and in particular to a harvesting control method and apparatus for harvesters. Background Technology

[0002] During grain harvesting, it is essential to minimize harvesting losses and maximize grain cleanliness. Currently, drivers visually assess grain loss on the harvested surface and the impurity content in the grain bin to determine if standards are exceeded. If harvesting losses exceed standards, the blower speed and screen opening are manually adjusted; if grain cleanliness exceeds standards, the threshing drum speed and threshing plate gap are manually adjusted.

[0003] However, this method, which relies on visual observation and manual adjustments, has drawbacks. It heavily depends on the driver's experience and subjectivity, significantly increases the driver's workload, and makes it difficult to guarantee the accuracy of assessing grain loss and impurity content. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a control method and device for harvesting with a harvester, so that the harvesting operation no longer depends on the subjective experience of the driver, while reducing the driver's labor intensity, improving the harvester's trouble-free working time and operating efficiency, and increasing grain yield.

[0005] This application provides a control method for harvesting with a harvester, the control method including:

[0006] Obtain loss data of the target grain and determine the loss rate of the target grain based on the loss data;

[0007] Acquire the quality data of the target grain, and determine the impurity rate of the target grain based on the quality data; the quality data includes the mass of the target grain and the mass of the impurities in the target grain.

[0008] Based on the loss rate and the impurity rate, the target equipment of the harvester is adjusted so that the loss rate and impurity rate of the target grain are within the corresponding preset range; the target equipment includes at least one of the following: fan, drum, concave plate, sieve plate, and walking motor.

[0009] Furthermore, adjusting the target equipment of the harvester based on the loss rate and the impurity rate includes:

[0010] When the loss rate is within the first preset range and the impurity rate is within the fourth preset range, determine whether the specific operating parameters of the target equipment are all at the corresponding initial values ​​preset by the harvester.

[0011] Adjustments are made to target equipment whose specific operating parameters are not at their corresponding initial values.

[0012] Furthermore, the specific operating parameters include at least one of the following: the travel motor speed, the drum rotation speed, the concave plate gap, the blower rotation speed, and the screen opening.

[0013] Furthermore, adjusting the target equipment of the harvester based on the loss rate and the impurity rate includes:

[0014] When the loss rate is within the first preset range and the impurity rate is within the fifth preset range, determine whether the drum speed and the concave plate gap are both within the corresponding preset values ​​preset by the harvester.

[0015] If any roller or concave plate is not at the corresponding preset value in terms of roller speed and concave plate clearance, adjust the roller or concave plate that is not at the corresponding preset value;

[0016] If both the roller speed and the concave plate clearance are at their respective preset values, adjust the travel motor.

[0017] Furthermore, adjusting the target equipment of the harvester based on the loss rate and the impurity rate includes:

[0018] When the loss rate is within the first preset range and the impurity rate is within the sixth preset range, determine whether the drum speed and the concave plate gap are both within the corresponding preset values ​​preset by the harvester.

[0019] If either the roller speed or the concave plate clearance is not at the corresponding preset value, adjust the roller and concave plate that are not at the corresponding preset value;

[0020] If both the roller speed and the concave plate clearance are at their respective preset values, adjust the travel motor.

[0021] Furthermore, adjusting the target equipment of the harvester based on the loss rate and the impurity rate includes:

[0022] When the loss rate is within the second preset range and the impurity rate is within the fourth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​preset by the harvester.

[0023] If either the fan speed or the screen opening is not at the corresponding preset value, adjust the fan and screen that are not at the corresponding preset value;

[0024] If both the fan speed and the screen opening are at their respective preset values, adjust the travel motor.

[0025] Furthermore, adjusting the target equipment of the harvester based on the loss rate and the impurity rate includes:

[0026] When the loss rate is within the second preset range and the impurity rate is within the fifth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​of the harvester.

[0027] If either the fan speed or the screen opening is not at the corresponding preset value, adjust the fan and screen that are not at the corresponding preset value;

[0028] If both the fan speed and the screen opening are at their respective preset values, adjust the travel motor.

[0029] Furthermore, adjusting the target equipment of the harvester based on the loss rate and the impurity rate includes:

[0030] When the loss rate is within the second preset range and the impurity rate is within the sixth preset range, determine whether the drum speed and the concave plate gap are both within the corresponding preset values ​​preset by the harvester.

[0031] If either the roller speed or the concave plate clearance is not at the corresponding preset value, adjust the roller and concave plate that are not at the corresponding preset value;

[0032] If both the roller speed and the concave plate clearance are at their respective preset values, adjust the travel motor.

[0033] Furthermore, adjusting the target equipment of the harvester based on the loss rate and the impurity rate includes:

[0034] When the loss rate is within the third preset range and the impurity rate is within the fourth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​of the harvester.

[0035] If either the fan speed or the screen opening is not at the corresponding preset value, adjust the fan and screen that are not at the corresponding preset value;

[0036] If both the fan speed and the screen opening are at their respective preset values, adjust the travel motor.

[0037] When the loss rate is within the third preset range and the impurity rate is within the fifth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​of the harvester.

[0038] If either the fan speed or the screen opening is not at the corresponding preset value, adjust the fan and screen that are not at the corresponding preset value;

[0039] If both the fan speed and the screen opening are at their respective preset values, adjust the travel motor.

[0040] Secondly, embodiments of this application also provide a control device for harvesting with a harvester, the control device comprising:

[0041] The loss data acquisition module acquires the loss data of the target grain and determines the loss rate of the target grain based on the loss data.

[0042] The quality data acquisition module acquires the quality data of the target grain and determines the impurity rate of the target grain based on the quality data; the quality data includes the quality of the target grain and the quality of the impurities in the target grain.

[0043] The adjustment module adjusts the target equipment of the harvester based on the loss rate and the impurity rate, so that the loss rate and impurity rate of the target grain are within the corresponding preset range; the target equipment includes at least one of the following: fan, drum, concave plate, sieve plate, and walking motor.

[0044] This application provides a harvester control method, comprising: acquiring target grain loss data and determining the target grain loss rate based on the target grain loss data; the loss data refers to the lost target grain content; acquiring target grain quality data and determining the target grain impurity rate based on the target grain quality data; the quality data refers to the content of target grain and impurities; adjusting the target equipment of the harvester based on the loss rate and the impurity rate to ensure that the target grain loss rate and impurity rate are within corresponding preset ranges; the target equipment includes at least one of the following: a fan, a drum, a concave plate, a sieve, and a travel motor. This achieves fully automatic control of the harvester, ensuring professional and consistent harvesting results, unaffected by the driver's subjective experience, while reducing the driver's workload and improving operational efficiency and grain yield.

[0045] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1This application provides a flowchart of one of the control methods for harvesting with a harvester.

[0048] Figure 2 This paper shows a structural block diagram of a harvester control device provided in an embodiment of this application;

[0049] Figure 3 This illustrates a second flowchart of a harvester control method provided in an embodiment of this application.

[0050] Figure 4 This paper shows one example flowchart of a harvester control method provided in an embodiment of this application;

[0051] Figure 5 This illustrates a second example flowchart of a harvester control method provided in an embodiment of this application.

[0052] Figure 6 This document shows a third example flowchart of a harvester control method provided in an embodiment of this application.

[0053] Figure 7 This document shows a fourth example flowchart of a harvester control method provided in an embodiment of this application.

[0054] Figure 8 This document shows a fifth example flowchart of a harvester control method provided in an embodiment of this application.

[0055] Figure 9 A schematic diagram of the structure of a harvester control device provided in an embodiment of this application is shown. Detailed Implementation

[0056] 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. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0057] During grain harvesting, it is crucial to minimize harvesting losses and maximize grain cleanliness. Currently, drivers visually assess grain loss on the harvested surface and the impurity content in the grain bin to determine if standards are exceeded. If harvesting losses exceed standards, the blower speed and screen opening are manually adjusted; if grain cleanliness exceeds standards, the threshing drum speed and threshing plate gap are manually adjusted. However, this method, relying on visual observation and manual adjustment, has drawbacks. It heavily depends on the driver's subjective experience, significantly increases the driver's workload, and makes it difficult to guarantee the accuracy of assessing grain loss and impurity content.

[0058] Based on this, the embodiments of this application provide an automatic control method for harvesting with a harvester, which not only eliminates the reliance on the subjective experience of the driver and reduces the driver's labor intensity, but also improves the harvester's trouble-free working time and operating efficiency, thereby increasing grain yield.

[0059] Please see Figure 1 , Figure 1 This is one of the flowcharts for a harvester control method provided in an embodiment of this application.

[0060] In this embodiment, the harvester can complete grain cutting, threshing, screening, collection, and straw return to the field in one operation, improving harvesting efficiency and reducing labor costs. The harvester may include, but is not limited to, combine harvesters, corn harvesters, and cotton harvesters.

[0061] like Figure 1 As shown in the illustration, an embodiment of this application provides a control method for harvesting with a harvester, the control method comprising:

[0062] Step S101: Obtain the loss data of the target grain and determine the loss rate of the target grain based on the loss data.

[0063] Here, the loss of the target grain is due to the blower blowing the target grain out of the machine and the sieve screen removing the target grain out of the machine. The target grain loss data is obtained by sensors collecting data on the target grain that has been blown out of the machine by the blower and the target grain that has been sieved out of the machine.

[0064] Sensor types may include, but are not limited to, piezoelectric ceramic sensors, laser beam sensors, and image recognition sensors. As an example, this application uses a piezoelectric ceramic sensor. When harvested grains strike the sensing surface of the sensor, the piezoelectric ceramic sensor generates an electromotive force due to the vibration and impact of the grains. With continuous impacts from grains, the sensor outputs a series of spike waveforms. The controller counts these spikes; the higher the counting frequency per unit time, the greater the harvest loss.

[0065] In this embodiment of the application, as an example, the loss data of the target grain is obtained by collecting the target grain that has been blown out of the machine by the blower through the cleaning screen loss sensor and the target grain that has been screened out of the machine by the threshing and separation loss sensor.

[0066] The loss rate is the amount of target grain lost per unit of time.

[0067] Please see Figure 2 , Figure 2 This is a structural block diagram of a harvester control device provided in an embodiment of this application.

[0068] like Figure 2 As shown, the threshing and separation loss sensor detects the amount of target grain lost during the threshing and separation process through the sieve. The cleaning sieve loss sensor detects the amount of target grain lost from impurities during the blower blowing process.

[0069] In this embodiment, as an example, before the harvester begins harvesting, its initial operating parameters are first read. These parameters may include, but are not limited to, the drum speed, the concave plate gap, the blower speed, and the screen opening. Then, based on these initial operating parameters, the harvester is adjusted to a preset initial operating state. These initial operating parameters are set to maximize the harvester's efficiency while ensuring that the loss rate and impurity rate meet requirements. The preset initial operating state is related to the type of grain, the dryness / wetness of the crop, and the maturity of the grain. The grain harvesting process involves multiple delayed control steps, from the grain entering the header for cutting to feeding, threshing, separating, and collecting—a series of operations with time lags between these steps. Therefore, after the control device makes adjustments, a period of time is usually required to monitor the harvest quality again using sensors, allowing for further adjustments based on the actual situation.

[0070] In this embodiment of the application, the loss rate is determined by calculating the average of the threshing and separation loss rate and the cleaning and screening loss rate.

[0071] Step S102: Obtain the quality data of the target grain and determine the impurity rate of the target grain based on the quality data of the target grain.

[0072] Here, the quality data refers to the quality of the target grain and the quality of impurities in the target grain.

[0073] The quality data of the target grain is related to the amount of straw intercepted by the drum and the threshing effect of the concave plate on the target grain. The quality data of the target grain includes at least one of the following: the total amount of target grain in the grain collected by the grain quality sensor, the amount of impurities in the target grain collected by the grain quality sensor, the total amount of target grain in the residue collected by the residue quality sensor, and the amount of impurities in the target grain collected by the residue quality sensor.

[0074] Impurity rate is the ratio of the amount of impurities in the target grain to the total amount of the target grain.

[0075] See again Figure 2 ,like Figure 2 As shown, the data detected by the grain quality sensor may include, but is not limited to: the amount of straw in the grain, the amount of unthreshed ears of grain, and the amount of broken grain. The data detected by the impurity quality sensor may include, but is not limited to: the amount of straw in the impurity, the amount of straw fragments in the impurity, and the amount of unthreshed ears of grain in the impurity.

[0076] In this embodiment of the application, as an example, since the impurity rates in the grain and the residue are different, the impurity rate is determined by multiplying the impurity rate in the grain mass by 90% and adding it to the impurity rate in the residue mass by 10%.

[0077] Step S103: Based on the loss rate and the impurity rate, adjust the target equipment of the harvester so that the loss rate and impurity rate of the target grain are within the corresponding preset range.

[0078] As an example, if the loss rate and the impurity rate are within the same preset range, then the loss rate is given priority over the impurity rate.

[0079] The two main factors causing substandard grain quality are the concave plate gap and the drum speed. The concave plate gap is measured by a concave plate angle sensor, while the drum speed is measured by a drum speed sensor. If the grain quality is substandard, one possibility is that the drum speed is too low, resulting in incomplete threshing and excessive impurities such as straw and chaff. Another possibility is that the concave plate gap is too small, easily leading to increased grain breakage. Therefore, adjusting the concave plate gap and drum speed is the primary solution for substandard grain quality.

[0080] See again Figure 2 ,like Figure 2 As shown, the drum speed is adjusted by changing the drum transmission ratio through the extension and retraction of the drum's hydraulic cylinder. The concave plate gap adjustment is achieved by the extension and retraction of the concave plate's hydraulic cylinder, which, via a winch, drives the concave plate to adjust the gap.

[0081] The two main factors causing excessive losses are fan speed and screen gap. Fan speed is measured by a fan speed sensor, while screen gap is measured by a screen angle sensor. Excessive losses can occur in two ways: one is due to excessively high fan speed, causing more grain to be blown out of the machine and wasted; the other is due to insufficient screen opening, preventing grain from passing through and causing it to be sieved out. Therefore, adjusting fan speed and screen opening is the primary solution for excessive losses.

[0082] See again Figure 2 ,like Figure 2 As shown, the fan speed is adjusted by the extension and retraction of the fan cylinder, which changes the fan's transmission ratio. The screen opening is adjusted by changing the direction of the push rod motor, thus increasing or decreasing the screen opening.

[0083] Please see Figure 3 , Figure 3 This is a second flowchart of a harvester control method provided in an embodiment of this application.

[0084] Regarding step S103, as an example, in specific implementation, it may include the following steps:

[0085] like Figure 3 As shown in the figure, firstly, based on the loss rate of the target grain, the preset range of the loss rate is determined.

[0086] Secondly, based on the impurity rate of the target grain, determine the preset range within which the impurity rate falls.

[0087] Based on the preset ranges for the loss rate and the impurity loss rate, the following nine cases can be identified:

[0088] In the first scenario, the loss rate is within a first preset range and the impurity rate is within a fourth preset range. For example, the first preset range is within 10% of a preset loss rate; the fourth preset range is within 10% of a preset impurity rate.

[0089] The second scenario involves a loss rate within a first preset range and an impurity rate within a fifth preset range. For example, the fifth preset range is between 10% and 30% of the preset impurity rate.

[0090] The third scenario is where the loss rate is within the first preset range and the impurity rate is within the sixth preset range. For example, the sixth preset range is an impurity rate exceeding the preset range by more than 30%.

[0091] The fourth scenario is where the loss rate is within the second preset range and the impurity rate is within the fourth preset range. For example, the second preset range is between 10% and 30% of the preset loss rate.

[0092] The fifth scenario is when the loss rate is within the second preset range and the impurity rate is within the fifth preset range.

[0093] The sixth scenario is when the loss rate is within the second preset range and the impurity rate is within the sixth preset range.

[0094] The seventh scenario is where the loss rate is within the third preset range and the impurity rate is within the fourth preset range. For example, the second preset range is a loss rate exceeding the preset range by more than 30%.

[0095] The eighth scenario is when the loss rate is within the third preset range and the impurity rate is within the fifth preset range.

[0096] The ninth scenario is when the loss rate is within the third preset range and the impurity rate is within the sixth preset range.

[0097] Secondly, for the first case, when the loss rate is within the first preset range and the impurity rate is within the fourth preset range, it is determined whether the specific operating parameters of the target equipment are all at the corresponding initial values ​​preset by the harvester; adjustments are made to the target equipment whose specific operating parameters are not at the corresponding initial values.

[0098] Here, specific operating parameters may include, but are not limited to: the travel motor speed, the drum rotation speed, the concave plate gap, the blower rotation speed, and the screen opening. The travel motor rotation speed is acquired by a travel motor speed sensor.

[0099] Please see Figure 4 , Figure 4 This is one of the example flowcharts of a harvester control method provided in an embodiment of this application.

[0100] The first case will be illustrated below with specific examples:

[0101] like Figure 4As shown, when both the loss rate and impurity rate exceed the preset loss rate by less than 10% and the impurity rate exceed the preset impurity rate by less than 10%, both the loss rate and impurity rate meet the requirements. In this case, the reduced operating efficiency due to meeting the loss rate and quality rate requirements will be restored to the initial maximum operating efficiency state. First, it is determined whether the travel motor speed is less than the initial value. If the travel motor speed is less than the initial value, the drive current of the current travel variable pump is increased by 10% of its full scale to increase the travel motor speed. For example, assuming the full scale of the travel pump's drive current is 100 mA and the current drive current is 50 mA, increasing the full scale by 10% from the current 50 mA drive current (10% of 100 mA is 10 mA) increases the travel variable pump's drive current from 50 mA to 60 mA, thereby increasing the travel motor speed.

[0102] See again Figure 2 ,like Figure 2 As shown, the speed of the walking motor is changed by controlling the walking pump to change the drive current through the ECU.

[0103] Secondly, if the travel motor speed is not less than the initial value, determine whether the drum speed is greater than the initial value. If the drum speed is greater than the initial value, reduce the total duration of the drive current output of the current drum cylinder solenoid valve by 10% of the full scale to reduce the drum speed.

[0104] Then, check if the drum speed is not greater than the initial value, and determine if the concave plate gap is greater than the initial value. If the concave plate gap is greater than the initial value, reduce the total duration of the drive current output of the current concave plate's cylinder solenoid valve by 10% of the full scale to reduce the concave plate gap.

[0105] Next, if the gap between the concave plates is not greater than the initial value, determine if the fan speed is greater than the initial value. If the fan speed is greater than the initial value, reduce the total duration of the drive current output of the current fan's cylinder solenoid valve by 10% of the full scale to reduce the fan speed.

[0106] Subsequently, with the fan speed not exceeding the initial value, it is determined whether the screen opening is less than the initial value. If the screen opening is less than the initial value, the total forward stroke of the push rod motor of the current screen is adjusted by 10% to increase the screen opening.

[0107] Finally, if the sieve opening is not less than the initial value, return to step S101.

[0108] In the second scenario, when the loss rate is within the first preset range and the impurity rate is within the fifth preset range, it is determined whether both the drum speed and the concave plate clearance are within the corresponding preset values ​​set by the harvester. If either the drum speed or the concave plate clearance is not within the corresponding preset value, the drum and concave plate that are not within the corresponding preset value are adjusted. If both the drum speed and the concave plate clearance are within the corresponding preset values, the travel motor is adjusted.

[0109] Please see Figure 5 , Figure 5 This is a second example flowchart of a harvester control method provided in an embodiment of this application.

[0110] The second scenario will be illustrated below with specific examples:

[0111] like Figure 5 As shown, firstly, when the loss rate exceeds the preset loss rate by less than 10% and the impurity rate exceeds the preset impurity rate by 10%-30%, it is determined whether the drum speed is less than the preset maximum drum speed. If the drum speed is less than the preset maximum drum speed, the total duration of the current cylinder solenoid valve drive current output of the current blower is increased by 10% of the full scale to increase the drum speed.

[0112] Then, if the drum speed is not less than the preset maximum drum speed, it is determined whether the concave plate gap is less than the preset maximum concave plate gap. If the concave plate gap is less than the preset maximum concave plate gap, the total duration of the current cylinder solenoid valve drive current output of the current concave plate is increased by 10% of the full scale to increase the concave plate gap.

[0113] If the drum speed and concave plate clearance are both at the corresponding preset values, adjust the travel motor. For example, reduce the current of the current travel pump by 10% of its full range to reduce the travel motor speed, thereby reducing the amount of target grain fed in and lowering the harvester's workload.

[0114] For the third scenario, when the loss rate is within the first preset range and the impurity rate is within the sixth preset range, it is determined whether both the drum speed and the concave plate clearance are within the corresponding preset values ​​set by the harvester. If either the drum speed or the concave plate clearance is not within the corresponding preset value, the drum and concave plate that are not within the corresponding preset value are adjusted. If both the drum speed and the concave plate clearance are within the corresponding preset values, the travel motor is adjusted.

[0115] Please see Figure 6 , Figure 6 This is a third example flowchart of a harvester control method provided in an embodiment of this application.

[0116] The third case will be illustrated below with specific examples:

[0117] like Figure 6 As shown, firstly, when the loss rate exceeds the preset loss rate by less than 10% and the impurity rate exceeds the preset impurity rate by more than 30%, it is determined whether the drum speed is less than the preset maximum drum speed. If the drum speed is less than the preset maximum drum speed, the total duration of the current cylinder solenoid valve drive current output of the current blower is increased by 30% of the full scale to increase the drum speed.

[0118] Then, if the drum speed is not less than the preset maximum drum speed, it is determined whether the concave plate gap is less than the preset maximum concave plate gap. If the concave plate gap is less than the preset maximum concave plate gap, the total duration of the current cylinder solenoid valve drive current output of the current concave plate is increased by 30% of the full scale to increase the concave plate gap.

[0119] If the drum speed and concave plate clearance are both at their respective preset values, adjust the travel motor. For example, reduce the current of the travel pump by 30% of its full scale to reduce the travel motor speed.

[0120] For the fourth scenario, when the loss rate is within the second preset range and the impurity rate is within the fourth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​set by the harvester. If either the fan speed or the screen opening is not within the corresponding preset value, adjust the fan and screen that are not within the corresponding preset value. If both the fan speed and the screen opening are within the corresponding preset values, adjust the travel motor.

[0121] Please see Figure 7 , Figure 7 This is the fourth example flowchart of a harvester control method provided in an embodiment of this application.

[0122] The fourth case will be illustrated below with specific examples:

[0123] like Figure 7 As shown, firstly, when the loss rate exceeds the preset loss rate by 10%-30% and the impurity rate exceeds the preset impurity rate by less than 10%, it is first determined whether the fan speed is greater than the preset minimum fan speed. If the fan speed is greater than the preset minimum fan speed, the total duration of the current output current of the current fan's cylinder solenoid valve is reduced by 10% of the full scale to reduce the fan speed.

[0124] Then, if the fan speed is not greater than the preset minimum fan speed, it is determined whether the screen opening is less than the preset maximum screen opening. If the screen opening is less than the preset maximum screen opening, the total forward stroke of the current screen push rod motor is adjusted by 10% to increase the screen opening.

[0125] If both the fan speed and screen opening are at their respective preset values, adjust the travel motor. For example, reduce the current of the travel pump by 10% of its full range to reduce the travel motor speed.

[0126] For the fifth scenario, when the loss rate is within the second preset range and the impurity rate is within the fifth preset range, determine whether both the fan speed and screen opening are within the corresponding preset values ​​set by the harvester. If either the fan speed or the screen opening is not within the corresponding preset value, adjust the fan and screen that are not within the corresponding preset value. If both the fan speed and the screen opening are within the corresponding preset values, adjust the travel motor.

[0127] The fifth case will be illustrated below with specific examples:

[0128] See again Figure 7 ,like Figure 7 As shown, firstly, when the loss rate exceeds the preset loss rate by 10%-30% and the impurity rate exceeds the preset impurity rate by 10%-30%, the system first determines whether the fan speed is greater than the preset minimum fan speed. If the fan speed is greater than the preset minimum fan speed, the total duration of the current output current of the current fan's cylinder solenoid valve is reduced by 10% of its full range to reduce the fan speed.

[0129] Then, if the fan speed is not greater than the preset minimum fan speed, it is determined whether the screen opening is less than the preset maximum screen opening. If the screen opening is less than the preset maximum screen opening, the total forward stroke of the current screen push rod motor is adjusted by 10% to increase the screen opening.

[0130] If both the fan speed and screen opening are at their respective preset values, adjust the travel motor. For example, reduce the current of the travel pump by 10% of its full range to reduce the travel motor speed.

[0131] For the sixth scenario, when the loss rate is within the second preset range and the impurity rate is within the sixth preset range, determine whether the drum speed and concave plate clearance are both within the corresponding preset values ​​of the harvester. If either the drum speed or the concave plate clearance is not within the corresponding preset value, adjust the drum and concave plate that are not within the corresponding preset value. If both the drum speed and the concave plate clearance are within the corresponding preset values, adjust the travel motor.

[0132] The sixth case will be illustrated below with specific examples:

[0133] See again Figure 5 ,like Figure 5As shown, firstly, when the loss rate exceeds the preset loss rate by 10%-30% and the impurity rate exceeds the preset impurity rate by more than 30%, it is determined whether the drum speed is less than the preset maximum drum speed. If the drum speed is less than the preset maximum drum speed, the total duration of the current cylinder solenoid valve drive current output of the current blower is increased by 30% of the full scale to increase the drum speed.

[0134] Then, if the drum speed is not less than the preset maximum drum speed, it is determined whether the concave plate gap is less than the preset maximum concave plate gap. If the concave plate gap is less than the preset maximum concave plate gap, the total duration of the current cylinder solenoid valve drive current output of the current concave plate is increased by 30% of the full scale to increase the concave plate gap.

[0135] If the drum speed and concave plate clearance are both at their respective preset values, adjust the travel motor. For example, reduce the current of the travel pump by 30% of its full scale to reduce the travel motor speed.

[0136] For the seventh scenario, when the loss rate is within the third preset range and the impurity rate is within the fourth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​set by the harvester. If either the fan speed or the screen opening is not within the corresponding preset value, adjust the fan and screen that are not within the corresponding preset value. If both the fan speed and the screen opening are within the corresponding preset values, adjust the travel motor.

[0137] Please see Figure 8 , Figure 8 This is the fifth example flowchart of a harvester control method provided in an embodiment of this application.

[0138] The seventh case will be illustrated below with specific examples:

[0139] like Figure 8 As shown, firstly, when the loss rate exceeds 30% of the preset loss rate and the impurity rate exceeds 10% of the preset impurity rate, it is first determined whether the fan speed is greater than the preset minimum fan speed. If the fan speed is greater than the preset minimum fan speed, the total duration of the current output current of the current fan's cylinder solenoid valve is reduced by 30% of its full range to reduce the fan speed.

[0140] Then, if the fan speed is not greater than the preset minimum fan speed, it is determined whether the screen opening is less than the preset maximum screen opening. If the screen opening is less than the preset maximum screen opening, the total forward stroke of the current screen push rod motor is adjusted by 30% to increase the screen opening.

[0141] If both the fan speed and screen opening are at their respective preset values, adjust the travel motor. For example, reduce the current of the travel pump by 30% of its full range to reduce the travel motor speed.

[0142] For the eighth scenario, when the loss rate is within the third preset range and the impurity rate is within the fifth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​set by the harvester. If either the fan speed or the screen opening is not within the corresponding preset value, adjust the fan and screen that are not within the corresponding preset value. If both the fan speed and the screen opening are within the corresponding preset values, adjust the travel motor.

[0143] The eighth case will be illustrated below with specific examples:

[0144] See again Figure 8 ,like Figure 8 As shown, firstly, when the loss rate exceeds 30% of the preset loss rate and the impurity rate exceeds the preset impurity rate by 10%-30%, it is first determined whether the fan speed is greater than the preset minimum fan speed. If the fan speed is greater than the preset minimum fan speed, the total duration of the current output current of the current fan's cylinder solenoid valve is reduced by 30% of its full range to reduce the fan speed.

[0145] Then, if the fan speed is not greater than the preset minimum fan speed, it is determined whether the screen opening is less than the preset maximum screen opening. If the screen opening is less than the preset maximum screen opening, the total forward stroke of the current screen push rod motor is adjusted by 30% to increase the screen opening.

[0146] If both the fan speed and screen opening are at their respective preset values, adjust the travel motor. For example, reduce the current of the travel pump by 30% of its full range to reduce the travel motor speed.

[0147] For the eighth scenario, when the loss rate is within the third preset range and the impurity rate is within the sixth preset range, stop the machine to check whether the initial operating parameters are appropriate.

[0148] This application provides a harvester control method that enables fully automatic harvesting control, ensuring professional and consistent harvesting results, unaffected by driver experience, while reducing driver workload and improving operational efficiency and grain yield.

[0149] Based on the same concept, this application also provides a harvester harvesting control device corresponding to the harvester harvesting control method provided in the above embodiment. Since the principle of the device in this application is similar to the harvester harvesting control method in the above embodiment, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0150] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a harvester control device provided in an embodiment of this application.

[0151] like Figure 9 As shown, the detection device 910 includes:

[0152] The loss data acquisition module 911 acquires the loss data of the target grain and determines the loss rate of the target grain based on the loss data.

[0153] The quality data acquisition module 912 acquires the quality data of the target grain and determines the impurity rate of the target grain based on the quality data; the quality data includes the quality of the target grain and the quality of the impurities in the target grain.

[0154] The adjustment module 913 adjusts the target equipment of the harvester based on the loss rate and the impurity rate, so that the loss rate and impurity rate of the target grain are within the corresponding preset range; the target equipment includes at least one of the following: fan, drum, concave plate, sieve plate, and walking motor.

[0155] Optionally, the adjustment module 913 is specifically used for:

[0156] When the loss rate is within the first preset range and the impurity rate is within the fourth preset range, determine whether the specific operating parameters of the target equipment have all reached the corresponding initial values ​​preset by the harvester.

[0157] Adjustments are made to target equipment whose specific operating parameters have not reached the corresponding initial values.

[0158] Optionally, the specific operating parameters include at least one of the following: the travel motor speed, the drum rotation speed, the concave plate gap, the blower rotation speed, and the screen opening.

[0159] Optionally, the adjustment module 913 can also be used for:

[0160] When the loss rate is within the first preset range and the impurity rate is within the fifth preset range, determine whether the drum speed and the concave plate gap are both within the corresponding preset values ​​preset by the harvester.

[0161] If either the roller speed or the concave plate clearance is not at the corresponding preset value, adjust the roller and concave plate that are not at the corresponding preset value;

[0162] If both the roller speed and the concave plate clearance are at their respective preset values, adjust the travel motor.

[0163] Optionally, the adjustment module 913 can also be used for:

[0164] When the loss rate is within the first preset range and the impurity rate is within the sixth preset range, determine whether the drum speed and the concave plate gap are both within the corresponding preset values ​​preset by the harvester.

[0165] If either the roller speed or the concave plate clearance is not at the corresponding preset value, adjust the roller and concave plate that are not at the corresponding preset value;

[0166] If both the roller speed and the concave plate clearance are at their respective preset values, adjust the travel motor.

[0167] Optionally, the adjustment module 913 can also be used for:

[0168] When the loss rate is within the second preset range and the impurity rate is within the fourth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​preset by the harvester.

[0169] If either the fan speed or the screen opening is not at the corresponding preset value, adjust the fan and screen that are not at the corresponding preset value;

[0170] If both the fan speed and the screen opening are at their respective preset values, adjust the travel motor.

[0171] Optionally, the adjustment module 913 can also be used for:

[0172] When the loss rate is within the second preset range and the impurity rate is within the fifth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​of the harvester.

[0173] If either the fan speed or the screen opening is not at the corresponding preset value, adjust the fan and screen that are not at the corresponding preset value;

[0174] If both the fan speed and the screen opening are at their respective preset values, adjust the travel motor.

[0175] Optionally, the adjustment module 913 can also be used for:

[0176] When the loss rate is within the second preset range and the impurity rate is within the sixth preset range, determine whether the drum speed and the concave plate gap are both within the corresponding preset values ​​preset by the harvester.

[0177] If either the roller speed or the concave plate clearance is not at the corresponding preset value, adjust the roller and concave plate that are not at the corresponding preset value;

[0178] If both the roller speed and the concave plate clearance are at their respective preset values, adjust the travel motor.

[0179] Optionally, the adjustment module 913 can also be used for:

[0180] When the loss rate is within the third preset range and the impurity rate is within the fourth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​of the harvester.

[0181] If either the fan speed or the screen opening is not at the corresponding preset value, adjust the fan and screen that are not at the corresponding preset value;

[0182] If both the fan speed and the screen opening are at their respective preset values, the travel motor is adjusted. This application provides a control device for a harvester.

[0183] When the loss rate is within the third preset range and the impurity rate is within the fifth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​of the harvester.

[0184] If either the fan speed or the screen opening is not at the corresponding preset value, adjust the fan and screen that are not at the corresponding preset value;

[0185] If both the fan speed and the screen opening are at their respective preset values, the travel motor is adjusted. This application provides a control device for a harvester.

[0186] This application provides a control device for harvesting a harvester. Through the device, the harvester can achieve fully automatic control of harvesting, ensuring the professionalism and consistency of the harvesting effect, which is not affected by the driver's experience. At the same time, it reduces the driver's labor intensity and improves the operation efficiency and grain yield.

[0187] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this 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 still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for harvesting with a harvester, characterized in that, The control method includes: Obtain loss data of the target grain and determine the loss rate of the target grain based on the loss data; Acquire the quality data of the target grain, and determine the impurity rate of the target grain based on the quality data; the quality data includes the mass of the target grain and the mass of the impurities in the target grain. Based on the loss rate and the impurity rate, the target equipment of the harvester is adjusted so that the loss rate and impurity rate of the target grain are within the corresponding preset range; the target equipment includes at least one of the following: fan, drum, concave plate, sieve plate, and travel motor; The adjustment of the target equipment of the harvester based on the loss rate and the impurity rate includes: When the loss rate is within the first preset range and the impurity rate is within the fourth preset range, determine whether the specific operating parameters of the target equipment have all reached the corresponding initial values ​​preset by the harvester. Adjustments are made to target equipment whose specific operating parameters have not reached the corresponding initial values. The specific operating parameters include at least one of the following: the speed of the walking motor, the rotational speed of the drum, the gap between the concave plates, the rotational speed of the blower, and the opening degree of the screen plate. When the loss rate is within the first preset range and the impurity rate is within the fifth or sixth preset range, or when the loss rate is within the second preset range and the impurity rate is within the sixth preset range, determine whether the drum speed and the concave plate clearance are both within the corresponding preset values ​​of the harvester; if either the drum speed or the concave plate clearance is not within the corresponding preset value, adjust the drum and the concave plate that are not within the corresponding preset value; if both the drum speed and the concave plate clearance are within the corresponding preset values, adjust the travel motor; When the loss rate is within the second preset range and the impurity rate is within the fourth or fifth preset range, or when the loss rate is within the third preset range and the impurity rate is within the fourth or fifth preset range, determine whether the fan speed and screen opening are both within the corresponding preset values ​​of the harvester; if either the fan speed or the screen opening is not within the corresponding preset value, adjust the fan and screen that are not within the corresponding preset value; if both the fan speed and the screen opening are within the corresponding preset values, adjust the travel motor; The first, second, and third preset ranges are respectively within 10%, between 10% and 30%, and above 30% of the preset loss rate. The fourth, fifth, and sixth preset ranges are respectively within 10%, between 10% and 30%, and above 30% of the preset impurity rate.

2. A control device for harvesting with a harvester, wherein the control device is applied to the control method of claim 1, characterized in that, The control device includes: The loss data acquisition module acquires the loss data of the target grain and determines the loss rate of the target grain based on the loss data. The quality data acquisition module acquires the quality data of the target grain and determines the impurity rate of the target grain based on the quality data; the quality data includes the quality of the target grain and the quality of the impurities in the target grain. The adjustment module adjusts the target equipment of the harvester based on the loss rate and the impurity rate, so that the loss rate and impurity rate of the target grain are within the corresponding preset range; the target equipment includes at least one of the following: fan, drum, concave plate, sieve plate, and walking motor.

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