Harvesting machine and anti-blocking control method, controller and system for threshing cylinder of harvesting machine

Abstract

The invention relates to the technical field of agricultural machinery, and discloses a harvesting machine and an anti-blocking control method, controller and system for a threshing cylinder of the harvesting machine. The method comprises the following steps: matching a corresponding control current attenuation coefficient based on a roller rotating speed-control current attenuation coefficient curve in a threshing period when the roller rotating speed of a threshing roller is reduced to a first preset threshold value; and current neutralization processing is carried out on the control current attenuation coefficient and expected control current generated by manually operating the walking valve to obtain final control current of the walking valve, so that the walking vehicle speed is controlled to be reduced along with the rotating speed of the roller. On one hand, automatic control over anti-blocking of the threshing cylinder is achieved based on the cylinder rotating speed-control current attenuation coefficient curve, dependence on experience and skills of an operator is greatly reduced, on the other hand, an automatic control instruction and walking electric control handle manual operation are reasonably combined, and effective fusion of automatic control and original manual operation is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to a harvesting machinery and a threshing drum anti-blocking control method, a controller and a system thereof. Background Art

[0002] When harvesting machinery is harvesting in the field, due to the variety of crops and their changing conditions, the undulating terrain, the difference in moisture content and the lodging of crops, the crop feeding amount varies greatly, and the harvesting machinery often gets blocked. If the blockage is serious, it will cause the machine to stop for maintenance, reduce the operation speed and efficiency, directly affect the harvest season, and directly affect the economic income of the machine owner. At the same time, it will also cause more serious damage to the transmission device of the harvesting machinery.

[0003] At present, anti-blocking mainly relies on the operation of the operator, which requires the operator to have rich operating experience and highly concentrated attention, pay attention to the sound of the stripping drum of the harvester and the system alarm during operation, and quickly make manual adjustments accordingly. This is highly dependent on the operator's driving level and experience, and the operation is labor-intensive, and the effect of reducing or avoiding blockage is also limited.

[0004] In addition, there are also solutions in the prior art for adjusting congestion by controlling the speed of the vehicle, but such solutions focus more on the control effect of the anti-congestion system on the vehicle speed during the speed increase or decrease process, and do not provide an effective method for integrating the control instructions of the control system with the original manual control, and cannot achieve a reasonable combination of anti-congestion control and manual control. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a method, a controller and a system for preventing blocking of a harvester and its threshing drum, so as to at least partially solve the above-mentioned technical problems.

[0006] In order to achieve the above-mentioned objectives, the first aspect of the present application provides a threshing drum anti-blocking control method, comprising: acquiring the drum speed of the threshing drum of the harvesting machinery in real time; within the threshing cycle starting when the acquired drum speed drops to a first preset threshold value, matching the corresponding control current attenuation coefficient based on a preset drum speed-control current attenuation coefficient curve associated with the operating conditions, wherein the control current attenuation coefficient is used to show the attenuation of the control current applied to the travel valve for controlling the travel speed of the harvesting machinery; performing current neutralization processing on both the matched control current attenuation coefficient and the expected control current generated by manual operation of the travel valve to obtain the final control current required by the travel valve; and adjusting the travel valve based on the obtained final control current to control the travel speed to continuously decrease as the drum speed decreases.

[0007] In the embodiment of the present application, according to the drum speed-control current attenuation coefficient curve, during the threshing cycle, the control current attenuation coefficient remains unchanged as the drum speed increases.

[0008] In an embodiment of the present application, the anti-blocking control method further includes: after reaching the threshing cycle, if the drum speed has increased to the first preset threshold and maintained for a set time, controlling the control current attenuation coefficient to increase to a set maximum value.

[0009] In the embodiment of the present application, the drum speed-control current attenuation coefficient curve is described by the following formula:

[0010] α=1-((1-M)×(100+P rog ) / 100-(1-M) 3 ×P rog / 100)

[0011] Wherein, α represents the control current attenuation coefficient; M represents the intermediate parameter associated with the drum speed, and M=(D i -D min ) / (D n -D min ), D i Indicates the current drum speed, D n represents the first preset threshold, D min It represents a second preset threshold value which is lower than the first preset threshold value and is used to indicate the start of parking control; Prog is the curve acceleration value, and different Prog values ​​match different operating conditions.

[0012] In the present application embodiment, the current neutralization process is described by the following formula:

[0013] I=(I i -I min )×α+I min

[0014] Where, I represents the final control current required by the travel valve, α represents the control current attenuation coefficient, and I i It represents the expected control current generated by manual operation of the travel valve, I min It is the minimum effective current value of the travel valve.

[0015] In an embodiment of the present application, the anti-blocking control method also includes: acquiring the engine speed of the harvesting machinery in real time; and during the threshing cycle, if the drum speed drops below the first preset threshold and the second preset threshold used to indicate the start of parking control, or if the engine speed is lower than the set value, the harvesting machinery is controlled to stop and an alarm is issued.

[0016] In an embodiment of the present application, the anti-blocking control method also includes: after reaching the threshing cycle, if the drum speed has not increased to the first preset threshold within the set no-load period, controlling the walking speed to drop to the preset minimum speed at a preset deceleration; and after the harvesting machine has walked at the preset minimum speed for another no-load period, if the drum speed has not recovered to the first preset threshold, controlling the harvesting machine to stop and issue an alarm, otherwise controlling the walking speed to increase.

[0017] A second aspect of the present application provides a method for preventing blocking of a harvesting machinery, comprising: acquiring the rotational speeds of multiple components of the harvesting machinery in real time, wherein the multiple components include at least a threshing drum; for the threshing drum, executing any of the above-mentioned methods for preventing blocking of the threshing drum; and for components among the multiple components except the threshing drum, when the rotational speed of the corresponding components is lower than the respective corresponding preset rotational speed threshold values, controlling the harvesting machinery to stop and giving an alarm prompt.

[0018] The third aspect of the present application provides a controller, comprising: a memory configured to store instructions; and a processor configured to call the instructions from the memory and implement any of the above-mentioned anti-blocking control methods when executing the instructions.

[0019] The fourth aspect of the present application provides an anti-blocking control system for a harvesting machinery, comprising: a sensor component for collecting the rotational speeds of multiple components of the harvesting machinery; any of the above-mentioned controllers for acquiring the corresponding rotational speeds from the sensor component to perform anti-blocking control; a display component for displaying parameters and issuing alarm prompts in response to the anti-blocking control performed by the controller; and an execution component for controlling the vehicle speed in response to the anti-blocking control performed by the controller.

[0020] The fifth aspect of the present application provides a harvesting machine, comprising any of the above-mentioned anti-blocking control systems.

[0021] In an embodiment of the present application, the harvesting machine further includes a travel valve for controlling the internal oil circuit of its travel system and a travel electric control handle for manually controlling the travel valve, wherein the travel valve is an electro-hydraulic proportional travel valve.

[0022] A sixth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute any of the above-mentioned anti-blocking control methods.

[0023] Through the above technical scheme, the embodiment of the present application, on the one hand, realizes fine control and automatic control of the threshing drum anti-blocking based on the drum speed-control current attenuation coefficient curve, thereby greatly reducing the dependence on the operator's experience and skills; on the other hand, in the process of anti-blocking vehicle speed regulation, the automatic control instructions are reasonably combined with the manual operation of the walking electronic control handle, thereby realizing the effective integration of automatic control and original manual control.

[0024] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0026] Figure 1 A schematic diagram of a flow chart of a threshing drum anti-blocking control method according to an embodiment of the present application is schematically shown;

[0027] Figure 2 A curve diagram of drum speed-control current attenuation coefficient matching different working conditions according to an embodiment of the present application is schematically shown;

[0028] Figure 3 A schematic diagram of a process for executing threshing drum anti-blocking control in an example according to an embodiment of the present application is schematically shown;

[0029] Figure 4 A schematic diagram of a flow chart of a method for preventing blockage of a harvesting machine according to an embodiment of the present application is shown;

[0030] Figure 5 A schematic diagram of a controller according to an embodiment of the present application is shown; and

[0031] Figure 6 The structural block diagram of an anti-blocking control system of a harvesting machinery according to an embodiment of the present application is schematically shown.

[0032] Description of Reference Numerals

[0033] 100 Sensor components 200 Vehicle controller

[0034] 300 Display assembly 400 Electro-hydraulic proportional travel valve

[0035] 500 Engine controller 600 Travel electric control handle DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0037] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0039] Before specifically introducing the embodiments of the present application, a brief introduction to the inventive concept is first given. Threshing drum blockage is the most common type of blockage in harvesting machinery. In the process of realizing the embodiments of the present application, the inventors of the present application found that when the threshing drum (taking the axial flow drum as an example) has a reduced speed (i.e., overload) due to blockage, the flywheel inertia of the threshing drum and the reserve torque of the engine can be used to partially overcome and adjust the speed. After releasing the reserve torque, there is a possibility of overcoming the overload and restoring the speed. In addition, although there is a scheme in the prior art to adjust the blockage by controlling the speed increase or decrease, it belongs to an ideal automatic driving state that ignores the speed adjustment operation of the operator. Based on this, the inventors of the present application thought that the reserve torque of the engine can be released by reducing the walking speed of the entire harvesting machinery to achieve the purpose of alleviating the blockage, and further thought about whether it is possible to "neutralize" or "combine" the manual speed adjustment effect of the operator in the control process, and accordingly proposed the following embodiments.

[0040] Figure 1The schematic diagram of the flow chart of the anti-blocking control method of a threshing drum according to an embodiment of the present application is schematically shown, wherein, in addition to the threshing drum, the harvesting machine also includes a travel valve for controlling the internal oil circuit of its travel system and a travel electric control handle for manually controlling the travel valve. Among them, the travel valve preferably adopts an electro-hydraulic proportional travel valve, which adopts PWMI (I represents current, that is, pulse width modulation PWM based on current) to control the current, and the control current applied thereto is proportional to the displacement output of the travel plunger pump, and thus proportional to the travel speed of the harvesting machine. In addition, the electro-hydraulic proportional travel valve can also have a matching travel electric control handle, which is used by the operator to manually adjust the control current of the electro-hydraulic proportional travel valve. For example, the operator transmits the desired forward travel speed or backward travel speed of the harvester to the vehicle control unit (VCU) by pushing the travel electric control handle forward or backward. The larger the angle of pushing forward or backward, the greater the expected travel speed.

[0041] like Figure 1 As shown, the anti-blocking control method of the embodiment of the present application is executed by a vehicle controller, for example, and may include the following steps S101 to S104.

[0042] Step S101, obtaining the drum speed of the threshing drum in real time.

[0043] For example, the rotation speed sensor installed at the threshing drum collects the drum rotation speed of the threshing drum in real time at a set sampling period and transmits it to the vehicle controller.

[0044] Step S102, in a threshing cycle that starts when the acquired drum speed drops to a first preset threshold, matching a corresponding control current attenuation coefficient based on a preset drum speed-control current attenuation coefficient curve associated with the operating condition.

[0045] The first preset threshold is a drum speed threshold value for indicating the start of vehicle speed reduction control, which is preferably 0.8 to 0.9 times the drum speed rating. In addition, the threshing cycle is the time it takes for the material to enter the threshing drum from the header of the harvester through the bridge component and then be discharged from the threshing drum, for example, represented by T1, which means the time it takes for the grains to complete one threshing.

[0046] The control current attenuation coefficient is used to indicate the attenuation of the control current applied to the travel valve for controlling the travel speed of the harvester, which may also be referred to as the travel current attenuation coefficient or the current attenuation coefficient. For example, the drum speed-control current attenuation coefficient curve is described by the following formula:

[0047] α=1-((1-M)×(100+P rog) / 100-(1-M) 3 ×P rog / 100) (1)

[0048] Wherein, α represents the control current attenuation coefficient, which takes any value between 0 and 1. M represents an intermediate parameter associated with the drum speed, and M=(D i -D min ) / (D n -D min );D i Indicates the current drum speed; D n represents the first preset threshold; D min It indicates the second preset threshold value which is lower than the first preset threshold value and is used to indicate the start of parking control, i.e., the parking control threshold value, which is set to 0.6 times the rated value of the drum speed, for example. Prog is the curve acceleration value, and different Prog values ​​match different operating conditions, and the operating conditions include but are not limited to harvester models, crop types, road conditions, etc. Figure 2 As shown, different values ​​of Prog (0, 20, 40, 60, 80, 100 in the figure) result in different curve trends, thereby presenting different control current attenuation effects.

[0049] Step S103 , performing current neutralization processing on the matched control current attenuation coefficient and the expected control current generated by manually operating the travel valve to obtain a final control current required by the travel valve.

[0050] As mentioned above, due to the existence of the travel electric control handle, there is a simpler solution to control the travel speed through manual operation, that is, to manipulate the travel electric control handle to change the control current of the electro-hydraulic proportional travel valve, thereby indirectly changing the travel speed of the harvesting machinery. Because the operator is subjectively uncontrolled, when the control current attenuation coefficient obtained in step S102 is used to decelerate the vehicle, the operator may push the travel electric control handle to increase the control current of the electro-hydraulic proportional travel valve, and ultimately fail to achieve the purpose of reducing the vehicle speed to relieve the blockage. Therefore, step S103 proposes a neutralization process for the two vehicle speed control schemes.

[0051] For example, the neutralization process can be described by the following formula:

[0052] I=(I i -I min )×α+I min (2)

[0053] Where, I represents the final control current required by the travel valve, α represents the control current attenuation coefficient, and I i It represents the expected control current generated by manual operation of the travel valve, I minIt is the minimum effective current value of the travel valve.

[0054] Through formula (2), it is equivalent to realizing the combination of the vehicle speed adjustment amount based on the control current attenuation coefficient α and the vehicle speed adjustment amount based on the operator's manual operation, and then finally controlling the harvester's travel deceleration based on the combined travel valve control current.

[0055] Step S104: adjusting the travel valve based on the final control current obtained, so as to control the travel speed to continuously decrease as the rotation speed of the drum decreases.

[0056] Therefore, the above steps S101-S104 provide a control scheme for reducing the traveling speed of the vehicle in response to the blockage of the threshing drum, and the influence of the manual operation adjustment amount on the vehicle speed is combined in the speed reduction process.

[0057] For the above steps S101-S104, in the example, the first preset threshold is represented by A1*V 滚筒 , where V 滚筒 Indicates the known rated value of the drum speed, and A1 is preferably 0.8 to 0.9. Taking A1 as 0.8 as an example, when the speed of the threshing drum is lower than 0.8 times its rated value, it indicates that the threshing drum is likely to be blocked. At this time, the timing for the threshing cycle T1 begins, and the control scheme of reducing the travel speed is executed to relieve the drum blockage by releasing the reserve torque of the engine. Here, the reduction in travel speed means that the operating speed of the harvesting machinery is reduced, so that the feeding amount of the crop will be reduced, thereby avoiding the aggravation of the blockage, and even relieving the drum blockage by reducing the feeding amount.

[0058] However, in the threshing cycle T1, as the travel speed decreases, the drum blockage is relieved, so the drum speed will recover, but the material has not yet completed a threshing. If the travel speed is increased at this time, it is easy to cause threshing instability. Therefore, in a preferred embodiment, according to the drum speed-control current attenuation coefficient curve, during the threshing cycle, the control current attenuation coefficient remains unchanged as the drum speed increases. Continuing from the above example, before the timer T reaches T1 time, if the newly collected drum speed D i+1 Less than D i , a lower value of the control current attenuation coefficient α is calculated by formula (1), otherwise the last calculated value of α is maintained, that is, the drum speed increases but α does not increase. In this way, by adopting this preferred embodiment, in the threshing cycle T1 after being judged as blocked, the travel speed "only decreases but does not increase", thereby alleviating the blockage and ensuring the stability of threshing.

[0059] In another preferred embodiment, the anti-blocking control method further includes: after reaching the threshing cycle, if the drum speed has increased to the first preset threshold and maintained for a set time, controlling the control current attenuation coefficient to increase to a set maximum value.

[0060] Continuing with the above example, after the timer T reaches T1, if the drum speed increases to 0.8 times the rated value and maintains for 0.3s, it means that the material blockage problem has been solved in this threshing cycle, and then in the next threshing cycle, the current attenuation coefficient α is controlled to uniformly accelerate and increase to 1 within 2s, and then the vehicle speed is indirectly increased and restored to ensure higher operating efficiency; if not, the current attenuation coefficient α is controlled to only decrease and not increase.

[0061] In this way, the anti-blocking control method of the threshing drum of the embodiment of the present application first considers the correlation between the drum speed and the walking speed of the harvesting machine regarding "material blockage", and predicts whether the drum is blocked by materials by the drum speed. Secondly, taking the threshing cycle as a unit, the influence of the control current attenuation coefficient on the walking speed is considered, and the walking speed is adaptively adjusted by adjusting the control current attenuation coefficient, especially by the current attenuation coefficient of "only decreasing but not increasing" to make the walking speed of the harvesting machine "only decreasing but not increasing" in a threshing cycle after being judged as blocked, so as to alleviate the blockage by reducing the speed on the one hand, and ensure that the threshing stability is not affected on the other hand. Finally, it is judged whether the blockage has been resolved after a threshing cycle. If so, the walking speed is restored by restoring the control current attenuation coefficient to ensure the original high operating efficiency. In the whole process, the blockage prediction based on the drum speed and the adaptive control of the walking speed reduction / increase based on the control current attenuation coefficient can be realized by the controller, thereby greatly reducing the dependence on the operator's experience and skills and reducing the labor intensity of operation. In addition, taking into account the actual situation that user operations cannot be completely ignored, a neutralization process is performed on the vehicle speed control amount based on the control current attenuation coefficient and the vehicle speed control amount based on the manual operation of the travel electronic control handle. Therefore, when a jam is detected and the vehicle speed is reduced, even if the travel electronic control handle is pushed to the maximum value by the operator, the harvester will slow down its travel, and will automatically return to the driver's expected speed, for example, corresponding to the operation of the travel electronic control handle, after the jam is eliminated.

[0062] In a preferred embodiment of the present application, the anti-blocking control method may further include: obtaining the engine speed of the harvesting machine in real time; and controlling the harvesting machine to stop and giving an alarm if the drum speed drops to the second preset threshold or the engine speed is lower than the set value during the threshing cycle. As mentioned above, the second preset threshold is a drum speed threshold value for indicating the start of parking control.

[0063] For example, the engine speed, load rate and other information obtained by the relevant sensors of the engine are sent to the vehicle controller through the CAN bus, and the second preset threshold is recorded as A2*V 滚筒 , A2 is, for example, 0.6. Accordingly, in a threshing cycle, if the real-time drum speed is lower than A2*V 滚筒 Or the engine speed is lower than the set value (for example, the parking engine speed threshold value B1), the vehicle will stop immediately and alarm. That is, after determining the congestion, if deceleration still has no effect, a parking alarm is required to notify the operator to intervene manually.

[0064] In a more preferred embodiment of the present application, the anti-blocking control method also includes: after reaching the threshing cycle, if the drum speed has not increased to the first preset threshold within the set no-load period, controlling the walking speed to drop to the preset minimum speed at a preset deceleration; and after the harvesting machine has walked at the preset minimum speed for another no-load period, if the drum speed has not recovered to the first preset threshold, controlling the harvesting machine to stop and issue an alarm, otherwise controlling the walking speed to increase.

[0065] The no-load period is the period during which the drum speed of the threshing drum in the no-load state changes from a second preset threshold value (A2*V 滚筒 ) to the rated speed (V 滚筒 ) time, which can be recorded as T2. Thus, following the example of vehicle speed control in the threshing cycle T1 in the previous text, after the timing reaches T1+T2 time, if the drum speed has not increased to 0.8 times the rated value (A1*V 滚筒 ), the vehicle speed is controlled to decrease uniformly to 1km / h (the preset minimum speed) within 1.5s. If the speed increases to 0.8 times the rated value, α is uniformly accelerated to increase and recover to 1 within 2S, and the vehicle speed is recovered. If the roller still does not recover to 0.8 times the rated value after T2 time after the speed drops to 1km / h, an alarm is sounded to stop the vehicle. If the speed recovers, α is uniformly accelerated to increase and recover to 1 within 2S, and the vehicle speed is recovered.

[0066] The anti-blocking control method of the threshing drum involved in the above embodiment is generally introduced below by way of examples. Figure 3 is a flow chart of executing the anti-blocking control of the threshing drum in an example of an embodiment of the present application. In this example, the marks of the relevant parameters involved, such as A1, A2, etc., are the same as above, and the use of Figure 2 The control curve is shown in the figure, and the harvesting machine adopts an electro-hydraulic proportional travel valve and a travel electric control handle. Figure 3 As shown, the example may include the following steps:

[0067] Step S1, collecting the drum speed and the engine speed at a period i.

[0068] Step S2, determine whether the drum speed is lower than A1*V 额定 If yes, continue to step S3, otherwise operate normally.

[0069] Among them, the selection of A1 should avoid slowing down the vehicle during normal operation and interfering with the operation, and should not affect the normal harvest. The speed should be reduced only when the drum speed drops to a certain level. Because the speed will continue to drop when overload or speed drop occurs, the value is taken in the direction of a lower value. Combined with the operation experience, it is initially taken as 0.8, and can usually be changed between 0.8 and 0.9 (including the end value) in the future.

[0070] Step S3, the timer T starts timing, records the current vehicle speed value V1, and adjusts the control current of the electro-hydraulic proportional travel valve according to the control current attenuation coefficient and the operation of the travel electric control handle, so that the vehicle speed decreases as the drum speed decreases.

[0071] For the adjustment of the control current of the electro-hydraulic proportional travel valve, please refer to the above Figure 1 The description will not be repeated here.

[0072] Step S4, determine whether the drum speed is lower than A2*V 额定 (parking drum speed threshold) or the engine speed is lower than B1 (parking engine speed threshold), if so, stop the car immediately and alarm, otherwise continue to step S5.

[0073] Among them, before reaching T1 time, the newly collected drum speed D i+1 Less than D i , the lower control current attenuation coefficient calculated by formula (1) controls the vehicle speed to drop even lower, otherwise the control current attenuation coefficient calculated last time is maintained, that is, the drum speed increases, but the vehicle speed does not increase. In addition, the parking engine speed threshold value B1 is selected based on the engine speed corresponding to the engine maximum torque value in the engine external characteristic data. If the value is 1600r / min, B1 is taken as 1700r / min, thereby leaving a certain speed drop margin. The initial value of A2 is selected based on experience, and the preferred value is 0.6.

[0074] Step S5: After the timer T reaches T1, determine whether the drum speed has increased to A1*V 额定 And maintain it for 0.3s. If the vehicle speed is increased and restored, the vehicle speed will return to the original value. Otherwise, the vehicle speed will only decrease and not increase.

[0075] As mentioned above, the vehicle speed increase recovery is achieved by controlling the current attenuation coefficient α to increase uniformly and recover to 1 within 2 seconds, and the same is true below.

[0076] Step S6: After the timer T reaches T1+T2, if the drum speed still does not increase to A1*V 额定 , then control the vehicle speed to 1m / s 2 Deceleration will reduce the vehicle speed to 1km / h. If the speed increases to A1*V 额定 , and recover from the vehicle speed increase.

[0077] Step S7: After the vehicle speed drops to 1 km / h and T2 time has passed, the drum speed still does not return to A1*V 额定 , an alarm will sound and the vehicle will stop. If the speed is restored, the vehicle speed will be increased and restored.

[0078] For the above steps S1-S7, the vehicle speed reduction involved is carried out according to the curve corresponding to the above formula (1), and the vehicle speed increase recovery involved is carried out according to the uniform acceleration of the above control current attenuation coefficient α within 2s, so as to "slowly reduce and increase" the vehicle speed, thereby avoiding the rapid change of vehicle speed and causing unstable threshing.

[0079] Through this example, it can be seen that the embodiment of the present application associates the vehicle speed adjustment with the drum speed in a time segmented manner. On the one hand, based on the drum speed-control current attenuation coefficient curve, the fine control and automatic control of the threshing drum anti-blocking are realized, thereby greatly reducing the dependence on the operator's experience and skills, reducing the labor intensity of operation, reducing the damage to each transmission mechanism caused by blockage, and reducing the use and maintenance costs. On the other hand, in the process of anti-blocking vehicle speed regulation, the manual operation of the walking electric control handle and the automatic control based on the above curve are reasonably combined, realizing the effective integration of automatic control and original manual control. And by "slowly reducing and slowly increasing" the walking speed, the continuity of the operation is improved, the stability of threshing is guaranteed, and the operation efficiency is guaranteed.

[0080] Figure 4 A flow chart of an anti-blocking control method for a harvesting machinery according to an embodiment of the present application is schematically shown. The anti-blocking control method, while taking into account the anti-blocking strategy of the threshing drum in the above embodiment, further considers how to solve the blockage caused by other components, and then proposes a control method for implementing different anti-blocking strategies for different components.

[0081] like Figure 4 As shown, the anti-blocking control method of the harvesting machinery may include the following steps.

[0082] Step S401, obtaining the rotation speeds of multiple components of the harvesting machine in real time.

[0083] Among them, the multiple components include a threshing drum, as well as a bridge component, a re-threshing component, an elevator component and a chopper, etc. The bridge component is mainly a bridge chain rake, the re-threshing component is mainly a re-threshing device and a debris agitator, and the elevator component is mainly an elevator and a grain agitator.

[0084] Step S402: executing any of the above-mentioned anti-blocking control methods for the threshing drum for the threshing drum.

[0085] Among them, the specific anti-blocking control method of the threshing drum can be referred to above, and will not be repeated here.

[0086] Step S403, for the components except the threshing drum among the multiple components, when the rotation speed of the corresponding component is lower than the corresponding preset rotation speed threshold value, the harvesting machine is controlled to stop and a blockage alarm is issued.

[0087] Among them, once the speed of the bridge chain rake, re-detacher, elevator and shredder decreases, it means that the corresponding components have failed and cannot recover by themselves. Therefore, the anti-blocking control strategy at this time is to automatically control the parking to avoid blockage or make the blockage worse, and alarm to remind the operator to deal with it.

[0088] In combination with steps S401-S403, in the example, for example, the following Table 1 is referred to to set the congestion prediction conditions and anti-congestion control strategies for multiple components, and the vehicle controller executes the control scheme shown in Table 1 to achieve different anti-congestion controls for different components.

[0089] Table 1 Control strategies of various components

[0090]

[0091] Through the control scheme of Table 1, in the example, the corresponding speed sensors collect the real-time speed of each component such as the threshing drum, re-thresher, elevator, and chopper. The vehicle controller VCU predicts the precursor of the blockage according to the change trend of the speed, and then issues a control instruction to control the reduction / recovery of the travel speed or to stop the vehicle to alarm, thereby adjusting the feeding amount and automatically avoiding the occurrence of blockage or the worsening of the blockage. Among them, the reduction or recovery of the travel speed causes the corresponding reduction or recovery of the feeding amount of the harvesting machinery.

[0092] In this way, the embodiment of the present application adaptively adjusts the vehicle speed to alleviate blockage for the threshing drum that can be restored after speed loss, and executes a stop alarm control strategy for other components that cannot be restored after speed loss to timely avoid adverse consequences caused by blockage, thereby achieving precise anti-blockage control of "adopting different anti-blockage control strategies according to different situations of whether different components can be restored after speed loss", which can not only prevent blockage of various components, but also avoid frequent stops caused by the recoverable threshing drum and affect the working efficiency, thereby improving the continuity and smoothness of the operation of the harvesting machinery.

[0093] Figure 5 The structure block diagram of a controller according to an embodiment of the present application is schematically shown. Figure 5 As shown, an embodiment of the present application provides a controller, which may include: a memory, configured to store instructions; and a processor, configured to call instructions from the memory and to implement any of the above-mentioned anti-blocking control methods when executing the instructions, including an anti-blocking control method for a threshing drum and an anti-blocking control method for the entire harvesting machinery.

[0094] In the embodiment of the present application, the controller may be configured separately or a vehicle controller may be used.

[0095] For more implementation details and effects of the controller, reference may be made to the other embodiments described above, which will not be described in detail here.

[0096] Figure 6 The structure block diagram of a harvesting machine anti-blocking control system according to an embodiment of the present application is schematically shown. Figure 6 As shown, an embodiment of the present application provides an anti-blocking control system for a harvesting machine, which may include: a sensor component 100, used to collect the rotation speeds of multiple components of the harvesting machine; the controller described in the above embodiment, taking the vehicle controller 200 as an example, is used to obtain the corresponding rotation speed from the sensor component 100 to perform anti-blocking control; a display component 300, used to display parameters and alarm prompts in response to the anti-blocking control performed by the controller; and an execution component, preferably including an electro-hydraulic proportional travel valve 400 for controlling the internal oil circuit of the travel system, which is used to control the vehicle speed in response to the anti-blocking control performed by the controller. In addition, according to control requirements, an engine controller (ECU) 500 and a travel electric control handle 600 may also be included.

[0097] The sensor assembly 100 includes a plurality of speed sensors, which use frequency measurement voltage signal output to connect to the vehicle controller 200. In addition, each speed sensor is installed at the bearing of each component, for example, fixed above the bearing locking sleeve of each component through a bracket.

[0098] Among them, the vehicle controller 200 is installed in the cab and fixed under the cab seat by bolts. The vehicle controller 200 obtains the required information from the sensor component 100, so that the vehicle controller 200 has the speed monitoring function, which is equivalent to the vehicle controller 200 including a low speed monitoring module, a speed correlation monitoring module, a speed drop trend monitoring module and an engine overload monitoring module. Furthermore, the vehicle controller 200 executes the congestion prediction and control strategy shown in Table 1 above for each component of the harvesting machinery, which is equivalent to the vehicle controller 200 having a built-in overload prediction model and control strategy module, or it can be understood that the vehicle controller 200 performs overload prediction and anti-congestion control internally through software algorithms.

[0099] The display assembly 300 is connected to the vehicle controller 200 by a CAN bus, and is, for example, a display, installed in the cab, for example, fixed to a bracket by bolts, and the bracket is arranged on a front cross bar in the cab.

[0100] The engine controller 500 is also connected to the vehicle controller 200 using a CAN bus, such as a J1939 bus.

[0101] In such Figure 6 After the anti-blocking control system is arranged, the field harvesting operation using the anti-blocking control system can include the following three steps:

[0102] First, when the harvester is harvesting normally in the field, the speed information, engine speed and load rate information of each component are collected.

[0103] Secondly, when harvesting in the field, the system turns on the anti-blocking function, and the vehicle controller 200 is equivalent to including a low speed monitoring module, a speed correlation monitoring module, a speed drop trend monitoring module and an engine overload monitoring module to perform real-time monitoring of corresponding parameters. The overload prediction model algorithm determines whether the speed of each component (such as threshing drum, re-thresher, elevator, chopper, bridge component) is within the normal range and whether a fault will occur. The overload prediction model algorithm infers the overload that will occur, such as the rapid decrease in the speed of the threshing drum, bridge shaft or engine. The judgment or prediction result is passed to the control strategy module, which makes corresponding control action outputs according to different situations of overload or fault, such as alarm, engine shutdown or vehicle speed control (first reduce the speed, and then gradually increase the speed after the speed is restored). The operator can set the sensitivity of the overload prediction model and adjust the sensitivity of the prediction inference to adapt to the differences in different harvesting working conditions and the operator's operating habits.

[0104] Finally, the display component displays the speed information and alarm information of each component. The display component includes but is not limited to displaying the current real-time speed of each component, engine speed, engine load rate, operating speed, and alarm prompts.

[0105] The embodiment of the present application also provides a harvesting machine, which includes the above-mentioned anti-blocking control system. Through the anti-blocking control system, the functions of the existing harvesting machine are expanded, so that the harvesting machine can match the corresponding travel speed control strategy according to different situations such as the speed reduction and speed recovery of the components, adjust the real-time feeding amount of the material, and automatically realize the anti-blocking control.

[0106] Preferably, the harvesting machine further comprises a travel valve for controlling the internal oil circuit of its travel system and a travel electric control handle for manually controlling the travel valve, wherein the travel valve is an electro-hydraulic proportional travel valve.

[0107] Among them, the harvesting machinery includes but is not limited to grain harvesting machinery, corn harvesting machinery, cotton and linen crop harvesting machinery, vegetable harvesting machinery, flower (tea) harvesting machinery, grain crop harvesting machinery, root crop harvesting machinery, stem collecting and processing machinery and various combine harvesters.

[0108] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned anti-blocking control method.

[0109] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0110] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0111] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0113] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0114] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0115] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0116] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0117] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A threshing drum anti-blocking control method, characterized in that: include: Real-time acquisition of the drum speed of the threshing drum of the harvesting machinery; In a threshing cycle that starts when the acquired drum speed drops to a first preset threshold value, a corresponding control current attenuation coefficient is matched based on a preset drum speed-control current attenuation coefficient curve associated with the operating condition, wherein the control current attenuation coefficient is used to show the attenuation of the control current applied to the travel valve for controlling the travel speed of the harvesting machine; A current neutralization process is performed on both the matched control current attenuation coefficient and the expected control current generated by manually operating the travel valve to obtain a final control current required by the travel valve; as well as The travel valve is adjusted based on the final control current obtained to control the travel vehicle speed to continuously decrease as the drum rotation speed decreases.

2. The anti-blocking control method according to claim 1, characterized in that: According to the drum speed-control current attenuation coefficient curve, during the threshing cycle, the control current attenuation coefficient remains unchanged as the drum speed increases.

3. The anti-blocking control method according to claim 1, characterized in that: The anti-blocking control method also includes: After reaching the threshing cycle, if the drum speed has increased to the first preset threshold and maintained for a set time, the control current attenuation coefficient is controlled to increase to a set maximum value.

4. The anti-blocking control method according to claim 1, characterized in that: The drum speed-control current attenuation coefficient curve is described by the following formula: α=1-((1-M)×(100+P rog ) / 100-(1-M) 3 ×P rog / 100) Wherein, α represents the control current attenuation coefficient; M represents an intermediate parameter associated with the drum speed, and M=(D i -D min ) / (D n -D min ), D i Indicates the current drum speed, D n represents the first preset threshold, D min Indicates a second preset threshold value which is lower than the first preset threshold value and is used to indicate starting parking control; Prog is the curve acceleration value. Different Prog values ​​match different operating conditions.

5. The anti-blocking control method according to claim 1, characterized in that: The current neutralization process is described by the following equation: I=(I i -I min )×α+I min Where, I represents the final control current required by the travel valve, α represents the control current attenuation coefficient, and I i It represents the expected control current generated by manual operation of the travel valve, I min It is the minimum effective current value of the travel valve.

6. The anti-blocking control method according to claim 1, characterized in that: The anti-blocking control method also includes: Acquiring the engine speed of the harvesting machine in real time; and During the threshing cycle, if the drum speed drops below the first preset threshold and the second preset threshold for indicating the start of parking control, or if the engine speed is lower than the set value, the harvesting machinery is controlled to stop and an alarm is issued.

7. The anti-blocking control method according to any one of claims 1 to 6, characterized in that: The anti-blocking control method also includes: After reaching the threshing cycle, if the drum speed has not increased to the first preset threshold value within the set no-load cycle, the traveling speed is controlled to decrease to a preset minimum speed at a preset deceleration; and After the harvesting machine travels at the preset minimum speed for another idling period, if the drum speed has not recovered to the first preset threshold value, the harvesting machine is controlled to stop and an alarm is given; otherwise, the travel speed is controlled to increase.

8. A method for preventing and controlling a harvesting machine from blocking, characterized in that: include: Acquiring the rotation speeds of multiple components of the harvesting machine in real time, wherein the multiple components at least include a threshing drum; For the threshing drum, the anti-blocking control method of the threshing drum according to any one of claims 1 to 7 is executed; as well as For the components other than the threshing drum among the multiple components, when the rotation speed of the corresponding component is lower than the corresponding preset rotation speed threshold value, the harvesting machine is controlled to stop and an alarm is issued.

9. A controller, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instruction from the memory and implement the anti-blocking control method according to any one of claims 1 to 8 when executing the instruction.

10. A harvesting machine anti-blocking control system, characterized in that: include: A sensor assembly, used for collecting the rotational speeds of multiple components of the harvesting machine; The controller of claim 9 is used to obtain the corresponding rotation speed from the sensor component to perform anti-blocking control; A display component, for displaying parameters and providing alarm prompts in response to the anti-blocking control performed by the controller; as well as The execution component is used to perform vehicle speed control in response to the anti-jam control executed by the controller.

11. A harvesting machine, characterized in that: Including the anti-blocking control system as described in claim 10.

12. The harvesting machine according to claim 11, characterized in that: It also includes a travel valve for controlling the internal oil circuit of its travel system and a travel electric control handle for manually controlling the travel valve, wherein the travel valve is an electro-hydraulic proportional travel valve.

13. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable the machine to execute the anti-blocking control method according to any one of claims 1 to 8.

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