Anti-clogging control methods, controllers and systems for harvesting machinery and its threshing drums

Abstract

This application relates to the field of agricultural machinery technology, and discloses a harvesting machine and its anti-clogging control method, controller, and system for the threshing drum. The method includes: during a threshing cycle starting when the drum speed drops to a first preset threshold, matching a corresponding control current attenuation coefficient based on the drum speed-control current attenuation coefficient curve; and performing current neutralization processing on the control current attenuation coefficient and the expected control current generated by manually operating the travel valve to obtain the final control current of the travel valve, thereby controlling the travel speed to decrease with the drum speed. This application, on the one hand, achieves automatic control of the threshing drum anti-clogging based on the drum speed-control current attenuation coefficient curve, significantly reducing reliance on operator experience and skills; on the other hand, it rationally combines automatic control commands with manual operation of the travel electric control handle, achieving an effective integration of automatic control and the original manual operation.

Description

Technical Field

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

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

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

[0004] In addition, existing technologies also include solutions for adjusting congestion by controlling vehicle speed, but these solutions focus more on the role of the anti-congestion system in regulating vehicle speed during acceleration and deceleration, without providing an effective method for integrating the control system's control commands with the original manual operation, thus failing to achieve a reasonable combination of anti-congestion control and manual operation. Summary of the Invention

[0005] The purpose of this application is to provide a method, controller, and system for preventing blockages in harvesting machinery and its threshing drum, so as to at least partially solve the above-mentioned technical problems.

[0006] To achieve the above objectives, a first aspect of this application provides an anti-clogging control method for a threshing drum, comprising: acquiring the drum rotation speed of the threshing drum of a harvesting machine in real time; during a threshing cycle starting when the acquired drum rotation speed drops to a first preset threshold, matching a corresponding control current attenuation coefficient based on a preset drum rotation speed-control current attenuation coefficient curve associated with the operating conditions, wherein the control current attenuation coefficient is used to indicate the attenuation of the control current applied to a travel valve used to control the travel speed of the harvesting machine; 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 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 rotation speed decreases.

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

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

[0009] In this embodiment of the 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] In the formula, α represents the control current attenuation coefficient; M represents an intermediate parameter related to the drum speed, and M = (D i -D min ) / (D n -D min ), D i D represents the current drum speed. n D represents the first preset threshold. min The second preset threshold indicates that the value is below the first preset threshold 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 this embodiment, the current neutralization process is described by the following formula:

[0013] I = (I i -I min )×α+I min

[0014] In the formula, I represents the final control current required by the traveling valve, and α represents the control current attenuation coefficient. i I represents the expected control current generated by manually operating the travel valve. min It is the minimum effective current value of the travel valve.

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

[0016] In this embodiment of the application, the anti-blocking control method further includes: after the threshing cycle is reached, if the drum rotation speed has not increased to the first preset threshold within a set no-load cycle, then controlling the traveling speed to decrease to a preset minimum speed by a preset deceleration; and after the harvesting machinery travels at the preset minimum speed for another no-load cycle, if the drum rotation speed has not recovered to the first preset threshold, then controlling the harvesting machinery to stop and issuing an alarm prompt, otherwise controlling the traveling speed to increase.

[0017] A second aspect of this application provides a method for preventing blockage in harvesting machinery, comprising: acquiring in real time the rotational speeds of multiple components of the harvesting machinery, wherein the multiple components include at least a threshing drum; performing the aforementioned method for preventing blockage in any of the threshing drums; and controlling the harvesting machinery to stop and issuing an alarm when the rotational speed of the corresponding component (excluding the threshing drum) is lower than its respective preset rotational speed threshold.

[0018] A third aspect of this application provides a controller, comprising: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement any of the aforementioned anti-blocking control methods.

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

[0020] The fifth aspect of this application provides a harvesting machine including any of the aforementioned anti-blocking control systems.

[0021] In this embodiment of the application, the harvesting machinery 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] The sixth aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform any of the aforementioned anti-blocking control methods.

[0023] Through the above technical solutions, the embodiments of this application, on the one hand, realize fine and automatic control of anti-clogging of the threshing drum 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-clogging speed regulation, the automatic control command is reasonably combined with the manual operation of the travel electric control handle, realizing the effective integration of automatic control and the original manual operation.

[0024] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0026] Figure 1 The schematic diagram illustrates a flow chart of an anti-clogging control method for a threshing drum according to an embodiment of this application;

[0027] Figure 2 The diagram illustrates the drum speed-control current attenuation coefficient curves according to embodiments of this application, matching different operating conditions.

[0028] Figure 3 This illustration schematically shows a process diagram of performing anti-clogging control of the threshing drum in an example according to an embodiment of this application;

[0029] Figure 4 The schematic diagram illustrates a flow chart of an anti-blocking control method for harvesting machinery according to an embodiment of this application;

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

[0031] Figure 6 The diagram schematically illustrates a structural block diagram of an anti-blocking control system for a harvesting machine according to an embodiment of this application.

[0032] Explanation of reference numerals in the attached figures

[0033] 100 Sensor Components 200 Vehicle Controller

[0034] 300 Display Components 400 Electro-hydraulic Proportional Travel Valve

[0035] 500 Engine Controller 600 Travel Electric Control Handle Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0037] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0039] Before detailing the embodiments of this application, a brief overview of the inventive concept is provided. Threshing drum blockage is one of the most common types of blockage in harvesting machinery. In implementing the embodiments of this application, the inventors discovered that when the threshing drum (taking an axial-flow drum as an example) experiences a decrease in rotational speed (i.e., overload) due to blockage, this can be partially overcome and adjusted by the flywheel inertia of the threshing drum and the engine's reserve torque. Releasing the reserve torque presents the possibility of overcoming the overload and restoring the rotational speed. Furthermore, while existing technologies exist for adjusting blockage by controlling vehicle speed, these represent an ideal automated driving state that ignores the operator's speed adjustment. Therefore, based on the idea that reducing the overall speed of the harvesting machinery can release the engine's reserve torque to alleviate blockage, the inventors further considered whether the operator's manual speed adjustment effect could be "neutralized" or "combined" with the control process, and proposed the following embodiments.

[0040] Figure 1The illustration schematically shows a flow chart of an anti-clogging control method for a threshing drum according to an embodiment of this application. The harvesting machinery, in addition to the threshing drum, includes a travel valve for controlling the internal hydraulic circuit of its travel system and a travel electronic control handle for manually controlling the travel valve. Preferably, the travel valve is an electro-hydraulic proportional travel valve, which uses PWMI (where I represents current, i.e., pulse broadband modulation based on current) control current. The control current applied to it is proportional to the displacement output of the travel plunger pump, and thus proportional to the travel speed of the harvesting machinery. Furthermore, the electro-hydraulic proportional travel valve may also have a matching travel electronic control handle, which allows the operator to manually adjust the control current of the electro-hydraulic proportional travel valve. For example, by pushing the travel electronic control handle forward or backward, the operator transmits the desired forward or backward travel speed of the harvester to the vehicle control unit (VCU). A larger forward or backward angle indicates a larger desired travel speed.

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

[0042] Step S101: Obtain the rotational speed of the threshing drum in real time.

[0043] For example, the rotational speed of the threshing drum is collected in real time by a speed sensor installed at the threshing drum at a set sampling period and transmitted to the vehicle controller.

[0044] Step S102: During the threshing cycle that begins when the acquired drum speed drops to the first preset threshold, the corresponding control current attenuation coefficient is matched based on the preset drum speed-control current attenuation coefficient curve associated with the working conditions.

[0045] The first preset threshold is a drum speed threshold value used to indicate when to start speed reduction control, preferably 0.8 to 0.9 times the rated drum speed. Furthermore, the threshing cycle is the time it takes for material to enter the threshing drum from the header of the harvesting machinery via the bridge component and then exit from the threshing drum, for example, denoted by T1, which represents the time it takes for the material to complete one threshing cycle.

[0046] The control current attenuation coefficient refers to the attenuation of the control current applied to the travel valve used to control the travel speed of the harvesting machinery; it can also be called 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] In the formula, α represents the control current attenuation coefficient, which takes any value between 0 and 1. M represents an intermediate parameter related to the drum speed, and M = (D i -D min ) / (D n -D min );D i Indicates the current drum speed; D n D represents the first preset threshold; min This indicates a second preset threshold value, representing a value below the first preset threshold and used to indicate the start of parking control; this is the parking control threshold value, for example, set to 0.6 times the rated drum speed. Prog is the curve acceleration value; different Prog values ​​match different operating conditions, including but not limited to harvester type, crop type, and road conditions. Figure 2 As shown, different values ​​of Prog (0, 20, 40, 60, 80, 100 in the figure) produce different curve trends, thus presenting different control current attenuation effects.

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

[0050] As mentioned above, due to the presence of the travel control handle, there is a simpler solution for controlling the travel speed manually: manipulating the travel control handle to change the control current of the electro-hydraulic proportional travel valve, thereby indirectly changing the travel speed of the harvesting machinery. However, because the operator's subjective control is uncontrollable, when using the control current attenuation coefficient obtained in step S102 to decelerate the vehicle, the operator may push the travel control handle, causing the control current of the electro-hydraulic proportional travel valve to increase, ultimately failing to achieve the goal of reducing the vehicle speed to alleviate congestion. Therefore, step S103 proposes a neutralization solution for the two speed control schemes.

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

[0052] I = (I i -I min )×α+I min (2)

[0053] In the formula, I represents the final control current required by the traveling valve, and α represents the control current attenuation coefficient. i I represents the expected control current generated by manually operating the travel valve. minIt is the minimum effective current value of the travel valve.

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

[0055] Step S104: Adjust the travel valve based on the obtained final control current to control the travel speed to continuously decrease as the drum speed decreases.

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

[0057] Regarding steps S101-S104 above, in the example, the first preset threshold is represented as A1*V. 滚筒 V 滚筒 The known rated rotational speed of the threshing drum is represented by A1, which is preferably 0.8 to 0.9. Taking A1 as 0.8 as an example, when the rotational speed of the threshing drum is less than 0.8 times its rated speed, it indicates that the threshing drum is likely blocked. At this time, timing for the threshing cycle T1 begins, and a control scheme to reduce the travel speed is implemented to alleviate drum blockage by releasing the engine's reserve torque. Here, reducing the travel speed means reducing the operating speed of the harvesting machinery, thereby reducing the amount of crop fed in, which can prevent the blockage from worsening, and even alleviate drum blockage by reducing the feed rate.

[0058] However, during the threshing cycle T1, as the travel speed decreases, the drum blockage is alleviated, and the drum speed recovers somewhat. But at this point, the material has not yet completed one threshing cycle. If the travel speed is increased at this time, it can easily cause instability in threshing. Therefore, in a preferred embodiment, according to the drum speed-control current attenuation coefficient curve, the control current attenuation coefficient remains constant as the drum speed increases during the threshing cycle. Continuing with the above example, before the timer T reaches time T1, if the newly acquired drum speed D... i+1 Less than D i The lower control current attenuation coefficient α is calculated by equation (1); otherwise, the previously calculated α value is maintained, meaning that the drum speed increases but α does not increase. Thus, in this preferred embodiment, during the threshing cycle T1 after a blockage is identified, the travel speed "only decreases and 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 the threshing cycle is reached, if the drum speed has increased to the first preset threshold and remained there for a set time, then the control current attenuation coefficient is controlled to increase to a set maximum value.

[0060] Following the example above, if the drum speed increases to 0.8 times the rated value and remains at that value for 0.3 seconds after the timer T reaches time T1, it indicates that the material blockage problem has been resolved in this threshing cycle. In the next threshing cycle, the control current attenuation coefficient α is uniformly accelerated to recover to 1 within 2 seconds, thereby indirectly increasing the vehicle speed to ensure higher operating efficiency. Otherwise, the control current attenuation coefficient α only decreases and does not increase.

[0061] Thus, the anti-clogging control method for the threshing drum in this embodiment first considers the correlation between the drum rotation speed and the traveling speed of the harvesting machinery regarding "material blockage," predicting whether material blockage will occur in the drum based on the drum rotation speed. Secondly, taking the threshing cycle as a unit, the influence of the control current attenuation coefficient on the traveling speed is considered. The traveling speed is adaptively adjusted by adjusting the control current attenuation coefficient, specifically by using a "only decrease, no increase" current attenuation coefficient to ensure that the traveling speed of the harvesting machinery remains "only decrease, no increase" within one threshing cycle after a blockage is detected. This alleviates blockage by reducing the speed while ensuring that threshing stability is not affected. Finally, it is determined whether the blockage has been resolved after one threshing cycle. If so, the traveling speed is restored by restoring the control current attenuation coefficient to maintain the original high operating efficiency. Throughout the process, both the blockage prediction based on drum rotation speed and the adaptive control for reducing / increasing the traveling speed based on the control current attenuation coefficient can be implemented by the controller, significantly reducing reliance on operator experience and skills, and lowering the labor intensity of operation. Furthermore, considering the fact that user operation cannot be completely ignored, a neutralization process was implemented between the speed control amount based on the control current attenuation coefficient and the speed control amount based on the manual operation of the travel control handle. Thus, when a blockage is detected and the speed decreases, even if the travel control handle is pushed to its maximum value by the operator, the harvester will still slow down and automatically return to the speed expected by the driver, such as the speed corresponding to the operation of the travel control handle, after the blockage is cleared.

[0062] In a preferred embodiment of this application, the anti-blocking control method may further include: acquiring the engine speed of the harvesting machinery in real time; and, during the threshing cycle, if the drum speed drops to the second preset threshold or the engine speed is lower than a set value, controlling the harvesting machinery to stop and issuing an alarm. As described above, the second preset threshold is a drum speed threshold value used to indicate when to initiate stop control.

[0063] For example, information such as engine speed and load rate obtained from relevant sensors on the engine is sent to the vehicle controller via the CAN bus, and the second preset threshold is denoted as, for example, A2*V. 滚筒 A2 is, for example, 0.6. Therefore, in a threshing cycle, if the real-time drum speed is lower than A2*V... 滚筒 If the engine speed falls below a set value (e.g., the engine speed threshold for stopping, B1), the machine will stop immediately and an alarm will sound. In other words, if deceleration proves ineffective after a blockage is identified, a stop alarm should be triggered to notify the operator for manual intervention.

[0064] In a more preferred embodiment of this application, the anti-blocking control method further includes: after the threshing cycle is reached, if the drum rotation speed has not increased to the first preset threshold within a set no-load cycle, then controlling the traveling speed to decrease to a preset minimum speed by a preset deceleration; and after the harvesting machinery has traveled at the preset minimum speed for another no-load cycle, if the drum rotation speed has not recovered to the first preset threshold, then controlling the harvesting machinery to stop and issuing an alarm prompt, otherwise controlling the traveling speed to increase.

[0065] The no-load cycle refers to the time when the threshing drum rotates from the second preset threshold (A2*V) under no-load conditions. 滚筒 Increase to rated speed (V) 滚筒 The time for this can be denoted as T2. Continuing from the previous example of speed control within the threshing cycle T1, if the drum speed has not increased to 0.8 times the rated value (A1*V) after the timer reaches T1+T2, then... 滚筒 If the speed is controlled to decrease to 1 km / h (the preset minimum speed) within 1.5s, and the rotation speed increases to 0.8 times the rated value, α will accelerate uniformly to recover to 1 within 2s, and the speed will be increased to recover. If the roller still has not recovered to 0.8 times the rated value after the speed decreases to 1 km / h and time T2 has elapsed, an alarm will sound and the vehicle will stop. If the rotation speed recovers, α will accelerate uniformly to recover to 1 within 2s, and the speed will be increased to recover.

[0066] The following example provides an overall overview of the anti-clogging control method for the threshing drum involved in the above embodiments. Figure 3 This is a schematic flowchart illustrating the process of implementing anti-clogging control of the threshing drum in an example of an embodiment of this application. In this example, the labels of the relevant parameters, such as A1 and A2, are the same as above, and are used as follows: Figure 2 The control curve shown is used for control, and the harvesting machinery uses an electro-hydraulic proportional travel valve and a travel electronic control handle. For example... Figure 3 As shown, this example may include the following steps:

[0067] Step S1: Collect the drum speed and engine speed at a period i.

[0068] Step S2: Determine if the drum speed is lower than A1*V 额定 If yes, continue with step S3; otherwise, proceed with normal operation.

[0069] The selection of A1 should avoid interfering with operations by reducing the machine speed during normal operation, and should not affect normal harvesting. The machine speed should only be reduced when the drum speed drops to a certain level. Because the speed will continue to decrease when overload or speed drop occurs, this value should be taken towards a lower value. Based on operational experience, it is initially set to 0.8, and can usually be varied between 0.8 and 0.9 (including the extreme value) thereafter.

[0070] Step S3: 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 section. Figure 1 The description of that will not be repeated here.

[0072] Step S4: Determine if the drum speed is lower than A2*V 额定 If the engine speed is below B1 (parking drum speed threshold) or the engine speed is below B1 (parking engine speed threshold), stop the vehicle immediately and issue an alarm; otherwise, continue with step S5.

[0073] Among them, the newly acquired drum rotation speed D before time T1 is reached i+1 Less than D i The lower control current attenuation coefficient calculated by equation (1) results in a lower vehicle speed reduction; otherwise, the previously calculated control current attenuation coefficient is maintained, meaning the drum speed increases, but the vehicle speed does not. Furthermore, the parking engine speed threshold value B1 is selected based on the engine speed corresponding to the maximum engine torque value in the engine's external characteristic data. If this value is 1600 r / min, then B1 is set to 1700 r / min, thus leaving a certain speed reduction margin. The initial value of A2 is selected empirically, with a preferred value of 0.6.

[0074] Step S5: After timer T reaches time T1, determine whether the drum speed has increased to A1*V. 额定 And hold for 0.3 seconds. If the vehicle speed increases, it will return to its original value; otherwise, the vehicle speed will only decrease and not increase.

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

[0076] Step S6: After timer T reaches T1+T2, if the drum speed still has not increased to A1*V... 额定 Then control the vehicle speed at 1m / s 2 If the vehicle speed is reduced to 1 km / h by deceleration, and the engine speed increases to A1*V, then... 额定 Then, increase the vehicle speed to recover.

[0077] In step S7, after the vehicle speed drops to 1 km / h and time T2 is elapsed, the drum rotation speed still has not recovered to A1*V. 额定 If the engine speed is restored, the alarm will sound and the vehicle will stop. If the engine speed recovers, the vehicle speed will be increased to restore its normal operation.

[0078] For steps S1-S7 above, the speed reduction is carried out according to the curve corresponding to the above formula (1), and the speed increase and recovery is carried out according to the uniform acceleration of the control current attenuation coefficient α within 2s, which belongs to the "slow decrease and slow increase" of vehicle speed, thus avoiding the instability of threshing caused by rapid changes in vehicle speed.

[0079] This example demonstrates that the embodiments of this application correlate vehicle speed adjustment with drum rotation speed in a time-segmented manner. On one hand, based on the drum rotation speed-control current attenuation coefficient curve, precise and automatic control of anti-clogging of the threshing drum is achieved, thereby significantly reducing reliance on operator experience and skills, lowering the intensity of operation, reducing damage to various transmission mechanisms caused by blockages, and lowering usage and maintenance costs. On the other hand, during the anti-clogging speed adjustment process, the manual operation of the travel electric control handle is reasonably combined with the automatic control based on the aforementioned curve, achieving an effective integration of automatic control and the original manual operation. Furthermore, by "slowly decreasing and slowly increasing" the travel speed, the continuity of operation is improved, threshing stability is ensured, and operational efficiency is guaranteed.

[0080] Figure 4 The schematic diagram illustrates a flow chart of an anti-blocking control method for harvesting machinery according to an embodiment of this application. This anti-blocking control method, which takes into account the anti-blocking strategy of the threshing drum in the above embodiment, further considers how to solve the blockage caused by other components, and proposes a control method that applies different anti-blocking strategies to different components.

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

[0082] Step S401: Real-time acquisition of the rotational speed of multiple components of the harvesting machinery.

[0083] The components include a threshing drum, a bridging component, a re-threshing component, a conveying component, and a shredder. The bridging component is mainly a bridging chain rake, the re-threshing component is mainly a re-threshing device and a waste auger, and the conveying device is mainly an elevator and a grain auger.

[0084] Step S402: For the threshing drum, perform the above-described anti-clogging control method for any of the threshing drums.

[0085] The specific methods for preventing clogging of the threshing drum can be found above and will not be repeated here.

[0086] Step S403: For the components other than the threshing drum among the multiple components, when the rotational speed of the corresponding component is lower than its respective preset rotational speed threshold, control the harvesting machinery to stop and issue a blockage alarm.

[0087] If the speed of the bridge chain rake, re-thresher, elevator, and shredder decreases, it means that the corresponding component has malfunctioned and cannot recover on its own. Therefore, the anti-blockage control strategy at this time is to automatically stop the machine to avoid blockage or worsening of the blockage, and to alarm the operator to handle the situation.

[0088] Combining steps S401-S403, in the example, for instance, referring to Table 1 below, blockage prediction conditions and anti-blockage control strategies are set for multiple components, and the vehicle controller executes the control scheme shown in Table 1 to achieve different anti-blockage controls for different components.

[0089] Table 1 Control strategies for each component

[0090]

[0091] According to the control scheme in Table 1, in this example, the real-time rotational speeds of various components such as the threshing drum, re-threshing unit, elevator, and shredder are collected by corresponding speed sensors. Based on the trend of these rotational speed changes, the vehicle control unit (VCU) anticipates the precursors of blockage and issues control commands to reduce / restore the vehicle speed or trigger a stop alarm, thereby adjusting the feed rate and automatically preventing blockage from occurring or worsening. Specifically, reducing or restoring the vehicle speed correspondingly reduces or restores the feed rate of the harvesting machinery.

[0092] Thus, in this embodiment, for threshing drums that can recover after speed loss, the vehicle speed is adaptively adjusted to alleviate blockage. For other components that cannot recover after speed loss, a stop alarm control strategy is implemented to promptly avoid adverse consequences caused by blockage. This achieves precise anti-blockage control by adopting different anti-blockage control strategies based on whether different components can recover after speed loss. This not only prevents blockage in various components but also avoids frequent stops caused by recoverable threshing drums, which would affect operational efficiency and improve the continuity and smoothness of harvesting machinery operations.

[0093] Figure 5 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 5 As shown, this application provides a controller that may include: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement any of the aforementioned anti-blocking control methods, including an anti-blocking control method for the threshing drum and an anti-blocking control method for the entire harvesting machinery.

[0094] In the embodiments of this application, the controller can be configured individually or can be a whole vehicle controller.

[0095] For more details on the implementation and effects of this controller, please refer to the other embodiments described above, which will not be repeated here.

[0096] Figure 6 A schematic block diagram illustrating an anti-blocking control system for harvesting machinery according to an embodiment of this application is shown. Figure 6 As shown, this application embodiment provides an anti-blocking control system for harvesting machinery, which may include: a sensing component 100 for collecting the rotational speeds of multiple components of the harvesting machinery; a controller as described in the above embodiment, taking a vehicle controller 200 as an example, for obtaining the corresponding rotational speed from the sensing component 100 to perform anti-blocking control; a display component 300 for displaying parameters and providing alarm prompts in response to the anti-blocking control performed by the controller; and an execution component, preferably including an electro-hydraulic proportional travel valve 400 for controlling the internal oil circuit of the travel system, for controlling the vehicle speed in response to the anti-blocking control performed by the controller. Furthermore, depending on control requirements, it may also include an engine controller (ECU) 500 and a travel electronic control handle 600.

[0097] The sensing component 100 includes multiple speed sensors, which are connected to the vehicle controller 200 via frequency-to-voltage signal output. Each speed sensor is mounted on a bearing of a corresponding component, for example, fixed above the bearing locking sleeve of that component by a bracket.

[0098] The vehicle controller 200 is installed in the cab and fixed to the underside of the driver's seat with bolts. The vehicle controller 200 obtains necessary information from the sensing components 100, enabling it to perform speed monitoring. This means the vehicle controller 200 includes a low-speed monitoring module, a speed correlation monitoring module, a speed drop trend monitoring module, and an engine overload monitoring module. Furthermore, the vehicle controller 200 executes the blockage prediction and control strategies shown in Table 1 above for various components of the harvesting machinery. This means the vehicle controller 200 has a built-in overload prediction model and control strategy module, or it can be understood that the vehicle controller 200 internally performs overload prediction and anti-blockage control through software algorithms.

[0099] The display component 300 is connected to the vehicle controller 200 via a CAN bus. It is, for example, a display, installed in the cab, for example, fixed to a bracket by bolts, and the bracket is set on the front crossbar in the cab.

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

[0101] In such Figure 6 After setting up the anti-blocking control system, field harvesting operations using the anti-blocking control system can include the following three main steps:

[0102] First, when the harvesting machinery is operating normally in the field, information such as rotational speed, engine speed, and load rate of each component is collected.

[0103] Secondly, during field harvesting operations, the system activates its anti-blocking function. The vehicle controller 200 essentially includes a low-speed monitoring module, a speed correlation monitoring module, a speed drop trend monitoring module, and an engine overload monitoring module to monitor corresponding parameters in real time. The overload prediction model algorithm determines whether the speed of each component (such as the threshing drum, re-threshing unit, elevator, shredder, and bridge components) is within the normal range and whether a malfunction is imminent. The algorithm also infers impending overloads, such as a rapid drop in the speed of the threshing drum, bridge shaft, or engine. The judgment or prediction results are transmitted to the control strategy module, which outputs corresponding control actions based on different overload or malfunction conditions, such as alarms, engine shutdown, or vehicle speed control (first reducing the vehicle speed, then gradually increasing it after the speed recovers). The operator can adjust the sensitivity of the overload prediction model to adapt to different harvesting conditions and the operator's operating habits.

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

[0105] This application also provides a harvesting machine including the aforementioned anti-blocking control system. This anti-blocking control system expands the functionality of existing harvesting machines, enabling them to match appropriate travel speed control strategies based on different conditions such as component speed reduction and speed recovery, adjusting the real-time material feed rate, and automatically achieving anti-blocking control.

[0106] Preferably, the harvesting machinery 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.

[0107] The harvesting machinery includes, but is not limited to, grain harvesting machinery, corn harvesting machinery, cotton and hemp crop harvesting machinery, vegetable harvesting machinery, flower (tea) harvesting machinery, grain crop harvesting machinery, root and tuber crop harvesting machinery, stalk collection and processing machinery, and various combine harvesters.

[0108] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the aforementioned anti-blocking control method.

[0109] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0111] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0112] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

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

[0114] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

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

[0116] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0117] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for preventing clogging of a threshing drum, characterized in that, include: Real-time acquisition of the rotational speed of the threshing drum of the harvesting machinery; Within the threshing cycle that begins when the acquired drum speed drops to a first preset threshold, a corresponding control current attenuation coefficient is matched based on a preset drum speed-control current attenuation coefficient curve associated with the working conditions, wherein the control current attenuation coefficient is used to show the attenuation of the control current applied to the travel valve used to control the travel speed of the harvesting machinery. The matching control current attenuation coefficient and the expected control current generated by manually operating the travel valve are used to perform current neutralization processing to obtain the final control current required by the travel valve. as well as The travel valve is adjusted based on the obtained final control current to control the travel speed to continuously decrease as the drum speed decreases. The current neutralization process is described by the following formula: I=(I i -I min )×α+I min In the formula, I represents the final control current required by the traveling valve, and α represents the control current attenuation coefficient. i I represents the expected control current generated by manually operating the travel valve. min It is the minimum effective current value of the travel valve; Furthermore, the current neutralization process ensures that when a blockage is detected and the vehicle speed decreases, the harvesting machinery will slow down even if the travel control handle is pushed to its maximum value by the operator. 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) In the formula, α represents the control current attenuation coefficient; M represents an intermediate parameter related to the drum speed, and M=(D i -D min ) / (D n -D min ), D i D represents the current drum speed. n D represents the first preset threshold. min This indicates a second preset threshold that is below the first preset threshold and serves as an indication to initiate parking control; P rog It is the acceleration value of the curve, different P values rog The values ​​are matched to different operating conditions.

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

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

4. The anti-blocking control method according to claim 1, characterized in that, The anti-blocking control method also includes: Real-time acquisition of the engine speed of the harvesting machinery; 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 stop control, or if the engine speed is lower than a set value, the harvesting machinery is controlled to stop and an alarm is triggered.

5. The anti-blocking control method according to any one of claims 1 to 4, characterized in that, The anti-blocking control method also includes: After the threshing cycle is reached, if the drum rotation speed does not increase to the first preset threshold within the set no-load cycle, the traveling speed is controlled to decrease to a preset minimum speed by a preset deceleration; and After the harvesting machinery has traveled for another unloaded cycle at the preset minimum speed, if the drum rotation speed still has not recovered to the first preset threshold, the harvesting machinery is controlled to stop and an alarm is issued; otherwise, the traveling speed is controlled to increase.

6. A method for preventing blockage in harvesting machinery, characterized in that, include: The rotational speeds of multiple components of the harvesting machinery are acquired in real time, wherein the multiple components include at least a threshing drum; For the threshing drum, the anti-clogging control method for the threshing drum according to any one of claims 1 to 5 shall be implemented; as well as For components other than the threshing drum among the multiple components, when the rotational speed of the corresponding component is lower than its respective preset rotational speed threshold, the harvesting machinery is controlled to stop and an alarm is issued.

7. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the anti-blocking control method according to any one of claims 1 to 6.

8. A blockage prevention control system for harvesting machinery, characterized in that, include: Sensing components are used to collect the rotational speeds of multiple components of the harvesting machinery; The controller of claim 7 is configured to acquire a corresponding rotational speed from the sensing component to perform anti-blocking control; The display component is used to display parameters and provide alarm prompts in response to the anti-blocking control executed by the controller; as well as An execution component is used to control vehicle speed in response to anti-blocking control executed by the controller.

9. A harvesting machine, characterized in that, Includes the anti-blocking control system as described in claim 8.

10. The harvesting machinery according to claim 9, 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.

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

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