Threshing abnormity processing method of harvester, harvester and medium

Abstract

The invention provides a threshing abnormity processing method of a harvester, the harvester and a medium, and the method comprises the steps that a moving request for a threshing cylinder of the harvester is received, and the threshing cylinder is used for receiving crops conveyed by a header of the harvester and performing threshing processing; in response to the movement request, the working states of the threshing cylinder, the header and a chopper of the harvester are recognized, whether the threshing cylinder meets the movement triggering condition or not is judged according to the recognized working states, and the chopper is used for chopping crop residues screened out of a sieve plate of the threshing cylinder and discharging the crop residues; if the movement triggering condition is met, a movement control signal is sent to a driving mechanism of the threshing cylinder, and the threshing cylinder is driven to move through the driving mechanism so that the threshing cylinder can be separated from the chopper. The distance between the chopper and the threshing cylinder is increased by controlling the threshing cylinder to move, and blockages of the threshing cylinder can be cleaned without disassembling the harvester structure.

Description

Technical Field

[0001] The present application relates to the technical field of harvesters, and in particular to a method for handling abnormal threshing of a harvester, a harvester and a medium. Background Art

[0002] With the rapid development of science and technology, the operating efficiency of harvesters has been significantly improved. The amount of crops fed to the harvesting platform and the threshing speed per unit time have both been greatly improved. However, this remarkable progress has also brought about an increased risk of crop blockage. Due to the uneven technical level of drivers and possible problems in the mechanical transmission system, crops frequently encounter blockages during the harvesting, transportation and threshing stages. Especially under high-intensity and high-efficiency operation requirements, the problem of crop blockage has become increasingly prominent.

[0003] Once crop blockage occurs, it is often necessary to stop the machine for inspection and disassemble the external structure of the harvester in order to clean the blockage in the threshing drum. This process is not only cumbersome to operate, but also because the positions of the threshing drum and the screen plate are relatively fixed, and the distance between the threshing and separation areas is small, the difficulty of thorough cleaning is greatly increased. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method for handling abnormal threshing of a harvester, a harvester and a medium, aiming to solve at least one of the above-mentioned defects.

[0005] In the first aspect, the present application provides a method for handling threshing abnormalities of a harvester, the method comprising: receiving a movement request for a threshing drum of the harvester, the threshing drum being used to receive crops transported by a cutting table of the harvester and perform threshing processing; in response to the movement request, identifying the working states of the threshing drum, the cutting table and the chopper of the harvester, and judging whether the threshing drum satisfies a movement trigger condition based on the identified working states, the chopper being used to chop and discharge the crop residues screened out from the screen plate of the threshing drum; if the movement trigger condition is met, sending a movement control signal to a driving mechanism of the threshing drum to drive the threshing drum to move through the driving mechanism, so as to separate the threshing drum from the chopper.

[0006] In a possible embodiment, the working states of the threshing drum and the harvesting table are identified in the following manner: a first state signal of a cutting and shedding rod position sensor is received, the cutting and shedding rod position sensor is used to detect the position of the cutting and shedding rod of the harvester, and the cutting and shedding rod is used to control the engagement and disengagement of a threshing clutch and a harvesting table clutch; when it is identified according to the first state signal that the cutting and shedding rod is in the first gear position, it is determined that the threshing clutch of the threshing drum and the harvesting table clutch of the harvesting table are both in a disengaged state; when it is identified according to the first state signal that the cutting and shedding rod is in the second gear position, it is determined that the threshing clutch is in an engaged state and the harvesting table clutch is in a disengaged state; when it is identified according to the first state signal that the cutting and shedding rod is in the third gear position, it is determined that the threshing clutch and the harvesting table clutch are both in an engaged state.

[0007] In a possible implementation, the working state of the chopper is identified in the following manner: a second state signal of an opening and closing position sensor of the chopper is received, a baffle is provided at an entrance of the chopper for receiving crop residues, and the chopper opening and closing position sensor is used to detect the opening and closing degree of the baffle; when it is identified according to the second state signal that the chopper is in a switching state, it is determined that the chopper is in a working state, and the switching state includes the baffle being in a non-fully open state or a non-fully closed state; when it is identified according to the second state signal that the baffle is in a fully open state or a fully closed state, it is determined that the chopper is in a non-working state.

[0008] In a possible implementation, whether the threshing drum satisfies the movement trigger condition is determined in the following manner: when the threshing drum, the cutting table and the chopper are all in a non-working state, it is determined that the threshing drum satisfies the movement trigger condition, the threshing drum being in a non-working state includes the threshing clutch being in a separated state, the cutting table being in a non-working state includes the cutting table clutch being in a separated state, and the chopper being in a non-working state includes the baffle of the chopper being in a fully open state or a fully closed state; when at least one of the threshing drum, the cutting table and the chopper is in a working state, it is determined that the threshing drum does not satisfy the movement trigger condition.

[0009] In one possible embodiment, the step of receiving a movement request for the threshing drum of the harvester includes: receiving the movement request from an external manipulator, the external manipulator being provided with a first button for controlling the rise of the threshing drum and a second button for controlling the descent of the threshing drum, the movement request being generated when the first button or the second button is triggered; wherein, when the first button is triggered, the movement control signal is used to instruct the threshing drum to be controlled to rise to the highest threshing limit, and when the second button is triggered, the movement control signal is used to instruct the threshing drum to be controlled to descend to the initial position.

[0010] In a possible embodiment, when the first button is triggered, the threshing drum is driven to move in the following manner: the movement control signal is sent to the driving mechanism to drive the threshing drum to rise through the driving mechanism; during the rising process of the threshing drum, the real-time position of the threshing drum is monitored; when it is monitored that the real-time position of the threshing drum reaches a preset position, the position of the grain unloading drum of the harvester is triggered to be acquired, the grain unloading drum is located above the threshing drum and is used to transport the grain threshed by the threshing drum to the outside; according to the position of the grain unloading drum, it is judged whether the threshing drum meets the movement limit condition, wherein the movement limit condition includes that the position of the grain unloading drum is at the highest limit of the unloading beam; if the movement limit condition is not met, a stop signal is sent to the driving mechanism to control the threshing drum to stop moving.

[0011] In a possible embodiment, it also includes: if the movement trigger condition is met, an unlocking signal is sent to the lock rod motor to drive the lock rod located at the axial side end of the threshing cylinder through the lock rod motor to move, so that the threshing cylinder is separated from the fixed seat used to fix the threshing cylinder, and a third state signal of a lock rod position sensor is received, and the lock rod position sensor is used to detect the position of the lock rod; wherein, when it is determined that the threshing cylinder is separated from the fixed seat according to the third state signal, a movement control signal is sent to the driving mechanism of the threshing cylinder.

[0012] In one possible embodiment, the chopper is arranged below the screen plate of the threshing drum so that the crop residues screened out by the screen plate of the threshing drum falls into the chopper, wherein the threshing drum moves upward under the drive of the driving mechanism to form a working space between the threshing drum and the chopper; or, the chopper and the threshing drum are arranged side by side, and the crop residues are transported between the chopper and the threshing drum through a transmission pipeline, and the transmission pipeline is retractable, wherein the threshing drum moves upward under the drive of the driving mechanism to form a working space between the threshing drum and the chassis.

[0013] In a second aspect, the present application also provides a harvester, comprising: a receiver, receiving a movement request for a threshing barrel of the harvester from an external manipulator, the threshing barrel being used to receive crops transported by the harvester's cutting table and perform threshing processing; a controller, being configured to: in response to the movement request, identify the working status of the threshing barrel, the cutting table and the chopper of the harvester, and determine whether the threshing barrel satisfies a movement trigger condition based on the identified working status, and if the movement trigger condition is met, send a movement control signal to the driving mechanism of the threshing barrel, the chopper being used to chop and discharge the crop residues screened out from the screen plate of the threshing barrel; a driving mechanism being used to drive the threshing barrel to move so as to separate the threshing barrel from the chopper.

[0014] In a third aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are executed.

[0015] The present application provides a method for handling abnormal threshing of a harvester, a harvester and a medium, wherein the method comprises: receiving a movement request for a threshing cylinder of the harvester, the threshing cylinder is used to receive crops transported by the harvester's header and perform threshing processing; in response to the movement request, identifying the working status of the threshing cylinder, the header and the harvester's chopper, and judging whether the threshing cylinder meets the movement triggering condition according to the identified working status, the chopper is used to chop and discharge the crop residues screened out from the sieve plate of the threshing cylinder; if the movement triggering condition is met, sending a movement control signal to the driving mechanism of the threshing cylinder to drive the threshing cylinder to move through the driving mechanism, so that the threshing cylinder is separated from the chopper. The present application increases the distance between the chopper and the threshing cylinder by controlling the movement of the threshing cylinder, thereby realizing that the blockage of the threshing cylinder can be cleaned without disassembling the harvester structure.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of a harvester provided in an embodiment of the present application;

[0019] Figure 2A flow chart of a method for handling abnormal threshing of a harvester provided in an embodiment of the present application;

[0020] Figure 3 A flow chart of driving the threshing drum to move provided in an embodiment of the present application;

[0021] Figure 4 A flow chart of driving the lock rod provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] 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. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0023] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied to a harvester.

[0024] Research has found that with the rapid advancement of science and technology, the operating efficiency of harvesters has been significantly improved. The amount of crops fed into the harvester per unit time and the threshing speed have been greatly accelerated. However, this progress has increased the risk of crop blockage. In the field operation environment, harvesters often face multiple challenges such as complex terrain, differences in driver skills and poor mechanical transmission, which leads to frequent blockage of crops during harvesting, transportation and threshing. The gap between the threshing cylinder and the sieve plate is small. Affected by the operating environment, crop moisture content, driver's operating skills and other factors, blockage often occurs. When blockage occurs, the blocked crop must be removed before the operation can continue. As a working part, the threshing cylinder is prone to wear and failure, and needs to be regularly inspected and repaired to ensure the smooth progress of the operation. The structure of the traditional harvester threshing cylinder is relatively fixed and has no electronic control system. When blockage occurs, the structure needs to be disassembled for cleaning, or the hand needs to be manually inserted into the gap between the threshing cylinder and the sieve plate for cleaning. The maintenance efficiency is low and there are safety hazards.

[0025] Based on this, the present application embodiment provides a harvester, see Figure 1 , Figure 1 A schematic diagram of the structure of the harvester provided in an embodiment of the present application.

[0026] The harvester comprises: a threshing drum 110 , a cutting table, a chopper 120 , a cutting rod position sensor, a chopper opening and closing position sensor, and a grain unloading drum 130 .

[0027] The threshing drum 110 is located in the middle of the harvester and is responsible for threshing the crops delivered by the cutting table. The cutting table is located at the front of the harvester and is in contact with the ground. It is used to cut the crops in the field and transport them to the threshing drum 110 for threshing. The chopper 120 is used to chop the crop residues after threshing for subsequent processing or discharge. The chopper 120 has two possible layouts. It is located below the screen plate of the threshing drum 110 to receive the sieved crop residues for chopping, or it is arranged side by side with the threshing drum 110 to receive the crop residues through the transmission pipeline. The cutting rod position sensor is used to detect the position of the cutting rod of the harvester. The cutting rod is used to control the engagement and separation of the threshing clutch and the cutting table clutch. A baffle is set at the entrance of the chopper 120 for receiving the crop residues, and the chopper opening and closing position sensor is used to detect the opening and closing degree of the baffle.

[0028] Figure 2 A flow chart of a method for handling threshing abnormalities of a harvester provided in an embodiment of the present application.

[0029] like Figure 2 As shown in the embodiment of the present application, the method for handling abnormal threshing of a harvester includes:

[0030] S101, receiving a movement request for a threshing drum 110 of a harvester, the threshing drum 110 being used to receive crops transported by a harvester's header and perform threshing processing.

[0031] Here, the movement request refers to an operation instruction requesting to move the threshing drum 110. In the present application, the movement request can be received from an external manipulator, such as a threshing drum panel switch or a side switch. The threshing drum panel switch or the side switch is provided with a button for controlling the rise and fall of the threshing drum 110.

[0032] S102, in response to the movement request, identifying the working status of the threshing drum 110, the cutting table and the chopper 120 of the harvester, and judging whether the threshing drum 110 meets the movement triggering condition according to the identified working status.

[0033] Here, the movement triggering condition refers to the condition for triggering the movement operation of the threshing drum 110. Specifically, when the threshing drum 110, the cutting table and the chopper 120 are all in a non-working state, the movement triggering condition is met and the movement operation of the threshing drum 110 can be performed.

[0034] In a preferred example of the present application, the working status of the thresher 110 and the header is identified in the following manner:

[0035] The first state signal of the shearing rod position sensor is received. The shearing rod position sensor is used to detect the position of the shearing rod of the harvester. The shearing rod is used to control the engagement and separation of the threshing clutch and the header clutch. The shearing rod is an operating component on the harvester. By changing its position, the engagement and separation of the threshing clutch and the header clutch can be controlled, thereby changing the working state of the threshing cylinder 110 and the header. The shearing rod position sensor is a sensor for detecting the position of the shearing rod. The state signal output by it can be used to determine the position of the shearing rod, and then determine the working state of the threshing cylinder 110 and the header.

[0036] Specifically, when it is identified according to the first state signal that the cutting and disengaging lever is in the first gear position, it is determined that the threshing clutch of the threshing drum 110 and the cutting table clutch of the cutting table are both in the disengaged state; when it is identified according to the first state signal that the cutting and disengaging lever is in the second gear position, it is determined that the threshing clutch is in the engaged state and the cutting table clutch is in the disengaged state; when it is identified according to the first state signal that the cutting and disengaging lever is in the third gear position, it is determined that the threshing clutch and the cutting table clutch are both in the engaged state.

[0037] In a preferred example of the present application, the working state of the chopper 120 is identified in the following manner:

[0038] A second state signal of the opening and closing position sensor of the chopper 120 is received. A baffle is provided at the entrance of the chopper 120 for receiving crop residues. The chopper opening and closing position sensor is used to detect the opening and closing degree of the baffle.

[0039] When it is identified according to the second state signal that the chopper 120 is in a switching state, it is determined that the chopper 120 is in a working state. The switching state includes the baffle being in a non-fully open degree or a non-fully closed degree. When it is identified according to the second state signal that the baffle is in a fully open state or a fully closed state, it is determined that the chopper 120 is in a non-working state.

[0040] In a preferred example of the present application, whether the threshing drum 110 meets the movement triggering condition is determined in the following manner:

[0041] When the threshing drum 110 , the header, and the chopper 120 are all in a non-operating state, it is determined that the threshing drum 110 meets the movement triggering condition.

[0042] Here, the threshing drum 110 being in a non-working state includes the threshing clutch being in a disengaged state, the cutting table being in a non-working state includes the cutting table clutch being in a disengaged state, and the chopper 120 being in a non-working state includes the baffle of the chopper 120 being in a fully open state or a fully closed state.

[0043] Specifically, the threshing drum 110 being in a non-working state means that the threshing clutch should be in a disengaged state, that is, the driving power of the threshing drum 110 has been cut off, and the threshing drum 110 is not currently performing a threshing operation; the header being in a non-working state means that the header clutch should be in a disengaged state, that is, the driving power of the header has been cut off, and the header is not currently performing a crop cutting and conveying operation; the chopper 120 being in a non-working state means that the chopper 120 is not currently performing a crop residue chopping operation, and the baffle of the chopper 120 should be in a fully open state or a fully closed state. In the fully open state, the chopper 120 entrance is fully open, but there is no chopping action, and in the fully closed state, the chopper 120 entrance is completely closed, and no processing is performed.

[0044] The movement trigger condition is met when the threshing drum 110, the cutting table and the chopper 120 are all in the non-working state defined above. The system can be considered to be in a safe state, and the threshing drum 110 is allowed to be moved. This judgment is to ensure that when the threshing drum 110 is moved, there will be no safety hazards or equipment damage due to other components still working.

[0045] When at least one of the threshing drum 110 , the header, and the chopper 120 is in the working state, it is determined that the threshing drum 110 does not meet the movement triggering condition.

[0046] Here, the movement trigger condition is not met if at least one of the threshing drum 110, the cutting table and the chopper 120 is still in working condition, then the threshing drum 110 cannot be moved, because if other components are still working, moving the threshing drum 110 may interfere with their normal operation, and even cause equipment failure or personal injury.

[0047] In a preferred example of the present application, the specific process of receiving a movement request for the threshing drum 110 of the harvester is: receiving a movement request from an external manipulator, the external manipulator is provided with a first button for controlling the rise of the threshing drum 110 and a second button for controlling the threshing drum 110 to descend, the movement request is generated when the first button or the second button is triggered, when the first button is triggered, the movement control signal is used to instruct the threshing drum 110 to rise to the highest threshing limit, when the second button is triggered, the movement control signal is used to instruct the threshing drum 110 to descend to the initial position.

[0048] Here, the first button is a button for controlling the rise of the threshing drum 110. When the operator presses this button, the external manipulator will generate a movement request, which instructs the controller to control the threshing drum 110 to rise to the preset maximum threshing limit. The second button is a button for controlling the threshing drum 110 to descend. When the operator presses this button, the external manipulator will also generate a movement request, instructing the controller to control the threshing drum 110 to descend to the preset initial position.

[0049] Below through Figure 3 The specific process of driving the threshing drum 110 to move is introduced.

[0050] Figure 3 This is a flow chart of driving the threshing drum 110 to move provided in an embodiment of the present application.

[0051] S201, sending a movement control signal to the driving mechanism to drive the threshing drum 110 to rise through the driving mechanism.

[0052] Here, the driving mechanism may be an electric cylinder.

[0053] S202 . During the rising process of the threshing drum 110 , the real-time position of the threshing drum 110 is monitored.

[0054] Here, two threshing cylinder 110 locking rod position sensors are installed on the threshing cylinder 110, and the height of the threshing cylinder 110 can be monitored in real time.

[0055] S203, when it is monitored that the real-time position of the threshing drum 110 reaches the preset position, trigger the acquisition of the position of the grain unloading drum 130 of the harvester.

[0056] Here, the grain unloading drum 130 is located above the threshing drum 110 and is used to transport the grains threshed by the threshing drum 110 to the outside. Since the grain unloading drum 130 is placed directly above the threshing drum 110, when the grain unloading drum 130 is in the bracket position, if the threshing drum 110 is lifted to a certain height, it will cause spatial conflict with the grain unloading drum 130. An angle sensor is installed on the grain unloading drum 130 to indicate the position information of the grain unloading drum 130.

[0057] S204. According to the position of the grain unloading drum 130, it is determined whether the threshing drum 110 meets the movement limit condition.

[0058] Here, among them, the mobile limit condition includes that the position of the grain unloading barrel 130 is at the highest limit of the unloading beam. In order to ensure safety, the threshing barrel 110 is allowed to rise to its highest position only when the grain unloading barrel 130 is at its highest position. In addition, the locking rod position of the threshing barrel 110 is monitored by a special front and rear position sensor.

[0059] If the movement limit condition is not met, step S205 is executed to send a stop signal to the driving mechanism to control the threshing drum 110 to stop moving.

[0060] Here, if the judgment result is that the movement limit condition is not met, the controller will control the electronic buzzer to alarm and send a stop signal to the drive mechanism. After receiving the stop signal, the drive mechanism will immediately stop working, thereby controlling the threshing drum 110 to stop moving. This can ensure that the threshing drum 110 will not collide with the grain unloading drum 130, thereby protecting the safety of the harvester.

[0061] If the movement triggering condition is met, the lock rod of the threshing drum 110 is controlled to complete unlocking. Only when the lock rod of the threshing drum 110 is fully opened, the threshing drum 110 is allowed to perform the lifting operation.

[0062] Below through Figure 4 The process of driving the lock rod to complete unlocking is described below.

[0063] Figure 4 A flow chart of driving the lock rod provided in an embodiment of the present application.

[0064] S301. If the movement trigger condition is met, an unlocking signal is sent to the lock rod motor to drive the lock rod at the axial side end of the threshing cylinder 110 to move, so that the threshing cylinder 110 is separated from the fixed seat for fixing the threshing cylinder 110.

[0065] Here, the locking rod motor is a motor responsible for driving the locking rod action of the threshing cylinder 110. The locking rod is located at the axial side end of the threshing cylinder 110, and is used to fix the threshing cylinder 110 on the fixed card seat. The unlocking action is that when the unlocking signal is received, the locking rod motor starts to work and drives the locking rod to rotate to complete the unlocking action, thereby separating the threshing cylinder 110 from the fixed card seat.

[0066] S302, receiving a third state signal of a lock rod position sensor, the lock rod position sensor being used to detect the position of the lock rod, wherein when it is determined according to the third state signal that the threshing cylinder 110 is separated from the fixed holder, a movement control signal is sent to the driving mechanism of the threshing cylinder 110.

[0067] Here, the lock rod position sensor provides accurate information about whether the lock rod is fully opened or closed. The third state signal is that when the lock rod completes the unlocking action, the lock rod position sensor will send a third state signal to the controller, indicating that the lock rod is in the open state and the threshing barrel 110 is now separated from the fixed base. After receiving the third state signal and confirming that the threshing barrel 110 is separated from the fixed base, the control system will send a movement control signal to the drive mechanism of the threshing barrel 110. The movement control signal instructs the drive mechanism to start working and drive the threshing barrel 110 to move.

[0068] Specifically, the left end of the threshing barrel locking rod is an arc-shaped hook end, and a pull rod is provided on the right side. There is a fixed rotation point in the middle of the pull rod. When the pull rod is pulled downward, the locking rod will be driven to rotate upward, so that the left end of the threshing barrel locking rod is locked with the fixed rotation point. When the pull rod is pulled upward, the threshing barrel locking rod is driven to rotate downward and unlocked with the fixed rotation point. The rocker arm of the locking rod position sensor is connected to the pull rod motion structure. The rotation of the pull rod will drive the sensor rocker arm to rotate, thereby causing the sensor output voltage to change, realizing the position feedback function, and the locking rod motor drives the locking rod to rotate through the gear mechanism to realize the locking and unlocking of the locking rod.

[0069] return Figure 1 If the movement triggering condition is met, step S103 is executed to send a movement control signal to the driving mechanism of the threshing cylinder 110 to drive the threshing cylinder 110 to move through the driving mechanism, so that the threshing cylinder 110 is separated from the chopper 120.

[0070] If the movement triggering condition is not met, step S104 is executed to control the electronic buzzer to alarm.

[0071] Here, the controller and the drive mechanism communicate via the CAN line, and the controller controls the drive mechanism to drive the electric cylinder to perform an action by sending messages to the CAN line.

[0072] In one example, the chopper 120 is disposed below the screen plate of the threshing drum 110 so that the crop residues screened out by the screen plate of the threshing drum 110 fall into the chopper 120, wherein the threshing drum 110 moves upward under the drive of the driving mechanism to form a working space between the threshing drum 110 and the chopper 120, so that the crops on the transport chain can be easily removed or the blocked part of the threshing drum 110 can be manually handled.

[0073] In another example, the chopper 120 and the threshing drum 110 are arranged side by side, and the crop residues are transported between the chopper 120 and the threshing drum 110 through a transmission pipeline, and the transmission pipeline is retractable, wherein the threshing drum 110 moves upward under the drive of the driving mechanism to form a working space between the threshing drum 110 and the chassis, and the crops on the transport chain can also be removed or the blocked part of the threshing drum 110 can be manually processed.

[0074] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 2 to Figure 4 The specific implementation of the steps of the method for handling abnormal threshing of the harvester in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0075] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0076] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0077] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0078] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0079] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0080] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for handling abnormal threshing of a harvester, characterized in that: The method comprises: receiving a movement request for a threshing drum of the harvester, wherein the threshing drum is used to receive crops transported by the harvester's header and perform threshing processing; In response to the movement request, identifying the working status of the threshing cylinder, the header and the chopper of the harvester, and judging whether the threshing cylinder meets the movement triggering condition according to the identified working status, the chopper is used to chop and discharge the crop residues screened out from the screen plate of the threshing cylinder; If the movement triggering condition is met, a movement control signal is sent to the driving mechanism of the threshing cylinder to drive the threshing cylinder to move through the driving mechanism, so that the threshing cylinder is separated from the chopper.

2. The method according to claim 1, characterized in that The working status of the threshing drum and the header is identified by: Receiving a first state signal of a cutting and stripping rod position sensor, wherein the cutting and stripping rod position sensor is used to detect the position of the cutting and stripping rod of the harvester, and the cutting and stripping rod is used to control the engagement and separation of the threshing clutch and the header clutch; When it is identified according to the first state signal that the cutting and separating lever is in the first gear position, it is determined that the threshing clutch of the threshing drum and the cutting table clutch of the cutting table are both in the disengaged state; When it is identified according to the first state signal that the cutting and stripping lever is in the second gear position, it is determined that the threshing clutch is in the engaged state and the header clutch is in the disengaged state; When it is identified according to the first state signal that the cutting and shearing lever is in the third gear position, it is determined that both the threshing clutch and the header clutch are in the engaged state.

3. The method according to claim 1, characterized in that The working status of the chopper can be identified by: receiving a second state signal of a chopper opening and closing position sensor, wherein a baffle is provided at an inlet of the chopper for receiving crop residues, and the chopper opening and closing position sensor is used to detect the opening and closing degree of the baffle; When it is identified according to the second state signal that the chopper is in a switching state, determining that the chopper is in a working state, wherein the switching state includes that the baffle is in a non-fully open degree or a non-fully closed degree; When it is identified according to the second state signal that the baffle is in the fully open state or the fully closed state, it is determined that the chopper is in the non-operating state.

4. The method according to claim 1, characterized in that: Whether the threshing drum meets the movement triggering condition is determined by the following method: When the threshing drum, the header and the chopper are all in a non-working state, it is determined that the threshing drum meets the movement triggering condition, the threshing drum being in a non-working state includes the threshing clutch being in a disengaged state, the header being in a non-working state includes the header clutch being in a disengaged state, and the chopper being in a non-working state includes the baffle of the chopper being in a fully open state or a fully closed state; When at least one of the threshing drum, the header, and the chopper is in a working state, it is determined that the threshing drum does not meet the movement triggering condition.

5. The method according to claim 1, characterized in that The step of receiving a movement request for a threshing drum of the harvester comprises: receiving the movement request from an external manipulator, wherein the external manipulator is provided with a first button for controlling the threshing cylinder to rise and a second button for controlling the threshing cylinder to descend, and the movement request is generated when the first button or the second button is triggered; Wherein, when the first button is triggered, the movement control signal is used to instruct the threshing cylinder to be controlled to rise to the highest threshing limit, and when the second button is triggered, the movement control signal is used to instruct the threshing cylinder to be controlled to descend to the initial position.

6. The method according to claim 5, characterized in that When the first button is triggered, the threshing drum is driven to move in the following manner: Sending the movement control signal to the driving mechanism to drive the threshing drum to rise through the driving mechanism; During the rising process of the threshing cylinder, monitoring the real-time position of the threshing cylinder; When the real-time position of the threshing drum is detected to reach the preset position, the position of the grain unloading drum of the harvester is triggered to be acquired, and the grain unloading drum is located above the threshing drum and is used to transport the grains threshed by the threshing drum to the outside; According to the position of the grain unloading drum, judging whether the threshing drum meets the movement limit condition, wherein the movement limit condition includes that the position of the grain unloading drum is at the highest limit of the unloading beam; If the movement limit condition is not met, a stop signal is sent to the driving mechanism to control the threshing drum to stop moving.

7. The method according to claim 1, characterized in that Also includes: If the movement trigger condition is met, an unlocking signal is sent to the lock rod motor to drive the lock rod at the axial side end of the threshing cylinder to move, so that the threshing cylinder is separated from the fixed seat for fixing the threshing cylinder. receiving a third state signal from a lock rod position sensor, wherein the lock rod position sensor is used to detect a position of the lock rod; When it is determined according to the third state signal that the threshing drum is separated from the fixed base, a movement control signal is sent to the driving mechanism of the threshing drum.

8. The method according to claim 1, characterized in that The chopper is arranged below the screen plate of the threshing drum, so that the crop residues screened out by the screen plate of the threshing drum fall into the chopper. Wherein, the threshing drum moves upward under the driving of the driving mechanism to form a working space between the threshing drum and the chopper; Alternatively, the chopper and the threshing drum are arranged side by side, and the crop residues are transported between the chopper and the threshing drum via a transmission pipeline, and the transmission pipeline is retractable. Wherein, the threshing drum moves upward under the driving of the driving mechanism to form a working space between the threshing drum and the chassis.

9. A harvester, characterized in that: The harvester comprises: A receiver, receiving a movement request for a threshing drum of the harvester from an external manipulator, wherein the threshing drum is used to receive crops transported by the harvester's header and perform threshing processing; The controller is configured to: in response to the movement request, identify the working status of the threshing cylinder, the header and the chopper of the harvester, and determine whether the threshing cylinder meets the movement triggering condition according to the identified working status, and if the movement triggering condition is met, send a movement control signal to the driving mechanism of the threshing cylinder, and the chopper is used to chop the crop residues screened from the screen plate of the threshing cylinder and discharge them; The driving mechanism is used for driving the threshing drum to move so as to separate the threshing drum from the chopper.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are executed.

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