Automatic recovery control method and device for grain unloading barrel of harvester and electronic equipment

Abstract

The invention provides an automatic recovery control method and device for a grain unloading cylinder of a harvester and electronic equipment. The automatic recovery control method comprises the following steps: determining a main clutch corresponding to the harvester and a clutch state corresponding to a grain unloading clutch; determining a working state corresponding to the harvester according to the clutch state, wherein the working state comprises an unloading state and a non-unloading state; for the grain unloading state, whether the grain in the granary is empty or not is monitored in real time, and if the grain is empty, the grain unloading barrel is controlled to be withdrawn after preset time is delayed; and aiming at the non-unloading state, monitoring whether the unloading barrel is off-position or not in real time, and if the unloading barrel is off-position, controlling the unloading barrel to be withdrawn. The grain unloading state and the non-grain unloading state can be accurately controlled, so that the intelligent level of the harvester is improved, the burden of operators is relieved, and the safety and efficiency of operation are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a method, device and electronic equipment for automatically retracting a grain unloading drum of a harvester. Background Art

[0002] In agricultural mechanization, harvesters are the core equipment for grain harvesting and are widely used in large-scale farmland operations. The grain unloading barrel equipped on the harvester is used to quickly transfer grain from the granary to the transport vehicle to improve harvesting efficiency.

[0003] The grain unloading drum of traditional harvesters mostly relies on manual operation for unfolding and retracting, which requires a high level of proficiency of the operator and increases the complexity of the operation. Especially in high-intensity continuous operations, it is easy to cause misoperation or delay the operation time. Summary of the invention

[0004] The disclosed embodiments at least provide a method, device and electronic equipment for automatically retracting a grain unloading drum of a harvester, which can achieve precise control of the grain unloading state and the non-grain unloading state, so as to improve the intelligence level of the harvester, reduce the burden on operators, and improve the safety and efficiency of operations.

[0005] The present disclosure provides a method for controlling automatic retraction of a grain unloading drum of a harvester, comprising:

[0006] Determine the clutch status of the harvester's main clutch and the grain unloading clutch;

[0007] Determine the working state of the harvester according to the clutch state, wherein the working state includes a grain unloading state and a grain non-unloading state;

[0008] In view of the grain unloading state, whether the grain bin is empty is monitored in real time, and if the grain is empty, the grain unloading cylinder is controlled to be retracted after a preset delay;

[0009] In the non-grain unloading state, whether the grain unloading drum is out of position is monitored in real time, and if it is out of position, the grain unloading drum is controlled to be retracted.

[0010] In an optional implementation manner, determining the working state corresponding to the harvester according to the clutch state specifically includes:

[0011] Real-time monitoring of whether the grain unloading cylinder is out of position;

[0012] If the grain unloading paddle is out of position, determining the clutch state of the main clutch;

[0013] If the clutch state of the main clutch is main clutch disengaged, determining the clutch state of the grain unloading clutch;

[0014] If the clutch state of the grain unloading clutch is the grain unloading clutch disengaged, then it is determined that the corresponding working state of the harvester is the grain unloading state.

[0015] In an optional implementation manner, determining the working state corresponding to the harvester according to the clutch state specifically includes:

[0016] determining the clutch state of the main clutch, and if the clutch state corresponding to the main clutch is main clutch engaged, collecting the current vehicle speed;

[0017] If the current vehicle speed is greater than the preset vehicle speed threshold, it is determined that the harvester corresponds to the working state as the non-unloading state.

[0018] In an optional implementation, real-time monitoring of whether the granary is empty of grain specifically includes:

[0019] The bottom pressure data corresponding to the granary is collected in real time by a grain empty pressure sensor pre-arranged at the bottom of the granary;

[0020] If the bottom pressure data is less than a preset pressure threshold, it is determined that the grain in the grain bin is empty.

[0021] In an optional implementation manner, the method further includes:

[0022] The distance between the grain unloading drum and the wall of the grain silo is monitored in real time by a grain unloading drum proximity sensor pre-arranged on the wall of the grain silo;

[0023] If the distance is less than a preset distance threshold, an alarm message indicating that the grain unloading drum position exceeds the limit is sent to the operator corresponding to the harvester.

[0024] The embodiment of the present disclosure also provides a device for automatically retracting a grain unloading drum of a harvester, the device comprising:

[0025] The vehicle state determination module is used to determine the clutch state corresponding to the main clutch of the harvester and the unloading clutch;

[0026] A working state determination module, used for determining the working state corresponding to the harvester according to the clutch state, wherein the working state includes a grain unloading state and a grain non-unloading state;

[0027] The first grain unloading barrel retracting module is used to monitor in real time whether the grain bin is empty according to the grain unloading state, and if the grain is empty, control the grain unloading barrel to be retracted after a preset delay;

[0028] The second grain unloading drum retracting module is used for real-time monitoring whether the grain unloading drum is out of position in the non-grain unloading state, and controlling the grain unloading drum to be retracted if it is out of position.

[0029] In an optional implementation manner, the working status determination module is specifically used to:

[0030] Real-time monitoring of whether the grain unloading cylinder is out of position;

[0031] If the grain unloading paddle is out of position, determining the clutch state of the main clutch;

[0032] If the clutch state of the main clutch is main clutch disengaged, determining the clutch state of the grain unloading clutch;

[0033] If the clutch state of the grain unloading clutch is the grain unloading clutch disengaged, then it is determined that the corresponding working state of the harvester is the grain unloading state.

[0034] In an optional implementation manner, the working status determination module is specifically used to:

[0035] determining the clutch state of the main clutch, and if the clutch state corresponding to the main clutch is main clutch engaged, collecting the current vehicle speed;

[0036] If the current vehicle speed is greater than the preset vehicle speed threshold, it is determined that the harvester corresponds to the working state as the non-unloading state.

[0037] An embodiment of the present disclosure also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the above-mentioned automatic retraction control method for a harvester grain unloading drum is executed, or steps in any possible implementation of the above-mentioned automatic retraction control method for a harvester grain unloading drum are performed.

[0038] The disclosed embodiments also provide a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer program executes the above-mentioned automatic retraction control method for a harvester grain unloading drum, or the steps of any possible implementation of the above-mentioned automatic retraction control method for a harvester grain unloading drum.

[0039] The disclosed embodiments also provide a computer program product, including a computer program / instruction, which, when executed by a processor, implements the above-mentioned automatic retraction control method for a harvester grain unloading drum, or the steps in any possible implementation of the above-mentioned automatic retraction control method for a harvester grain unloading drum.

[0040] The disclosed embodiment provides a method, device and electronic device for automatically retracting a grain unloading drum of a harvester, which determines the clutch state of the main clutch and the grain unloading clutch of the harvester; determines the working state of the harvester according to the clutch state, and the working state includes a grain unloading state and a non-grain unloading state; for the grain unloading state, monitors in real time whether the grain bin is empty, and if the grain is empty, controls the grain unloading drum to be retracted after a preset delay; for the non-grain unloading state, monitors in real time whether the grain unloading drum is out of position, and if it is out of position, controls the grain unloading drum to be retracted. Precise control of the grain unloading state and the non-grain unloading state can be achieved to improve the intelligence level of the harvester, reduce the burden on operators, and improve the safety and efficiency of operations.

[0041] In order to make the above-mentioned objectives, features and advantages of the present disclosure 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

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

[0043] Figure 1 A flow chart of a method for automatically retracting a grain unloading drum of a harvester provided by an embodiment of the present disclosure is shown;

[0044] Figure 2 A flow chart showing another automatic retraction control method for a harvester grain unloading drum provided by an embodiment of the present disclosure is shown;

[0045] Figure 3 A schematic diagram of an automatic retracting control device for a grain unloading drum of a harvester provided by an embodiment of the present disclosure is shown;

[0046] Figure 4 A schematic diagram of an electronic device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally 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 disclosure provided in the drawings is not intended to limit the scope of the present disclosure for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0048] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0049] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0050] Research has found that the grain unloading barrels of traditional harvesters mostly rely on manual operation to unfold and retract, which requires a high level of proficiency from the operators and increases the complexity of the operation. Especially in high-intensity continuous operations, it is easy to cause misoperation or delays in operation time.

[0051] Based on the above research, the present disclosure provides a control method, device and electronic device for automatically retracting a grain unloading barrel of a harvester, which determines the clutch state of the harvester's corresponding main clutch and grain unloading clutch; determines the corresponding working state of the harvester according to the clutch state, and the working state includes grain unloading state and non-grain unloading state; for the grain unloading state, monitors in real time whether the grain in the granary is empty, and if the grain is empty, controls the grain unloading barrel to be retracted after a preset delay; for the non-grain unloading state, monitors in real time whether the grain unloading barrel is out of position, and if it is out of position, controls the grain unloading barrel to be retracted. It can achieve precise control of the grain unloading state and non-grain unloading state, so as to improve the intelligence level of the harvester, reduce the burden on operators, and improve the safety and efficiency of operations.

[0052] To facilitate understanding of this embodiment, a method for controlling the automatic retraction of a grain unloading drum of a harvester disclosed in the embodiment of the present disclosure is first introduced in detail. The execution subject of the method for controlling the automatic retraction of a grain unloading drum of a harvester provided in the embodiment of the present disclosure is generally a computer device with certain computing capabilities, and the computer device includes, for example: a terminal device or a server or other processing device, and the terminal device can be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. In some possible implementations, the method for controlling the automatic retraction of a grain unloading drum of a harvester can be implemented by a processor calling computer-readable instructions stored in a memory.

[0053] See also Figure 1 FIG. 1 is a flowchart of a method for automatically retracting a grain unloading drum of a harvester provided by an embodiment of the present disclosure, wherein the method comprises steps S101 to S104, wherein:

[0054] S101, determining the clutch states of the main clutch and the grain unloading clutch corresponding to the harvester.

[0055] Here, the main clutch is the core component of the harvester, controlling the transmission and disconnection of the harvester's power. The main clutch state is usually divided into the engaged state (power transmission) and the disengaged state (power cut off). The grain unloading clutch is used to specifically control the power transmission of the grain unloading system. When it is in the engaged state, the power is transmitted to the grain unloading barrel to drive the grain unloading; when it is in the disengaged state, the grain unloading system stops working.

[0056] Among them, corresponding state sensors (such as Hall sensors or position switches) are installed on the control components of the main clutch and the unloading clutch. The sensors detect the mechanical position or working state of the clutch in real time and transmit the signal to the control system. The control system collects the real-time state signals of the main clutch and the unloading clutch and records their current states (engaged or separated).

[0057] Specifically, if the main clutch is in a disengaged state, it indicates that the power of the harvester has been cut off. At this point, it is no longer necessary to monitor the vehicle speed, and the unloading clutch state can be further detected to determine whether it is in an unloading state. If the main clutch is in an engaged state, the power of the harvester is transmitted normally, and it is also necessary to determine whether it is in a non-unloading state in combination with the vehicle speed. When the main clutch is disengaged, if the unloading clutch is in an engaged state, it means that the unloading system is working and the harvester is in an unloading state. If the unloading clutch is in a disengaged state, it means that the unloading system is not working and the harvester is in a non-unloading state.

[0058] Here, when the main clutch is engaged, the current vehicle speed signal is collected. If the vehicle speed is greater than a preset threshold (e.g., 2 km / h), it can be directly determined as a non-unloading state. If the vehicle speed is lower than the threshold, it is further determined whether it is in the unloading state in combination with the unloading clutch state.

[0059] S102. Determine a corresponding working state of the harvester according to the clutch state, wherein the working state includes a grain unloading state and a grain non-unloading state.

[0060] In the specific implementation, real-time monitoring is performed to determine whether the grain unloading barrel is out of position; if the grain unloading barrel is out of position, the clutch state of the main clutch is determined; if the clutch state of the main clutch is main clutch disengaged, the clutch state of the grain unloading clutch is determined; if the clutch state of the grain unloading clutch is grain unloading clutch disengaged, the corresponding working state of the harvester is determined to be grain unloading state. The clutch state of the main clutch is determined, and if the clutch state corresponding to the main clutch is main clutch engaged, the current vehicle speed is collected; if the current vehicle speed is greater than the preset vehicle speed threshold, the corresponding working state of the harvester is determined to be non-grain unloading state.

[0061] Here, the harvester is unloading grain, the unloading system is in working state, and the grain unloading barrel is in the extended state. It is necessary to monitor the grain bin situation and decide whether to retract the grain unloading barrel. The harvester is not unloading grain, and the unloading system is inactive. If the grain unloading barrel is out of position, it needs to be retracted immediately to ensure safety.

[0062] Specifically, the current working state is determined by combining the status of the main clutch and the unloading clutch with the vehicle speed data. Main clutch status: divided into engaged (power transmission) and disengaged (power cut off). Unloading clutch status: divided into engaged (unloading system working) and disengaged (unloading system disabled). Vehicle speed data: collected in real time through the speed sensor to assist in determining whether it is in a non-unloading state.

[0063] Here, when the main clutch is in the disengaged state, the power of the harvester is cut off, and the vehicle speed is not considered. The current working state is directly judged by the grain unloading clutch state. When the grain unloading clutch is engaged, the grain unloading system is in the working state, and the harvester is unloading grain, which is determined to be the grain unloading state. When the grain unloading clutch is disengaged, the grain unloading system is not working, and the harvester is in the idle or driving state, which is determined to be the non-grain unloading state.

[0064] Here, when the main clutch is in the engaged state, power is being transmitted. At this time, it is necessary to further judge in combination with the vehicle speed and the grain unloading clutch state. If the vehicle speed is higher than the preset threshold (for example, 2km / h), the harvester is in the driving state and cannot be unloading grain, and it is directly determined to be in the non-grain unloading state. If the vehicle speed is lower than or equal to the preset threshold, the grain unloading clutch state is checked. If the grain unloading clutch is engaged and the grain unloading system is working, it is determined to be in the grain unloading state; if the grain unloading clutch is disengaged and the grain unloading system is not working, it is determined to be in the non-grain unloading state.

[0065] S103, with respect to the grain unloading status, real-time monitoring is performed to determine whether the grain bin is empty, and if so, the grain unloading drum is controlled to be retracted after a preset delay.

[0066] In the specific implementation, in order to monitor whether the granary is empty in real time, a bottom pressure sensor is used to obtain the granary status data. The grain empty pressure sensor is installed at the bottom of the granary, which can sense the pressure changes at the bottom of the granary. The pressure data collected by the sensor is directly related to the weight of the remaining grain in the granary.

[0067] Here, the sensor collects the pressure data at the bottom of the granary in real time and transmits the data to the control system. The data sampling frequency can be set according to needs, such as once per second, to ensure real-time and accuracy.

[0068] A pressure threshold is preset, which corresponds to the bottom pressure value when the grain in the granary is completely unloaded. The control system compares the collected pressure data with the preset pressure threshold. If the pressure data is greater than or equal to the pressure threshold, it is judged that the grain in the granary is empty; if the pressure data is greater than the pressure threshold, it is judged that there is still grain in the granary.

[0069] Furthermore, when the grain in the granary is detected to be empty, the control system starts a delay timer, and the length of the delay timer is a preset time, such as 10 seconds, which can be adjusted according to the operating characteristics of the grain unloading drum and the response speed of the equipment. During the delay period, the control system continuously monitors the granary pressure data. If the pressure data is still below the threshold at the end of the delay, it is confirmed that the granary is indeed empty; if the pressure data exceeds the threshold again during the delay period, the delay is canceled and monitoring continues.

[0070] Here, when the delay timer ends and it is confirmed that the grain in the grain bin is empty, the system issues a control command to start the grain unloading barrel retraction operation.

[0071] The grain unloading drum is usually retracted by hydraulic or motor drive, and the control system sends a retraction signal to the grain unloading drum drive device (such as a hydraulic pump or motor). The drive device retracts the grain unloading drum to the initial position according to the set path to complete the closing action of the grain unloading drum. The grain unloading drum proximity sensor detects whether the grain unloading drum is fully retracted. If it is not in place, the retraction action is re-executed or an alarm message is issued.

[0072] S104, in the non-grain unloading state, real-time monitoring is performed to determine whether the grain unloading drum is out of position, and if so, the grain unloading drum is controlled to be retracted.

[0073] In the specific implementation, the non-unloading state refers to the state in which the harvester is not unloading grain. In this state, the grain unloading barrel should be in the retracted position. If the grain unloading barrel is detected to be in the out-of-position state (not fully retracted), it is necessary to immediately control its retraction to ensure the safety and operating efficiency of the equipment.

[0074] Here, when the grain unloading drum is in the out-of-position state, the control system immediately issues a retraction command, and drives the grain unloading drum to perform the retraction operation through the hydraulic system or motor. During the retraction process, the system continuously monitors the real-time distance data of the grain unloading drum. If the distance data gradually decreases to within the threshold range, it means that the grain unloading drum has been retracted into place and the retraction process is completed; if the distance data does not change during the retraction process or exceeds the reasonable range, the control system will determine it as a fault, issue an alarm message and stop the retraction operation.

[0075] The disclosed embodiment provides a method, device and electronic device for automatically retracting a grain unloading drum of a harvester, which determines the clutch state of the main clutch and the grain unloading clutch of the harvester; determines the working state of the harvester according to the clutch state, and the working state includes a grain unloading state and a non-grain unloading state; for the grain unloading state, monitors in real time whether the grain bin is empty, and if the grain is empty, controls the grain unloading drum to be retracted after a preset delay; for the non-grain unloading state, monitors in real time whether the grain unloading drum is out of position, and if it is out of position, controls the grain unloading drum to be retracted. Precise control of the grain unloading state and the non-grain unloading state can be achieved to improve the intelligence level of the harvester, reduce the burden on operators, and improve the safety and efficiency of operations.

[0076] See also Figure 2 FIG. 2 is a flowchart of another automatic retraction control method for a harvester grain unloading drum provided by an embodiment of the present disclosure, wherein the method comprises steps S201 to S205, wherein:

[0077] S201, determining the clutch states of the harvester's main clutch and the grain unloading clutch.

[0078] S202. Determine a corresponding working state of the harvester according to the clutch state, wherein the working state includes a grain unloading state and a grain non-unloading state.

[0079] S203, with respect to the grain unloading status, real-time monitoring is performed to determine whether the grain bin is empty, and if so, the grain unloading drum is controlled to be retracted after a preset delay.

[0080] S204, in the non-grain unloading state, real-time monitoring is performed to determine whether the grain unloading drum is out of position, and if so, the grain unloading drum is controlled to be retracted.

[0081] It should be noted that steps S201 to S204 are substantially the same as steps S101 to S104, have the same implementation methods, and can achieve the same technical effects, and therefore will not be described in detail.

[0082] S205. Monitor the distance between the grain unloading drum and the wall of the grain silo in real time by means of a grain unloading drum proximity sensor pre-installed on the wall of the grain silo; if the distance is less than a preset distance threshold, send a grain unloading drum position over-limit alarm message to the operator corresponding to the harvester.

[0083] In specific implementation, during the retraction process, the system continuously monitors the real-time distance data of the grain unloading drum, and monitors the status of the grain unloading drum in real time through the proximity sensor installed between the grain unloading drum and the grain silo. The proximity sensor detects the relative distance between the grain unloading drum and the grain silo to determine whether the grain unloading drum is fully retracted.

[0084] Here, a distance threshold (such as 10 cm) is preset. If the distance detected by the sensor is less than the threshold when the grain unloading drum is retracted into place, an alarm message of the grain unloading drum position exceeding the limit is sent to the operator corresponding to the harvester.

[0085] The disclosed embodiment provides a method for automatically retracting a grain unloading drum of a harvester, which determines the clutch state of the main clutch and the grain unloading clutch of the harvester; determines the working state of the harvester according to the clutch state, and the working state includes a grain unloading state and a non-grain unloading state; for the grain unloading state, monitors in real time whether the grain bin is empty, and if the grain is empty, controls the grain unloading drum to be retracted after a preset delay; for the non-grain unloading state, monitors in real time whether the grain unloading drum is out of position, and if it is out of position, controls the grain unloading drum to be retracted. Precise control of the grain unloading state and the non-grain unloading state can be achieved to improve the intelligence level of the harvester, reduce the burden on operators, and improve the safety and efficiency of operations.

[0086] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0087] Based on the same inventive concept, an automatic retraction control device for a harvester grain unloading drum corresponding to the automatic retraction control method for a harvester grain unloading drum is also provided in the embodiment of the present disclosure. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the automatic retraction control method for a harvester grain unloading drum in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0088] See also Figure 3 , Figure 3 This is a schematic diagram of an automatic retraction control device for a harvester grain unloading drum provided by an embodiment of the present disclosure. Figure 3 As shown in the figure, the automatic retraction control device 300 of the harvester unloading drum provided by the embodiment of the present disclosure includes:

[0089] The vehicle state determination module 310 is used to determine the clutch state corresponding to the main clutch and the grain unloading clutch of the harvester.

[0090] The working state determination module 320 is used to determine the working state corresponding to the harvester according to the clutch state, and the working state includes a grain unloading state and a grain non-unloading state.

[0091] The first grain unloading drum retracting module 330 is used for monitoring in real time whether the grain bin is empty according to the grain unloading state, and if the grain is empty, controlling the grain unloading drum to be retracted after a preset delay.

[0092] The second grain unloading drum retracting module 340 is used for real-time monitoring whether the grain unloading drum is out of position in the non-grain unloading state, and controlling the grain unloading drum to be retracted if it is out of position.

[0093] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0094] The disclosed embodiment provides a device for automatically retracting a grain unloading barrel of a harvester, which determines the clutch state of the main clutch and the grain unloading clutch of the harvester; determines the corresponding working state of the harvester according to the clutch state, and the working state includes a grain unloading state and a non-grain unloading state; for the grain unloading state, monitors in real time whether the grain bin is empty, and if the grain is empty, controls the grain unloading barrel to be retracted after a preset delay; for the non-grain unloading state, monitors in real time whether the grain unloading barrel is out of position, and if it is out of position, controls the grain unloading barrel to be retracted. Precise control of the grain unloading state and the non-grain unloading state can be achieved to improve the intelligence level of the harvester, reduce the burden on operators, and improve the safety and efficiency of operations.

[0095] Corresponds to Figure 1 The automatic retraction control method of the harvester unloading drum in the present disclosure also provides an electronic device 400, such as Figure 4 FIG. 4 is a schematic diagram of the structure of an electronic device 400 provided in an embodiment of the present disclosure, including:

[0096] Processor 41, memory 42, and bus 43; memory 42 is used to store execution instructions, including memory 421 and external memory 422; memory 421 here is also called internal memory, which is used to temporarily store operation data in processor 41 and data exchanged with external memory 422 such as hard disk. Processor 41 exchanges data with external memory 422 through memory 421. When the electronic device 400 is running, the processor 41 communicates with the memory 42 through bus 43, so that the processor 41 executes Figure 1 and Figure 2 The steps of the automatic retraction control method of the harvester unloading drum are provided.

[0097] The embodiment of the present disclosure also 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 automatic retraction control method for the harvester grain unloading drum described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0098] The disclosed embodiments also provide a computer program product, which includes computer instructions. When the computer instructions are executed by a processor, the steps of the automatic retraction control method for the harvester grain unloading drum described in the above method embodiment can be executed. For details, please refer to the above method embodiment, which will not be repeated here.

[0099] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is implemented as a computer storage medium. In another optional embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0100] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed device and method 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 the device or unit can be electrical, mechanical or other forms.

[0101] 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.

[0102] In addition, each functional unit in each embodiment of the present disclosure 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.

[0103] 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 disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes 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 disclosure. 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.

[0104] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above-described 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-described embodiments within the technical scope disclosed in the present disclosure, 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 disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A method for automatically retracting a grain unloading drum of a harvester, characterized in that: include: Determine the clutch status of the harvester's main clutch and the grain unloading clutch; Determine the working state of the harvester according to the clutch state, wherein the working state includes a grain unloading state and a grain non-unloading state; In view of the grain unloading state, whether the grain bin is empty is monitored in real time, and if the grain is empty, the grain unloading cylinder is controlled to be retracted after a preset delay; In the non-grain unloading state, whether the grain unloading drum is out of position is monitored in real time, and if it is out of position, the grain unloading drum is controlled to be retracted.

2. The method according to claim 1, characterized in that Determining the working state corresponding to the harvester according to the clutch state specifically includes: Real-time monitoring of whether the grain unloading cylinder is out of position; If the grain unloading paddle is out of position, determining the clutch state of the main clutch; If the clutch state of the main clutch is main clutch disengaged, determining the clutch state of the grain unloading clutch; If the clutch state of the grain unloading clutch is the grain unloading clutch disengaged, then it is determined that the corresponding working state of the harvester is the grain unloading state.

3. The method according to claim 1, characterized in that Determining the working state corresponding to the harvester according to the clutch state specifically includes: determining the clutch state of the main clutch, and if the clutch state corresponding to the main clutch is main clutch engaged, collecting the current vehicle speed; If the current vehicle speed is greater than the preset vehicle speed threshold, it is determined that the harvester corresponds to the working state as the non-unloading state.

4. The method according to claim 1, characterized in that: Real-time monitoring of whether the grain in the granary is empty, including: The bottom pressure data corresponding to the granary is collected in real time by a grain empty pressure sensor pre-arranged at the bottom of the granary; If the bottom pressure data is less than a preset pressure threshold, it is determined that the grain in the grain bin is empty.

5. The method according to claim 1, characterized in that The method further comprises: The distance between the grain unloading drum and the wall of the grain silo is monitored in real time by a grain unloading drum proximity sensor pre-arranged on the wall of the grain silo; If the distance is less than a preset distance threshold, an alarm message indicating that the grain unloading drum position exceeds the limit is sent to the operator corresponding to the harvester.

6. A device for automatically retracting a grain unloading drum of a harvester, characterized in that: include: The vehicle state determination module is used to determine the clutch state corresponding to the main clutch of the harvester and the unloading clutch; A working state determination module, used for determining the working state corresponding to the harvester according to the clutch state, wherein the working state includes a grain unloading state and a grain non-unloading state; The first grain unloading barrel retracting module is used to monitor in real time whether the grain bin is empty according to the grain unloading state, and if the grain is empty, control the grain unloading barrel to be retracted after a preset delay; The second grain unloading drum retracting module is used for real-time monitoring whether the grain unloading drum is out of position in the non-grain unloading state, and controlling the grain unloading drum to be retracted if it is out of position.

7. The device according to claim 6, characterized in that The working status determination module is specifically used for: Real-time monitoring of whether the grain unloading cylinder is out of position; If the grain unloading paddle is out of position, determining the clutch state of the main clutch; If the clutch state of the main clutch is main clutch disengaged, determining the clutch state of the grain unloading clutch; If the clutch state of the grain unloading clutch is the grain unloading clutch disengaged, then it is determined that the corresponding working state of the harvester is the grain unloading state.

8. The device according to claim 6, characterized in that The working status determination module is specifically used for: determining the clutch state of the main clutch, and if the clutch state corresponding to the main clutch is main clutch engaged, collecting the current vehicle speed; If the current vehicle speed is greater than the preset vehicle speed threshold, it is determined that the harvester corresponds to the working state as the non-unloading state.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus. When the machine-readable instructions are executed by the processor, the steps of the automatic retraction control method for the harvester grain unloading drum as described in any one of claims 1 to 5 are performed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the automatic retraction control method for a harvester grain unloading drum as described in any one of claims 1 to 5.

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