Multifunctional silage maize harvester control system

Abstract

The invention discloses a multifunctional silage maize harvester control system, and relates to the technical field of silage maize harvesters, the multifunctional silage maize harvester control system comprises a data acquisition module, the data acquisition module is used for acquiring parameter data of crops, specifically including planting density and row spacing data of the crops and height data of the crops; the control module is used for adjusting all equipment parameters of the silage maize harvester, specifically, according to crop parameter data collected by the data collection unit, adjusting signals for a header of the silage maize harvester are output, and the specific adjusting signals comprise the height and position of the header and the line spacing and cutting speed of the header; the silage maize harvester is adjusted according to the adjusting signal; through the control module, the function of automatically adjusting the height, the position, the line spacing and the cutting speed of the header of the silage maize harvester is achieved, the problem that frequent manual adjustment is needed can be solved, the frequency of manual adjustment is reduced, the working efficiency is improved, meanwhile, the adaptability to crops with different planting densities is improved, and the grain waste phenomenon is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of silage machines, and more particularly to a multifunctional silage machine control system. Background Art

[0002] Silage is fresh plant feed, such as corn stalks and forage grass, which is fermented under suitable conditions to keep its high nutritional content. During the fermentation process, beneficial microorganisms such as lactic acid bacteria decompose the sugar in the feed, produce lactic acid, lower the pH value, and inhibit the growth of harmful microorganisms, thereby preserving nutrients such as protein, vitamins, and minerals in the feed, providing a high-quality feed source for livestock. Silage machine is an agricultural machine specially used for making silage. In animal husbandry, silage is an important feed source, especially for ruminants such as cattle and sheep. Silage can provide rich nutrition to ensure their growth and production performance; The working principle includes harvesting, chopping, grain crushing, compacting, throwing and fermentation. First, the upright straw is harvested and fed through the adjustable height cutting platform; then, the straw is sheared into fine grass of about 1-2 cm by the moving knife and fixed knife on the knife roller in the chopping part, which increases the rupture area of ​​plant cells and is conducive to fermentation. Then, the chopped raw materials enter the grain crushing part, and the grains are crushed by rolling to further promote fermentation. After that, the raw materials are compacted into dense silage blocks by the compacting device to reduce oxygen penetration, reduce oxidation rate, and reduce volume at the same time, which is convenient for storage and transportation. The compacted silage is thrown into the silo through the throwing barrel, and the conveyor plate sends it to the forming chamber for further compression. After the net wrapping action is completed, the silo door is opened and the feed bales are released; However, in actual use, the automation functions of silage machines are still not perfect. For example, key functions such as row spacing adjustment, automatic row alignment, and automatic matching of shredding amount and throwing amount have not been widely popularized and require frequent manual adjustments, which not only reduces operating efficiency but also increases labor intensity. In addition, the adaptability of silage machines is poor, especially when facing different farmland terrains and agronomic technical conditions. The row spacing adaptability of the header is insufficient and it is difficult to adapt to crops with different planting densities, resulting in low harvesting efficiency and even food waste. The fault diagnosis methods for silage machines are relatively traditional. Common fault diagnosis methods include comparison method, trial method, isolation method and screening method. These methods require operators to have rich experience and professional knowledge, and the diagnosis process is relatively cumbersome, which affects the timely maintenance and normal use of the equipment. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a multifunctional silage machine control system.

[0004] The present invention provides a multifunctional silage machine control system, comprising a data acquisition module, wherein the data acquisition module is used to collect parameter data of crops, specifically including planting density and row spacing data of crops, and height data of crops; A control module, the control module is used to adjust all equipment parameters of the silage machine, specifically including outputting an adjustment signal for the cutting table of the silage machine according to the crop parameter data collected by the data collection unit, the specific adjustment signal including the height and position of the cutting table, and the row spacing and cutting speed of the cutting table, and adjusting the silage machine according to the adjustment signal; Adaptability module, the data acquisition module is also used to collect farmland terrain data of the silage machine processing position and transmit it to the adaptability module, the adaptability module automatically generates the driving parameter data of the silage machine according to the farmland terrain data, and adjusts the driving speed of the silage machine; The fault diagnosis module is further used to collect the equipment operation data of the silage machine and transmit it to the fault diagnosis module. The fault diagnosis module is used to monitor the operation status of the silage machine in real time according to the equipment operation data of the silage machine, determine whether there is a fault in the silage machine, and output a fault signal if there is a fault.

[0005] An energy-saving module receives the equipment operation data and farmland terrain data of the silage machine, and calculates the adjustment data of the silage machine engine speed and hydraulic pump displacement in real time based on the equipment operation data and farmland terrain data, and transmits the adjustment data to the control module to adjust the engine speed and hydraulic pump displacement of the silage machine in real time.

[0006] Preferably, the specific working steps of the control module to adjust the height and position of the header are as follows: Every other cycle, the height H1 of the crop and the center position P1 of the crop row are obtained; In the specific use process, it can also be a fixed time period. In this embodiment, the fixed time period can be 10 minutes or 30 minutes; According to the crop parameter data provided by the data acquisition module, the target height H2 and target position P2 of the header are set. ,and Obtain, where k is the safety margin; Every other cycle, the height H3 of the header and the position P3 of the header are obtained; Every other cycle, according to the formula ,and , calculate the height adjustment of the header And the position adjustment of the header ; Every other cycle, the height adjustment of the header is calculated And the position adjustment of the header The control module outputs a control signal to the hydraulic system of the silage machine to adjust the height and position of the harvesting platform in real time.

[0007] Preferably, the specific working steps of the control module adjusting the header row spacing and speed include: The row spacing d and crop planting density N of the crops are obtained every other cycle; Every other cycle, the moisture content value of the crop is obtained through the data acquisition module. , pre-set crop moisture content threshold 1; According to the formula , calculate and obtain the target cutting speed V1 of the cutting table, according to the formula , calculate and obtain the target row spacing d1 of the header; Every other cycle, the row spacing d2 of the header and the cutting speed V2 of the header are obtained; Every other cycle, according to the formula ,and , calculate the row spacing adjustment of the header and the cutting speed adjustment of the header ; Every other cycle, the calculated adjustment amount and the cutting speed adjustment of the header The control module outputs control signals to the hydraulic system and motor of the silage machine to adjust the row spacing and cutting speed of the cutting table.

[0008] Preferably, the adaptability module automatically generates the driving parameter data of the silage machine according to the farmland terrain data, and the specific steps of adjusting the driving speed of the silage machine are as follows: Every other cycle, the ground height d3 and ground slope t of the farmland at a fixed distance in front of the current silage machine are collected; Every other cycle, according to the formula , calculate and obtain the target driving speed of the silage machine ; Every other cycle, get the current speed of the silage machine 1; Every other cycle, according to the formula , calculate and obtain the silage machine's travel speed adjustment value ; Every other cycle, the driving speed is adjusted according to the calculated value , a signal is generated and transmitted to the control module, and the control module outputs a control signal to the traveling engine of the silage machine to adjust the traveling speed of the silage machine in real time.

[0009] Preferably, the specific steps of the adaptability module also include: Every other cycle, when the ground height and slope change, according to the formula; , calculate the target height of the header after the ground height and slope change ; According to the formula , calculate the target position of the header after the ground height and slope change ; Target height of header after changing ground height and slope Target position of header after changes in ground height and slope The target height H2 and target position P2 of the header are transmitted to the control module to be calculated and adjusted instead of the original header.

[0010] Preferably, the specific steps of the adaptability module also include: Every cycle, when the ground height and slope change, according to the formula , calculate the target row spacing d4 of the header after the ground height and slope change; According to the formula , calculate the target position of the header after the ground height and slope change ; The target row spacing d4 of the header after the ground height and slope change and the cutting speed V3 of the header after the ground height and slope change are transmitted to the control module to replace the original target row spacing d1 and target cutting speed V1 of the header for calculation and adjustment.

[0011] Preferably, the specific working steps of the fault diagnosis module are as follows: Every other cycle, the current engine speed z, hydraulic system pressure x, current temperature c and silage machine vibration frequency m are obtained; Get the maximum speed of the silage machine engine , Maximum pressure of hydraulic system , Maximum safe temperature of silage machine and the maximum value of the safe vibration frequency of the silage machine ; Every other cycle, according to the formula , calculate and obtain the comprehensive evaluation value S of the silage machine; If the comprehensive evaluation value S of the silage machine is greater than 2, it is determined that the silage machine has a fault and a fault signal is output; otherwise, it indicates that the silage machine is normal.

[0012] Preferably, the specific working steps of the energy-saving module are as follows: First, according to the working status of the silage machine, determine whether the current driving and operation of the silage machine belongs to the energy-saving mode; If it is in energy saving mode, the engine speed and displacement current of the hydraulic equipment are optimized as follows: When the real-time speed of the silage machine engine is a preset speed, the driving power F1 and the operating power F2 of the silage machine are obtained; Further determining whether the travel power F1 or the operating power F2 of the silage machine is less than a preset power threshold F2, if so, determining a target displacement F3 of the silage machine hydraulic equipment, and adjusting the displacement current of the hydraulic pump to a first target current Y1; At the same time, the target speed of the silage machine engine is obtained, and a control signal is generated and transmitted to the control module to adjust the real-time speed of the engine to the target speed.

[0013] Preferably, the specific steps of determining whether the current driving and operation of the silage machine belongs to the energy-saving mode are: Obtain the real-time opening value L of the silage machine control handle in real time; When the speed of the silage machine is greater than the preset travel speed threshold, and the real-time opening value of the control handle is a positive value but less than the preset opening threshold, and the hydraulic system pressure is less than the preset pressure threshold, the silage machine is in the travel energy-saving mode; When the speed of the silage machine is less than or equal to the preset driving speed threshold, and the real-time opening value of the control handle is positive and greater than or equal to the preset opening threshold, and the operating power is greater than the preset power threshold, the silage machine is in the operating energy-saving mode.

[0014] Preferably, the specific steps for calculating the target speed are: According to the formula , calculate and obtain the first target speed ,in is the real-time speed of the silage machine engine, is the first target displacement corresponding to the highest efficiency range on the power curve, It is the maximum displacement of the silage machine travel motor. is the efficiency value corresponding to the maximum displacement of the travel motor, It is the highest efficiency on the power curve; According to the formula , calculate and obtain the second target speed , the second target As the target speed, L is the real-time opening value of the control handle, The default opening value is set by the manufacturer. It is the displacement corresponding to the minimum displacement current of the travel variable pump. It is the displacement corresponding to the maximum displacement current of the variable displacement pump. is the maximum speed of the engine, Is the minimum engine speed.

[0015] Beneficial effects: Through the control module, the height, position, row spacing and cutting speed of the silage machine cutting table can be adjusted automatically, which can solve the problem of frequent manual adjustment, reduce the frequency of manual adjustment, improve operation efficiency, and improve the adaptability to crops with different planting densities, reducing food waste; Through the adaptability module, the function of automatically generating the driving parameters of the silage machine and adjusting the driving speed according to the farmland terrain data can be realized, which can solve the problem of poor adaptability of the silage machine under different farmland terrain and agronomic technical conditions, enhance the terrain adaptability of the silage machine, ensure harvesting efficiency and reduce food waste. Through the fault diagnosis module, the function of real-time monitoring of the silage machine's operating status and judging faults based on the equipment operation data can be realized, which can solve the problem that the traditional fault diagnosis method is cumbersome and requires rich experience, and provide convenience for the timely maintenance and normal use of the equipment, reducing equipment downtime. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of the system of the present invention. DETAILED DESCRIPTION

[0017] Application scenarios: In actual use, the automation functions of silage machines are still not perfect. For example, key functions such as row spacing adjustment, automatic row alignment, and automatic matching of shredding amount and throwing amount have not been widely popularized and require frequent manual adjustments, which not only reduces operating efficiency but also increases labor intensity. In addition, the adaptability of silage machines is poor, especially when facing different farmland terrains and agronomic technical conditions. The row spacing adaptability of the header is insufficient and it is difficult to adapt to crops with different planting densities, resulting in low harvesting efficiency and even food waste. The fault diagnosis methods for silage machines are relatively traditional. Common fault diagnosis methods include comparison method, trial method, isolation method and screening method. These methods require operators to have rich experience and professional knowledge, and the diagnosis process is relatively cumbersome, which affects the timely maintenance and normal use of the equipment.

[0018] like Figure 1 As shown: a multifunctional silage machine control system, including a data acquisition module, the data acquisition module is used to collect parameter data of crops, specifically including crop planting density and row spacing data, and crop height data; it should be noted that it is responsible for collecting crop planting density, row spacing, and height data to provide real-time input information for the system; A control module, the control module is used to adjust all equipment parameters of the silage machine, specifically including outputting an adjustment signal for the silage machine's header according to the crop parameter data collected by the data acquisition unit, the specific adjustment signal including the height and position of the header, as well as the row spacing and cutting speed of the header, and adjusting the silage machine according to the adjustment signal; it should be noted that, according to the crop parameter data provided by the data acquisition module, an adjustment signal for the silage machine header is output, including the height, position, row spacing and cutting speed of the header, to achieve automatic adjustment, improve operating efficiency and adaptability, and reduce food waste; Adaptability module, the data acquisition module is also used to collect farmland terrain data of the silage machine processing position and transmit it to the adaptability module, the adaptability module automatically generates the driving parameter data of the silage machine according to the farmland terrain data, and adjusts the driving speed of the silage machine; it should be noted that the farmland terrain data is received, the driving parameter data of the silage machine is automatically generated, and the driving speed is adjusted, so as to enhance the adaptability of the silage machine under different terrains and ensure stable operation; It should also be noted that farmland topographic data specifically include ground height, ground slope and ground undulation data, which are collected in real time by lidar or ultrasonic sensors; Fault diagnosis module, the data acquisition module is also used to collect the equipment operation data of the silage machine and transmit it to the fault diagnosis module, the fault diagnosis module is used to monitor the operation status of the silage machine in real time according to the equipment operation data of the silage machine, determine whether the silage machine has a fault, and output a fault signal if there is a fault. It should be noted that the equipment operation data specifically includes engine speed, hydraulic system pressure, temperature and vibration data, which are specifically obtained by sensors installed at corresponding positions on the silage machine; It should also be noted that, based on the equipment operation data, the operating status of the silage machine is monitored in real time to determine whether there is a fault, and a fault signal is output to provide timely fault diagnosis and reduce equipment downtime; An energy-saving module, wherein the energy-saving module receives the equipment operation data and farmland terrain data of the silage machine, and calculates the adjustment data of the engine speed and the hydraulic pump displacement of the silage machine in real time according to the equipment operation data and the farmland terrain data, and transmits the adjustment data to the control module for real-time adjustment of the engine speed and the hydraulic pump displacement of the silage machine; it should be noted that the adjustment data of the engine speed and the hydraulic pump displacement are calculated in combination with the equipment operation data and the farmland terrain data, and transmitted to the control module for real-time adjustment, so as to realize efficient use of energy and reduce operating costs; It should be noted that the data acquisition module is used to provide crop parameter data, farmland terrain data and equipment operation data, and provide real-time input data for the energy-saving module to ensure that the energy-saving module can be intelligently adjusted according to actual operating conditions; The control module is used to output a signal for adjusting the header of the silage machine according to the data provided by the data acquisition module, and transmit the data to the energy-saving module so that the energy-saving module can adjust the engine speed and the displacement of the hydraulic system according to the actual operation requirements; The adaptability module is used to automatically generate the driving parameter data of the silage machine according to the farmland terrain data, and adjust the driving speed of the silage machine. These data are also passed to the energy-saving module so that the energy-saving module can adjust the energy-saving strategy according to different terrains and operation modes; The fault diagnosis module is used to monitor the operating status of the silage machine in real time, determine whether there is a fault, and output a fault signal. These data are transmitted to the energy-saving module so that the energy-saving module can warn of potential faults in advance, adjust operating parameters, and reduce energy waste; It should also be noted that the control module realizes the automatic adjustment function of the height, position, row spacing and cutting speed of the silage machine header, which can solve the problem of frequent manual adjustment, reduce the frequency of manual adjustment, improve the operation efficiency, and at the same time improve the adaptability to crops with different planting densities, reducing food waste; Through the adaptability module, the function of automatically generating the driving parameters of the silage machine and adjusting the driving speed according to the farmland terrain data can be realized, which can solve the problem of poor adaptability of the silage machine under different farmland terrain and agronomic technical conditions, enhance the terrain adaptability of the silage machine, ensure harvesting efficiency and reduce food waste. Through the fault diagnosis module, the function of real-time monitoring of the silage machine's operating status and judging faults based on the equipment operation data can be realized, which can solve the problem that the traditional fault diagnosis method is cumbersome and requires rich experience, and provide convenience for the timely maintenance and normal use of the equipment, reducing equipment downtime.

[0019] As an optional embodiment: the specific working steps of the control module to adjust the height and position of the header are as follows: Every other cycle, the height H1 of the crop and the center position P1 of the crop row are obtained; it should be noted that the center position P1 of the crop row is obtained by obtaining the width of the crop row and dividing the width by 2 to obtain the center position P1 of the crop row; It should also be noted that the cycle can be obtained by pre-setting the staff time, which is specifically set according to the area of ​​the land where the silage machine is operating or the total operation time, and can be adjusted by the staff during use; In the specific use process, it can also be a fixed time period. In this embodiment, the fixed time period can be 10 minutes or 30 minutes; According to the crop parameter data provided by the data acquisition module, the target height H2 and target position P2 of the header are set. ,and Obtain, where k is the safety margin; it should be noted that the units of the target height H2 and the target position P2 are centimeters, where the value of k in the formula is 10, which is a fixed safety margin, the purpose is to ensure that the harvesting platform can harvest crops smoothly while avoiding collision with the ground; Every other cycle, the height H3 of the header and the position P3 of the header are obtained; Every other cycle, according to the formula ,and , calculate the height adjustment of the header And the position adjustment of the header ; Every other cycle, the height adjustment of the header is calculated And the position adjustment of the header The control module outputs a control signal to the hydraulic system of the silage machine to adjust the height and position of the harvesting platform in real time.

[0020] As an optional embodiment: the specific working steps of the control module adjusting the header row spacing and speed include: The row spacing d and crop planting density N of the crops are obtained every other cycle; it should be noted that, in the present embodiment, the unit of the row spacing d is centimeters, and the unit of the crop planting density N is plants / square meter (plants / m²). For example, the row spacing data collected by the row spacing sensor is 50 cm, indicating that the center-to-center distance between the crop rows is 50 cm. For example, the planting density sensor or the preset value is 5 plants / m², indicating that 5 plants of crops are planted per square meter. Every other cycle, the moisture content value of the crop is obtained through the data acquisition module. , pre-set crop moisture content threshold 1; It should be noted that the moisture content information of crops can be obtained in real time and accurately using high-precision moisture sensors. The sensors should be installed at a suitable position before the crops enter the cutting device to ensure that the measured moisture content can accurately reflect the state of the crops to be cut; It should also be noted that under normal circumstances, the moisture content of crops is 65%, which is most suitable for silage raw materials. The value of 1 is 65%. During the cutting process, when the moisture content becomes higher, the crop will become wet and sticky, increasing the friction between the cutting tool and the crop, making cutting difficult. Therefore, when the moisture content changes, the cutting speed needs to be adjusted accordingly. According to the formula , calculate and obtain the target cutting speed V1 of the cutting table, according to the formula , calculate and obtain the target row spacing d1 of the header; it should be noted that when the moisture content changes slightly, a linear adjustment method is used to change the cutting speed of the header. In actual use, it is rare that the moisture content changes greatly. If it does, it is also the case that the crop shriveles and the moisture content decreases sharply. The shriveled crop does not affect the cutting, so the situation of a huge change in moisture content is not considered; Every other cycle, the row spacing d2 of the header and the cutting speed V2 of the header are obtained; Every other cycle, according to the formula ,and , calculate the row spacing adjustment of the header and the cutting speed adjustment of the header ; Every other cycle, the calculated adjustment amount and the cutting speed adjustment of the header The control module outputs control signals to the hydraulic system and motor of the silage machine to adjust the row spacing and cutting speed of the cutting table.

[0021] As an optional embodiment: the adaptability module automatically generates the driving parameter data of the silage machine according to the farmland terrain data, and the specific steps of adjusting the driving speed of the silage machine are as follows: Every other cycle, the ground height d3 and ground slope t of the farmland at a fixed distance in front of the current silage machine are collected and obtained; it should be noted that in this embodiment, the unit of the ground height d3 is centimeters, and the unit of the ground slope is percentage; Every other cycle, according to the formula , calculate and obtain the target driving speed of the silage machine ; It should be noted that 10 is the initial travel speed of the silage machine; Every other cycle, get the current speed of the silage machine 1; Every other cycle, according to the formula , calculate and obtain the silage machine's travel speed adjustment value ; Every other cycle, the driving speed is adjusted according to the calculated value , a signal is generated and transmitted to the control module, and the control module outputs a control signal to the driving engine of the silage machine to adjust the driving speed of the silage machine in real time. It should be noted that the automatic adjustment of the driving parameters of the silage machine can be realized, the adaptability of the silage machine in different terrains can be enhanced, and stable operation can be ensured.

[0022] As an optional embodiment: the specific steps of the adaptability module also include: It should be noted that when the ground height and slope change, the height of the header needs to be adjusted according to these changes to ensure that the header can harvest crops smoothly while avoiding collision with the ground. This technical solution can solve the above problem; Every other cycle, when the ground height and slope change, according to the formula; , calculate the target height of the header after the ground height and slope change ; According to the formula , calculate the target position of the header after the ground height and slope change ; Target height of header after changing ground height and slope Target position of header after changes in ground height and slope The control module calculates and adjusts the target height H2 and target position P2 of the header instead of the original one. It should be noted that when the ground height and slope change, the height of the header needs to be adjusted according to these changes to ensure that the header can harvest crops smoothly and avoid collision with the ground. When the ground height and slope change, the position of the header needs to be adjusted according to these changes to ensure that the header can accurately align with the crops and improve harvesting efficiency.

[0023] As an optional embodiment: the specific steps of the adaptability module also include: Every cycle, when the ground height and slope change, according to the formula , calculate the target row spacing d4 of the header after the ground height and slope change; According to the formula , calculate the target position of the header after the ground height and slope change ; The target row spacing d4 of the header after the ground height and slope change and the cutting speed V3 of the header after the ground height and slope change are transmitted to the control module, replacing the original target row spacing d1 and target cutting speed V1 of the header for calculation and adjustment. It should be noted that when the ground height and slope change, the spacing of the header needs to be adjusted according to these changes to ensure that the header can adapt to crops with different planting densities.

[0024] As an optional embodiment: the specific working steps of the fault diagnosis module are as follows: Every other cycle, the current engine speed z, hydraulic system pressure x, current temperature c and silage machine vibration frequency m are obtained; it should be noted that the above data are obtained through corresponding sensors; Get the maximum speed of the silage machine engine , Maximum pressure of hydraulic system , Maximum safe temperature of silage machine and the maximum value of the safe vibration frequency of the silage machine ; Every other cycle, according to the formula , the comprehensive evaluation value S of the silage machine is calculated; it should be noted that by normalizing each parameter to between 0 and 1, the influence of different parameter dimensions and value ranges can be eliminated, making different parameters comparable. This formula takes into account multiple key operating parameters (speed, pressure, temperature, vibration) and can comprehensively evaluate the operating status of the silage machine; If the comprehensive evaluation value S of the silage machine is greater than 2, it is judged that the silage machine has a fault and a fault signal is output. Otherwise, it means that the silage machine is normal. It should be noted that because the maximum value of each normalized parameter is 1, the maximum value of the sum of the squares of the four parameters is 4, and the square root is 2, so 2 is used as the threshold.

[0025] As an optional embodiment: the specific working steps of the energy-saving module are as follows: First, according to the working status of the silage machine, determine whether the current driving and operation of the silage machine belongs to the energy-saving mode; If it is in energy saving mode, the engine speed and displacement current of the hydraulic equipment are optimized as follows: When the real-time speed of the silage machine engine is a preset speed, the driving power F1 and the operating power F2 of the silage machine are obtained; It is further determined whether the driving power F1 or the operating power F2 of the silage machine is less than the preset power threshold F2. If so, the target displacement F3 of the silage machine hydraulic equipment is determined, and the displacement current of the hydraulic pump is adjusted to the first target current Y1. It should be noted that this method can ensure that the silage machine can maintain the best energy efficiency under different working conditions. When the driving power or the operating power is lower than the preset threshold, it means that the current load of the equipment is low. At this time, by adjusting the target displacement and displacement current of the hydraulic equipment, unnecessary energy consumption can be reduced and the energy efficiency of the equipment can be improved. At the same time, the target speed of the silage machine engine is obtained, and a control signal is generated and transmitted to the control module to adjust the real-time speed of the engine to the target speed.

[0026] As an optional embodiment: the specific steps of judging whether the current driving and operation of the silage machine belongs to the energy-saving mode are: The real-time opening value L of the silage machine control handle is obtained in real time; it should be noted that the real-time opening value k of the control handle is a parameter indicating the degree of operation of the silage machine control handle by the operator, and is usually a value between 0 and 1, indicating the opening ratio of the handle; When the speed of the silage machine is greater than the preset travel speed threshold, and the real-time opening value of the control handle is positive but less than the preset opening threshold, and the hydraulic system pressure is less than the preset pressure threshold, the silage machine is in the travel energy-saving mode; in this mode, the engine speed and the displacement current of the hydraulic equipment are mainly considered to reduce fuel consumption and equipment wear; When the speed of the silage machine is less than or equal to the preset travel speed threshold, and the real-time opening value of the control handle is positive and greater than or equal to the preset opening threshold, and the operating power is greater than the preset power threshold, the silage machine is in the operating energy-saving mode. In this mode, the engine speed, the displacement current of the hydraulic equipment and the operating power are mainly considered to ensure that the equipment operates in an efficient state; It should also be noted that all thresholds in this embodiment are normal working parameters preset by the manufacturer.

[0027] As an optional embodiment: the specific calculation steps of the target speed are: According to the formula , calculate and obtain the first target speed ,in is the real-time speed of the silage machine engine, is the first target displacement corresponding to the highest efficiency range on the power curve, It is the maximum displacement of the silage machine travel motor. is the efficiency value corresponding to the maximum displacement of the travel motor, It is the highest efficiency on the power curve; According to the formula , calculate and obtain the second target speed , the second target As the target speed, L is the real-time opening value of the control handle, The default opening value is set by the manufacturer. It is the displacement corresponding to the minimum displacement current of the variable displacement pump. It is the displacement corresponding to the maximum displacement current of the variable displacement pump. is the maximum speed of the engine, Is the minimum engine speed.

[0028] Working principle: The data acquisition module is used to provide crop parameter data, farmland terrain data and equipment operation data, and provide real-time input data for the energy-saving module to ensure that the energy-saving module can be intelligently adjusted according to actual operating conditions; The control module is used to output a signal for adjusting the header of the silage machine according to the data provided by the data acquisition module, and transmit the data to the energy-saving module so that the energy-saving module can adjust the engine speed and the displacement of the hydraulic system according to the actual operation requirements; The adaptability module is used to automatically generate the driving parameter data of the silage machine according to the farmland terrain data and adjust the driving speed of the silage machine. These data are also passed to the energy-saving module so that the energy-saving module can adjust the energy-saving strategy according to different terrains and operating modes; The fault diagnosis module is used to monitor the operating status of the silage machine in real time, determine whether there is a fault, and output a fault signal. These data are transmitted to the energy-saving module so that the energy-saving module can warn of potential faults in advance, adjust operating parameters, and reduce energy waste.

[0029] The above are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technical staff in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of this template.

Claims

1. A multifunctional silage machine control system, characterized in that: It includes a data acquisition module, which is used to collect parameter data of crops, specifically including planting density and row spacing data of crops, and height data of crops; A control module, the control module is used to adjust all equipment parameters of the silage machine, specifically including outputting an adjustment signal for the cutting table of the silage machine according to the crop parameter data collected by the data collection unit, the specific adjustment signal including the height and position of the cutting table, and the row spacing and cutting speed of the cutting table, and adjusting the silage machine according to the adjustment signal; Adaptability module, the data acquisition module is also used to collect farmland terrain data of the silage machine processing position and transmit it to the adaptability module, the adaptability module automatically generates the driving parameter data of the silage machine according to the farmland terrain data, and adjusts the driving speed of the silage machine; A fault diagnosis module, wherein the data collection module is further used to collect the equipment operation data of the silage machine and transmit it to the fault diagnosis module, wherein the fault diagnosis module is used to monitor the operation status of the silage machine in real time according to the equipment operation data of the silage machine, determine whether the silage machine has a fault, and output a fault signal if a fault exists; An energy-saving module receives the equipment operation data and farmland terrain data of the silage machine, and calculates the adjustment data of the silage machine engine speed and hydraulic pump displacement in real time based on the equipment operation data and farmland terrain data, and transmits the adjustment data to the control module to adjust the engine speed and hydraulic pump displacement of the silage machine in real time.

2. A multifunctional silage machine control system according to claim 1, characterized in that: The specific working steps of the control module to adjust the height and position of the header are as follows: Every other cycle, the height H1 of the crop and the center position P1 of the crop row are obtained; According to the crop parameter data provided by the data acquisition module, the target height H2 and target position P2 of the header are set. ,and Obtained, where k is the safety margin; Every other cycle, the height H3 of the header and the position P3 of the header are obtained; Every other cycle, according to the formula ,and , calculate the height adjustment of the header And the position adjustment of the header ; Every other cycle, the height adjustment of the header is calculated And the position adjustment of the header The control module outputs a control signal to the hydraulic system of the silage machine to adjust the height and position of the harvesting platform in real time.

3. A multifunctional silage machine control system according to claim 2, characterized in that: The specific working steps of the control module adjusting the header row spacing and speed include: The row spacing d and crop planting density N of the crops are obtained every other cycle; Every other cycle, the moisture content value of the crop is obtained through the data acquisition module. , pre-set crop moisture content threshold 1; According to the formula , calculate and obtain the target cutting speed V1 of the cutting table, according to the formula , calculate and obtain the target row spacing d1 of the header; Every other cycle, the row spacing d2 of the header and the cutting speed V2 of the header are obtained; Every other cycle, according to the formula ,and , calculate the row spacing adjustment of the header and the cutting speed adjustment of the header ; Every other cycle, the calculated adjustment amount and the cutting speed adjustment of the header The control module outputs control signals to the hydraulic system and motor of the silage machine to adjust the row spacing and cutting speed of the cutting table.

4. A multifunctional silage machine control system according to claim 3, characterized in that: The specific steps of the adaptability module automatically generating the driving parameter data of the silage machine according to the farmland terrain data and adjusting the driving speed of the silage machine are as follows: Every other cycle, the ground height d3 and ground slope t of the farmland at a fixed distance in front of the current silage machine are collected; Every other cycle, according to the formula , calculate and obtain the target driving speed of the silage machine ; Every other cycle, get the current speed of the silage machine 1; Every other cycle, according to the formula , calculate and obtain the silage machine's travel speed adjustment value ; Every other cycle, the driving speed is adjusted according to the calculated value , a signal is generated and transmitted to the control module, and the control module outputs a control signal to the traveling engine of the silage machine to adjust the traveling speed of the silage machine in real time.

5. A multifunctional silage machine control system according to claim 4, characterized in that: The specific steps of the adaptability module also include: Every other cycle, when the ground height and slope change, according to the formula; , calculate the target height of the header after the ground height and slope change ; According to the formula , calculate the target position of the header after the ground height and slope change ; Target height of header after changing ground height and slope Target position of header after changes in ground height and slope The target height H2 and target position P2 of the header are transmitted to the control module to be calculated and adjusted instead of the original header.

6. A multifunctional silage machine control system according to claim 5, characterized in that: The specific steps of the adaptability module also include: Every cycle, when the ground height and slope change, according to the formula , calculate the target row spacing d4 of the header after the ground height and slope change; According to the formula , calculate the target position of the header after the ground height and slope change ; The target row spacing d4 of the header after the ground height and slope change and the cutting speed V3 of the header after the ground height and slope change are transmitted to the control module to replace the original target row spacing d1 and target cutting speed V1 of the header for calculation and adjustment.

7. The multifunctional silage machine control system according to claim 1, characterized in that: The specific working steps of the fault diagnosis module are as follows: Every other cycle, the current engine speed z, hydraulic system pressure x, current temperature c and silage machine vibration frequency m are obtained; Get the maximum speed of the silage machine engine , Maximum pressure of hydraulic system , Maximum safe temperature of silage machine and the maximum value of the safe vibration frequency of the silage machine ; Every other cycle, according to the formula , calculate and obtain the comprehensive evaluation value S of the silage machine; If the comprehensive evaluation value S of the silage machine is greater than 2, it is determined that the silage machine has a fault and a fault signal is output; otherwise, it indicates that the silage machine is normal.

8. The multifunctional silage machine control system according to claim 1, characterized in that: The specific working steps of the energy-saving module are as follows: First, according to the working status of the silage machine, determine whether the current driving and operation of the silage machine belongs to the energy-saving mode; If it is in energy saving mode, the engine speed and displacement current of the hydraulic equipment are optimized as follows: When the real-time speed of the silage machine engine is a preset speed, the driving power F1 and the operating power F2 of the silage machine are obtained; Further determining whether the travel power F1 or the operating power F2 of the silage machine is less than a preset power threshold F2, if so, determining a target displacement F3 of the silage machine hydraulic equipment, and adjusting the displacement current of the hydraulic pump to a first target current Y1; At the same time, the target speed of the silage machine engine is obtained, and a control signal is generated and transmitted to the control module to adjust the real-time speed of the engine to the target speed.

9. A multifunctional silage machine control system according to claim 8, characterized in that: The specific steps of determining whether the current driving and operation of the silage machine belongs to the energy-saving mode are as follows: Obtain the real-time opening value L of the silage machine control handle in real time; When the speed of the silage machine is greater than the preset travel speed threshold, and the real-time opening value of the control handle is a positive value but less than the preset opening threshold, and the hydraulic system pressure is less than the preset pressure threshold, the silage machine is in the travel energy-saving mode; When the speed of the silage machine is less than or equal to the preset driving speed threshold, and the real-time opening value of the control handle is positive and greater than or equal to the preset opening threshold, and the operating power is greater than the preset power threshold, the silage machine is in the operating energy-saving mode.

10. The multifunctional silage machine control system according to claim 8, characterized in that: The specific calculation steps of the target speed are: According to the formula , calculate and obtain the first target speed ,in is the real-time speed of the silage machine engine, is the first target displacement corresponding to the highest efficiency range on the power curve, It is the maximum displacement of the silage machine travel motor. is the efficiency value corresponding to the maximum displacement of the travel motor, It is the highest efficiency on the power curve; According to the formula , calculate and obtain the second target speed , the second target As the target speed, L is the real-time opening value of the control handle, The default opening value is set by the manufacturer. It is the displacement corresponding to the minimum displacement current of the travel variable pump. It is the displacement corresponding to the maximum displacement current of the variable displacement pump. is the maximum speed of the engine, Is the minimum engine speed.

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