A multifunctional silo control system

Abstract

The application discloses a multifunctional silage machine control system and relates to the technical field of silage machines, which 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 crops and height data of crops, and the control module is used for adjusting all equipment parameters of the silage machine, specifically including outputting adjustment signals for a header of the silage machine according to the parameter data of crops acquired by the data acquisition unit, and the specific adjustment signals include the height and position of the header, the row spacing and cutting speed of the header, and the silage machine is adjusted according to the adjustment signals; through the control module, the automatic adjustment function of the height, position, row spacing and cutting speed of the header of the silage machine is realized, the problem of frequent manual adjustment can be solved, the frequency of manual adjustment is reduced, the work efficiency is improved, the adaptability to crops with different planting densities is improved, and the phenomenon of food waste is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the silage machine technical field, more particularly, to a multifunctional silage machine control system. BACKGROUND

[0002] The silage is a kind of fresh plant feed, such as corn straw, grass, etc., is fermented under suitable conditions, so that it can keep high nutritional ingredients, during fermentation, lactic acid bacteria and other beneficial microorganisms decompose sugar in feed, produce lactic acid, reduce pH value, inhibit the growth of harmful microorganisms, so as to save the protein, vitamins, minerals and other nutrients in feed, provide high-quality feed source for livestock, silage machine is a kind of agricultural machinery specially used for making silage, in the livestock industry, silage is an important feed source, especially for ruminants such as cattle, sheep, etc., silage can provide rich nutrition, ensure its growth and production performance;

[0003] The working principle includes harvesting, chopping, kernel crushing, compaction, throwing and fermentation, etc., first, the standing straw is harvested and fed in through the height-adjustable header, then the straw is sheared into 1-2 centimeters or so chopped grass by the moving knife and fixed knife on the cutter roll, which increases the plant cell rupture area and is beneficial to fermentation, then the chopped raw materials enter the kernel crushing part, and the kernel is crushed by rolling, which further promotes fermentation, then the raw materials are compacted into dense silage blocks by the compaction device, which reduces oxygen permeation, reduces oxidation speed, and reduces volume, facilitating storage and transportation, the compacted silage is thrown into the silo by the throwing cylinder, and the conveying plate sends it into the forming chamber for further compression, after the net winding action is completed, the door is opened, and the feed bundle is discharged.

[0004] However, in the actual use process, the automatic function of the silage machine is not perfect, such as row spacing adjustment, automatic row alignment, automatic matching of chopping amount and throwing amount, etc., which are key functions that have not been widely popularized, and frequent manual adjustment is required, which not only reduces the work efficiency, but also increases the labor intensity, and the adaptability of the silage machine is poor, especially when facing different farmland topography and agricultural technology 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 phenomenon.

[0005] The fault diagnosis method of silage machine is relatively traditional, common fault diagnosis methods include comparison method, trial method, exclusion method and screening method, these methods require operators to have rich experience and professional knowledge, and the diagnosis process is relatively tedious, which affects the timely maintenance and normal use of equipment. SUMMARY

[0006] To solve the above problems, the present application provides a multifunctional silage machine control system.

[0007] The application provides a multifunctional silage machine control system, which comprises a data acquisition module, a control module, an adaptability module, a fault diagnosis module and an energy saving module.

[0008] The control module is used for adjusting all equipment parameters of the silage machine, specifically comprising outputting adjustment signals for a header of the silage machine according to the crop parameter data acquired by the data acquisition unit, and the adjustment signals specifically comprise the height and position of the header, the row distance and cutting speed of the header, and the silage machine is adjusted according to the adjustment signals.

[0009] The adaptability module is used for acquiring farmland topography data of a processing position of the silage machine and transmitting the data to the adaptability module, and the adaptability module automatically generates driving parameter data of the silage machine according to the farmland topography data and adjusts the driving speed of the silage machine.

[0010] The fault diagnosis module is used for acquiring equipment running data of the silage machine and transmitting the data to the fault diagnosis module, and the fault diagnosis module is used for monitoring the running state of the silage machine in real time according to the equipment running data of the silage machine, judging whether the silage machine has a fault, and outputting a fault signal if the silage machine has a fault.

[0011] The energy saving module receives the equipment running data and the farmland topography data of the silage machine, and calculates adjustment data of the engine speed and the displacement of the hydraulic pump of the silage machine in real time according to the equipment running data and the farmland topography data, and transmits the adjustment data to the control module to adjust the engine speed and the displacement of the hydraulic pump of the silage machine in real time.

[0012] Preferably, the control module adjusts the height and position of the header according to the following specific working steps:

[0013] The height H1 of the crop and the center position P1 of the crop row are obtained every other period.

[0014] In the specific use process, a fixed time period can be 10 minutes or 30 minutes.

[0015] According to the crop parameter data provided by the data acquisition module, the target height H2 of the header and the target position P2 of the header are set according to the formula , and , wherein k is a safety margin.

[0016] The height H3 of the header and the position P3 of the header are obtained every other period.

[0017] The height H3 of the header and the position P3 of the header are obtained every other period according to the formula ,and The height adjustment amount of the cutting table is calculated. Adjustment amount of the cutting table position ;

[0018] Adjust the height of the cutting platform at each cycle based on the calculated amount. Adjustment amount of the cutting table position The control module outputs control signals to the hydraulic system of the silage harvester to adjust the height and position of the cutting platform in real time.

[0019] Preferably, the specific working steps of the control module in adjusting the cutting table row spacing and speed include:

[0020] The row spacing d and crop planting density N of the crops are obtained at each cycle.

[0021] At regular intervals, the crop moisture content value is obtained through the data acquisition module. Pre-set crop moisture content threshold 1;

[0022] According to the formula The target cutting speed V1 of the header is calculated and obtained according to the formula. The target row spacing d1 of the header is calculated and obtained.

[0023] At each cycle, the row spacing d2 and the cutting speed V2 of the cutting table are obtained;

[0024] Every other cycle, according to the formula ,and The row spacing adjustment amount of the cutter table is calculated. And the cutting speed adjustment of the header ;

[0025] Adjustments are made at intervals based on the calculated amounts. And the cutting speed adjustment of the header The control module outputs control signals to the hydraulic system and motor of the silage harvester to adjust the row spacing and cutting speed of the cutting table.

[0026] Preferably, the adaptive module automatically generates driving parameter data for the silage harvester based on the farmland terrain data, and adjusts the driving speed of the silage harvester using the following specific steps:

[0027] At each cycle, the ground height d3 and ground slope t of the farmland at a fixed distance directly in front of the silage harvester are collected;

[0028] Every other cycle, according to the formula The target speed of the silage harvester was calculated. ;

[0029] The current speed of the forage harvester is obtained at each cycle. 1;

[0030] Every other cycle, according to the formula The driving speed adjustment value of the silage harvester is calculated and obtained. ;

[0031] Adjust the driving speed value at each cycle. The generated signal is transmitted to the control module, which then outputs a control signal to the driving engine of the silage harvester to adjust the driving speed of the silage harvester in real time.

[0032] Preferably, the specific steps of the adaptive module further include:

[0033] Every cycle, when the ground height and slope change, according to the formula;

[0034] The target height of the cutting platform after changes in ground height and slope is calculated. ;

[0035] According to the formula The target position of the cutting platform after changes in ground height and slope is calculated. ;

[0036] After changing the ground height and slope, the target height of the cutting platform is determined. After changes in ground height and slope, the target position of the cutting platform The data is transmitted to the control module to replace the original target height H2 and target position P2 of the cutting platform for calculation and adjustment.

[0037] Preferably, the specific steps of the adaptive module further include;

[0038] Every cycle, when the ground height and slope change, according to the formula The target row spacing d4 of the cutting platform after the changes in ground height and slope is calculated.

[0039] According to the formula The target position of the cutting platform after changes in ground height and slope is calculated. ;

[0040] The target row spacing d4 and the cutting speed V3 of the cutting table after changes in ground height and slope are transmitted to the control module to replace the original target row spacing d1 and target cutting speed V1 for calculation and adjustment.

[0041] Preferably, the specific working steps of the fault diagnosis module are as follows:

[0042] Every other cycle, the current engine speed z, hydraulic system pressure x, current temperature c and silage machine vibration frequency m are obtained;

[0043] The maximum speed of the silage machine engine is obtained The maximum pressure of the hydraulic system is obtained The maximum safe temperature of the silage machine is obtained And the maximum safe vibration frequency of the silage machine is obtained ;

[0044] Every other cycle, the comprehensive evaluation value S of the silage machine is calculated according to the formula ;

[0045] 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 is normal.

[0046] Preferably, the specific working steps of the energy-saving module are as follows:

[0047] First, according to the working state of the silage machine, it is judged whether the current silage machine driving and operation belongs to the energy-saving mode;

[0048] If it belongs to the energy-saving mode, the engine speed and the displacement current of the hydraulic equipment are optimized, specifically as follows:

[0049] When the real-time speed of the silage machine engine is the preset speed, the driving power F1 and the operation power F2 of the silage machine are obtained;

[0050] Further, it is judged whether the driving power F1 or the operation power F2 of the silage machine is less than the preset power threshold F2, if it is less than, 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;

[0051] 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, and the real-time speed of the engine is adjusted to the target speed.

[0052] Preferably, the specific steps of judging whether the current silage machine driving and operation belongs to the energy-saving mode are as follows:

[0053] The real-time opening value L of the silage machine control handle is obtained in real time;

[0054] When the speed of the silage machine is greater than the preset driving 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 driving energy-saving mode;

[0055] When the speed of the silage machine is less than or equal to the preset driving speed threshold value, the real-time opening value of the control handle is positive and greater than or equal to the preset opening threshold value, and the working power is greater than the preset power threshold value, the silage machine is in the working energy-saving mode.

[0056] Preferably, the specific calculation step of the target rotating speed is:

[0057] According to the formula , the first target rotating speed is calculated and obtained , wherein is the real-time rotating speed of the engine of the silage machine, is the first target displacement corresponding to the most efficient range on the power curve, is the maximum displacement of the walking motor of the silage machine, is the efficiency value corresponding to the maximum displacement of the walking motor, is the highest efficiency on the power curve.

[0058] According to the formula , the second target rotating speed is calculated and obtained , and the second target is taken as the target rotating speed, wherein L is the real-time opening value of the control handle, is the preset opening value set by the manufacturer, is the displacement corresponding to the minimum displacement current of the walking variable pump, is the displacement corresponding to the maximum displacement current of the walking variable pump, is the maximum rotating speed of the engine, is the minimum rotating speed of the engine.

[0059] Beneficial effects: Through the control module, the automatic adjustment function of the height, position, row distance and cutting speed of the silage machine header is realized, which can solve the problem of frequent manual adjustment, reduce the frequency of manual adjustment, improve the working efficiency, improve the adaptability to crops with different planting densities, and reduce the food waste phenomenon;

[0060] Through the adaptability module, the function of automatically generating silage machine driving parameters and adjusting driving speed according to farmland terrain data is realized, which can solve the problem of poor adaptability of the silage machine under different farmland terrain and agronomic technology conditions, enhance the terrain adaptability of the silage machine, ensure the harvesting efficiency and reduce food waste. Through the fault diagnosis module, the function of real-time monitoring the running state of the silage machine and judging faults according to the equipment running data is realized, which can solve the problem of traditional fault diagnosis method being tedious and requiring rich experience, provide convenience for timely maintenance and normal use of the equipment, and reduce the equipment downtime. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1is a flow chart of the system of the present application. DETAILED DESCRIPTION

[0062] Application scenario: In actual use, the automatic function of the silage machine is not perfect, such as the key functions of row spacing adjustment, automatic row alignment, automatic matching of chopping amount and throwing amount, etc. cannot be widely popularized, and frequent manual adjustment is required, which not only reduces the work efficiency, but also increases the labor intensity, and the adaptability of the silage machine is poor, especially when facing different farmland topography and agronomic technical conditions, the row spacing adaptability of the header is insufficient, it is difficult to adapt to crops of different planting densities, resulting in low harvesting efficiency, and even food waste phenomenon;

[0063] The fault diagnosis method of the silage machine is relatively traditional, and the common fault diagnosis methods include comparison method, trial method, exclusion method and screening method, which require the operator to have rich experience and professional knowledge, and the diagnosis process is relatively tedious, affecting the timely maintenance and normal use of the equipment.

[0064] As shown in Figure 1 A multifunctional silage machine control system, comprising 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 crops, and height data of crops; It should be noted that the data of planting density, row spacing and height of crops are collected to provide real-time input information for the system;

[0065] A control module, the control module is used for adjusting all equipment parameters of the silage machine, specifically including outputting adjustment signals of the header of the silage machine according to the crop parameter data collected by the data acquisition unit, the specific adjustment signals include the height and position of the header, and the row spacing and cutting speed of the header, and adjusting the silage machine according to the adjustment signals; It should be noted that according to the crop parameter data provided by the data acquisition module, the adjustment signals of the header of the silage machine are outputted, including the height, position, row spacing and cutting speed of the header, realizing automatic adjustment, improving work efficiency and adaptability, and reducing food waste;

[0066] An adaptability module, the data acquisition module is also used for collecting farmland topography data of the processing position of the silage machine, and transmitting to the adaptability module, the adaptability module automatically generates driving parameter data of the silage machine according to the farmland topography data, and adjusts the driving speed of the silage machine; It should be noted that the farmland topography data is received, the driving parameter data of the silage machine is automatically generated, and the driving speed is adjusted to enhance the adaptability of the silage machine in different terrains and ensure stable operation;

[0067] It should also be noted that the farmland topography data specifically includes ground height, ground slope and ground undulation data, which are collected in real time by laser radar or ultrasonic sensor;

[0068] The fault diagnosis module, the data acquisition module is further used for acquiring the equipment operation data of the silage machine, and transmitting to the fault diagnosis module, the fault diagnosis module is used for monitoring the running state of the silage machine in real time according to the equipment operation data of the silage machine, judging whether the silage machine exists fault, if there is fault, then outputting fault signal. It needs to be explained that the equipment operation data specifically includes engine speed, hydraulic system pressure, temperature and vibration data, and is specifically obtained through the sensor installed on the corresponding position of the silage machine;

[0069] It also needs to be explained that according to the equipment operation data, the running state of the silage machine is monitored in real time, whether there is fault is judged, and the fault signal is output, timely fault diagnosis is provided, and the equipment downtime is reduced;

[0070] The energy saving module receives the equipment operation data and the farmland terrain data of the silage machine, and according to the equipment operation data and the farmland terrain data, the adjustment data of the engine speed and the hydraulic pump displacement of the silage machine are calculated in real time, and are transmitted to the control module to adjust the engine speed and the hydraulic pump displacement of the silage machine in real time; It needs to be explained that the adjustment data of the engine speed and the hydraulic pump displacement are calculated by combining the equipment operation data and the farmland terrain data, and are transmitted to the control module for real-time adjustment, realizing efficient use of energy and reducing operating cost;

[0071] It needs to be explained that the data acquisition module is used for providing crop parameter data, farmland terrain data and equipment operation data, providing real-time input data for the energy saving module, ensuring that the energy saving module can intelligently adjust according to the actual working condition;

[0072] The control module is used for outputting the header adjustment signal of the silage machine according to the data provided by the data acquisition module, and simultaneously transmitting these data to the energy saving module, so that the energy saving module adjusts the engine speed and the hydraulic system displacement according to the actual working requirement;

[0073] The adaptive module is used for 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, and these data are also transmitted to the energy saving module, so that the energy saving module adjusts the energy saving strategy according to different terrains and working modes;

[0074] The fault diagnosis module is used for monitoring the running state of the silage machine in real time, judging whether there is fault, and outputting fault signal, and these data are transmitted to the energy saving module, so that the energy saving module adjusts the running parameter in advance, reduces energy waste;

[0075] It also needs to be explained that through the control module, the height, position, row distance and cutting speed of the silage machine header are automatically adjusted, which can solve the problem of frequent manual adjustment, reduce the frequency of manual adjustment, improve the work efficiency, and improve the adaptability to different planting density crops and reduce the food waste phenomenon;

[0076] Through the adaptability module, the silage machine driving parameters are automatically generated according to the farmland terrain data, and the driving speed is adjusted, which can solve the poor adaptability of the silage machine in different farmland terrain and agricultural technology conditions, enhance the terrain adaptability of the silage machine, ensure the harvesting efficiency and reduce the food waste. Through the fault diagnosis module, the running state of the silage machine is monitored in real time and the fault is judged according to the equipment running data, which can solve the problem of traditional fault diagnosis method being tedious and requiring rich experience, provide convenience for timely maintenance and normal use of the equipment, and reduce the equipment downtime.

[0077] As an optional embodiment, the specific working steps of the control module adjusting the height and position of the header are as follows:

[0078] Every other cycle, the height H1 of the crop and the center position P1 of the crop row are obtained; it needs to be explained that the center position P1 of the crop row is obtained by obtaining the width of the crop row, and the width is divided by 2 to obtain the center position P1 of the crop row;

[0079] It also needs to be explained that the cycle can be obtained by the staff time set in advance, which is set according to the area range of the silage machine operation land or the total operation time, and can be adjusted by the staff during use;

[0080] In the specific use process, the fixed time cycle can be 10 minutes or 30 minutes in this embodiment;

[0081] According to the crop parameter data provided by the data acquisition module, the target height H2 and the target position P2 of the header are set, which are calculated according to the formula , and , where k is the safety margin; it needs to be explained that the unit of the target height H2 and the target position P2 is centimeter, and the value of k in the formula is 10, which is a fixed safety margin, and the purpose is to ensure that the header can smoothly harvest the crops, while avoiding collision with the ground;

[0082] Every other cycle, the height H3 of the header and the position P3 of the header are obtained;

[0083] Every other cycle, the height adjustment amount of the header is calculated according to the formula , and ​And the position adjustment amount of the header ;

[0084] Every other cycle, according to the calculated height adjustment amount of the header And the position adjustment amount of the header The control module outputs control signals to the hydraulic system of the silage machine to adjust the height and position of the header in real time.

[0085] As an optional embodiment: the specific working steps of the control module adjusting the row spacing and speed of the header include:

[0086] Every other cycle, the row spacing d and the planting density N of the crops are obtained; it should be noted that in this embodiment, the unit of row spacing d is centimeters, and the unit of planting density N is plants per 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 rows of crops is 50 centimeters, for example, the planting density sensor or the preset value is 5 plants / m², indicating that 5 plants are planted per square meter;

[0087] Every other cycle, the moisture content value of the crops is obtained by the data acquisition module The threshold value of the moisture content of the crops is set in advance 1; it should be noted that the moisture content information of the crops is obtained in real time and accurately by using a high-precision moisture sensor, and the sensor needs to be installed at a suitable position before the crops enter the cutting device to ensure that the measured moisture content accurately reflects the state of the crops to be cut; it should also be noted that the moisture content of the crops is most suitable as silage raw material under normal circumstances, 1 is 65%, and when the moisture content increases during the cutting process, the crops will become wet and slippery, increasing the friction between the cutting tool and the crops, resulting in cutting difficulty, so the cutting speed needs to be adjusted accordingly when the moisture content changes;

[0088] The target cutting speed V1 of the header is calculated according to the formula The target row spacing d1 of the header is calculated according to the formula It should be noted that when the moisture content changes little, the cutting speed of the header is changed in a linear adjustment mode, and in actual use, the moisture content rarely changes greatly, and if it does, it is a situation where the crops are dry and the moisture content decreases sharply, and the dry crops do not affect cutting, so the situation where the moisture content changes greatly is not considered.

[0089] Every other cycle, the row spacing d2 of the header and the cutting speed V2 of the header are obtained;

[0090] Every other cycle, the target cutting speed V1 of the header is calculated according to the formula , and , the control module outputs control signals to the hydraulic system and the motor of the forage harvester to adjust the cutting distance and the cutting speed of the header. and the cutting speed adjustment value of the header ;

[0091] Every other cycle, the control module outputs control signals to the hydraulic system and the motor of the forage harvester to adjust the cutting distance and the cutting speed of the header according to the calculated adjustment value and the cutting speed adjustment value of the header .

[0092] As an optional embodiment, the adaptive module automatically generates the driving parameter data of the forage harvester according to the farmland terrain data, and the specific steps of adjusting the driving speed of the forage harvester are as follows:

[0093] Every other cycle, the ground height d3 and the ground slope t of the farmland at a fixed distance in front of the forage harvester are collected; 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;

[0094] Every other cycle, the target driving speed of the forage harvester is calculated according to the formula ; It should be noted that 10 is the initial driving speed of the forage harvester;

[0095] Every other cycle, the current driving speed of the forage harvester is obtained 1;

[0096] Every other cycle, the driving speed adjustment value of the forage harvester is calculated according to the formula ; ;

[0097] Every other cycle, the driving speed adjustment value of the forage harvester is calculated according to the formula , and a signal is generated to the control module, and the control module outputs control signals to the driving engine of the forage harvester to adjust the driving speed of the forage harvester in real time. It should be noted that the automatic adjustment of the driving parameters of the forage harvester can be realized, the adaptability of the forage harvester under different terrains is enhanced, and stable operation is ensured.

[0098] As an optional embodiment, the specific steps of the adaptive module further 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 smoothly harvest crops while avoiding collision with the ground, and the technical solution can solve the above problems;

[0099] Every other cycle, when the ground height and slope change, the height adjustment value of the header is calculated according to the formula

[0100] , the ground height and slope change after the cutting platform target height is calculated ;

[0101] According to the formula , the ground height and slope change after the cutting platform target position is calculated ;

[0102] The ground height and slope change after the cutting platform target height And the ground height and slope change after the cutting platform target position Transmitted to the control module, instead of the original cutting platform target height H2 and target position P2 for calculation and adjustment. It should be noted that when the ground height and slope change, the height of the cutting platform needs to be adjusted according to the change to ensure that the cutting platform can smoothly harvest crops, while avoiding collision with the ground. When the ground height and slope change, the position of the cutting platform needs to be adjusted according to the change to ensure that the cutting platform can accurately aim at the crops, and improve the harvesting efficiency.

[0103] As an optional embodiment: the specific steps of the adaptive module also include;

[0104] Every other cycle, when the ground height and slope change, the ground height and slope change after the cutting platform target row distance d4 is calculated according to the formula ;

[0105] According to the formula , the ground height and slope change after the cutting platform target position ;

[0106] The ground height and slope change after the cutting platform target row distance d4 and the ground height and slope change after the cutting platform cutting speed V3 are transmitted to the control module, instead of the original cutting platform target row distance d1 and target cutting speed V1 for calculation and adjustment. It should be noted that when the ground height and slope change, the distance between the cutting platforms needs to be adjusted according to the change to ensure that the cutting platforms can adapt to crops with different planting densities.

[0107] As an optional embodiment: the specific working steps of the fault diagnosis module are as follows:

[0108] 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 is obtained by corresponding sensors;

[0109] The maximum speed of the silage machine engine , the maximum pressure of the hydraulic system , the maximum safe temperature of the silage machine And the safety vibration frequency maximum value of the silage machine

[0110] Every other cycle, according to the formula , the acquisition of the silage machine is evaluated S; it should be noted that by normalizing each parameter between 0 to 1, the influence of different parameter dimensions and numerical range can be eliminated, so that different parameters have comparability, the formula considers multiple key operating parameters (speed, pressure, temperature, vibration) comprehensively, which can evaluate the running state of the silage machine;

[0111] 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 square sum of the four parameters is 4, and the square root is 2, so 2 is taken as the threshold.

[0112] As an optional embodiment, the specific working steps of the energy-saving module are as follows:

[0113] First, according to the working state of the silage machine, it is judged whether the current silage machine driving and operation belongs to the energy-saving mode;

[0114] If it belongs to the energy-saving mode, the engine speed and the displacement current of the hydraulic device are optimized, specifically as follows:

[0115] When the real-time speed of the silage machine engine is the preset speed, the driving power F1 and the operation power F2 of the silage machine are obtained;

[0116] Further judge whether the driving power F1 or the operation power F2 of the silage machine is less than the preset power threshold F2, if less than, determine the target displacement F3 of the silage machine hydraulic device, and adjust the displacement current of the hydraulic pump to the first target current Y1; It should be noted that in this way, the silage machine can maintain the best energy efficiency in different working states, and when the driving power or operation power is lower than the preset threshold, it means that the current device load is low, at this time, by adjusting the target displacement and displacement current of the hydraulic device, unnecessary energy consumption can be reduced, and the energy efficiency of the device can be improved;

[0117] 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.

[0118] As an optional embodiment, the specific steps of judging whether the current silage machine driving and operation belongs to the energy-saving mode are as follows:

[0119] ​The real-time opening value L of the control handle of the forage harvester is obtained in real time. It should be noted that the real-time opening value k of the control handle is a parameter that represents the degree of operation of the control handle of the forage harvester by the operator. It is usually a value between 0 and 1, which represents the opening ratio of the handle.

[0120] When the speed of the silage harvester is greater than the preset driving 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 harvester is in driving 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.

[0121] When the forage harvester's speed is less than or equal to a preset travel speed threshold, and the real-time opening value of the control handle is positive and greater than or equal to a preset opening threshold, while the operating power is greater than a preset power threshold, the forage harvester is in energy-saving mode. In this mode, the engine speed, hydraulic equipment displacement current, and operating power are mainly considered to ensure that the equipment operates in a highly efficient state.

[0122] It should also be noted that all thresholds in this embodiment are normal operating parameters preset by the manufacturer.

[0123] As an optional embodiment: the specific calculation steps for the target rotational speed are as follows:

[0124] According to the formula The first target rotational speed is calculated and obtained. ,in This refers to the real-time rotational speed of the forage harvester engine. It is the first target displacement corresponding to the highest efficiency range on the power curve. That is the maximum displacement of the walking motor of the silage harvester. This is the efficiency value corresponding to the maximum displacement of the travel motor. It represents the highest efficiency on the power curve;

[0125] According to the formula The second target rotational speed is calculated and obtained. The second objective As the target rotational speed, where L is the real-time opening value of the control handle, The preset opening value is set by the manufacturer. This refers to the displacement corresponding to the lowest displacement current of the mobile variable pump. This refers to the displacement corresponding to the highest displacement current of the mobile variable pump. That is the engine's maximum speed. It is the engine's lowest speed.

[0126] Working principle:

[0127] The data acquisition module is used to provide crop parameter data, farmland terrain data and equipment operation data, to provide real-time input data for the energy-saving module, and to ensure that the energy-saving module can intelligently adjust according to actual operation conditions.

[0128] The control module is used to output adjustment signals for the header of the silage machine according to the data provided by the data acquisition module, and to transmit these data to the energy-saving module, so that the energy-saving module adjusts the engine speed and the displacement of the hydraulic system according to actual operation requirements.

[0129] The adaptive module is used to automatically generate driving parameter data of the silage machine according to the farmland terrain data, and to adjust the driving speed of the silage machine. These data are also transmitted to the energy-saving module, so that the energy-saving module adjusts the energy-saving strategy according to different terrains and operation modes.

[0130] The fault diagnosis module is used to monitor the operation state of the silage machine in real time, to determine whether there is a fault, and to output a fault signal. These data are transmitted to the energy-saving module, so that the energy-saving module can early warn potential faults, adjust operation parameters and reduce energy waste.

[0131] The above is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary technicians in the technical field, some improvements and refinements without departing from the principles of the present application shall also be considered as the protection scope of the present template.

Claims

1. A multi-function silo control system, characterized by, The data acquisition module is used to acquire parameter data of crops, specifically including planting density and row spacing data of crops, and height data of crops. The control module is used to adjust all equipment parameters of the silage machine, specifically including outputting adjustment signals for a header of the silage machine according to the crop parameter data acquired by the data acquisition module, specifically including height and position of the header, row spacing and cutting speed of the header, and adjusting the silage machine according to the adjustment signals. The adaptive module is used to acquire farmland terrain data of a processing position of the silage machine and transmit the data to the adaptive module, and the adaptive module is used to automatically generate driving parameter data of the silage machine according to the farmland terrain data and adjust a driving speed of the silage machine. The fault diagnosis module is used to acquire equipment operation data of the silage machine and transmit the data to the fault diagnosis module, and the fault diagnosis module is used to monitor a running state of the silage machine in real time according to the equipment operation data of the silage machine, judge whether the silage machine has a fault, and output a fault signal if the silage machine has the fault. The energy-saving module receives the equipment operation data and the farmland terrain data of the silage machine, calculates adjustment data of engine speed and 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 to adjust the engine speed and the hydraulic pump displacement of the silage machine in real time. The specific working steps of the control module for adjusting the height and the position of the header are as follows: The height H1 of crops and the center position P1 of a crop row are acquired every other period. According to the crop parameter data provided by the data acquisition module, the target height H2 and the target position P2 of the header are set, specifically according to the formula , and obtained, wherein k is a safety margin; The height H3 of the header and the position P3 of the header are acquired every other period. Every other cycle, the height adjustment amount of the header and the position adjustment amount of the header are calculated according to the formulas and ; every other cycle, the height adjustment amount of the header calculated and the position adjustment amount of the header The control module outputs control signals to the hydraulic system of the silage machine to adjust the height and position of the header in real time. The specific working steps of the control module for adjusting the row spacing and the speed of the header include: The row spacing d of crops and the planting density N of crops are acquired every other period. Every other cycle, the data acquisition module obtains the water content value of the crop A threshold value of the water content of the crop is set in advance 1; According to the formula , the target cutting speed V1 of the header is calculated, and according to the formula , the target row spacing d1 of the header is calculated; The row spacing d2 of the header and the cutting speed V2 of the header are acquired every other period. Every other cycle, the row spacing adjustment amount of the header is calculated according to the formula , and , the cutting speed adjustment amount of the header is calculated according to the formula , and ; every other cycle, the adjustment amount calculated and the cutting speed adjustment amount of the header The control module outputs control signals to the silo hydraulic system and the motor to adjust the row spacing and the cutting speed of the header. The specific steps of the adaptive module for 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: The ground height d3 and the ground slope t of a farmland at a fixed distance in front of the silage machine are acquired every other period. Every other cycle, the target driving speed of the silage machine is calculated according to the formula ; and ; every other cycle, the current driving speed of the silo is acquired 1; Every other cycle, the travel speed adjustment value of the silage harvester is calculated according to the formula , and the travel speed of the silage harvester is adjusted according to the travel speed adjustment value . every other cycle, the calculated travel speed adjustment value is used to adjust the travel speed of the forage harvester The control module receives the generated signal and outputs a control signal to the travel engine of the forage harvester to adjust the travel speed of the forage harvester in real time. The specific steps of the adaptive module further include: When the ground height and the slope change, the target row spacing d4 of the header after the change of the ground height and the slope and the cutting speed V3 of the header after the change of the ground height and the slope are transmitted to the control module to replace the original target row spacing d1 of the header and the target cutting speed V1 of the header for calculation and adjustment. , calculate the ground height and slope change after the header target height ; The ground height and slope change are calculated according to the formula , and the header target position is calculated ; ground height and slope changes and ground height and slope changes to the control module, replacing the original header target height H2 and target position P2 for calculation and adjustment; The specific working steps of the fault diagnosis module are as follows: Every other cycle, when the ground height and slope change, the ground height and slope change after the cutting platform target row spacing d4 is calculated according to the formula ​ The ground height and slope change are calculated according to the formula , and the target position of the cutting platform is calculated ; The engine speed z, the hydraulic system pressure x, the current temperature c and the vibration frequency m of the silage machine are acquired every other period.

2. A multi-function silo control system according to claim 1, wherein, 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 is indicated that the silage machine is normal. The specific working steps of the energy-saving module are as follows: the maximum rotational speed of the silage machine engine , the maximum pressure of the hydraulic system , the maximum safety temperature of the silage machine and the maximum safety vibration frequency of the silage machine ; Every other cycle, the overall evaluation value S of the silo is calculated according to the formula S = 0.5 * S1 + 0.5 * S2 ​ 3. A multi-functional silo control system according to claim 1, wherein ​ Firstly, according to the working state of the silage machine, it is judged whether the current silage machine driving and operation belongs to the energy-saving mode; If it belongs to the energy-saving mode, the engine speed and the displacement current of the hydraulic device are optimized, specifically as follows: When the real-time speed of the silage machine engine is the preset speed, the driving power F1 and the operation power F2 of the silage machine are obtained; Further, it is judged whether the driving power F1 or the operation power F2 of the silage machine is less than the preset power threshold, if it is less than the preset power threshold, the target displacement F3 of the silage machine hydraulic device is determined, and the displacement current of the hydraulic pump is adjusted to the 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.

4. A multi-function silo control system according to claim 3, wherein, The specific steps of judging whether the current silage machine driving and operation belongs to the energy-saving mode are as follows: The real-time opening value L of the silage machine control handle is obtained in real time; When the speed of the silage machine is greater than the preset driving speed threshold, 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 driving energy-saving mode; When the speed of the silage machine is less than or equal to the preset driving speed threshold, the real-time opening value of the control handle is positive and greater than or equal to the preset opening threshold, and the operation power is greater than the preset power threshold, the silage machine is in operation energy-saving mode.

5. A multi-function silo control system according to claim 4, wherein, The specific calculation steps of the target speed are as follows: According to the formula The first target rotational speed is calculated and obtained. ,in This refers to the real-time rotational speed of the forage harvester engine. It is the first target displacement corresponding to the highest efficiency range on the power curve. That is the maximum displacement of the walking motor of the silage harvester. This is the efficiency value corresponding to the maximum displacement of the travel motor. It represents the highest efficiency on the power curve; According to the formula The second target rotational speed is calculated and obtained. The second target rotation speed As the target rotational speed, where L is the real-time opening value of the control handle, The preset opening value is set by the manufacturer. This refers to the displacement corresponding to the lowest displacement current of the mobile variable pump. This refers to the displacement corresponding to the highest displacement current of the mobile variable pump. That is the engine's maximum speed. It is the engine's lowest speed.

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