A control method and device for realizing timed debris removal of a harvester

Abstract

The invention belongs to the field of harvester control technology, and specifically relates to a control method and device for realizing timed debris removal of harvesters. When in operation, the timed centralized debris removal of agricultural harvesters can be realized, and the timing time can be arbitrarily set by the operator and the debris removal state switching rate is adjustable, which can adapt to the debris removal requirements under different operating efficiencies; the timed debris removal control method and device of the present invention make the debris removal completely automatic, without the need for special personnel to operate, accurate and convenient, not only saving labor costs but also ensuring the cleanliness of the field after the operation; at the same time, in the timed debris removal control method of the present invention, the time elapsed when no waste is discharged during the operation of the agricultural harvester is not included in the timing time, avoiding the occurrence of useless timing and ensuring the accuracy of timing.

Description

Technical Field

[0001] The invention belongs to the technical field of harvester control, and specifically relates to a control method and device for realizing timed debris removal of a harvester. Background Art

[0002] When agricultural harvesters are operating, the processed crop stalks, leaves and other waste materials are discharged from the rear or side of the vehicle. Existing harvesters are equipped with automatic waste discharge devices, and the crop waste is discharged as soon as it is processed, causing the discharged waste to fall as the vehicle moves, affecting the cleanliness of the field after harvesting, and it is also inconvenient to clean up; some waste discharge devices require special personnel to follow the waste discharge device and operate it manually. Although the waste can be discharged manually at a fixed time, it also increases labor costs and does not conform to the concept of "smart agricultural machinery" in today's era. In view of this situation, it is extremely urgent to design and provide an automated timed centralized waste discharge control method and device. Summary of the invention

[0003] The object of the present invention is to provide a control method and device for realizing the timed debris removal of a harvester. The control method and device enable the harvester to operate without the need for a dedicated person to operate near the debris removal device. The waste dropped after processing can be automatically and centrally discharged at certain intervals, thus meeting the control needs of the timed debris removal of the harvester.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A control method for realizing timed debris removal of a harvester comprises the following steps:

[0006] S1, set the timing time, define 4 parameters 1, 2, 3 and 4 with only states 0 and 1;

[0007] S2, determine whether the harvester is in the harvesting state; if so, proceed to step S3; if not, wait and repeat step S2;

[0008] S3, determine whether the waste discharge state of the harvester is the waste storage state; if so, calculate the timestamp according to UTC and use the timestamp as the timing basis; if not, switch the states of parameter 1 and parameter 4 to state 1, switch the states of parameter 2 and parameter 3 to state 0, and then calculate the timestamp;

[0009] S4, determining whether the harvester is in a non-advancing state during operation; if so, calculating the total time in the non-advancing state during operation; if not, continuously timing, and the timing does not include the total time in the non-advancing state during operation;

[0010] S5, determine whether the timed time is equal to the set timing time; if so, switch the state of parameter 1 and parameter 4 to state 0, switch the state of parameter 2 and parameter 3 to state 1, and keep this state for a short time, and at the same time clear the timed time and the total time in the non-advancing state during operation; if not, return to step S4;

[0011] S6, switch the states of parameter 1 and parameter 4 to state 1, and switch the states of parameter 2 and parameter 3 to state 0; then return to step S2 to start the next cycle.

[0012] Furthermore, in step S1, the timing time is set by the operator according to the operating efficiency of the harvester, which is recorded as RetainTime. After the setting is completed, it is used as the time when the harvester is in the waste storage state when removing debris; four parameters 1 to 4 with only two states of 0 and 1 are defined. These four parameters determine the debris removal state. Parameters 1 and 3 are group 1, and parameters 2 and 4 are group 2; if the waste storage state is to be entered, parameter 1 of group 1 is switched to state 1, parameter 3 is switched to state 0, parameter 2 of group 2 is switched to state 0, and parameter 4 is switched to state 1; if the dumping state is to be entered, parameter 1 of group 1 is switched to state 0, parameter 3 is switched to state 1, parameter 2 of group 2 is switched to state 1, and parameter 4 is switched to state 0. When the parameter is in state 0 or state 1, the switching rate of the debris removal state can be different by setting different parameter values. The larger the parameter, the faster the rate.

[0013] Furthermore, in step S2, two variables Harvest and Nonharvest are introduced which have only two states, 0 and 1, and the initial state of the variable Harvest is state 0, and the initial state of the variable Nonharvest is state 1; if the harvester starts to move forward and the main clutch is engaged, it is a harvesting state, at which time the variable Harvest is switched to state 1, and the variable Nonharvest is switched to state 0; if the main clutch of the harvester is disengaged, it is a non-harvesting state, and the variable Harvest is switched to state 0, and the variable Nonharvest is switched to state 1; only when the above corresponding conditions are met, the states of the variables Harvest and Nonharvest are switched.

[0014] Further, in step S3, a threshold value A related to the waste storage state and a threshold value B related to the pouring state when the harvester is performing waste removal are determined according to the voltage value range output by the potentiometer, so that when the waste removal state is the waste storage state, the output voltage value is greater than the threshold value A; when the waste removal state is the pouring state, the output voltage value is less than the threshold value B; a variable is introduced which has only two states, 0 and 1, and the initial state is 0 x , when the state of the variable Harvest is 0 and the state of the variable Nonharvest is 1, keep the variable xThe initial state is 0. When the state of the variable Harvest is 1 and the state of the variable Nonharvest is 0, there are two cases to discuss. Case 1: If the voltage value output by the potentiometer is greater than the threshold A, the variable x The state is switched to state 1. At the same time, there is a clock module (RTC) inside the controller. Through the program interface of hardware and software interaction, the world standard time UTC in the format of "year / month / day / specific time" can be obtained, so that the time from 00:00:00 on January 1, 1970 to the current time can be calculated, and then the timestamp in seconds can be obtained according to the conversion relationship between year, month, day, hour, minute and second, recorded as Timestamp; Case 2: If the voltage value output by the potentiometer is less than or equal to the threshold A, at this time the variable x If the initial state 0 is still maintained, the states of parameter 1 and parameter 4 are switched to state 1, and the states of parameter 2 and parameter 3 are switched to state 0, and then it is determined again whether the output voltage value of the potentiometer is greater than the threshold A.

[0015] Further, in step S3, it should be noted that only the state of the variable Harvest is state 0, the state of the variable Nonharvest is state 1, and the variable x The status changes again.

[0016] Further, in step S4, as long as the variable x If the state is 1 and the harvester is just in the waste storage state, the timestamp at this time is recorded as StartTime; as long as the variable x If the harvester is in state 1 and has just entered the non-advance state, the timestamp at this time is recorded as BreakStart; as long as the variable x If the harvester is in state 1 and has just entered the forward state after entering the non-forward state, the timestamp at this time is recorded as BreakEnd. Introduce a font variable ElapseTime to record the elapsed time, a variable with only two states, 0 and 1, and an initial state of 0 y , when the variable x When the state is 1 and the harvester enters the forward state again after entering the non-forward state, the variable y The state is switched to state 1.

[0017] Furthermore, in step S4, it should be emphasized that as long as the corresponding conditions are met again, StartTime, BreakStart, BreakEnd and variables y The status will be updated.

[0018] Furthermore, in step S5, if ElapseTime is equal to RetainTime, it is considered that the time elapsed is equal to the set timer time; when the variable Harvest is in state 1, the variable Nonharvest is in state 0, and the variable x When it is in state 1, whenever ElapseTime is equal to RetainTime, parameters 1 and 4 are switched to state 0, parameters 2 and 3 are switched to state 1, and this state is maintained for a short time; this state is the impurity discharge state, at which time the output voltage value of the potentiometer is less than the threshold B, and ElapseTime=0, Record=0, BreakTime=0; otherwise, return to execute step S4 until ElapseTime is equal to RetainTime.

[0019] Furthermore, in step S6, after briefly maintaining the dumping state of the impurities removal, the states of parameter 1 and parameter 4 are switched to state 1, and the states of parameter 2 and parameter 3 are switched to state 0, i.e., the state of storing waste materials of the impurities removal is switched to start the next round of cycle timing. When the state of the variable Harvest is 0 and the state of the variable Nonharvest is 1, the timing cycle is stopped.

[0020] A device for realizing timed debris removal of a harvester, used for realizing the timed debris removal control method proposed in the present invention, comprising a timing setting module, a position detection module, a collection box control module and a controller;

[0021] The timing setting module transmits the waste storage time of the collecting box set by the operator to the controller through the CAN bus; the position detection module includes a potentiometer and a main clutch position sensor, the potentiometer is used to convert the change of the physical state into an electrical signal that can be recognized by the controller, and the main clutch position sensor is used to detect whether the main clutch of the harvester is successfully engaged;

[0022] The material collection box control module includes a material collection box and an electric push rod, and the controller controls the motor of the electric push rod to rotate forward and reverse at a fixed time, thereby driving the material collection box to move and realize the timed debris removal of the harvester; the controller adopts a device composed of software and hardware modules, and its input end is connected to the position detection module signal, and the output end is connected to the material collection box control module, wherein the output end has two paths with HSD (high-side output) function and two paths with LSD (low-side output) function; the two output ends with the HSD function and the LSD function are connected to the positive terminal of the motor, and the other two output ends with the HSD function and the LSD function are connected to the negative terminal of the motor.

[0023] The beneficial effects of the present invention are as follows: a control method and device for realizing timed debris removal of a harvester provided by the present invention can realize timed centralized debris removal of an agricultural harvester when in operation, and the timing time can be arbitrarily set by the operator and the debris removal state switching rate is adjustable, which can adapt to the debris removal requirements under different operating efficiencies; the timed debris removal control method and device of the present invention make the debris removal completely automatic, without the need for special personnel to operate, accurate and convenient, which not only saves labor costs but also ensures the cleanliness of the field after operation; at the same time, in the timed debris removal control method of the present invention, the time elapsed when no waste is discharged during the operation of the agricultural harvester is not included in the timing time, which avoids the occurrence of useless timing and ensures the accuracy of timing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flow chart of the timing impurity removal control method provided in an embodiment of the present invention;

[0025] Figure 2 Schematic diagram of the structure and hardware connection of the timing impurity removal device in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] Specific embodiment 1: The technical solution of the present invention will be clearly and completely described in conjunction with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. It should be noted that in the present invention, if there is no special description, all the embodiments and preferred implementation methods mentioned herein can be combined with each other to form a new technical solution. The "range" disclosed in the present invention is in the form of lower limit and upper limit, which can be one or more lower limits, and one or more upper limits, respectively. Unless otherwise specified, the professional and scientific terms used in this article have the same meaning as those familiar to those skilled in the art. In addition, any method or material similar or equivalent to the recorded content can also be applied to the present invention. It should be understood that although the terms "state 0" and "state 1" are used herein to describe the parameter state, these states should not be limited by these terms, and these terms are only used to distinguish two different states. For example, state 1 can be called state 0, and state 0 can be called state 1, without departing from the scope of the embodiments of the present invention.

[0027] As the instruction manual Figure 1 As shown, the method for realizing the timed debris removal control of a harvester provided by the first aspect of the embodiment of the present invention mainly includes the following steps S1-S6:

[0028] Step S1, set the timing time, define 4 parameters 1~4 with only states 0 and 1;

[0029] In this step, the timing time is set by the operator according to the operating efficiency of the harvester, recorded as RetainTime, and after the setting is completed, it is used as the time when the harvester is in the waste storage state when discharging debris. Four parameters 1~4 with only two states of 0 and 1 are defined, and parameters 1 and 3 are group 1, and parameters 2 and 4 are group 2. If you want to enter the waste storage state, switch parameter 1 of group 1 to state 1, parameter 3 to state 0, parameter 2 of group 2 to state 0, and parameter 4 to state 1; if you want to enter the pouring state, switch parameter 1 of group 1 to state 0, parameter 3 to state 1, parameter 2 of group 2 to state 1, and parameter 4 to state 0. When the parameter is in state 1, it is preferred to set the parameter value to 9900 (parameter range 100~10000).

[0030] Step S2, determine whether the harvester is in the harvesting state. If yes, proceed to step S3; if not, wait and repeat step S2;

[0031] In this step, two variables Harvest and Nonharvest are introduced, which have only two states, 0 and 1. The initial state of the variable Harvest is state 0, and the initial state of the variable Nonharvest is state 1. If the harvester starts to move forward and the main clutch is engaged, it is the harvesting state. At this time, the variable Harvest is switched to state 1 and the variable Nonharvest is switched to state 0; if the main clutch of the harvester is disengaged, it is the non-harvesting state, and the variable Harvest is switched to state 0 and the variable Nonharvest is switched to state 1. The states of the variables Harvest and Nonharvest are switched only when the above corresponding conditions are met.

[0032] Step S3, determine whether the waste discharge state of the harvester is the waste storage state. If so, calculate the timestamp according to UTC and use the timestamp as the timing basis; if not, switch the states of parameter 1 and parameter 4 to state 1, switch the states of parameter 2 and parameter 3 to state 0, and then calculate the timestamp;

[0033] In this step, the threshold A related to the waste storage state and the threshold B related to the pouring state are determined according to the voltage value range of the potentiometer output when the harvester is performing waste removal, so that when the waste removal state is the waste storage state, the output voltage value is greater than the threshold A; when the waste removal state is the pouring state, the output voltage value is less than the threshold B. Introduce a variable that has only two states, 0 and 1, and the initial state is 0 x , when the state of the variable Harvest is 0 and the state of the variable Nonharvest is 1, keep the variable xThe initial state is 0. When the state of the variable Harvest is 1 and the state of the variable Nonharvest is 0, (1) if the voltage value output by the potentiometer is greater than the threshold A, the variable x The state is switched to state 1. At the same time, there is a clock module (RTC) inside the controller. Through the program interface of hardware and software interaction, the world standard time UTC in the format of "year / month / day / specific time" can be obtained, so that the time from 00:00:00 on January 1, 1970 to the current time can be calculated, and then the timestamp in seconds can be obtained according to the conversion relationship between year, month, day, hour, minute and second, recorded as Timestamp. It should be noted that only the state of the variable Harvest is state 0, the state of the variable Nonharvest is state 1, and the variable x The state of the variable changes again; (2) If the voltage value output by the potentiometer is less than or equal to the threshold value A, then the variable x If the initial state 0 is still maintained, the states of parameter 1 and parameter 4 are switched to state 1, and the states of parameter 2 and parameter 3 are switched to state 0, and then it is determined again whether the output voltage value is greater than the threshold A.

[0034] Step S4, determine whether the harvester is in a non-advancing state during operation. If so, calculate the total time in the non-advancing state during operation; if not, continue to count, and the count does not include the total time in the non-advancing state during operation;

[0035] In this step, as long as the variables x If the state is 1 and the harvester is just in the waste storage state, the timestamp at this time is recorded as StartTime; as long as the variable x If the harvester is in state 1 and has just entered the non-advance state, the timestamp at this time is recorded as BreakStart; as long as the variable x If the harvester is in state 1 and has just entered the forward state after entering the non-forward state, the timestamp at this time is recorded as BreakEnd; a font variable BreakTime is introduced to record the total time in the non-forward state during operation, a variable with only two states of 0 and 1 and an initial state of 0 y , when the variable x When the state is 1 and the harvester enters the forward state again after entering the non-forward state, the variable y The state of is switched to state 1. If the variable y If the state is 1, then BreakTime=BreakTime+BreakStart-BreakEnd, and the variable yThe state of is switched to state 0. It can be seen that after each update of BreakTime, as long as the harvester no longer has a non-forward state, BreakTime will not be updated again, but whenever the variable x When the state is 1 and the harvester is just in the waste storage state, BreakTime = 0. Introduce a font variable ElapseTime to record the elapsed time and a font variable Record as an intermediate variable. x When the state is 0, set ElapseTime=0, Record=0, BreakTime=0; when the variable x When the harvester is in state 1 and is in the waste storage state, (1) as long as the harvester is moving forward, let ElapseTime = Timestamp-StartTime-BreakTime; and when the variable x When the harvester is in state 1 and has just entered the non-advance state, let Record = ElapseTime. In addition, whenever the variable x When the harvester is in state 1 and is just in the waste storage state, Record = 0; (2) As long as the harvester has just entered the non-advancing state, ElapseTime = Record, so the elapsed time will not increase.

[0036] Step S5, determine whether the timed time is equal to the set timing time; if so, switch the state of parameter 1 and parameter 4 to state 0, switch the state of parameter 2 and parameter 3 to state 1, and keep this state for a short time, and at the same time clear the timed time and the total time in the non-advancing state during operation; if not, return to step S4;

[0037] In this step, if ElapseTime is equal to RetainTime, it is considered that the elapsed time is equal to the set timer time. x When it is in state 1, whenever ElapseTime is equal to RetainTime, parameters 1 and 4 are switched to state 0, parameters 2 and 3 are switched to state 1, and this state is maintained for a short time. This state is the impurity discharge state, at which the output voltage value of the potentiometer is less than the threshold value B, and ElapseTime=0, Record=0, BreakTime=0; otherwise, return to step S4 until ElapseTime is equal to RetainTime.

[0038] Step S6, switch the states of parameter 1 and parameter 4 to state 1, and switch the states of parameter 2 and parameter 3 to state 0. Then return to step S2 to start the next cycle;

[0039] In this step, after briefly maintaining the dumping state of the waste removal, the states of parameter 1 and parameter 4 are switched to state 1, and the states of parameter 2 and parameter 3 are switched to state 0, that is, switching to the waste storage state of the waste removal, and starting the next round of cycle timing. When the state of the variable Harvest is 0 and the state of the variable Nonharvest is 1, the timing cycle is stopped.

[0040] As the instruction manual Figure 2 As shown, the second aspect of the embodiment of the present invention provides a device for realizing timed debris removal of a harvester, which includes: a timing setting module, which is used for the harvester operator to set the timing time, and after the setting is completed, it is transmitted to the controller through the CAN bus;

[0041] The position detection module is used to detect the main clutch state of the harvester and the state of the waste discharge, and specifically includes a potentiometer and a main clutch position sensor. The potentiometer can output different voltage values ​​according to the change of the physical state. The waste storage state and the dumping state of the harvester during waste discharge correspond to different voltage values; the main clutch position sensor is a Hall sensor, which is used to detect whether the main clutch is in the engaged state or the disengaged state.

[0042] The material collection box control module realizes timed waste removal according to the driving instructions of the controller, and specifically includes an electric push rod and a material collection box. The electric push rod is equipped with a DC brush motor, which realizes the forward and reverse rotation of the motor according to the instructions of the controller, thereby realizing the extension and retraction of the push rod and driving the material collection box to move; the material collection box is used to collect the waste discharged after processing during the operation of the harvester.

[0043] The controller is used to receive the signals transmitted by the position detection module and the timing setting module, and execute the control method described in the first aspect of the present invention to send instructions to the material collection box control module to realize the timed impurity removal. The four output channels of the controller are used to realize the change of the impurity removal state, of which two output channels must have high-side drive function, and the other two output channels must have low-side drive function. The two channels with HSD and LSD functions are matched into a group connected to the positive end of the motor, and the channel state corresponds to group 1 of the control method provided in the first aspect of the present invention; the other two channels are matched into another group connected to the negative end of the motor, and the channel state corresponds to group 2 of the control method provided in the first aspect of the present invention.

[0044] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A control method for realizing timed debris removal of a harvester, characterized in that: The steps include: S1. Set the timing time, define 4 parameters 1, 2, 3 and 4 with only states 0 and 1; set parameters 1 and 3 as group 1, and parameters 2 and 4 as group 2; if you want to enter the waste storage state, switch parameter 1 of group 1 to state 1, parameter 3 to state 0, parameter 2 of group 2 to state 0, and parameter 4 to state 1; if you want to enter the pouring state, switch parameter 1 of group 1 to state 0, parameter 3 to state 1, parameter 2 of group 2 to state 1, and parameter 4 to state 0; when the parameter is in state 0 or state 1, you can set different parameter values ​​to make the switching rate of the impurity removal state different, the larger the parameter, the faster the rate; S2, judging whether the harvester is in a harvesting state; If yes, proceed to step S3; if no, wait and repeat step S2; if the harvester starts to move forward and the main clutch is engaged, it is in the harvesting state; if the main clutch of the harvester is disengaged, it is in the non-harvesting state; S3, determining whether the waste discharge state of the harvester is a waste storage state; If yes, calculate the timestamp according to UTC and use the timestamp as the timing basis; If not, switch the states of parameter 1 and parameter 4 to state 1, switch the states of parameter 2 and parameter 3 to state 0, and then calculate the timestamp; determine the threshold value A related to the waste storage state and the threshold value B related to the pouring state when the harvester is performing waste removal according to the voltage value range output by the potentiometer, so that when the waste removal state is the waste storage state, the output voltage value is greater than the threshold value A; when the waste removal state is the pouring state, the output voltage value is less than the threshold value B; S4, determining whether the harvester is in a non-advancing state during operation; if so, calculating the total time in the non-advancing state during operation; if not, continuously timing, and the timing does not include the total time in the non-advancing state during operation; S5, determine whether the timed time is equal to the set timing time; if so, switch the state of parameter 1 and parameter 4 to state 0, switch the state of parameter 2 and parameter 3 to state 1, and keep this state for a short time, and at the same time clear the timed time and the total time in the non-advancing state during operation; if not, return to step S4; S6, switch the states of parameter 1 and parameter 4 to state 1, and switch the states of parameter 2 and parameter 3 to state 0; then return to step S2 to start the next cycle.

2. A control method for realizing timed debris removal of a harvester according to claim 1, characterized in that: In step S1, the timing time is set by the operator according to the operating efficiency of the harvester, recorded as RetainTime. After the setting is completed, it is used as the time when the harvester is in the waste storage state when it is discharging debris; four parameters 1~4 with only two states of 0 and 1 are defined.

3. A control method for realizing timed debris removal of a harvester according to claim 2, characterized in that: In step S2, two variables Harvest and Nonharvest are introduced which have only two states, 0 and 1, and the initial state of the variable Harvest is state 0, and the initial state of the variable Nonharvest is state 1; the harvest state switches the variable Harvest to state 1, and the variable Nonharvest to state 0; the non-harvest state switches the variable Harvest to state 0, and the variable Nonharvest to state 1; the states of the variables Harvest and Nonharvest are switched only when the above corresponding conditions are met.

4. A control method for realizing timed debris removal of a harvester according to claim 3, characterized in that: In step S3, a variable is introduced that has only two states, 0 and 1, and the initial state is 0. x , when the state of the variable Harvest is 0 and the state of the variable Nonharvest is 1, keep the variable x The initial state is 0; when the state of the variable Harvest is 1 and the state of the variable Nonharvest is 0, (1) if the voltage value output by the potentiometer is greater than the threshold A, the variable x The state is switched to state 1; at the same time, there is a clock module (RTC) inside the controller. Through the program interface of hardware and software interaction, the world standard time UTC in the format of "year / month / day / specific time" can be obtained, so that the time from 00:00:00 on January 1, 1970 to the current time can be calculated, and then the timestamp in seconds can be obtained according to the conversion relationship between year, month, day, hour, minute and second, recorded as Timestamp; (2) If the voltage value output by the potentiometer is less than or equal to the threshold A, at this time the variable x If the initial state 0 is still maintained, the states of parameter 1 and parameter 4 are switched to state 1, and the states of parameter 2 and parameter 3 are switched to state 0, and then it is determined again whether the output voltage value is greater than the threshold A.

5. A control method for realizing timed debris removal of a harvester according to claim 4, characterized in that: In step S3, it should be noted that only the state of the variable Harvest is state 0, the state of the variable Nonharvest is state 1, and the variable x The status changes again.

6. A control method for realizing timed debris removal of a harvester according to claim 4, characterized in that: In step S4, as long as the variable x If the state is 1 and the harvester is just in the waste storage state, the timestamp at this time is recorded as StartTime; as long as the variable x If the harvester is in state 1 and has just entered the non-advance state, the timestamp at this time is recorded as BreakStart; as long as the variable x If the harvester is in state 1 and has just entered the forward state after entering the non-forward state, the timestamp at this time is recorded as BreakEnd; a font variable ElapseTime is introduced to record the elapsed time, a variable with only two states of 0 and 1 and an initial state of 0 y , when the variable x When the state is 1 and the harvester enters the forward state again after entering the non-forward state, the variable y The state is switched to state 1.

7. A control method for realizing timed debris removal of a harvester according to claim 6, characterized in that: In step S4, it should be emphasized that as long as the corresponding conditions are met again, StartTime, BreakStart, BreakEnd and variables y The status will be updated.

8. A control method for realizing timed debris removal of a harvester according to claim 6, characterized in that: In step S5, if ElapseTime is equal to RetainTime, it is considered that the elapsed time is equal to the set timing time; when the variable Harvest is in state 1, the variable Nonharvest is in state 0, and the variable x When it is in state 1, whenever ElapseTime is equal to RetainTime, parameters 1 and 4 are switched to state 0, parameters 2 and 3 are switched to state 1, and this state is maintained for a short time; this state is the impurity discharge state, at which time the output voltage value of the potentiometer is less than the threshold B, and ElapseTime=0, Record=0, BreakTime=0; otherwise, return to execute step S4 until ElapseTime is equal to RetainTime.

9. A control method for realizing timed debris removal of a harvester according to claim 3, characterized in that: In step S6, after briefly maintaining the impurity removal pouring state, the states of parameter 1 and parameter 4 are switched to state 1, and the states of parameter 2 and parameter 3 are switched to state 0, that is, switched to the impurity removal waste storage state, and the next round of cycle timing is started; when the state of the variable Harvest is 0 and the state of the variable Nonharvest is 1, the timing cycle is stopped.

10. A device for timely removing debris from a harvester for realizing the control method of any one of claims 1 to 9, characterized in that: It includes a timing setting module, a position detection module, a material collecting box control module and a controller; The timing setting module transmits the waste storage time of the collecting box set by the operator to the controller through the CAN bus; the position detection module includes a potentiometer and a main clutch position sensor, the potentiometer is used to convert the change of the physical state into an electrical signal that can be recognized by the controller, and the main clutch position sensor is used to detect whether the main clutch of the harvester is successfully engaged; The material collection box control module includes a material collection box and an electric push rod, and the controller controls the motor of the electric push rod to rotate forward and reverse at a fixed time, thereby driving the material collection box to move and realize the timed debris removal of the harvester; the controller adopts a device composed of software and hardware modules, and its input end is connected to the position detection module signal, and the output end is connected to the material collection box control module, wherein the output end has two paths with HSD (high-side output) function and two paths with LSD (low-side output) function; the two output ends with the HSD function and the LSD function are connected to the positive terminal of the motor, and the other two output ends with the HSD function and the LSD function are connected to the negative terminal of the motor.

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