Control method, processor and control device for harvesting machine and harvesting machine

Abstract

The invention relates to the field of agricultural machinery, and discloses a control method for a harvesting machine, a processor, a control device and the harvesting machine, and the control method comprises the steps: obtaining the current vehicle speed of the harvesting machine; determining the crop feeding amount at the next moment; according to the crop feeding amount at the next moment and the current vehicle speed of the harvesting machine, the expected load rates of the multiple operation motors at the next moment are determined; according to the expected load rates of the multiple operation motors, the output power of the multiple operation motors is correspondingly adjusted, or the vehicle speed of the harvesting machine is adjusted. The control method is applied to the harvesting machine, in the operation process of the harvesting machine, the output power of the multiple operation motors or the vehicle speed of the harvesting machine is accurately adjusted in time, so that the problem of crop blockage is solved, and the good anti-blocking effect is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery, and in particular, relates to a control method, a processor, a control device and a harvester for a harvester. Background Art

[0002] Existing harvesting machinery, such as corn harvesters, often suffer from excessive crop feeding load and blockage during harvesting operations due to factors such as crop moisture content, crop planting density, harvester height, and its own walking speed, thus affecting operation efficiency.

[0003] In the existing technology, the size of the crop feeding load is usually judged based on the changes in the pressure, torque or speed of the harvesting table, and then corresponding warnings and responses are made to prevent blockage. However, this type of anti-blocking method has a large lag, resulting in poor anti-blocking effect. Summary of the invention

[0004] In view of the above-mentioned deficiencies or defects in the prior art, the present invention provides a control method, a processor, a control device and a harvester for a harvester, which can effectively prevent the blockage problem of the harvester during operation.

[0005] To achieve the above object, the present invention provides a control method for a harvesting machine, wherein the harvesting machine includes a plurality of operating motors, and the control method includes: Acquiring the current speed of the harvesting machine; Determine the crop feeding amount at the next moment; Determining the expected load rates of the plurality of operating motors at the next moment respectively according to the crop feeding amount at the next moment and the current speed of the harvester; According to the expected load rates of the multiple working motors, the output powers of the multiple working motors are adjusted accordingly, or the speed of the harvesting machine is adjusted.

[0006] Optionally, determining the crop feeding amount at the next moment includes: Acquire image information of crop plots within a unit area in front of the harvester; Determining the crop plant density of the crop plot according to the image information; The crop feed amount at the next moment is determined according to the crop plant density and the current speed of the harvester.

[0007] Optionally, determining the crop plant density of the crop plot according to the image includes: Based on a preset crop yield prediction model, the crop yield of the crop plot is determined according to the image information, and the crop plant density is determined according to the crop yield.

[0008] Optionally, determining the expected load rates of the plurality of operating motors at the next moment respectively according to the crop feeding amount at the next moment and the current speed of the harvester includes: Based on a preset correspondence table between the vehicle speed of the harvesting machine and the lower speed limit thresholds of the plurality of operating motors, the required minimum speeds of the plurality of operating motors at the next moment are determined according to the current vehicle speed of the harvesting machine; Determining the required minimum torques of the plurality of working motors at the next moment respectively according to the crop feeding amount at the next moment and the required minimum rotation speeds of the plurality of working motors; According to the required minimum rotation speeds of the plurality of working motors and the required minimum torques of the plurality of working motors, the expected load rates of the plurality of working motors are respectively determined.

[0009] Optionally, adjusting the output power of the plurality of working motors respectively according to the expected load rates of the plurality of working motors, or adjusting the speed of the harvesting machine includes: When the expected load rates of the plurality of working motors are all less than or equal to the preset load rate, the rotation speeds and torques of the plurality of working motors are adjusted to the respective required minimum rotation speeds and required minimum torques, so as to respectively adjust the output powers of the plurality of working motors; When the expected load rate of at least one of the plurality of working motors is greater than the preset load rate, the speed of the harvesting machine is reduced.

[0010] Optionally, when the expected load rate of at least one of the plurality of working motors is greater than the preset load rate, reducing the speed of the harvesting machine includes: Based on the output power of the working motor whose expected load rate is greater than the preset load rate when its load rate is equal to the preset load rate, the required limit speed of the harvesting machinery is determined, so that the speed of the harvesting machinery is reduced to less than the required limit speed.

[0011] The present invention also provides a processor, and the processor implements the above control method.

[0012] The present invention also provides a control device, which includes the above-mentioned processor.

[0013] Optionally, the control device further includes an industrial camera, which is used to capture image information of crop plots within a unit area in front of the harvester, and the processor is connected to the industrial camera signal.

[0014] The present invention also provides a harvesting machine, which comprises the above-mentioned control device.

[0015] Through the above technical solution, during the operation of the harvester, the expected load rates of multiple working motors at the next moment are determined according to the crop feeding amount at the next moment and the current speed of the harvester, and then the output power of the multiple working motors is adjusted accordingly according to the expected load rates of the multiple working motors, or the speed of the harvester is reduced. In this way, during the operation of the harvester, the output power of the multiple working motors can be adjusted in a timely and accurate manner, or the speed of the harvester can be adjusted, thereby avoiding the problem of crop blockage, and having a good anti-blockage effect.

[0016] Other features and advantages of the present invention will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 is a flow chart of a control method in an embodiment of the present invention; Figure 2 Schematic diagram of signal transmission of various components of the harvesting machine in an embodiment of the present invention.

[0018] Description of reference numerals: DETAILED DESCRIPTION

[0019] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0020] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0021] In the present invention, unless otherwise specified, the directions or positional relationships indicated by directional words such as "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the embodiments of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0022] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0023] The first exemplary embodiment of the present invention provides a control method for a harvesting machine, wherein the harvesting machine includes a plurality of working motors. Figure 1 As shown, the control method includes the following steps: Step S1. Obtaining the current speed of the harvesting machine; Step S2. Determine the crop feeding amount at the next moment; Step S3. Determine the expected load rates of the multiple operating motors at the next moment according to the crop feeding amount at the next moment and the current speed of the harvester; Step S4. According to the expected load rates of the multiple working motors, the output powers of the multiple working motors are adjusted respectively, or the speed of the harvesting machine is adjusted.

[0024] Understandably, referring to the Figure 2 As shown, the working motor is a motor used to harvest crops. In this embodiment, the harvesting machine can be a corn harvester. Accordingly, the multiple working motors can be a cutting table motor for driving the cutting table, a lifting motor for driving the lifting device, and a peeling motor for driving the peeling mechanism. The harvesting machine also includes a processor, which is respectively connected to the walking motor of the harvesting machine and the multiple working motor signals. In the actual operation process, the processor obtains the current vehicle speed of the harvesting machine through the walking motor in real time and determines the expected load rate of the multiple working motors at the next moment after determining the crop feeding amount at the next moment, and generates corresponding control signals according to the expected load rate of the multiple working motors and sends them to the multiple working motors to adjust the output power of the multiple working motors respectively, or generates corresponding control signals and sends them to the walking motor of the harvesting machine to adjust the vehicle speed of the harvesting machine. In this way, during the operation of the harvesting machine, the output power of the multiple working motors can be adjusted in time and accurately, or the vehicle speed of the harvesting machine can be adjusted, thereby avoiding the problem of crop blockage, and having a good anti-blocking effect.

[0025] In an optional embodiment, step S1 includes: Step S11. Acquire image information of the crop plot within a unit area in front of the harvester; Step S12. Determine the crop plant density of the crop plot according to the image information; Step S13: Determine the crop feeding amount at the next moment according to the crop plant density and the current speed of the harvester.

[0026] It can be understood that the crop plot within a unit area in front of the harvester is the plot that the harvester needs to enter next moment to harvest the crop. Figure 2As shown, the harvester may also include an industrial camera, which is connected to the processor signal. The industrial camera is used to capture image information of the crop plots within a unit area in front of the harvester and send it to the processor. The processor determines the crop plant density of the crop plot based on the acquired image information, and determines the crop feed amount at the next moment in combination with the acquired current speed of the harvester.

[0027] Specifically, taking the harvesting machine as a corn harvester as an example, the processor can calculate the crop feeding amount at the next moment through the following formula: ; in, The width of the harvesting machine header. is the current speed of the harvesting machinery, is the density of corn plants.

[0028] In an optional embodiment, step S12 includes: Based on the preset crop yield prediction model, the crop yield of the crop plot is determined according to the image information, and the crop plant density is determined according to the crop yield.

[0029] Specifically, taking the harvesting machine as a corn harvester as an example, the processor can calculate the crop plant density through the following formula: ; in, For corn grass to grain ratio, For crop yield, is the moisture content of corn plants, It is the standard moisture content of corn plants.

[0030] In actual application, the corn grass-to-grain ratio and corn plant moisture content can be obtained by operators through pre-testing and collection of corn plots to be harvested.

[0031] In this embodiment, the crop yield prediction model is obtained through a large number of experiments, specifically: Collect a large amount of image information of crop plant plots and the corresponding crop plant moisture content and crop grass-grain ratio, select HSV color space for further analysis and processing of the image information, then adjust the pixel grayscale, filter the image information, improve the image information quality, perform threshold segmentation on the processed image information, and calculate the image pixel value; The processed image pixel values, crop plant moisture content, and crop grass-grain ratio are used as model inputs, and the BP neural network algorithm optimized by particle swarm is used to establish a crop yield prediction model. The collected sample data is normalized, and then the obtained samples are input into the particle swarm optimized BP neural network for training. The number of iterations, learning factors, and the minimum error of the training target are set. After training with a large amount of data, the final crop yield prediction model is obtained.

[0032] In this embodiment, based on the crop yield prediction model obtained through a large amount of experimental training, the crop plant density can be determined quickly and relatively accurately according to the image information, so as to provide a reliable and timely data basis for the subsequent adjustment of the output power and vehicle speed of the operating motor, thereby avoiding the problem of poor anti-blocking effect caused by the lag of the anti-blocking mechanism.

[0033] In an optional embodiment, step S3 includes: Step S31. Based on a preset correspondence table between the vehicle speed of the harvester and the lower speed thresholds of the multiple working motors, the required minimum speeds of the multiple working motors at the next moment are determined according to the current vehicle speed of the harvester.

[0034] In this embodiment, the correspondence table can be obtained through a large number of experiments. Specifically, the harvesting machinery is operated at different speeds, and the lower limit threshold value of the speed of each working motor (i.e., the minimum speed) is obtained without causing blockage. Then, the lower limit threshold value of the speed of each working motor is calibrated with the corresponding vehicle speed during the experiment to obtain the correspondence table.

[0035] Based on the correspondence table, the processor obtains the current speed of the harvesting machine and obtains the required minimum rotation speed of multiple operating motors at the next moment by looking up the table.

[0036] Step S32: According to the crop feeding amount at the next moment and the required minimum rotation speeds of the multiple operating motors, the required minimum torques of the multiple operating motors at the next moment are determined respectively.

[0037] Specifically, taking the harvesting machine as a corn harvester as an example, the processor can calculate the required minimum torque of the operating motor through the following formula: Required minimum torque for header motor: ; in, is the minimum torque required for the header motor, is the idling friction torque of the cutter of the harvesting machine, is the idling friction torque of the reel of the harvesting platform, is the idling friction torque of the auger of the header, is the transmission ratio of the reel, is the moment of inertia of the reel, is the transmission ratio of the auger, is the moment of inertia of the auger, is the expected speed of the header motor, is the feed load factor of the cutter, is the feeding load factor of the reel, is the feeding load factor of the auger.

[0038] Minimum torque required for lifting motor: ; in, is the minimum torque required for the lifting motor, is the idling friction torque of the elevator of the harvesting machine, is the moment of inertia of the elevator, is the transmission ratio of the elevator, is the expected speed of the lifting motor, is the feed load factor of the elevator.

[0039] Required minimum torque of the stripping motor: ; in, The minimum torque required for the stripping motor, is the idling friction torque of the peeling roller of the harvesting machine, is the idling friction torque of the press of the harvesting machine, is the moment of inertia of the peeling roller, is the moment of inertia of the press, is the transmission ratio of the peeling roller, is the transmission ratio of the suppressor, is the feed load factor of the peeling roller, is the feed load factor of the press.

[0040] Step S33: Determine the expected load rates of the multiple working motors respectively according to the required minimum rotation speeds of the multiple working motors and the required minimum torques of the multiple working motors.

[0041] Specifically, taking the harvesting machine as a corn harvester as an example, the processor can calculate the expected load rate of the operating motor through the following formula: Expected load rate of header motor: ; in, is the minimum torque required for the header motor, is the minimum speed required for the header motor, It is the rated power of the header motor.

[0042] Expected load rate of lifting motor: ; in, is the minimum torque required for the lifting motor, is the minimum speed required for the lifting motor, is the rated power of the lifting motor.

[0043] Expected load rate of the peeling motor: ; in, The minimum torque required for the stripping motor is is the minimum speed required for the stripping motor, is the rated power of the peeling motor.

[0044] In an optional embodiment, step S4 includes: Step S41. When the expected load rates of the multiple working motors are all less than or equal to the preset load rates, the rotation speeds and torques of the multiple working motors are adjusted to their respective required minimum rotation speeds and required minimum torques, so as to adjust the output powers of the multiple working motors respectively.

[0045] Specifically, after determining the expected load rate of each working motor, the processor compares the expected load rate of each working motor with the preset load rate. When the expected load rate of each working motor is less than or equal to the preset load rate, a control signal is sent to the multiple working motors to enable the multiple working motors to adjust their respective speeds and torques to the corresponding required minimum speeds and required minimum torques, respectively, so as to make timely and accurate adjustments to the harvesting operation at the next moment, significantly improving the anti-blocking effect.

[0046] Specifically, the preset load rate is usually set to 90%.

[0047] Step S42: When the expected load rate of at least one of the multiple working motors is greater than the preset load rate, the speed of the harvesting machine is reduced.

[0048] Specifically, when the expected load rate of at least one of the multiple working motors is greater than the preset load rate, blockage may occur by adjusting the output power of the working motor. At this time, by reducing the speed of the harvesting machinery, the feed amount of crops at the next moment can be reduced, thereby avoiding the occurrence of blockage to a large extent.

[0049] In actual application, when the processor determines that the expected load rate of at least one of the multiple working motors is greater than the preset load rate, it can also send a warning signal to the display device in the harvesting machine operating room to remind the operator of the risk of blockage.

[0050] In an optional embodiment, step S42 includes: The required speed limit of the harvesting machinery is determined based on the output power of the working motor whose expected load rate is greater than the preset load rate when its load rate is equal to the preset load rate, so that the speed of the harvesting machinery is reduced to less than the required speed limit.

[0051] Specifically, taking the harvesting machinery as a corn harvester with a preset load rate of 90% as an example, when the expected load rates of the lifting motor and the peeling motor among the cutter motor, the lifting motor and the peeling motor are less than 90%, and the expected load rate of the cutter motor is greater than 90%, the required limit speed of the harvester is calculated according to the output power of the cutter motor when the load rate is 90%, so that the speed of the harvester is reduced to less than the required limit speed; when the expected load rates of the cutter motor, the lifting motor and the peeling motor are all greater than 90%, the corresponding speeds are calculated respectively according to the output power of the cutter motor, the lifting motor and the peeling motor when the load rate is 90%, and the minimum value is taken as the required limit speed of the harvester.

[0052] Such a setting can accurately reduce the speed of the harvesting machinery to a safer speed range, further reducing the risk of blockage.

[0053] A second exemplary embodiment of the present invention provides a processor, and the processor is configured to execute the above control method.

[0054] A third exemplary embodiment of the present invention provides a control device, the control device comprising the above-mentioned processor.

[0055] In an optional embodiment, the control device also includes an industrial camera, which is used to capture image information of crop plots within a unit area in front of the harvester, and the processor is connected to the industrial camera signal.

[0056] A fourth exemplary embodiment of the present invention provides a harvesting machine, comprising the above-mentioned control device.

[0057] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0060] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for a harvesting machine, the harvesting machine comprising a plurality of working motors, characterized in that: The control method comprises: Acquiring the current speed of the harvesting machine; Determine the crop feeding amount at the next moment; Determining the expected load rates of the plurality of operating motors at the next moment respectively according to the crop feeding amount at the next moment and the current speed of the harvester; According to the expected load rates of the multiple working motors, the output powers of the multiple working motors are adjusted accordingly, or the speed of the harvesting machine is adjusted.

2. The control method for a harvesting machine according to claim 1, characterized in that: Determining the crop feeding amount at the next moment includes: Acquire image information of crop plots within a unit area in front of the harvester; Determining the crop plant density of the crop plot according to the image information; The crop feed amount at the next moment is determined according to the crop plant density and the current speed of the harvester.

3. The control method for a harvesting machine according to claim 2, characterized in that: Determining the crop plant density of the crop plot according to the image includes: Based on a preset crop yield prediction model, the crop yield of the crop plot is determined according to the image information, and the crop plant density is determined according to the crop yield.

4. The control method for a harvesting machine according to claim 1, characterized in that: Determining the expected load rates of the plurality of operating motors at the next moment according to the crop feeding amount at the next moment and the current speed of the harvester includes: Based on a preset correspondence table between the vehicle speed of the harvesting machine and the lower speed limit thresholds of the plurality of operating motors, the required minimum speeds of the plurality of operating motors at the next moment are determined according to the current vehicle speed of the harvesting machine; Determining the required minimum torques of the plurality of working motors at the next moment respectively according to the crop feeding amount at the next moment and the required minimum rotation speeds of the plurality of working motors; According to the required minimum rotation speeds of the plurality of working motors and the required minimum torques of the plurality of working motors, the expected load rates of the plurality of working motors are respectively determined.

5. The control method for a harvesting machine according to claim 4, characterized in that: The step of adjusting the output power of the plurality of working motors or adjusting the speed of the harvesting machine according to the expected load rates of the plurality of working motors comprises: When the expected load rates of the plurality of working motors are all less than or equal to the preset load rate, the rotation speeds and torques of the plurality of working motors are adjusted to the respective required minimum rotation speeds and required minimum torques, so as to respectively adjust the output powers of the plurality of working motors; When the expected load rate of at least one of the plurality of working motors is greater than the preset load rate, the speed of the harvesting machine is reduced.

6. The control method for a harvesting machine according to claim 5, characterized in that: When the expected load rate of at least one of the plurality of working motors is greater than the preset load rate, reducing the speed of the harvesting machine includes: Based on the output power of the working motor whose expected load rate is greater than the preset load rate when its load rate is equal to the preset load rate, the required limit speed of the harvesting machinery is determined, so that the speed of the harvesting machinery is reduced to less than the required limit speed.

7. A processor, characterized in that: The processor is configured to execute the control method according to any one of claims 1 to 6.

8. A control device, characterized in that: The control device comprises a processor according to claim 7.

9. The control device according to claim 8, characterized in that: The control device also includes an industrial camera, which is used to capture image information of crop plots within a unit area in front of the harvester, and the processor is connected to the industrial camera signal.

10. A harvesting machine, characterized in that: The harvesting machine comprises a control device according to claim 8 or 9.

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