Agricultural harvester knife sharpening control method and device, processor and agricultural harvester

Abstract

The invention discloses a method and a device for knife sharpening control of an agricultural harvester, a processor and the agricultural harvester. The method comprises the steps that after an instruction for executing a knife sharpening task is received, a knife sharpening component is controlled to reciprocate along a guide shaft according to a detection result of a position detection sensor so as to execute the knife sharpening task; under the condition that a fault of the position detection sensor is detected in the process of executing the knife sharpening task, driving parameters of a knife sharpening mechanism are obtained in real time; based on the corresponding relation between the pre-constructed driving parameter interval and the left-right movement in-place time, the corresponding target left-right movement in-place time is determined according to the driving parameters, and the target left-right movement in-place time comprises the target left movement in-place time and the target right movement in-place time; and according to the target left moving in-place time and the target right moving in-place time, the cutter grinding component is circularly controlled to reciprocate along the guide shaft until the cycle number reaches the preset number of times. The probability of smoothly completing the sharpening task can be ensured, and the economic loss is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural harvesting machinery, and in particular to a method, device, processor and agricultural harvester for controlling knife sharpening of an agricultural harvester. Background Art

[0002] Agricultural harvesting machinery is mainly used to harvest crops such as green grass, oats, beet stems and leaves, and corn. After the agricultural harvesting machinery has been used for a period of time, the blades equipped with it will become blunt, resulting in uneven cutting and wire drawing, which affects the quality of subsequent processed products. In addition, after the blade becomes blunt, the resistance increases, the power consumption also increases, and the energy consumption of the equipment increases. In this regard, the prior art proposes to add a sharpening unit to the agricultural harvesting machinery to solve the above problems. The existing sharpening unit mainly uses a position detection switch to control the reversing of the grindstone. Once the position detection switch is damaged, the automatic sharpening drive cylinder cannot be reversed, and the operation site needs to be interrupted for maintenance, which takes a long time to repair, thereby affecting production efficiency. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, device, processor and agricultural harvester for controlling the sharpening of an agricultural harvester, so as to solve the problem in the prior art that the position detection switch of the sharpening unit needs to be repaired on site after being damaged, thereby affecting production efficiency.

[0004] In order to achieve the above-mentioned object, the first aspect of the embodiment of the present application provides a method for controlling knife sharpening of an agricultural harvester, wherein the agricultural harvester comprises a knife sharpening mechanism, the knife sharpening mechanism comprises a position detection sensor, a guide shaft, a knife sharpening drive member and a knife sharpening component, and the method comprises:

[0005] After receiving the instruction to perform the knife sharpening task, according to the detection result of the position detection sensor, the knife sharpening component is controlled to reciprocate along the guide shaft to perform the knife sharpening task;

[0006] When a position detection sensor failure is detected during the execution of the knife sharpening task, the drive parameters of the knife sharpening mechanism are obtained in real time;

[0007] Based on the pre-constructed correspondence between the driving parameter interval and the left and right shifting time, the corresponding target left and right shifting time is determined according to the driving parameter, and the target left and right shifting time includes the target left shifting time and the target right shifting time;

[0008] According to the target leftward movement time and the target rightward movement time, the knife sharpening component is cyclically controlled to reciprocate along the guide shaft until the number of cycles reaches a preset number.

[0009] In an embodiment of the present application, according to the detection result of the position detection sensor, the sharpening component is controlled to reciprocate along the guide shaft to perform the sharpening task, including: after the agricultural harvester starts to perform the sharpening task, the sharpening component is controlled to reset to the right end of the guide shaft; after the sharpening component is reset, the sharpening component is controlled to move to the left along the guide shaft until the position detection sensor detects that the sharpening component has reached a first preset position; after the sharpening component reaches the preset position, the sharpening component is controlled to move to the right along the guide shaft until the position detection sensor detects that the sharpening component has reached a second preset position; the sharpening component is cyclically controlled to reciprocate along the guide shaft to perform the sharpening task.

[0010] In an embodiment of the present application, a method for constructing a correspondence between a driving parameter interval and a left-right shifting time includes: obtaining the historical left-right shifting time, the historical right-right shifting time and the corresponding historical driving parameters for each reciprocating motion of a sharpening component of an agricultural harvester when performing a sharpening task based on a position detection sensor; based on multiple preset driving parameter intervals, associating the historical left-right shifting time and the historical right-right shifting time with the corresponding preset driving parameter interval according to the historical driving parameters; determining the left-right shifting time corresponding to each preset driving parameter interval according to the historical left-right shifting time associated with each preset driving parameter interval, the left-right shifting time including the average left-right shifting time and the average right-right shifting time.

[0011] In an embodiment of the present application, based on the pre-constructed correspondence between the driving parameter interval and the left and right shifting time, the corresponding target left and right shifting time is determined according to the driving parameter, including: determining the target driving parameter interval in which the driving parameter is located in a plurality of preset driving parameter intervals; based on the correspondence between the driving parameter interval and the left and right shifting time, determining the left and right shifting time corresponding to the target driving parameter interval to obtain the target left and right shifting time, the left and right shifting time corresponding to the target driving parameter interval includes the average left shifting time and the average right shifting time corresponding to the target driving parameter interval, or the left shifting time and the right shifting time corresponding to the driving parameter in the target driving parameter interval in the previous motion cycle.

[0012] In an embodiment of the present application, in the process of cyclically controlling the reciprocating movement of the sharpening component along the guide shaft according to the target left-moving into position time and the target right-moving into position time, the method also includes: obtaining the real-time driving parameters of the agricultural harvester, and when it is detected that the real-time driving parameters are greater than the pressure holding threshold, determining that a pressure holding situation has occurred and recording the pressure holding time, while controlling the reversing movement of the sharpening component; determining the target movement direction of the sharpening component when the pressure holding situation occurs; correcting the moving into position time corresponding to the target movement direction according to the pressure holding time, and updating the correspondence between the driving parameter interval and the left and right moving into position time.

[0013] In an embodiment of the present application, in the process of controlling the reciprocating motion of the sharpening component along the guide shaft according to the detection results of the position detection sensor, the method also includes: obtaining the initial driving parameters of the agricultural harvester; when the initial driving parameters are greater than the preset blockage threshold, it is determined that there is a foreign body blockage in the sharpening mechanism, a foreign body blockage warning signal is output, and the sharpening component is controlled to stop moving to interrupt the sharpening task.

[0014] In the embodiment of the present application, the method further includes: when the initial driving parameter is less than or equal to a preset blocking threshold, continuing to perform the knife sharpening task.

[0015] A second aspect of an embodiment of the present application provides a processor configured to execute the above-mentioned method for controlling blade sharpening of an agricultural harvester.

[0016] A third aspect of an embodiment of the present application provides an agricultural harvester, comprising: a knife sharpening mechanism, the knife sharpening mechanism comprising a position detection sensor, a knife sharpening drive, a guide shaft and a knife sharpening component; and the above-mentioned processor.

[0017] A fourth aspect of an embodiment of the present application provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the above-mentioned method for identifying the support status of a leg is implemented.

[0018] The above technical solution, the agricultural harvester includes a knife sharpening mechanism, the knife sharpening mechanism includes a position detection sensor, a guide shaft, a knife sharpening drive and a knife sharpening component. After receiving the instruction to perform the knife sharpening task, according to the detection result of the position detection sensor, the knife sharpening component is controlled to reciprocate along the guide shaft to perform the knife sharpening task. Then, in the process of performing the knife sharpening task, when the position detection sensor fails, the drive parameters of the knife sharpening mechanism are obtained in real time. Then, based on the correspondence between the pre-constructed drive parameter interval and the left and right shifting time, the corresponding target left and right shifting time is determined according to the drive parameters. The target left and right shifting time includes the target left shifting time and the target right shifting time. Finally, according to the target left shifting time and the target right shifting time, the knife sharpening component is cyclically controlled to reciprocate along the guide shaft until the number of cycles reaches the preset number. The present application can start emergency knife sharpening after the position monitoring sensor fails, and make the knife sharpening mechanism operate normally through the time reversing control method to complete the knife sharpening task, so as to ensure the probability of successfully completing the knife sharpening task and reduce economic losses.

[0019] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0021] Figure 1 A structural diagram of a knife sharpening mechanism provided in an embodiment of the present application;

[0022] Figure 2 A structural block diagram of a system for controlling knife sharpening of an agricultural harvester provided in a specific embodiment of the present application;

[0023] Figure 3 A flow chart of a method for controlling knife sharpening of an agricultural harvester provided in an embodiment of the present application;

[0024] Figure 4 A structural block diagram of a device for controlling knife sharpening of an agricultural harvester provided in an embodiment of the present application.

[0025] Description of Reference Numerals

[0026] 1 Guide shaft 2 Sharpening seat

[0027] 3 Whetstone 4 Ratchet

[0028] 5 Chain 6 Sharpening drive cylinder DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0030] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0032] An embodiment of the present application provides an agricultural harvester, which includes a knife sharpening mechanism, which includes a position detection sensor, a guide shaft, a knife sharpening drive and a knife sharpening component. Among them, the knife sharpening drive is used to drive the knife sharpening component to move the knife sharpening component along the guide shaft. The knife sharpening drive can be a knife sharpening drive cylinder or a knife sharpening drive motor, etc. The knife sharpening component is a component used to sharpen the knife of the agricultural harvester to restore or enhance its sharpness. The knife sharpening component can be a whetstone, a knife sharpener or a grinding wheel, etc. The position detection sensor is used to detect the position of the knife sharpening component.

[0033] Take the case where the sharpening drive part is a sharpening drive cylinder and the sharpening component is a sharpening stone as an example. Figure 1 This is a structural diagram of a knife sharpening mechanism provided in an embodiment of the present application. Figure 1 As shown, the knife sharpening mechanism includes a guide shaft 1, a knife sharpening seat 2, a knife sharpening stone 3, a ratchet 4, a chain 5 and a knife sharpening drive cylinder 6. The knife sharpening stone 3 is vertically mounted on the inner side of the knife sharpening seat 2. The seat body of the knife sharpening seat 2 is slidably mounted on the guide shaft 1, and the upper end of the knife sharpening seat 2 is connected to the moving part of the knife sharpening drive cylinder through the chain 5. The knife sharpening seat 2 is driven by the moving part of the knife sharpening drive cylinder 6 to reciprocate along the guide shaft 1.

[0034] Figure 2 The structural block diagram of a system for controlling the sharpening of agricultural harvesters provided in a specific embodiment of the present application. Figure 2As shown, the system includes a position detection sensor, a controller, a display, a solenoid valve, a cover plate cylinder, a sharpening cover plate, a sharpening drive cylinder and a sharpening base. Among them, the position detection sensor is the detection unit of the system, and the position detection sensor can be a proximity switch, a magnetic induction switch, a pressure switch or a displacement sensor, etc., which can detect the position. The controller and the display constitute the control unit of the system. The controller is used to perform mathematical operations and logical judgments, and is used to control the electromagnetic reversing valve to control the sharpening drive cylinder and the cover plate cylinder. The display is used for parameter setting, command input and output of warning information, such as setting the number of sharpening times, inputting a start sharpening command, a stop sharpening command or an emergency sharpening command. The electromagnetic reversing valve is the execution unit of the system. The electromagnetic reversing valve can be used to switch the oil circuit, thereby realizing the reciprocating motion of the hydraulic cylinder, driving the sharpening seat to move through the cylinder, and the sharpening stone is installed on the sharpening seat, thereby driving the sharpening stone to reciprocate along the drive shaft to perform the sharpening task.

[0035] Figure 3 A flowchart of a method for controlling knife sharpening of an agricultural harvester provided in an embodiment of the present application. Figure 3 As shown, an embodiment of the present application provides a method for controlling knife sharpening of an agricultural harvester. The agricultural harvester includes a knife sharpening mechanism, which includes a position detection sensor, a guide shaft, a knife sharpening drive and a knife sharpening component. The method is described by applying it to a processor as an example. The method may include the following steps.

[0036] Step S101, after receiving the instruction to perform the knife sharpening task, according to the detection result of the position detection sensor, the knife sharpening component is controlled to reciprocate along the guide shaft to perform the knife sharpening task.

[0037] Specifically, the operator inputs the instruction to start sharpening through the display, and the display sends the instruction to perform the sharpening task to the processor. After receiving the instruction to perform the sharpening task, the processor starts to input voltage to the sharpening mechanism so that the sharpening drive drives the sharpening seat to move and drives the sharpening component to reset, so as to prevent the sharpening component from not being reset after the last sharpening task. The reset sharpening component can be at one end of the guide shaft, and whether it is at the left end or the right end is determined according to the actual situation. Among them, the sharpening drive can be a sharpening drive cylinder or a sharpening drive motor. In one example, when the sharpening drive is a sharpening drive cylinder, the processor can input voltage to the electromagnetic reversing valve, open the reversing valve to allow hydraulic oil to flow, and drive the sharpening seat to move. In another example, when the sharpening drive is a sharpening drive motor, the processor can input voltage to the motor so that the motor drives the sharpening seat to move. Furthermore, after the knife sharpening component is reset, it starts to control the knife sharpening component to move along the guide shaft to perform the knife sharpening task. Specifically, the position of the knife sharpening component can be detected by a position detection sensor and fed back to the processor. After the processor detects that the knife sharpening component moves to a set position, it controls the knife sharpening component to reverse and move, and repeats this process to perform the knife sharpening task. The set position can be the two ends of the guide shaft.

[0038] Step S102, when a position detection sensor failure is detected during the execution of the knife sharpening task, the drive parameters of the knife sharpening mechanism are obtained in real time.

[0039] Specifically, taking into account the possibility of failure of the position detection sensor, during the execution of the sharpening task, if it is detected that the signal sent by the position detection sensor is abnormal, for example, the position of the sharpening component is detected to be unchanged or the sharpening component is not detected, etc., the position sensor is determined to be faulty. At this time, the processor can issue a sharpening mechanism fault warning through the display to indicate a position detection sensor failure, which is conducive to the operator to take timely measures.

[0040] It is understandable that, considering that after the position detection sensor fails, the automatic sharpening drive cannot be reversed, if there are no other measures, the operation site needs to be interrupted for maintenance, and the maintenance time is often long, which will affect production efficiency. Therefore, the embodiment of the present application sets an emergency sharpening mode to deal with the situation where the position detection sensor is damaged, and temporarily uses the time reversal method to control the sharpening component to continue to perform the sharpening task. Specifically, after the sharpening component fails, the operator can choose to stop the sharpening operation, or start the emergency sharpening mode through the display. When the processor receives the start of the emergency sharpening mode, it starts to obtain the drive parameters of the sharpening mechanism in real time. In one example, when the sharpening drive is a sharpening drive cylinder, the drive parameter is the pressure in the oil pipe during the movement of the sharpening component driven by the sharpening drive cylinder. In another example, when the sharpening drive is a sharpening drive motor, the drive parameter can be the motor speed or the motor output power, etc. In this way, a data basis is provided for the subsequent execution of the emergency sharpening operation.

[0041] Step S103, based on the pre-constructed correspondence between the driving parameter interval and the left and right shifting time, the corresponding target left and right shifting time is determined according to the driving parameter, and the target left and right shifting time includes the target left shifting time and the target right shifting time.

[0042] It can be understood that, since the reciprocating motion of the sharpening component needs to be controlled during the execution of the sharpening task, and the distance of the left and right motion is within a certain range, after the method of limit control by the position detection sensor fails, the time for the sharpening component to move left and right along the guide shaft, that is, the left shift time and the right shift time, can be determined by the time transposition control method, and the moving speed of the sharpening component is related to the hydraulic system, and the speed is different. The time to move in place is different. Therefore, the corresponding relationship between the drive parameter interval and the left and right shift time can be determined in advance, and the corresponding relationship can be determined in advance through experiments according to the characteristics of the agricultural harvester, wherein the left and right shift time includes the left shift time and the right shift time. In this way, the processor can determine the corresponding target left and right shift time based on the drive parameters obtained in real time, based on the pre-constructed corresponding relationship between the drive parameter interval and the left and right shift time, and obtain the target left shift time and the target right shift time.

[0043] In another example, the processor can record the corresponding left-movement time and right-movement time when the sharpening component reciprocates. When a position detection sensor failure is detected, the left-movement time and right-movement time of the previous cycle of the reciprocating motion of the sharpening component are directly determined as the target left and right movement times. The previous cycle is the cycle corresponding to the last left movement and the last right movement of the sharpening stone before the position detection sensor failure.

[0044] Step S104, according to the target leftward movement time and the target rightward movement time, the knife sharpening component is cyclically controlled to reciprocate along the guide shaft until the number of cycles reaches a preset number.

[0045] Specifically, according to the driving parameters obtained in real time, after obtaining the corresponding target left-moving time and target right-moving time in real time, the sharpening component is controlled to move leftward along the guide shaft until the moving time reaches the left-moving time, and then the sharpening component is controlled to reverse and move rightward along the guide shaft until the moving time reaches the right-moving time, and in this way, the sharpening component is cyclically controlled to reciprocate along the guide shaft until the number of cycles reaches the preset number of times. The preset number of times refers to the number of sharpening times preset by the operator.

[0046] The above technical solution, the agricultural harvester includes a knife sharpening mechanism, the knife sharpening mechanism includes a position detection sensor, a guide shaft, a knife sharpening drive and a knife sharpening component. After receiving the instruction to perform the knife sharpening task, according to the detection result of the position detection sensor, the knife sharpening component is controlled to reciprocate along the guide shaft to perform the knife sharpening task. Then, in the process of performing the knife sharpening task, when the position detection sensor fails, the drive parameters of the knife sharpening mechanism are obtained in real time. Then, based on the correspondence between the pre-constructed drive parameter interval and the left and right shifting time, the corresponding target left and right shifting time is determined according to the drive parameters. The target left and right shifting time includes the target left shifting time and the target right shifting time. Finally, according to the target left shifting time and the target right shifting time, the knife sharpening component is cyclically controlled to reciprocate along the guide shaft until the number of cycles reaches the preset number. The present application can start emergency knife sharpening after the position monitoring sensor fails, and make the knife sharpening mechanism operate normally through the time reversing control method to complete the knife sharpening task, so as to ensure the probability of successfully completing the knife sharpening task and reduce economic losses.

[0047] In an embodiment of the present application, based on the detection result of the position detection sensor, the sharpening component is controlled to reciprocate along the guide shaft to perform the sharpening task, which may include: after the agricultural harvester starts to perform the sharpening task, the sharpening component is controlled to reset to the right end of the guide shaft; after the sharpening component is reset, the sharpening component is controlled to move to the left along the guide shaft until the position detection sensor detects that the sharpening component has reached a first preset position; after the sharpening component reaches the preset position, the sharpening component is controlled to move to the right along the guide shaft until the position detection sensor detects that the sharpening component has reached a second preset position; and the sharpening component is cyclically controlled to reciprocate along the guide shaft to perform the sharpening task.

[0048] It can be understood that the first preset position and the second preset position can be the limited positions for the sharpening component to move to the left and right sides respectively, the left limit can be the left end of the guide shaft, and the right limit can be the right end of the guide shaft. In the case of controlling the sharpening component to reciprocate along the guide shaft according to the detection result of the position detection sensor, after the sharpening task begins to be executed, the sharpening solenoid valve is energized to drive the sharpening cover plate to open through the cover plate cylinder, and the sharpening cover plate is used to protect the sharpening component. Further, the sharpening drive is energized so that the sharpening drive drives the sharpening seat to move, so as to drive the sharpening component to reset, in order to prevent the sharpening component from not being reset after the last sharpening task is completed. The sharpening component after reset can be at one end of the guide shaft, and whether it is at the left end or the right end is determined according to the actual situation. Taking the sharpening component at the right end of the guide shaft after being reset as an example, after the sharpening component is reset, the sharpening component is controlled to move along the left side of the guide shaft, and the position of the sharpening component detected by the position detection sensor is obtained in real time. After detecting that the sharpening component reaches the first preset position, the sharpening component is controlled to reverse and move along the right side of the guide shaft, and the position of the sharpening component detected by the position detection sensor is obtained in real time. After detecting that the sharpening component moves to the second preset position, the sharpening component is controlled to reverse and move. In this way, the sharpening component is controlled to reciprocate along the guide shaft in a cycle to perform the sharpening task.

[0049] In an embodiment of the present application, a method for constructing a correspondence between a driving parameter interval and a left-right shifting time may include: obtaining the historical left-right shifting time, the historical right-right shifting time and the corresponding historical driving parameters for each reciprocating motion of a sharpening component of an agricultural harvester when performing a sharpening task based on a position detection sensor; based on multiple preset driving parameter intervals, associating the historical left-right shifting time and the historical right-right shifting time with the corresponding preset driving parameter interval according to the historical driving parameters; determining the left-right shifting time corresponding to each preset driving parameter interval according to the historical left-right shifting time associated with each preset driving parameter interval, the left-right shifting time including the average left-right shifting time and the average right-right shifting time.

[0050] It is understandable that, considering that the various structures in the agricultural harvester will have a certain degree of wear as the use time increases, there will be a certain difference between the early experimental data and the actual situation in the later stage. Therefore, the corresponding relationship between the drive parameter interval and the left and right shifting time can be constructed through the actual operation of the sharpening mechanism. Specifically, firstly, a plurality of drive parameter intervals are constructed, and then each time the agricultural harvester performs the sharpening task based on the position detection sensor, the historical left shifting time, the historical right shifting time and the corresponding historical drive parameters corresponding to each reciprocating motion of the sharpening component are obtained, and according to the historical drive parameters, the historical left shifting time and the historical right shifting time are classified into the corresponding preset drive parameter interval for associated storage. After each time the agricultural harvester completes the knife sharpening task based on the position detection sensor, the average left-shift time in place and the average right-shift time in place corresponding to each preset driving parameter interval are determined according to the multiple historical left-shift times in place and the multiple historical right-shift times in place corresponding to each driving parameter interval, that is, the average of the multiple historical left-shift times in place and the average of the multiple historical right-shift times in place, and the average left-shift time in place and the average right-shift time in place are used as the left and right shift times in place corresponding to the preset driving parameter interval, and are stored in association. In this way, the corresponding relationship between the driving parameter interval and the left and right shift times is constructed, which can ensure that the corresponding relationship updates data according to the actual operating conditions of the agricultural harvester, thereby improving the accuracy of time displacement control.

[0051] For example, taking the driving parameter as the pressure in the oil pipe during the movement of the sharpening component driven by the sharpening drive cylinder as an example, the corresponding relationship between the driving parameter range and the left and right movement time can be shown in Table 1, which is a corresponding relationship table.

[0052] Table 1

[0053] System pressure Left shift time Right shift time [P0, P1) TL1 TR1 [P2, P3) TL2 TR2 [P3, P4) TL3 TR3 …… …… ……

[0054] In an embodiment of the present application, based on the pre-constructed correspondence between the driving parameter interval and the left and right shifting time, the corresponding target left and right shifting time is determined according to the driving parameter, including: determining the target driving parameter interval in which the driving parameter is located in a plurality of preset driving parameter intervals; based on the correspondence between the driving parameter interval and the left and right shifting time, determining the left and right shifting time corresponding to the target driving parameter interval to obtain the target left and right shifting time, the left and right shifting time corresponding to the target driving parameter interval includes the average left shifting time and the average right shifting time corresponding to the target driving parameter interval, or the left shifting time and the right shifting time corresponding to the driving parameter in the target driving parameter interval in the previous motion cycle.

[0055] Specifically, under the premise that the drive parameters of the sharpening mechanism in the execution of the sharpening task are divided into a plurality of preset drive parameter intervals, the target drive parameter interval in which the drive parameters of the sharpening mechanism currently obtained are located can be determined from the plurality of preset drive parameter intervals, and then the left shift time corresponding to the target drive parameter interval is determined according to the correspondence between the constructed drive parameter interval and the left and right shift time, and the left and right shift time is the target left and right shift time. In one example, the left and right shift time corresponding to the target drive parameter interval can include the average left shift time and the average right shift time corresponding to the target drive parameter interval. In another example, since the sharpening parameters of the sharpening mechanism change very little when the sharpening task is smoothly executed, therefore, under the premise that the processor records a plurality of historical left shift times and a plurality of historical right shift times corresponding to each drive parameter interval during the execution of the sharpening task, the left shift time and the right shift time corresponding to the drive parameters in the target drive parameter interval in the most recent motion cycle can be determined as the target left and right shift time. Wherein, the reciprocating motion of the sharpening component along the guide shaft is one motion cycle. In this way, the time for the target to move left or right can be determined based on the historical operation data of the sharpening mechanism, ensuring the accuracy of the time transposition control.

[0056] In an embodiment of the present application, in the process of cyclically controlling the reciprocating movement of the sharpening component along the guide shaft according to the target left-moving into position time and the target right-moving into position time, the method may also include: obtaining the real-time driving parameters of the agricultural harvester, and when it is detected that the real-time driving parameters are greater than the pressure holding threshold, determining that a pressure holding situation has occurred and recording the pressure holding time, while controlling the reversing movement of the sharpening component; determining the target movement direction of the sharpening component when the pressure holding situation occurs; correcting the moving into position time corresponding to the target movement direction according to the pressure holding time, and updating the correspondence between the driving parameter interval and the left and right moving into position time.

[0057] It can be understood that the pressure holding threshold is a critical value used to determine whether the grinding component exceeds the limit movement. It can be pre-set in the system after being determined experimentally. In order to improve the accuracy of time transposition control, the correspondence between the drive parameter interval and the left and right movement time can be optimized and updated according to the movement of the grinding component in the time transposition control.

[0058] Specifically, in the process of cyclically controlling the reciprocating motion of the knife sharpening component along the guide shaft according to the target left shift in place time and the target right shift in place time, the processor can obtain the real-time driving parameters of the agricultural harvester, that is, the pressure in the oil pipe during the movement of the knife sharpening component driven by the knife sharpening driver. Then, the magnitude relationship between the real-time driving parameter and the pressure holding threshold is compared. When it is detected that the real-time driving parameter is greater than the pressure holding threshold, it means that the movement of the knife sharpening component exceeds the limit and the pressure holding situation occurs. At this time, the pressure holding time begins to be recorded until the knife sharpening component reverses and the pressure holding situation is relieved. The occurrence of the pressure holding situation indicates that the left and right shift limit time corresponding to the driving parameter interval where the driving parameter is located needs to be optimized. At this time, the target movement direction of the knife sharpening component when the pressure holding situation occurs can be determined, and then the displacement in place time corresponding to the target movement direction is corrected according to the pressure holding time, and the corresponding relationship between the driving parameter interval and the left and right shift in place time is updated according to the modified in place time. In one example, the displacement in place time corresponding to the updated target movement direction is the difference between the original displacement in place time corresponding to the direction and the pressure holding time. In this way, the accuracy of the corresponding relationship between the driving parameter interval and the left and right shift in place time can be guaranteed by the pressure holding detection, thereby ensuring the accuracy of the time reversing control method.

[0059] In an embodiment of the present application, in the process of controlling the reciprocating motion of the sharpening component along the guide shaft according to the detection results of the position detection sensor, the method may also include: obtaining the initial driving parameters of the agricultural harvester; when the initial driving parameters are greater than a preset blockage threshold, determining that there is a foreign body blockage in the sharpening mechanism, outputting a foreign body blockage warning signal, and controlling the sharpening component to stop moving to interrupt the sharpening task.

[0060] It can be understood that the preset blocking threshold is the critical value of the driving parameter used to determine whether the sharpening mechanism is blocked, which can be determined by experiments. Considering that it is difficult to avoid that more grass and soil will enter the sharpening mechanism during the harvesting process of the agricultural harvester, the sharpening component cannot move due to the foreign matter blocking the chain during the movement of the sharpening component. At this time, if the abnormality cannot be found in time, the sharpening component will always grind here, and in severe cases, the blade will be polished and damaged. Therefore, the embodiment of the present application can also perform foreign body blockage detection before the sharpening task begins. Specifically, after the sharpening mechanism is started to perform the sharpening task and executed, the initial driving parameters of the agricultural harvester are obtained, and the initial driving parameters are compared with the preset blocking threshold. When the initial driving parameters are greater than the preset blocking threshold, it means that the sharpening mechanism has been seriously blocked and it is not appropriate to continue the sharpening operation. At this time, a foreign body blockage warning signal can be output to warn the operator. In order to prevent the loss of the blade, the sharpening component can be controlled to stop moving at the same time to interrupt the sharpening task. In this way, it is beneficial for the operator to quickly deal with the blockage, reduce the loss of the sharpening component and the blade, and increase the service life of the sharpening mechanism.

[0061] In the embodiment of the present application, the method may further include: when the initial driving parameter is less than or equal to a preset blocking threshold, continuing to perform the knife sharpening task.

[0062] Specifically, when the initial driving parameter is less than or equal to the preset blocking threshold, it indicates that there is no blocking, or it is only a slight blocking that does not affect the operation, and the knife sharpening task can be continued without interruption.

[0063] An embodiment of the present application also provides a processor configured to execute the method for controlling agricultural harvester sharpening in the above-mentioned embodiment.

[0064] Figure 4 This is a structural block diagram of a device for controlling the sharpening of agricultural harvesters provided in an embodiment of the present application. Figure 4 As shown, in a third aspect of the embodiment of the present application, there is provided a device 400 for controlling knife sharpening of an agricultural harvester, wherein the agricultural harvester comprises a knife sharpening mechanism, the knife sharpening mechanism comprises a position detection sensor, a guide shaft, a knife sharpening drive member and a knife sharpening component, and the device 400 comprises:

[0065] The first control module 410 is used to control the knife sharpening component to reciprocate along the guide shaft according to the detection result of the position detection sensor after receiving the instruction to perform the knife sharpening task, so as to perform the knife sharpening task.

[0066] The data acquisition module 420 is used to acquire the drive parameters of the knife sharpening mechanism in real time when a position detection sensor failure is detected during the execution of the knife sharpening task.

[0067] The data determination module 430 is used to determine the corresponding target left and right shifting time according to the driving parameters based on the pre-constructed correspondence between the driving parameter interval and the left and right shifting time, wherein the target left and right shifting time includes the target left shifting time and the target right shifting time.

[0068] The second control module 440 is used to cyclically control the knife sharpening component to reciprocate along the guide shaft according to the target leftward movement time and the target rightward movement time, until the number of cycles reaches a preset number.

[0069] The above-mentioned device 400 for controlling the sharpening of an agricultural harvester comprises a sharpening mechanism, which comprises a position detection sensor, a guide shaft, a sharpening drive and a sharpening component. After receiving an instruction to perform a sharpening task, the sharpening component is controlled to reciprocate along the guide shaft according to the detection result of the position detection sensor to perform the sharpening task. In the case where a position detection sensor failure is detected during the execution of the sharpening task, the driving parameters of the agricultural harvester are obtained in real time. The driving parameters are the pressure in the oil pipe during the movement of the sharpening component driven by the sharpening drive. Then, based on the correspondence between the pre-constructed driving parameter interval and the left and right shifting time, the corresponding target left and right shifting time is determined according to the driving parameters. The target left and right shifting time includes the target left shifting time and the target right shifting time. Finally, according to the target left shifting time and the target right shifting time, the sharpening component is cyclically controlled to reciprocate along the guide shaft until the number of cycles reaches a preset number. The present application can start emergency sharpening after the position monitoring sensor fails, and make the sharpening mechanism operate normally through the time reversing control method to complete the sharpening task, so as to ensure the probability of successfully completing the sharpening task and reduce economic losses.

[0070] In one embodiment, the first control module 410 is also used for: after the agricultural harvester starts to perform the sharpening task, controlling the sharpening component to reset to the right end of the guide shaft; after the sharpening component is reset, controlling the sharpening component to move to the left along the guide shaft until the position detection sensor detects that the sharpening component has reached a first preset position; after the sharpening component reaches the preset position, controlling the sharpening component to move to the right along the guide shaft until the position detection sensor detects that the sharpening component has reached a second preset position; cyclically controlling the sharpening component to reciprocate along the guide shaft to perform the sharpening task.

[0071] In one embodiment, the data determination module 430 is also used to: obtain the historical left-shift time, historical right-shift time and corresponding historical driving parameters for each reciprocating movement of the sharpening component of the agricultural harvester when performing the sharpening task based on the position detection sensor; based on multiple preset driving parameter intervals, associate the historical left-shift time and historical right-shift time with the corresponding preset driving parameter interval according to the historical driving parameters; determine the left and right shift times corresponding to each preset driving parameter interval according to the historical left-shift time and historical right-shift time associated with each preset driving parameter interval, and the left and right shift times include the average left-shift time and the average right-shift time.

[0072] In one embodiment, the data determination module 430 is also used to: determine a target driving parameter interval in which the driving parameters are located in a plurality of preset driving parameter intervals; determine the left and right shifting times corresponding to the target driving parameter interval based on the correspondence between the driving parameter interval and the left and right shifting times to obtain the target left and right shifting times, the left and right shifting times corresponding to the target driving parameter interval include the average left shifting time and the average right shifting time corresponding to the target driving parameter interval, or the left shifting time and the right shifting time corresponding to the driving parameters in the target driving parameter interval in the previous motion cycle.

[0073] In one embodiment, the second control module 440 is also used to: obtain the real-time driving parameters of the agricultural harvester, and when it is detected that the real-time driving parameters are greater than the pressure holding threshold, determine that a pressure holding situation has occurred and record the pressure holding time, while controlling the reversing movement of the sharpening component; determine the target movement direction of the sharpening component when a pressure holding situation occurs; correct the moving into position time corresponding to the target movement direction according to the pressure holding time, and update the corresponding relationship between the driving parameter interval and the left and right moving into position time.

[0074] In one embodiment, the device 400 is also used to: obtain the initial driving parameters of the agricultural harvester; when the initial driving parameters are greater than a preset blockage threshold, determine that there is foreign matter blockage in the sharpening mechanism, output a foreign matter blockage warning signal, and control the sharpening component to stop moving to interrupt the sharpening task.

[0075] In one embodiment, the device 400 is further configured to: continue to perform the knife sharpening task when the initial driving parameter is less than or equal to a preset blocking threshold.

[0076] An embodiment of the present application also provides an agricultural harvester, comprising: a sharpening mechanism, the sharpening mechanism comprising a position detection sensor, a sharpening drive, a guide shaft and a sharpening component; the processor in the above embodiment or the device for controlling the sharpening of the agricultural harvester in the above embodiment.

[0077] Specifically, the knife sharpening drive is used to drive the knife sharpening component to move the knife sharpening component along the guide shaft. The knife sharpening drive may be a knife sharpening drive cylinder or a knife sharpening drive motor. The knife sharpening component is a component used to sharpen the knife of the agricultural harvester to restore or enhance the sharpness of the knife. The knife sharpening component may be a whetstone, a knife sharpener or a grinding wheel. The position detection sensor is used to detect the position of the knife sharpening component.

[0078] Take the example that the sharpening drive part is the sharpening drive cylinder and the sharpening part is the sharpening stone. Figure 1As shown, the knife sharpening mechanism includes a guide shaft 1, a knife sharpening seat 2, a knife sharpening stone 3, a ratchet wheel 4, a chain 5 and a knife sharpening drive cylinder 6. The knife sharpening stone 3 is vertically mounted on the inner side of the knife sharpening seat 2. The seat body of the knife sharpening seat 2 is slidably mounted on the guide shaft 1, and the upper end of the knife sharpening seat 2 is connected to the moving part of the knife sharpening drive member through the chain 5. The knife sharpening seat 2 is driven by the moving part of the knife sharpening drive cylinder 6 to reciprocate along the guide shaft 1.

[0079] An embodiment of the present application also provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the method for identifying the support status of a leg in the above-mentioned embodiment is implemented.

[0080] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0081] The present application is described in terms of flowcharts and / or block diagrams of the methods, devices (systems) and computer program products of the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0085] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0086] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0088] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling knife sharpening of an agricultural harvester, characterized in that: The agricultural harvester includes a knife sharpening mechanism, wherein the knife sharpening mechanism includes a position detection sensor, a guide shaft, a knife sharpening drive member and a knife sharpening component, and the method includes: After receiving the instruction to perform the knife sharpening task, according to the detection result of the position detection sensor, the knife sharpening component is controlled to reciprocate along the guide shaft to perform the knife sharpening task; In the case where a fault of the position detection sensor is detected during the execution of the knife sharpening task, the driving parameters of the knife sharpening mechanism are acquired in real time; Based on the pre-constructed correspondence between the driving parameter interval and the left-right moving time, the corresponding target left-right moving time is determined according to the driving parameter, and the target left-right moving time includes the target left-moving time and the target right-moving time; According to the target leftward movement time and the target rightward movement time, the knife sharpening component is cyclically controlled to reciprocate along the guide shaft until the number of cycles reaches a preset number.

2. The method according to claim 1, characterized in that According to the detection result of the position detection sensor, the knife sharpening component is controlled to reciprocate along the guide shaft to perform the knife sharpening task, including: After the agricultural harvester starts to perform the knife sharpening task, controlling the knife sharpening component to reset to the right end of the guide shaft; After the knife sharpening component is reset, the knife sharpening component is controlled to move leftward along the guide shaft until the position detection sensor detects that the knife sharpening component reaches a first preset position; After the knife sharpening component reaches the preset position, controlling the knife sharpening component to move rightward along the guide shaft until the position detection sensor detects that the knife sharpening component reaches a second preset position; The knife sharpening component is cyclically controlled to reciprocate along the guide shaft to perform the knife sharpening task.

3. The method according to claim 1, characterized in that: The method for constructing the corresponding relationship between the driving parameter interval and the left and right shifting time includes: Acquire the historical left-movement time, the historical right-movement time and the corresponding historical driving parameters of each reciprocating motion of the knife sharpening component when the agricultural harvester performs the knife sharpening task based on the position detection sensor; Based on a plurality of preset driving parameter intervals, the historical left shift time and the historical right shift time are associated and recorded in a corresponding preset driving parameter interval according to the historical driving parameters; The left and right shift times corresponding to each preset driving parameter interval are determined according to the historical left shift times and historical right shift times associated with each preset driving parameter interval, wherein the left and right shift times include the average left shift time and the average right shift time.

4. The method according to claim 3, characterized in that The method of determining the corresponding target left and right moving time according to the driving parameters based on the pre-constructed correspondence between the driving parameter interval and the left and right moving time comprises: Determine a target driving parameter interval in which the driving parameter is located among the plurality of preset driving parameter intervals; Based on the correspondence between the driving parameter interval and the left and right shifting time, the left and right shifting time corresponding to the target driving parameter interval is determined to obtain the target left and right shifting time. The left and right shifting time corresponding to the target driving parameter interval includes the average left shifting time and the average right shifting time corresponding to the target driving parameter interval, or the left shifting time and the right shifting time corresponding to the driving parameters in the target driving parameter interval in the previous motion cycle.

5. The method according to claim 1, characterized in that In the process of cyclically controlling the knife sharpening component to reciprocate along the guide shaft according to the target leftward movement time and the target rightward movement time, the method further comprises: Acquire the real-time driving parameters of the agricultural harvester, and when it is detected that the real-time driving parameters are greater than the pressure holding threshold, determine that a pressure holding situation occurs and record the pressure holding time, and control the reversing movement of the knife sharpening component; Determining a target movement direction of the knife sharpening component when a pressure build-up occurs; The moving-to-position time corresponding to the target motion direction is corrected according to the pressure holding time, and the corresponding relationship between the driving parameter interval and the left and right moving-to-position time is updated.

6. The method according to claim 1, characterized in that In the process of controlling the knife sharpening component to reciprocate along the guide shaft according to the detection result of the position detection sensor, the method further includes: Acquiring initial driving parameters of the agricultural harvester; When the initial driving parameter is greater than a preset blocking threshold, it is determined that there is a foreign object blocking the knife sharpening mechanism, a foreign object blocking warning signal is output, and the knife sharpening component is controlled to stop moving to interrupt the knife sharpening task.

7. The method according to claim 6, characterized in that The method further comprises: When the initial driving parameter is less than or equal to the preset blocking threshold, the knife sharpening task continues to be performed.

8. A processor, characterized in that: The method is configured to execute the method for controlling knife sharpening of an agricultural harvester according to any one of claims 1 to 7.

9. An agricultural harvester, characterized in that: include: A knife sharpening mechanism, the knife sharpening mechanism comprising a position detection sensor, a knife sharpening drive, a guide shaft and a knife sharpening component; A processor according to claim 8.

10. A machine-readable storage medium storing a program or an instruction, characterized in that: When the program or the instruction is executed by the processor, the method for controlling the sharpening of agricultural harvesters according to any one of claims 1 to 7 is implemented.

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