Method, device, processor for sharpening control of an agricultural harvester and agricultural harvester

Abstract

The application discloses a method, device, processor and agricultural harvester for agricultural harvester grinding control. The method comprises the following steps: after receiving an instruction of performing a grinding task, a grinding component is controlled to reciprocate along a guide shaft according to a detection result of a position detection sensor, so as to perform the grinding task; in the case that the position detection sensor fails during the grinding task, a driving parameter of the grinding mechanism is acquired in real time; based on a pre-constructed corresponding relationship between a driving parameter interval and left-right moving time, corresponding target left-right moving time, including target left moving time and target right moving time, is determined according to the driving parameter; and the grinding component is controlled to reciprocate along the guide shaft according to the target left moving time and the target right moving time, until the number of cycles reaches a preset number. The application can ensure the probability of successfully completing the grinding task and reduce economic losses.

Description

Technical Field

[0001] This application relates to the field of agricultural harvesting machinery technology, specifically to a method, device, processor, and agricultural harvester for controlling the sharpening of blades in an agricultural harvester. Background Technology

[0002] Agricultural harvesting machinery is mainly used to harvest crops such as green pasture, oats, sugar beet stems and leaves, and corn. After a period of use, the blades of these machines become dull, resulting in uneven cutting and stringy texture, affecting the quality of subsequent processed products. Furthermore, dull blades increase resistance and power consumption, increasing the equipment's energy consumption. To address this, existing technology proposes adding a sharpening unit to the agricultural harvesting machinery. Current sharpening units primarily use position detection switches to control the direction of the sharpening stone. If the position detection switch malfunctions, the automatic sharpening drive cylinder cannot reverse direction, requiring on-site maintenance and resulting in lengthy repair times, thus impacting production efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a method, device, processor, and agricultural harvester for controlling the sharpening of blades in an agricultural harvester, in order to solve the problem in the prior art where the position detection switch of the sharpening unit needs to be repaired on-site after damage, thus affecting production efficiency.

[0004] To achieve the above objectives, a first aspect of this application provides a method for controlling the sharpening of blades in an agricultural harvester. The agricultural harvester includes a sharpening mechanism, which comprises a position detection sensor, a guide shaft, a sharpening drive component, and a sharpening assembly. The method includes:

[0005] After receiving the instruction to perform the sharpening task, the sharpening component is controlled to reciprocate along the guide shaft according to the detection results of the position detection sensor in order to perform the sharpening task.

[0006] If a position detection sensor malfunction is detected during the sharpening process, the drive parameters of the sharpening mechanism are acquired in real time.

[0007] Based on the pre-built correspondence between the driving parameter range and the left and right shift time, the corresponding target left and right shift time is determined according to the driving parameters. The target left and right shift time includes the target left shift time and the target right shift time.

[0008] Based on the target's leftward and rightward movement times, the grinding component is cyclically controlled to reciprocate along the guide shaft until the preset number of cycles is reached.

[0009] In this embodiment, 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. This includes: after the agricultural harvester starts performing the sharpening task, controlling the sharpening component to reset to the right end of the guide shaft; after the sharpening component resets, 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; and cyclically controlling the sharpening component to reciprocate along the guide shaft to perform the sharpening task.

[0010] In this embodiment, the method for constructing the correspondence between drive parameter intervals and left / right shift arrival times includes: acquiring the historical left shift arrival time, historical right shift arrival time, and corresponding historical drive parameters for each reciprocating motion of the sharpening component when the agricultural harvester performs a sharpening task based on a position detection sensor; based on multiple preset drive parameter intervals, associating and recording the historical left shift arrival time and historical right shift arrival time to the corresponding preset drive parameter interval according to the historical drive parameters; and determining the left / right shift arrival time corresponding to each preset drive parameter interval based on the historical left shift arrival time and historical right shift arrival time associated with each preset drive parameter interval, wherein the left / right shift arrival time includes the average left shift arrival time and the average right shift arrival time.

[0011] In this embodiment of the application, based on the pre-constructed correspondence between driving parameter intervals and left and right shift times, the target left and right shift times are determined according to the driving parameters. This includes: determining the target driving parameter interval in which the driving parameters are located among multiple preset driving parameter intervals; and determining the left and right shift times corresponding to the target driving parameter interval based on the correspondence between the driving parameter intervals and left and right shift times, so as to obtain the target left and right shift times. The left and right shift times corresponding to the target driving parameter interval include the average left shift time and average right shift time corresponding to the target driving parameter interval, or the left shift time and right shift time corresponding to the driving parameters that are in the target driving parameter interval in the previous motion cycle.

[0012] In this embodiment of the application, during the process of cyclically controlling the reciprocating motion of the grinding component along the guide shaft according to the target leftward movement time and the target rightward movement time, the method further includes: acquiring the real-time drive parameters of the agricultural harvester; when the real-time drive parameters are detected to be greater than the pressure threshold, determining that a pressure buildup has occurred and recording the pressure buildup time, while controlling the grinding component to reverse its movement; determining the target movement direction of the grinding component when the pressure buildup occurs; correcting the movement time corresponding to the target movement direction according to the pressure buildup time, and updating the correspondence between the drive parameter range and the left and rightward movement times.

[0013] In this embodiment of the application, during the process of controlling the reciprocating motion of the sharpening component along the guide shaft based on the detection results of the position detection sensor, the method further includes: acquiring the initial drive parameters of the agricultural harvester; if the initial drive parameters are greater than a preset blockage threshold, determining that there is a foreign object blockage in the sharpening mechanism, outputting a foreign object blockage warning signal, and controlling the sharpening component to stop moving, so as to interrupt the sharpening task.

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

[0015] A second aspect of this application provides a processor configured to perform the above-described method for controlling the sharpening of blades in an agricultural harvester.

[0016] A third aspect of this application provides an agricultural harvester, including: a blade sharpening mechanism, which includes a position detection sensor, a blade sharpening drive, a guide shaft, and a blade sharpening component; and the aforementioned processor.

[0017] A fourth aspect of this application provides a machine-readable storage medium storing a program or instructions that, when executed by a processor, implement the above-described method for identifying the support state of a leg.

[0018] The above technical solution describes an agricultural harvester including a sharpening mechanism. This mechanism comprises a position detection sensor, a guide shaft, a sharpening drive, and a sharpening component. Upon receiving an instruction to perform a sharpening task, the sharpening component is controlled to reciprocate along the guide shaft based on the position detection sensor's readings. If a position detection sensor malfunction is detected during the sharpening process, the drive parameters of the sharpening mechanism are acquired in real time. Then, based on a pre-built correspondence between drive parameter ranges and left / right movement times, the corresponding target left / right movement times are determined. These target left / right movement times include the target left movement time and the target right movement time. Finally, based on the target left / right movement times, the sharpening component is cyclically controlled to reciprocate along the guide shaft until the preset number of cycles is reached. This application enables emergency sharpening after a position detection sensor malfunction, using a time-reversal control method to ensure the sharpening mechanism operates normally and completes the sharpening task, thus increasing the probability of successful completion and reducing economic losses.

[0019] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0021] Figure 1 A structural diagram of a grinding mechanism provided in an embodiment of this application;

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

[0023] Figure 3 A flowchart illustrating a method for controlling the sharpening of blades in an agricultural harvester, provided as an embodiment of this application;

[0024] Figure 4 This is a structural block diagram of a device for controlling the sharpening of blades in an agricultural harvester, provided as an embodiment of this application.

[0025] Explanation of reference numerals in the attached figures

[0026] 1. Guide shaft 2. Grinding tool holder

[0027] 3. Whetstone 4. Ratchet

[0028] 5. Chain; 6. Grinding tool drive cylinder Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0030] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0032] This application provides an agricultural harvester, which includes a blade sharpening mechanism. The sharpening mechanism comprises a position detection sensor, a guide shaft, a sharpening drive, and a sharpening component. The sharpening drive drives the sharpening component to move along the guide shaft. The sharpening drive can be a hydraulic cylinder or a motor, etc. The sharpening component is used to sharpen the blades of the agricultural harvester, restoring or enhancing their sharpness. The sharpening component can be a whetstone, a sharpening tool, or a grinding wheel, etc. The position detection sensor detects the position of the sharpening component.

[0033] Taking a sharpening drive cylinder as the driving component and a sharpening stone as the sharpening element as an example, this explanation will be provided. Figure 1 This is a structural diagram of a grinding mechanism provided in an embodiment of this application. Figure 1 As shown, the sharpening mechanism includes a guide shaft 1, a sharpening base 2, a sharpening stone 3, a ratchet 4, a chain 5, and a sharpening drive cylinder 6. The sharpening stone 3 is vertically mounted on the inner side of the sharpening base 2. The base of the sharpening base 2 is slidably mounted on the guide shaft 1. The upper end of the sharpening base 2 is connected to the moving part of the sharpening drive cylinder 6 via the chain 5. The sharpening base 2 is driven by the moving part of the sharpening drive cylinder 6 to reciprocate along the guide shaft 1.

[0034] Figure 2 This is a structural block diagram of a system for controlling the sharpening of blades in an agricultural harvester, provided as a specific embodiment of this application. Figure 2As shown, the system includes a position detection sensor, a controller, a display, a solenoid valve, a cover plate cylinder, a grinding cover plate, a grinding drive cylinder, and a grinding base. The position detection sensor is the system's detection unit; it can be a proximity switch, magnetic induction switch, pressure switch, or displacement sensor—any sensor capable of detecting position. The controller and display constitute the system's control unit. The controller performs mathematical operations and logical judgments, and controls the solenoid directional valve to control the grinding drive cylinder and cover plate cylinder. The display is used for parameter setting, command input, and outputting warning information, such as setting the number of grinding cycles and inputting start, stop, or emergency grinding commands. The solenoid directional valve is the system's execution unit. It switches the oil circuit, enabling the reciprocating motion of the hydraulic cylinder. The cylinder drives the grinding base, and the grinding stone, mounted on the grinding base, reciprocates along the drive shaft to perform the grinding task.

[0035] Figure 3 This is a flowchart illustrating a method for controlling the sharpening of blades in an agricultural harvester, provided as an embodiment of this application. Figure 3 As shown in the figure, this application provides a method for controlling the sharpening of blades in an agricultural harvester. The agricultural harvester includes a sharpening mechanism, which includes a position detection sensor, a guide shaft, a sharpening drive, and a sharpening component. Taking the application of this method to a processor as an example, the method may include the following steps.

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

[0037] Specifically, the operator inputs the command to start sharpening via a display, which then sends a command to the processor to execute the sharpening task. Upon receiving this command, the processor inputs voltage to the sharpening mechanism, causing the sharpening drive to move the sharpening base and reset the sharpening component. This resets the sharpening component to prevent it from failing to reset after the previous sharpening task. The reset sharpening component can be positioned at one end of the guide shaft; whether it's on the left or right depends on the specific situation. The sharpening drive can be a hydraulic cylinder or a motor. In one example, if the drive is a hydraulic cylinder, the processor can input voltage to a solenoid valve to open it and allow hydraulic oil to flow, thus moving the sharpening base. In another example, if the drive is a motor, the processor can input voltage to the motor to move the sharpening base. Furthermore, after the sharpening component resets, it begins to move along the guide shaft to perform the sharpening task. Specifically, a position detection sensor can detect the position of the sharpening component and feed it back to the processor. After the processor detects that the sharpening component has moved to a set position, it controls the sharpening component to change direction, and this process is repeated to perform the sharpening task. The set position can be either end of the guide shaft.

[0038] Step S102: If a position detection sensor malfunction is detected during the execution of the sharpening task, the drive parameters of the sharpening mechanism are acquired in real time.

[0039] Specifically, considering that the position detection sensor may malfunction, if an abnormal signal is detected from the position detection sensor during the sharpening process, such as the position of the sharpening component remaining unchanged or the sharpening component not being detected, the position sensor is determined to be faulty. At this time, the processor can issue a sharpening mechanism fault warning on the display to indicate the position detection sensor malfunction, which helps the operator to take timely measures.

[0040] It is understandable that if the position detection sensor malfunctions, the automatic grinding drive cannot reverse direction. In this situation, without other measures, on-site maintenance must be interrupted, which often takes a long time and affects production efficiency. Therefore, this application embodiment sets up an emergency grinding mode to deal with the situation where the position detection sensor is damaged, temporarily using a time-reversal method to control the grinding component to continue performing the grinding task. Specifically, after the grinding component malfunctions, the operator can choose to stop the grinding operation or activate the emergency grinding mode via the display. Upon receiving the activation of the emergency grinding mode, the processor begins to acquire the driving parameters of the grinding mechanism in real time. In one example, when the grinding drive is a grinding drive cylinder, the driving parameter is the pressure in the oil pipe during the movement of the grinding component driven by the grinding drive cylinder. In another example, when the grinding drive is a grinding drive motor, the driving parameter can be the motor speed or the motor output power, etc. This provides a data basis for subsequent emergency grinding operations.

[0041] Step S103: Based on the pre-built correspondence between the driving parameter range and the left and right shift time, determine the corresponding target left and right shift time according to the driving parameters. The target left and right shift time includes the target left shift time and the target right shift time.

[0042] It is understandable that, during the sharpening process, the reciprocating motion of the sharpening component needs to be controlled, and the distance of its left and right movement must be within a certain range. When the limit control method using a position detection sensor fails, a time-based control method can be used to determine the time it takes for the sharpening component to move left and right along the guide shaft, i.e., the leftward and rightward positioning times. The movement speed of the sharpening component is related to the hydraulic system; different speeds result in different positioning times. Therefore, the correspondence between the drive parameter range and the left and right positioning times can be predetermined. This correspondence can be experimentally determined beforehand based on the characteristics of the agricultural harvester. The left and right positioning times include both left and right positioning times. Thus, the processor can determine the corresponding target left and right positioning times based on the pre-built correspondence between the real-time acquired drive parameters and the left and right positioning times.

[0043] In another example, the processor can record the corresponding left and right shift times when the grinding component reciprocates. If a position detection sensor malfunction is detected, the left and right shift times of the previous cycle during the reciprocating motion of the grinding component can be directly determined as the target left and right shift times. The previous cycle corresponds to the last left and right shifts of the grinding stone before the position detection sensor malfunctioned.

[0044] Step S104: Based on the target leftward movement time and the target rightward movement time, the grinding component is cyclically controlled to reciprocate along the guide shaft until the number of cycles reaches the preset number.

[0045] Specifically, based on the real-time acquired drive parameters, the corresponding target leftward and rightward movement times are obtained. The grinding component is then controlled to move left along the guide axis until the leftward movement time is reached. Then, the grinding component is controlled to reverse direction and move right along the guide axis until the rightward movement time is reached. This process is repeated until the preset number of cycles is reached. The preset number of cycles refers to the number of grinding cycles pre-set by the operator.

[0046] The above technical solution describes an agricultural harvester including a sharpening mechanism. This mechanism comprises a position detection sensor, a guide shaft, a sharpening drive, and a sharpening component. Upon receiving an instruction to perform a sharpening task, the sharpening component is controlled to reciprocate along the guide shaft based on the position detection sensor's readings. If a position detection sensor malfunction is detected during the sharpening process, the drive parameters of the sharpening mechanism are acquired in real time. Then, based on a pre-built correspondence between drive parameter ranges and left / right movement times, the corresponding target left / right movement times are determined. These target left / right movement times include the target left movement time and the target right movement time. Finally, based on the target left / right movement times, the sharpening component is cyclically controlled to reciprocate along the guide shaft until the preset number of cycles is reached. This application enables emergency sharpening after a position detection sensor malfunction, using a time-reversal control method to ensure the sharpening mechanism operates normally and completes the sharpening task, thus increasing the probability of successful completion and reducing economic losses.

[0047] In this embodiment, controlling the sharpening component to reciprocate along the guide shaft based on the detection result of the position detection sensor to perform the sharpening task may include: after the agricultural harvester starts performing the sharpening task, controlling the sharpening component to reset to the right end of the guide shaft; after the sharpening component resets, 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; and cyclically controlling the sharpening component to reciprocate along the guide shaft to perform the sharpening task.

[0048] It can be understood that the first and second preset positions can be the limiting positions for the grinding component to move left and right, 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. When the grinding component is controlled to reciprocate along the guide shaft based on the detection results of the position detection sensor, after the grinding task begins, the grinding solenoid valve is energized to drive the grinding cover plate to open via the cover plate cylinder. The grinding cover plate protects the grinding component. Further, the grinding drive is energized to drive the grinding seat to move, thereby resetting the grinding component and preventing it from failing to reset after the previous grinding task. After resetting, the grinding component can be located at one end of the guide shaft; whether it is at the left or right end depends on the actual situation. Taking the grinding component resetting to the right end of the guide shaft as an example, after resetting, the grinding component is controlled to move to the left along the guide shaft, and the position of the grinding component detected by the position detection sensor is acquired in real time. After detecting that the sharpening component has reached the first preset position, the sharpening component is controlled to change direction and move to the right along the guide shaft. The position of the sharpening component detected by the position detection sensor is acquired in real time. After detecting that the sharpening component has moved to the second preset position, the sharpening component is controlled to change direction again. This cycle of controlling the sharpening component to reciprocate along the guide shaft is repeated to perform the sharpening task.

[0049] In this embodiment, the method for constructing the correspondence between drive parameter intervals and left / right shift arrival times may include: acquiring the historical left shift arrival time, historical right shift arrival time, and corresponding historical drive parameters for each reciprocating motion of the sharpening component when the agricultural harvester performs a sharpening task based on a position detection sensor; based on multiple preset drive parameter intervals, associating and recording the historical left shift arrival time and historical right shift arrival time to the corresponding preset drive parameter interval according to the historical drive parameters; determining the left / right shift arrival time corresponding to each preset drive parameter interval based on the historical left shift arrival time and historical right shift arrival time associated with each preset drive parameter interval, wherein the left / right shift arrival time includes the average left shift arrival time and the average right shift arrival time.

[0050] It is understandable that agricultural harvesters experience wear and tear on various components over time, leading to discrepancies between initial experimental data and actual conditions. Therefore, a correlation between drive parameter ranges and left / right movement times can be established based on the actual operation of the sharpening mechanism. Specifically, multiple drive parameter ranges are first constructed. Then, each time the agricultural harvester performs a sharpening task based on the position detection sensor, the historical left / right movement time and corresponding historical drive parameters for each reciprocating motion of the sharpening component are acquired. Based on these historical drive parameters, the historical left / right movement times are categorized into the corresponding preset drive parameter ranges for associated storage. After each sharpening task performed by the agricultural harvester based on the position detection sensor, the average left and right shift times corresponding to each preset drive parameter interval are determined based on multiple historical left and right shift times corresponding to each drive parameter interval. These average left and right shift times are then used as the left and right shift times corresponding to the preset drive parameter intervals and stored in association. This establishes a correspondence between drive parameter intervals and left and right shift times, ensuring that the correspondence is updated according to the actual operation of the agricultural harvester, thus improving the accuracy of time displacement control.

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

[0052] Table 1

[0053] [P0, P1) TL1 TR1 [P2, P3) TL2 TR2 [P3, P4) TL3 TR3 …… …… ……

[0054] In this embodiment of the application, based on the pre-constructed correspondence between driving parameter intervals and left and right shift times, the target left and right shift times are determined according to the driving parameters. This includes: determining the target driving parameter interval in which the driving parameters are located among multiple preset driving parameter intervals; and determining the left and right shift times corresponding to the target driving parameter interval based on the correspondence between the driving parameter intervals and left and right shift times, so as to obtain the target left and right shift times. The left and right shift times corresponding to the target driving parameter interval include the average left shift time and average right shift time corresponding to the target driving parameter interval, or the left shift time and right shift time corresponding to the driving parameters that are in the target driving parameter interval in the previous motion cycle.

[0055] Specifically, given that the driving parameters of the grinding mechanism in the grinding task are divided into multiple preset driving parameter intervals, the target driving parameter interval in which the currently acquired driving parameters of the grinding mechanism are located can be determined from these intervals. Then, based on the correspondence between the constructed driving parameter intervals and the left and right shift times, the left shift time corresponding to the target driving parameter interval is determined, which is the target left and right shift time. In one example, the left and right shift time corresponding to the target driving parameter interval may include the average left shift time and average right shift time corresponding to the target driving parameter interval. In another example, since the grinding parameters of the grinding mechanism change very little when the grinding task is executed smoothly, given that the processor records multiple historical left shift times and multiple historical right shift times corresponding to each driving parameter interval during the grinding task execution, the left and right shift times corresponding to the driving parameters in the target driving parameter interval in the most recent motion cycle can be determined as the target left and right shift times. One reciprocating motion of the grinding component along the guide shaft constitutes one motion cycle. In this way, the time for the target to move to the left or right position can be determined based on the historical operation data of the grinding mechanism, ensuring the accuracy of time-based position control.

[0056] In this embodiment of the application, during the process of cyclically controlling the reciprocating motion of the grinding component along the guide shaft according to the target leftward movement time and the target rightward movement time, the method may further include: acquiring the real-time drive parameters of the agricultural harvester; when the real-time drive parameters are detected to be greater than the pressure threshold, determining that a pressure buildup has occurred and recording the pressure buildup time, while controlling the grinding component to reverse its movement; determining the target movement direction of the grinding component when the pressure buildup occurs; correcting the movement time corresponding to the target movement direction according to the pressure buildup time, and updating the correspondence between the drive parameter range and the left and rightward movement times.

[0057] It is understandable that the pressure threshold is a critical value used to determine whether the grinding component exceeds the limit movement. It can be preset in the system after being determined by experiments. In order to improve the accuracy of time-shift control, the correspondence between the drive parameter range and the left and right shift time can be optimized and updated according to the movement of the grinding component in time-shift control.

[0058] Specifically, during the cyclical reciprocating motion of the grinding component along the guide shaft based on the target leftward and rightward movement times, the processor acquires the real-time drive parameters of the agricultural harvester, specifically the pressure in the oil pipes during the grinding component's movement driven by the grinding drive. Then, it compares the real-time drive parameters with a pressure-holding threshold. If the real-time drive parameters exceed the pressure-holding threshold, it indicates that the grinding component's movement has exceeded its limits, resulting in pressure buildup. At this point, the pressure-holding time is recorded until the grinding component reverses direction, resolving the pressure buildup. The occurrence of pressure buildup indicates that the left and right movement limit times corresponding to the drive parameter range need optimization. The target movement direction of the grinding component at the time of pressure buildup can be determined, and the displacement arrival time corresponding to the target movement direction is corrected based on the pressure-holding time. The correspondence between the drive parameter range and the left and right movement arrival times is then updated based on the modified arrival times. In one example, the updated displacement arrival time corresponding to the target movement direction is the difference between the original displacement arrival time and the pressure-holding time. Thus, pressure-holding detection ensures the accuracy of the correspondence between the drive parameter range and the left and right movement arrival times, thereby guaranteeing the accuracy of the time-reversal control method.

[0059] In this embodiment of the application, during the process of controlling the reciprocating motion of the sharpening component along the guide shaft based on the detection results of the position detection sensor, the method may further include: acquiring the initial drive parameters of the agricultural harvester; if the initial drive parameters are greater than a preset blockage threshold, determining that there is a foreign object blockage in the sharpening mechanism, outputting a foreign object blockage warning signal, and controlling the sharpening component to stop moving, so as to interrupt the sharpening task.

[0060] It is understood that the preset blockage threshold is a critical value of the drive parameter used to determine whether the sharpening mechanism is blocked, and it can be determined experimentally. Considering that during the harvesting process, agricultural harvesters inevitably accumulate a significant amount of forage and soil in the sharpening mechanism, which can cause the sharpening component to become stuck in the chain and unable to move. If this abnormality is not detected in time, the sharpening component will continue to sharpen this area, potentially damaging the blade by grinding it until it chips. Therefore, this embodiment of the application can also perform foreign object blockage detection before the sharpening task begins. Specifically, after the sharpening mechanism is started and the sharpening task is completed, the initial drive parameters of the agricultural harvester are obtained and compared with the preset blockage threshold. If the initial drive parameters are greater than the preset blockage threshold, it indicates that the sharpening mechanism is severely blocked and it is not suitable to continue the sharpening operation. At this time, a foreign object blockage warning signal can be output to alert the operator. To prevent blade wear, the sharpening component can be stopped simultaneously, interrupting the sharpening task. This allows the operator to quickly remove the blockage, reducing wear on the sharpening component and blade, and extending the service life of the sharpening mechanism.

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

[0062] Specifically, if the initial drive parameters are less than or equal to the preset blockage threshold, it indicates that there is no blockage or only slight blockage that does not affect the operation. In this case, the sharpening task can continue without interruption.

[0063] This application also provides a processor configured to perform the method for controlling the sharpening of blades in an agricultural harvester as described in the above embodiments.

[0064] Figure 4 This is a structural block diagram of a device for controlling the sharpening of blades in an agricultural harvester, provided as an embodiment of this application. Figure 4 As shown, a third aspect of this application provides a device 400 for controlling the sharpening of blades in an agricultural harvester. The agricultural harvester includes a sharpening mechanism, which includes a position detection sensor, a guide shaft, a sharpening drive, and a sharpening component. The device 400 includes:

[0065] The first control module 410 is used to control the grinding component to reciprocate along the guide shaft to perform the grinding task after receiving the instruction to perform the grinding task, based on the detection result of the position detection sensor.

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

[0067] The data determination module 430 is used to determine the corresponding target left and right movement times based on the pre-built correspondence between the driving parameter range and the left and right movement times. The target left and right movement times include the target left movement time and the target right movement time.

[0068] The second control module 440 is used to cyclically control the grinding 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 the preset number.

[0069] The aforementioned device 400 for controlling the sharpening of blades in an agricultural harvester includes a sharpening mechanism. This mechanism comprises a position detection sensor, a guide shaft, a sharpening drive, and a sharpening component. Upon receiving an instruction to perform a sharpening task, the device controls the sharpening component to reciprocate along the guide shaft based on the detection results of the position detection sensor. If a position detection sensor malfunction is detected during the sharpening task, the device acquires the harvester's drive parameters in real time. These parameters are the pressure in the oil pipes during the movement of the sharpening component driven by the sharpening drive. Then, based on a pre-built correspondence between the drive parameter range and the left / right movement time, the device determines the corresponding target left / right movement time, including the target left movement time and the target right movement time. Finally, based on the target left and right movement times, the device cyclically controls the sharpening component to reciprocate along the guide shaft until the preset number of cycles is reached. This application enables emergency sharpening to be initiated after a position detection sensor malfunction. By using a time-reversal control method, the sharpening mechanism can operate normally to complete the sharpening task, thus increasing the probability of successful completion and reducing economic losses.

[0070] In one embodiment, the first control module 410 is further configured to: after the agricultural harvester begins to perform the sharpening task, control the sharpening component to reset to the right end of the guide shaft; after the sharpening component resets, control 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, control 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; and cyclically control the sharpening component to reciprocate along the guide shaft to perform the sharpening task.

[0071] In one embodiment, the data determination module 430 is further configured to: acquire the historical leftward movement time, historical rightward movement time, and corresponding historical driving parameters of each reciprocating motion of the sharpening component when the agricultural harvester performs the sharpening task based on the position detection sensor; based on multiple preset driving parameter intervals, associate and record the historical leftward movement time and historical rightward movement time to the corresponding preset driving parameter interval according to the historical driving parameters; determine the left and right movement time corresponding to each preset driving parameter interval according to the historical leftward movement time and historical rightward movement time associated with each preset driving parameter interval, wherein the left and right movement time includes the average leftward movement time and the average rightward movement time.

[0072] In one embodiment, the data determination module 430 is further configured to: determine the target driving parameter interval in which the driving parameter is located among a plurality of preset driving parameter intervals; and determine the left and right shift times corresponding to the target driving parameter interval based on the correspondence between the driving parameter interval and the left and right shift times, so as to obtain the target left and right shift times. The left and right shift times corresponding to the target driving parameter interval include the average left shift time and average right shift time corresponding to the target driving parameter interval, or the left shift time and right shift time corresponding to the driving parameter in the target driving parameter interval in the previous motion cycle.

[0073] In one embodiment, the second control module 440 is further configured to: acquire real-time drive parameters of the agricultural harvester; determine that a pressure buildup has occurred and record the pressure buildup time when the real-time drive parameters are detected to be greater than the pressure buildup threshold, and simultaneously control the reversing motion of the sharpening component; determine the target motion direction of the sharpening component when a pressure buildup occurs; correct the movement time corresponding to the target motion direction according to the pressure buildup time, and update the correspondence between the drive parameter range and the left and right movement time.

[0074] In one embodiment, the device 400 is further configured to: acquire the initial drive parameters of the agricultural harvester; if the initial drive parameters are greater than a preset blockage threshold, determine that there is a foreign object blockage in the sharpening mechanism, output a foreign object blockage warning signal, and control the sharpening component to stop moving, so as to interrupt the sharpening task.

[0075] In one embodiment, the device 400 is further configured to: continue performing the sharpening task when the initial driving parameters are less than or equal to a preset blockage threshold.

[0076] This application also provides an agricultural harvester, including: a blade sharpening mechanism, which includes a position detection sensor, a blade sharpening drive, a guide shaft, and a blade sharpening component; the processor in the above embodiments or the device for blade sharpening control of the agricultural harvester in the above embodiments.

[0077] Specifically, the sharpening drive unit is used to drive the sharpening component, causing it to move along the guide shaft. The sharpening drive unit can be a sharpening drive cylinder or a sharpening drive motor, etc. The sharpening component is used to sharpen the blades of an agricultural harvester, restoring or enhancing their sharpness. The sharpening component can be a whetstone, sharpening tool, or grinding wheel, etc. The position detection sensor is used to detect the position of the sharpening component.

[0078] Taking a sharpening drive cylinder as the driving component and a sharpening stone as the sharpening component as an example, the explanation is as follows: Figure 1As shown, the sharpening mechanism includes a guide shaft 1, a sharpening base 2, a sharpening stone 3, a ratchet 4, a chain 5, and a sharpening drive cylinder 6. The sharpening stone 3 is vertically mounted on the inner side of the sharpening base 2. The base of the sharpening base 2 is slidably mounted on the guide shaft 1. The upper end of the sharpening base 2 is connected to the moving part of the sharpening drive component via the chain 5. The sharpening base 2 is driven by the moving part of the sharpening drive cylinder 6 to reciprocate along the guide shaft 1.

[0079] This application also provides a machine-readable storage medium storing a program or instructions, which, when executed by a processor, implement the method for identifying the support state of the outriggers described above.

[0080] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0086] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0088] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the sharpening of blades in an agricultural harvester, characterized in that, The agricultural harvester includes a blade sharpening mechanism, which comprises a position detection sensor, a guide shaft, a blade sharpening drive, and a blade sharpening component. The method includes: Upon receiving an instruction to perform a sharpening task, the sharpening component is controlled to reciprocate along the guide shaft based on the detection result of the position detection sensor, so as to perform the sharpening task. If a malfunction of the position detection sensor is detected during the sharpening process, the drive parameters of the sharpening mechanism are acquired in real time. Based on the pre-built correspondence between the driving parameter range and the left and right movement time, the corresponding target left and right movement time is determined according to the driving parameters. The target left and right movement time includes the target left movement time and the target right movement time. Based on the target's leftward and rightward movement times, the grinding component is cyclically controlled to reciprocate along the guide shaft until the preset number of cycles is reached. In the process of cyclically controlling the reciprocating motion of the grinding component along the guide shaft based on the target's leftward and rightward movement times, the method further includes: The real-time drive parameters of the agricultural harvester are obtained. When the real-time drive parameters are detected to be greater than the pressure threshold, it is determined that a pressure stagnation has occurred and the pressure stagnation time is recorded. At the same time, the blade sharpening component is controlled to reverse its movement. Determine the target movement direction of the sharpening component when a pressure buildup occurs; The movement time corresponding to the target movement direction is corrected based on the pressure holding time, and the correspondence between the drive parameter range and the left and right movement time is updated.

2. The method according to claim 1, characterized in that, The step of controlling the sharpening component to reciprocate along the guide shaft based on the detection result of the position detection sensor to perform the sharpening task includes: After the agricultural harvester begins to perform the blade sharpening task, the blade sharpening component is controlled to return 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 axis until the position detection sensor detects that the sharpening component has reached the 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 the second preset position; The sharpening component is cyclically controlled to reciprocate along the guide shaft to perform the sharpening task.

3. The method according to claim 1, characterized in that, The method for constructing the correspondence between the driving parameter range and the left and right shift times includes: The historical leftward movement time, historical rightward movement time, and corresponding historical driving parameters of the sharpening component for each reciprocating motion of the agricultural harvester when it performs the sharpening task based on the position detection sensor are obtained. Based on multiple preset driving parameter ranges, the historical left shift time and the historical right shift time are associated and recorded in the corresponding preset driving parameter ranges according to the historical driving parameters. Based on the historical left shift time and historical right shift time associated with each preset driving parameter interval, the left and right shift time corresponding to each preset driving parameter interval is determined. The left and right shift time includes the average left shift time and the average right shift time.

4. The method according to claim 3, characterized in that, The process of determining the target left and right movement times based on the pre-built correspondence between driving parameter ranges and left / right movement times includes: Determine the 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 shift arrival time, the left and right shift arrival time corresponding to the target driving parameter interval is determined to obtain the target left and right shift arrival time. The left and right shift arrival time corresponding to the target driving parameter interval includes the average left shift arrival time and average right shift arrival time corresponding to the target driving parameter interval, or the left shift arrival time and right shift arrival 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 controlling the grinding component to reciprocate along the guide shaft based on the detection result of the position detection sensor, the method further includes: Obtain the initial drive parameters of the agricultural harvester; If the initial driving parameters are greater than the preset blockage threshold, it is determined that there is a foreign object blockage in the sharpening mechanism, a foreign object blockage warning signal is output, and the sharpening component is controlled to stop moving, thereby interrupting the sharpening task.

6. The method according to claim 5, characterized in that, The method further includes: If the initial drive parameter is less than or equal to the preset blockage threshold, the sharpening task continues.

7. A processor, characterized in that, It is configured to perform the method for blade sharpening control of an agricultural harvester as described in any one of claims 1 to 6.

8. An agricultural harvester, characterized in that, include: A sharpening mechanism, comprising a position detection sensor, a sharpening drive, a guide shaft, and a sharpening component; The processor according to claim 7.

9. A machine-readable storage medium on which a program or instructions are stored, characterized in that, When the program or the instructions are executed by the processor, they implement the blade sharpening control method for agricultural harvesters according to any one of claims 1 to 6.

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