Variable frequency speed regulation control system of agricultural operation machine

Abstract

The invention discloses a frequency conversion speed regulation control system of an agricultural operation machine, and belongs to the technical field of industrial automation control, and the system comprises a topographic image obtaining module which is used for obtaining a farmland topographic image in front of a preset agricultural machine when the preset agricultural machine works in a farmland, and generating a three-dimensional topographic map based on the farmland topographic image; the driving data acquisition module responds to the farmland topographic image and is used for acquiring the driving speed and the load size of the preset agricultural machinery after the farmland topographic image is acquired; and the data fusion processing unit responds to the acquired running speed and the load size and is used for analyzing and processing the change of the running speed and the load size. Accurate frequency conversion speed regulation control, including intelligent speed regulation, anomaly detection and early warning, energy conservation, high efficiency, adaptive topographic change, accurate state judgment and the like, of the agricultural machinery under the complex topography is realized, and the working efficiency of the agricultural machinery is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation control, and particularly to a variable frequency speed regulation control system for agricultural operation machinery. Background Art

[0002] With the rapid development of modern agricultural technology, the automation and intelligence level of agricultural machinery have been increasingly improved. In this process, as a key control device, the core function of the frequency converter is to precisely control the AC motor by the frequency of the motor working power supply.

[0003] For example, during the operation of agricultural machinery, the frequency converter can adjust the motor working frequency in real time according to the load change, so as to minimize the energy consumption and improve the energy utilization efficiency.

[0004] In the existing research on variable frequency speed regulation of machinery, the application document with the application number CN202510159938.6 provides an intelligent control system for a screw conveyor based on variable frequency speed regulation technology. This technical solution includes a data information acquisition module, a conveying analysis and calculation module, and an intelligent control module. The data information acquisition module is applicable to collect relevant data during the process of the screw conveyor conveying materials to the loading vehicle. The conveying analysis and calculation module is used to analyze the loading position and loading port of the loading vehicle and calculate the optimal material conveying flow rate and flow. The intelligent control module is used to intelligently control the screw conveyor according to the loading vehicle information and the analysis and judgment results of the conveying analysis and calculation module. This technical solution has the characteristics of strong adaptability and high efficiency and accuracy.

[0005] However, in agricultural machinery, the control accuracy of the variable frequency speed regulation system is relatively low, and it is difficult to meet the high stability requirements of agricultural machinery for speed under complex operating conditions. For example, in sowing or fertilizing operations, high speed stability is required. However, due to the generally open-loop control or simple closed-loop control adopted by the existing variable frequency speed regulation system, the feedback mechanism is not perfect enough, resulting in large speed fluctuations when the load changes or is affected by environmental interference, and it is difficult to quickly adapt to the rapid change of the load during the operation of agricultural machinery. Therefore, a high speed stability cannot be achieved. Summary of the Invention

[0006] In view of the above problems existing in the current technical field of industrial automation control, the present invention is proposed.

[0007] Therefore, one of the objectives of the present invention is to provide a variable frequency speed control system for agricultural operation machinery, which realizes precise variable frequency speed control of agricultural machinery in complex terrains through integrating multiple modules and analysis and calculation methods, including comprehensively perceiving the operation environment, intelligent speed regulation, abnormal detection and warning, energy saving and high efficiency, adapting to terrain changes, and precise state determination, etc., improving the operation efficiency, stability, and reliability of agricultural machinery.

[0008] To solve the above technical problems, the present invention provides the following technical solutions:

[0009] The present invention provides a variable frequency speed control system for agricultural operation machinery, including:

[0010] A terrain image acquisition module, which is used to acquire the farmland terrain image in front of a preset agricultural machinery during farmland operation, and generate a three-dimensional topographic map based on the farmland terrain image;

[0011] A driving data acquisition module, which responds to the farmland terrain image and is used to collect the driving speed and load size of the preset agricultural machinery after acquiring the farmland terrain image;

[0012] A data fusion processing unit, which responds to the collected driving speed and load size and is used to analyze and process the changes in the driving speed and load size; the data fusion processing unit includes an analysis module, a calculation module, and a judgment module;

[0013] The analysis module is used to analyze the associated influence of the undulation of the farmland terrain on the changes according to the changes in the driving speed and load size;

[0014] The calculation module responds to the associated influence, is used to set a given driving speed for the preset agricultural machinery, preset a critical threshold based on the given driving speed, and calculate the speed difference between the driving speed of the preset agricultural machinery and the critical threshold;

[0015] The judgment module responds to the speed difference. If the speed difference between the driving speed of the preset agricultural machinery and the critical threshold shows a shrinking trend, the system determines that the preset agricultural machinery is driving abnormally and performs variable frequency speed regulation on the preset agricultural machinery; otherwise, it does not determine;

[0016] A data acquisition module, which responds to the determination result of the judgment module, is used to preset a monitoring period, and acquire the change in the driving speed of the preset agricultural machinery during the monitoring period. If the system determines that the preset agricultural machinery is driving abnormally, then acquire the maximum driving speed, minimum driving speed, and average driving speed of the preset agricultural machinery during the monitoring period.

[0017] As a preferred embodiment of the present invention, in the analysis module, the analysis method for the associated influence includes marking at least 3 height points in the generated three-dimensional topographic map, classifying the 3 height points into low-layer height points, middle-layer height points and high-layer height points, and collecting the distance between the preset agricultural machinery and the low-layer height points, and analyzing the associated influence from the distances.

[0018] As a preferred embodiment of the present invention, the speed difference between the average traveling speed and the lowest traveling speed is calculated, and the variation characteristics of the speed difference are calculated according to the distance between the preset agricultural machinery and the low-layer height points; the calculation method includes:

[0019] The distances are divided into two equal-length distance segments, and the distance segment is marked as the distance segment close to the low-layer height point;

[0020] In the distance segment, the traveling speed of the preset agricultural machinery is collected at a collection rate of every 2 - 3 seconds, and the distance change between the preset agricultural machinery and the low-layer height point is calculated according to the traveling speed;

[0021] If the traveling speed shows a decreasing trend, the system determines that the distance between the preset agricultural machinery and the low-layer height point is shrinking, and performs variable-frequency speed regulation on the preset agricultural machinery.

[0022] As a preferred embodiment of the present invention, after the variable-frequency speed regulation is performed on the preset agricultural machinery, the traveling speed of the preset agricultural machinery is collected at a collection rate of every 2 - 3 seconds, the highest traveling speed when the preset agricultural machinery passes over the low-layer height point is obtained from the traveling speed, and the relevant data for the variable-frequency speed regulation are obtained based on the highest traveling speed; the relevant data includes the maximum output power of the motor, and the output power is marked as the critical output power.

[0023] As a preferred embodiment of the present invention, the height difference between the low-layer height point and the middle-layer height point is calculated, and the height difference is marked as the reference height difference; and according to the highest traveling speed when the preset agricultural machinery passes over the low-layer height point, the traveling speed required for the preset agricultural machinery to pass over the middle-layer height point under the condition of the height difference is calculated, and the speed difference from the highest traveling speed is calculated, and the output power of the motor required for the preset agricultural machinery to pass over the middle-layer height point is calculated according to the following formula:

[0024] where p j represents the p-th output power obtained for the motor at the j-th time;

[0025] In the formula, m represents the traveling speed of the preset agricultural machinery corresponding to the p-th output power, s represents the speed value at which the traveling speed increases with the increase of the output power in the height difference, t represents the time required to increase to the speed value, and k represents the output power corresponding to the maximum increased speed value when the preset agricultural machinery passes through the middle height point.

[0026] As a preferred solution of the present invention, the output power is marked as the reference output power, the power difference between the reference output power and the critical output power is calculated, and when the preset agricultural machinery needs to pass through a height difference equal to the reference height difference in a future period, the output power of the motor is adjusted to the same output power as the reference output power.

[0027] As a preferred solution of the present invention, based on the speed value at which the traveling speed increases with the increase of the output power, the speed value increased by the preset agricultural machinery when the output power increases by 1 kW is obtained, the distance traveled by the preset agricultural machinery is calculated according to the speed value, and the distance is marked as the reference distance. When the preset agricultural machinery needs to pass through a height difference corresponding to the reference distance in a future period, the motor is frequency-converted and speed-regulated by increasing the output power by 1 kW each time.

[0028] As a preferred solution of the present invention, the speed value increased by the preset agricultural machinery when the output power increases by 1 kW is marked as the reference speed value, and the relevant data corresponding to the reference speed value is obtained. The relevant data includes the pitch angle of the preset agricultural machinery. When the preset agricultural machinery travels at the same pitch angle as the reference distance in a future period, if the increased speed value is lower than the reference speed value, the system determines that the frequency conversion speed regulation of the preset agricultural machinery is in an abnormal state; otherwise, it is not determined.

[0029] As a preferred solution of the present invention, a data set is generated based on the speed value corresponding to the abnormal state, the speed value corresponding to each increase of 1 kW in the output power is collected from the data set, and the speed value is marked as the determination speed value. When the preset agricultural machinery travels at the same pitch angle as the reference distance in a future period, if the increased speed value is greater than the determination speed value, the system determines that the frequency conversion speed regulation of the preset agricultural machinery is in a normal state; otherwise, it is not determined.

[0030] Beneficial effects:

[0031] 1. The present invention can dynamically adjust the traveling speed of agricultural machinery according to the undulation of the farmland terrain, ensuring that the machinery can maintain the best operation speed under different terrain conditions, thereby improving the operation efficiency;

[0032] 2. By monitoring the driving speed and load of the preset agricultural machinery in real time, the present invention dynamically adjusts the output power of the motor, avoiding the operation of the motor at an unnecessarily high power state, thereby reducing energy consumption.

[0033] 3. The present invention can detect abnormal states during the variable frequency speed regulation process, helping operators discover and solve problems in a timely manner and reducing the fault shutdown time. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0035] Figure 1 It is a modular structure schematic diagram of the variable frequency speed regulation control system of the agricultural operation machinery according to the embodiment of the present invention;

[0036] Figure 2 It is a flow structure schematic diagram according to the embodiment of the present invention;

[0037] Reference numerals in the figure: 110 - terrain image acquisition module; 120 - driving data acquisition module; 130 - data fusion processing unit; 1301 - analysis module; 1302 - calculation module; 1303 - judgment module; 140 - data acquisition module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention.

[0039] Since existing variable frequency speed regulation systems usually adopt open-loop control or simple closed-loop control, the feedback mechanism is not perfect enough, resulting in large speed fluctuations when the load changes or is affected by environmental interference, and it is difficult to quickly adapt to the sharp changes in the load of agricultural machinery during operation. Therefore, a high speed stability cannot be achieved.

[0040] Based on this, the present invention proposes a variable frequency speed control system for agricultural operation machinery, which realizes precise variable frequency speed control of agricultural machinery in complex terrains through integrating multiple modules and analysis and calculation methods, including comprehensively perceiving the operation environment, intelligent speed regulation, abnormal detection and warning, energy conservation and high efficiency, adapting to terrain changes, and precise state determination, etc., improving the operation efficiency, stability, and reliability of agricultural machinery.

[0041] The following further specifically describes this solution through embodiments in combination with the drawings.

[0042] Referring to Figures 1 to 2 , which is an embodiment of the present invention, this embodiment provides a variable frequency speed control system for agricultural operation machinery, including:

[0043] A terrain image acquisition module 110, configured to acquire a farmland terrain image in front of a preset agricultural machinery during farmland operation, and generate a three-dimensional topographic map based on the farmland terrain image;

[0044] In this embodiment, the terrain image acquisition module includes a lidar (LiDAR) and a vision sensor, and the vision sensor includes a CCD camera; the farmland terrain image in front of the preset agricultural machinery is acquired through the CCD camera, and the three-dimensional topographic map is generated through the lidar (LiDAR);

[0045] A driving data acquisition module 120, the driving data acquisition module responding to the farmland terrain image, configured to acquire the driving speed and load size of the preset agricultural machinery after acquiring the farmland terrain image;

[0046] In this embodiment, the driving data acquisition module includes a sensor module, and the sensor module includes a speed sensor and a load sensor. Among them, in a feasible implementation scheme, the speed sensor is installed on the drive shaft or wheel of the preset agricultural machinery to monitor the actual running speed of the machinery in real time and convert the speed signal into an electrical signal for output;

[0047] The load sensor is installed on key components (such as the engine, hydraulic system, etc.) of the preset agricultural machinery to detect the load size during the operation process and provide a basis for speed regulation control;

[0048] A data fusion processing unit 130, the data fusion processing unit responding to the acquired driving speed and load size, configured to analyze and process the changes in the driving speed and load size; the data fusion processing unit 130 includes an analysis module 1301, a calculation module 1302, and a judgment module 1303;

[0049] The analysis module 1301 is configured to analyze the associated influence of the undulation of the farmland terrain on the changes according to the changes in the driving speed and the load size;

[0050] In this embodiment, according to the research experience of the operation of agricultural machinery, it is shown that during the process of farmland operation, the undulation of the farmland terrain has an impact on the driving speed of agricultural machinery. These impacts include a decrease in speed when going uphill and an increase in speed when going downhill;

[0051] When the agricultural machinery is driving on an uphill section, since it needs to overcome the gravity component, the engine needs to output more power to maintain the speed. If the power is insufficient, the speed of the machinery will naturally decrease; for example, in hilly areas with relatively steep slopes, the driving speed of agricultural machinery may decrease from 5 km / h on flat ground to 3 km / h;

[0052] When going downhill, the gravity component will push the machinery forward, resulting in a natural increase in speed;

[0053] Moreover, in the uneven farmland, the agricultural machinery needs to continuously adjust its speed to adapt to the terrain changes, which will lead to frequent fluctuations in speed. For example, in hilly areas, the speed of agricultural machinery may frequently change between 2 and 4 m / s;

[0054] Regarding the influence on the load size, it includes load fluctuations caused by complex terrain. In the uneven farmland, the load of agricultural machinery will fluctuate frequently with the terrain changes. For example, in hilly areas, the load of agricultural machinery may suddenly increase from a low-load state to a high-load state in a short period of time;

[0055] Therefore, analyzing the associated influence of the undulation of the farmland terrain on the driving speed and the load size has practical significance;

[0056] The calculation module 1302 responds to the associated influence, and is configured to preset a given driving speed for a preset agricultural machinery, and based on the given driving speed, preset a critical threshold, and at the same time calculate the speed difference between the critical threshold and the driving speed of the preset agricultural machinery;

[0057] The judgment module 1303 responds to the speed difference. If the speed difference between the driving speed of the preset agricultural machinery and the critical threshold shows a shrinking trend, the system determines that the preset agricultural machinery is driving abnormally, and performs variable-frequency speed regulation on the preset agricultural machinery; otherwise, it does not make a determination;

[0058] The data acquisition module 140, the data acquisition module responds to the determination result of the judgment module, and is configured to preset a monitoring period, and acquire the change in the driving speed of the preset agricultural machinery during the monitoring period. If the system determines that the preset agricultural machinery is driving abnormally, then acquire the maximum driving speed, the minimum driving speed, and the average driving speed of the preset agricultural machinery during the monitoring period;

[0059] In this embodiment, by obtaining the maximum traveling speed, minimum traveling speed, and average traveling speed of the agricultural machinery, the speed regulation range of the agricultural machinery can be optimized. By understanding this range, the speed regulation interval of the variable-frequency speed regulation system can be optimized. After determining the speed range, precise parameter settings can be made for the agricultural machinery to improve the speed regulation accuracy. For example, when operating at low speeds (such as precise seeding) and high speeds (such as transportation), the output frequency of the motor can be adjusted separately to meet different speed requirements;

[0060] As described above, the present invention integrates multiple modules such as terrain image acquisition, traveling data collection, data fusion processing, and data acquisition, and can comprehensively perceive the operating state of the agricultural machinery and the operating environment, providing data support for precise speed regulation;

[0061] Among them, the data fusion processing unit analyzes and processes the collected data, and automatically performs variable-frequency speed regulation according to the analysis results, realizing intelligent speed regulation control;

[0062] At the same time, it can monitor the speed difference between the traveling speed of the agricultural machinery and the critical threshold in real time, timely detect abnormal traveling and perform speed regulation, improving the reliability and safety of the system;

[0063] In the analysis module, the analysis method for the associated influence includes marking at least 3 height points in the generated three-dimensional topographic map, classifying the 3 height points into low-layer height points, middle-layer height points, and high-layer height points, and collecting the distance between the preset agricultural machinery and the low-layer height points, and analyzing the associated influence from the distance;

[0064] In this embodiment, by marking different height points in the three-dimensional topographic map and collecting the distance between the agricultural machinery and the low-layer height points, the associated influence of terrain undulation on the mechanical traveling speed and load size change can be accurately analyzed;

[0065] Moreover, based on the distance change, the influence of terrain change on mechanical traveling is perceived in advance, providing a basis for subsequent speed regulation decisions, and helping to reduce unexpected situations caused by terrain changes;

[0066] On this basis, calculate the speed difference between the average traveling speed and the lowest traveling speed, and calculate the change characteristics of the speed difference according to the distance between the preset agricultural machinery and the low-layer height points; the calculation method includes:

[0067] Divide the distance into two distance segments of equal length and distance segments, and mark the distance segment as the distance segment close to the low-layer height point;

[0068] In the In the distance segment, the traveling speed of a preset agricultural machine is collected at a collection rate of every 2 to 3 seconds, and the distance change between the preset agricultural machine and the low-level height point is calculated based on the traveling speed;

[0069] If the traveling speed shows a decreasing trend, the system determines that the distance between the preset agricultural machine and the low-level height point is shrinking, and performs variable frequency speed regulation on the preset agricultural machine;

[0070] In this embodiment, the traveling speed of the agricultural machine is monitored in real time at a collection rate of every 2 to 3 seconds, which can timely capture the speed change trend;

[0071] When it is monitored that the traveling speed shows a decreasing trend, the system actively performs variable frequency speed regulation on the agricultural machine, avoiding the situation that the speed is too low due to terrain undulation, and improving the operation efficiency;

[0072] Further in this embodiment, after performing variable frequency speed regulation on the preset agricultural machine, the traveling speed of the preset agricultural machine is collected at a collection rate of every 2 to 3 seconds, the highest traveling speed when the preset agricultural machine passes the low-level height point is obtained from the traveling speed, and relevant data for variable frequency speed regulation is obtained based on the highest traveling speed; the relevant data includes the maximum output power of the motor, and the output power is marked as the critical output power;

[0073] In this embodiment, according to the research experience of the operation of agricultural machines, it shows that the output power of the motor has an important influence on the variable frequency speed regulation of agricultural machines, including the relationship between power and speed regulation range. In the variable frequency speed regulation system, the output power of the motor will change with the change of speed. For example, below the base frequency (such as below 50Hz), the motor is in the constant torque speed regulation area, and the power is proportional to the speed. When the speed decreases, the power will also decrease accordingly. Therefore, obtaining the relevant data for variable frequency speed regulation based on the highest traveling speed has a positive impact on the control of variable frequency speed regulation;

[0074] It should be emphasized in this embodiment that after variable frequency speed regulation, the system continues to collect the traveling speed of the agricultural machine, and obtains data such as the highest traveling speed, the lowest traveling speed, and the average traveling speed, providing more references for subsequent speed regulation optimization;

[0075] At the same time, the maximum output power of the motor is marked as the critical output power, which is convenient for subsequent accurate speed regulation according to power requirements;

[0076] Specifically in this embodiment, the height difference between the low-layer height point and the middle-layer height point is calculated, and the height difference is marked as the reference height difference; and according to the maximum driving speed of the preset agricultural machinery when passing through the low-layer height point, the driving speed required for the preset agricultural machinery to pass through the middle-layer height point under the condition of the height difference is calculated, and the speed difference from the maximum driving speed is calculated, and the output power of the motor required for the preset agricultural machinery to pass through the middle-layer height point is calculated according to the speed difference, and is calculated according to the following formula:

[0077] where p j represents the p-th output power obtained from the motor for the j-th time;

[0078] In the formula, m represents the driving speed of the preset agricultural machinery corresponding to the p-th output power, s represents the speed value at which the driving speed increases with the increase of the output power in the height difference, t represents the time required to increase to the speed value, and k represents the output power corresponding to the maximum increased speed value when the preset agricultural machinery passes through the middle-layer height point;

[0079] In this embodiment, by calculating the height difference between the low-layer height point and the middle-layer height point, and based on this, calculating the driving speed and the motor output power required for the agricultural machinery to pass through the middle-layer height point, the motor power can be accurately adjusted to adapt to terrain changes;

[0080] On the above basis, in this embodiment, the output power is marked as the reference output power, and the power difference between the reference output power and the critical output power is calculated. When the preset agricultural machinery needs to pass through the same height difference as the reference height difference in the future period, the output power of the motor is adjusted to the same output power as the reference output power;

[0081] In this embodiment, the calculated output power is marked as the reference output power, and when encountering a similar terrain subsequently, the output power of the motor is automatically adjusted to the reference output power, realizing adaptive speed regulation for complex terrains;

[0082] Moreover, through precise power adjustment, unnecessary high-power output of the motor is avoided, achieving an energy-saving effect;

[0083] Among them, based on the speed value at which the driving speed increases with the increase of the output power, the speed value increased by the preset agricultural machinery when the output power increases by 1 kW is obtained, the distance traveled by the preset agricultural machinery is calculated according to the speed value, and the distance is marked as the reference distance. When the preset agricultural machinery needs to pass through the height difference corresponding to the reference distance in the future period, the motor is frequency-converted and speed-regulated with an increase of 1 kW in output power;

[0084] In this embodiment, based on the speed value increased by the agricultural machinery when the output power increases by 1 kW each time, the distance traveled by the machinery is calculated, and the driving conditions of the machinery at different powers can be predicted;

[0085] When the machinery needs to pass through the height difference corresponding to the reference distance, the motor is frequency-converted and speed-regulated in advance, so that the machinery can pass through complex terrains smoothly;

[0086] Further, the speed value increased by the preset agricultural machinery when the output power increases by 1 kW each time is marked as the reference speed value, and the relevant data corresponding to the reference speed value is obtained. The relevant data includes the pitch angle of the preset agricultural machinery. When the preset agricultural machinery travels at the same pitch angle as the reference distance in the future period, if the increased speed value is lower than the reference speed value, the system determines that the frequency conversion speed regulation of the preset agricultural machinery is in an abnormal state; otherwise, it is not determined;

[0087] In this embodiment, an inclination sensor is used to obtain the pitch angle of the preset agricultural machinery;

[0088] Incorporating the pitch angle of the agricultural machinery into the relevant data and comprehensively considering factors such as speed, power, and mechanical posture can more comprehensively evaluate the state of frequency conversion speed regulation;

[0089] Moreover, by comparing the actual speed value with the reference speed value, the abnormal state in the process of frequency conversion speed regulation can be detected in time, improving the fault diagnosis ability of the system;

[0090] On the above basis, a data set is generated based on the speed value corresponding to the abnormal state. The speed value corresponding to each increase of 1 kW in output power is collected in the data set, and the speed value is marked as the determination speed value. When the preset agricultural machinery travels at the same pitch angle as the reference distance in the future period, if the increased speed value is greater than the determination speed value, the system determines that the frequency conversion speed regulation of the preset agricultural machinery is in a normal state; otherwise, it is not determined;

[0091] In this embodiment, generating a data set based on the abnormal state can accumulate data related to output power and speed, providing resources for subsequent analysis and optimization.

[0092] To sum up, the present invention realizes precise frequency conversion speed regulation control of agricultural machinery under complex terrains, including comprehensively perceiving the operation environment, intelligent speed regulation, abnormal detection and warning, energy saving and high efficiency, adapting to terrain changes, and precise state determination, etc., improving the operation efficiency, stability, and reliability of agricultural machinery, and at the same time reducing energy consumption.

[0093] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A variable frequency speed regulation control system for an agricultural operation machine, characterized in that, Including: A terrain image acquisition module, configured to acquire a farmland terrain image in front of a preset agricultural machine during the operation of the agricultural machine in the farmland, and generate a three-dimensional topographic map based on the farmland terrain image; A driving data acquisition module, which responds to the farmland terrain image and is configured to acquire the driving speed and load magnitude of the preset agricultural machine after acquiring the farmland terrain image; A data fusion processing unit, which responds to the acquired driving speed and load magnitude and is configured to analyze and process the changes in the driving speed and load magnitude; the data fusion processing unit includes an analysis module, a calculation module, and a judgment module; The analysis module is configured to analyze the associated influence of the undulation of the farmland terrain on the changes according to the changes in the driving speed and load magnitude; The calculation module responds to the associated influence, is configured to set a given driving speed for the preset agricultural machine, preset a critical threshold based on the given driving speed, and calculate the speed difference between the critical threshold and the driving speed of the preset agricultural machine; The judgment module responds to the speed difference. If the speed difference between the driving speed of the preset agricultural machine and the critical threshold shows a decreasing trend, the system determines that the preset agricultural machine is driving abnormally and performs variable frequency speed regulation on the preset agricultural machine; otherwise, it does not make a determination; A data acquisition module, which responds to the determination result of the judgment module and is configured to preset a monitoring period, acquire the change in the driving speed of the preset agricultural machine during the monitoring period. If the system determines that the preset agricultural machine is driving abnormally, then acquire the maximum driving speed, minimum driving speed, and average driving speed of the preset agricultural machine during the monitoring period.

2. The variable frequency speed control system of an agricultural operation machine according to claim 1, characterized in that, In the analysis module, the analysis method of the associated influence includes marking at least 3 height points in the generated three-dimensional topographic map, classifying the 3 height points into a low-layer height point, a middle-layer height point, and a high-layer height point, and acquiring the distance between the preset agricultural machine and the low-layer height point, and analyzing the associated influence from the distance.

3. The variable frequency speed control system of an agricultural operation machine according to claim 2, characterized in that, Calculate the speed difference between the average driving speed and the minimum driving speed, and calculate the change characteristics of the speed difference according to the distance between the preset agricultural machine and the low-layer height point; It The calculation method includes: Divide the distance into two equally long distance segments and distance segments, and mark the distance segment close to the low-level height point as the distance segment; At the distance section, the traveling speed of a preset agricultural machine is collected at a collection rate of every 2 to 3 seconds, and the distance change between the preset agricultural machine and the low-level height point is calculated according to the traveling speed; If the driving speed shows a decreasing trend, the system determines that the distance between the preset agricultural machine and the low-layer height point is decreasing, and performs variable frequency speed regulation on the preset agricultural machine.

4. The variable frequency speed control system of an agricultural operation machine according to claim 3, characterized in that After performing variable frequency speed regulation on the preset agricultural machine, acquire the driving speed of the preset agricultural machine at a sampling rate of every 2 - 3 seconds, obtain the maximum driving speed when the preset agricultural machine passes the low-layer height point from the driving speed, and acquire the relevant data of the variable frequency speed regulation based on the maximum driving speed; the relevant data includes the maximum output power of the motor, and mark the output power as the critical output power.

5. The variable frequency speed control system of an agricultural operation machine according to claim 4, characterized in that, Calculate the height difference between the low-layer height point and the middle-layer height point, and mark the height difference as the reference height difference; and calculate the driving speed required for the preset agricultural machinery to pass through the middle-layer height point in the case of the height difference according to the maximum driving speed when the preset agricultural machinery passes through the low-layer height point, and calculate the speed difference from the maximum driving speed according to the driving speed, and calculate the output power of the motor required for the preset agricultural machinery to pass through the middle-layer height point according to the speed difference, which is calculated according to the following formula: where p j represents the p-th output power obtained for the motor in the j-th time; In the formula, m represents the driving speed of the preset agricultural machinery corresponding to the p-th output power, s represents the speed value at which the driving speed increases with the increase of the output power in the height difference, t represents the time required to increase to the speed value, and k represents the output power corresponding to the maximum increased speed value when the preset agricultural machinery passes through the middle-layer height point.

6. The variable frequency speed control system of an agricultural operation machine according to claim 5, characterized in that, Mark the output power as the reference output power, calculate the power difference between the reference output power and the critical output power, and when the preset agricultural machinery needs to pass through the same height difference as the reference height difference in the future period, adjust the output power of the motor to the same output power as the reference output power.

7. The variable frequency speed control system of an agricultural operation machine according to claim 5, characterized in that, Based on the speed value at which the driving speed increases with the increase of the output power, obtain the speed value increased by the preset agricultural machinery when the output power increases by 1 kW, calculate the distance traveled by the preset agricultural machinery according to the speed value, and mark the distance as the reference distance. When the preset agricultural machinery needs to pass through the height difference corresponding to the reference distance in the future period, perform variable frequency speed regulation on the motor with an output power increase of 1 kW each time.

8. The variable frequency speed control system of an agricultural operation machine according to claim 7, characterized in that, Mark the speed value increased by the preset agricultural machinery when the output power increases by 1 kW as the reference speed value, and obtain the relevant data corresponding to the reference speed value. The relevant data includes the pitch angle of the preset agricultural machinery. When the preset agricultural machinery travels at the same pitch angle as the reference distance in the future period, if the increased speed value is lower than the reference speed value, the system determines that the variable frequency speed regulation of the preset agricultural machinery is in an abnormal state; Otherwise, no determination is made.

9. The variable frequency speed regulation control system of an agricultural operation machine according to claim 8, characterized in that, Generate a data set based on the speed value corresponding to the abnormal state, collect the speed value corresponding to each increase of 1 kW in the output power in the data set, and mark the speed value as the determination speed value; when the preset agricultural machinery travels at the same pitch angle as the reference distance in the future period, if the increased speed value is greater than the determination speed value, the system determines that the variable frequency speed regulation of the preset agricultural machinery is in a normal state; Otherwise, no determination is made.

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