Threshing device, threshing method and control system

Abstract

The invention discloses a threshing device, a threshing method and a control system.The threshing device comprises a rack, a screen drum unit and a roller unit, the screen drum unit is connected with the rack, screen holes are formed in the screen drum unit, threshed grains are discharged out of the screen drum unit through the screen holes, the roller unit is connected with the rack, and the roller unit penetrates into the screen drum unit; the roller unit comprises a threshing roller and a plurality of threshing modules, the threshing modules are connected with the threshing roller, the threshing modules are arranged in the circumferential direction of the threshing roller at intervals, and the extension size of at least part of the threshing modules in the radial direction of the threshing roller is adjustable. And at least part of the threshing module with the adjustable extension size in the radial direction of the threshing cylinder can extend out of or retract into the threshing cylinder. According to the threshing device, the spacing distance between the threshing component and the sieve plate can be adjusted, the risk that grains are broken and blocked is reduced, and the quality and stability of continuous operation are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and particularly relates to a threshing device, a threshing method and a control system. BACKGROUND

[0002] As an important food and forage crop, corn is an important link in the realization of mechanized harvesting efficiency and kernel integrity during the harvesting process.

[0003] The threshing device in the related art is mainly composed of a threshing cylinder and a sieve cylinder. The relative movement is generated between the cylinder and the sieve cylinder, the shearing, rubbing and friction are generated between the threshing teeth on the cylinder and the crops to be threshed, and the threshing of the crops is realized.

[0004] However, the threshing device in the related art is one-way matched between the cylinder and the sieve cylinder, that is, the cylinder is static or the sieve cylinder is static, which results in the limited shearing and rubbing capacity. In addition, the interval distance between the cylinder and the sieve cylinder cannot be adjusted. When the corn feeding amount is too large or the moisture of the separated kernels is large, the problems of "over-threshing" or "non-threshing" are prone to occur, which leads to the increase of kernel breakage rate or the increase of cleaning burden, and may cause problems such as bract leaf winding and blocking, thereby affecting the stability of continuous operation. SUMMARY

[0005] The present application aims to at least solve one of the technical problems in the related art. To this end, the first aspect of the present application proposes a threshing device, which can adjust the interval distance between the threshing component and the sieve plate, reduce the risk of kernel breakage and blocking, and improve the quality and stability of continuous operation.

[0006] The second aspect of the present application proposes a threshing method.

[0007] The threshing device of the embodiment of the present application comprises: a rack; a sieve cylinder unit connected with the rack, the sieve cylinder unit having sieve holes, and the separated kernels being discharged from the sieve cylinder unit through the sieve holes; a cylinder unit connected with the rack and penetrating into the sieve cylinder unit, the cylinder unit comprising a threshing cylinder and a plurality of threshing modules, the plurality of threshing modules being respectively connected with the threshing cylinder and being arranged at intervals in the circumferential direction of the threshing cylinder, at least part of the plurality of threshing modules being adjustable in the radial direction of the threshing cylinder, and the at least part of the plurality of threshing modules being adjustable in the radial direction of the threshing cylinder being at least partially extendable or retractable into the threshing cylinder.

[0008] The threshing device can adjust the interval distance between the threshing component and the sieve plate, reduce the risk of grain breakage and blockage, and improve the quality and stability of continuous operation In some embodiments, the threshing device further comprises a first adjusting assembly, one side of the first adjusting assembly being connected with the threshing cylinder, and the other side of the first adjusting assembly being connected with the threshing module, the first adjusting assembly being used to drive the threshing module to move in the radial direction of the threshing cylinder so as to extend or retract the threshing module from the threshing cylinder.

[0009] In some embodiments, the first adjusting assembly comprises a rotating disc, a first transmission gear, a one-way limiting component, and a first connecting assembly, the rotating disc being sleeved on the rotating shaft of the threshing cylinder, the rotating disc being rotatable relative to the threshing cylinder, the first transmission gear being sleeved on the periphery of the rotating disc, the first transmission gear being rotatable relative to the threshing cylinder, and the first transmission gear being coaxially arranged with the rotating disc, the one-way limiting component being located between the rotating disc and the first transmission gear, the one-way limiting component being used to limit the rotating direction of the rotating disc, the rotating disc being connected with one side of the first connecting assembly, and the other side of the first connecting assembly being connected with the threshing module.

[0010] In some embodiments, the one-way limiting component has a first state and a second state, in the first state, the position of the one-way limiting component relative to the first transmission gear is movable, in the second state, the position of the one-way limiting component relative to the first transmission gear is fixed, and in the second state, the rotating disc rotates together with the first transmission gear.

[0011] In some embodiments, the one-way limiting component comprises a limiting claw and an elastic member, one side of the limiting claw being pivotally connected with the rotating disc, the other side of the limiting claw being connected with one side of the elastic member, the other side of the elastic member being connected with the rotating disc, and the inner ring of the first transmission gear having limiting teeth matched with the limiting claw, in the first state, the limiting claw is movable relative to the first transmission gear, and in the second state, the limiting claw is clamped between two adjacent limiting teeth to make the rotating disc rotate together with the first transmission gear.

[0012] In some embodiments, the first connecting assembly comprises a fixing disc, a plurality of driving rods and a plurality of first connecting components, the fixing disc is connected with the threshing cylinder, the fixing disc is provided with a plurality of first guide grooves, the plurality of first guide grooves are arranged at intervals in the circumferential direction of the threshing cylinder, one side of the driving rod penetrates through the first guide groove and is connected with the rotating disc, and the plurality of driving rods correspond to the plurality of first guide grooves one by one, and the plurality of first connecting components are installed on the driving rod at intervals in the axial direction of the threshing cylinder.

[0013] In some embodiments, the first connecting assembly further comprises a first connecting rod and a mounting base, one end of the first connecting rod is pivoted with the driving rod, the other end of the first connecting rod is pivoted with the mounting base, the mounting base is at least partially clamped in the first guide groove, and the mounting base is movable in the first guide groove, and the threshing module is detachably mounted on the mounting base.

[0014] In some embodiments, the threshing module comprises a first threshing component and a second threshing component, the first threshing component comprises a threshing rod and a first mounting piece, the threshing rod is installed on the corresponding mounting base through the first mounting piece, and the second threshing component comprises a threshing block and a second mounting piece, the threshing block is installed on the corresponding mounting base through the second mounting piece.

[0015] In some embodiments, the threshing rod and / or the threshing block are coated with a buffer layer on the outside.

[0016] In some embodiments, the sieve drum unit comprises a sieve drum body and a first driving assembly, the sieve drum body is sleeved outside the threshing cylinder and arranged coaxially with the threshing cylinder, the sieve drum body comprises a pair of supporting rings and a plurality of sieve rods, the plurality of sieve rods are arranged between the pair of supporting rings in the axial direction of the threshing cylinder, and the plurality of sieve rods are arranged parallel to each other, and the spacing distance between the plurality of sieve rods is adjustable, and the first driving assembly is used to drive the sieve drum body to rotate.

[0017] In some embodiments, the first driving assembly comprises a driving ring and a first driving component, the driving ring is sleeved on the supporting ring, the first driving component is located outside the driving ring, and the first driving component is used to drive the driving ring to rotate to drive the sieve drum body to rotate.

[0018] In some embodiments, the sieve drum unit further comprises a second adjusting assembly, the second adjusting assembly comprises a pair of rotating rings and a second driving component, the rotating rings are respectively sleeved on the supporting rings, and the pair of rotating rings are arranged opposite in the axial direction of the threshing cylinder, and the rotating rings are arranged at intervals with the driving ring in the axial direction of the threshing cylinder.

[0019] A plurality of second guide grooves are arranged on the rotating ring, the second guide grooves extend obliquely along the radial direction of the rotating ring, the plurality of second guide grooves are arranged in parallel to each other, and the plurality of second guide grooves are arranged uniformly in the circumferential direction of the supporting ring, both ends of the screen rod pass through the driving ring and the supporting ring in sequence, and the ends of the screen rod are located in the second guide grooves, the screen rod is movable in the second guide grooves, and the second driving component is used to drive the rotating ring to rotate relative to the supporting ring.

[0020] In some embodiments, the threshing device further comprises a supporting wheel, the supporting wheel is located below the screen cylinder body, and the outer surface of the supporting wheel is in contact with the outer surface of the supporting ring.

[0021] The second aspect of the present application provides a threshing method applied to the threshing device of any one of the first aspect, and the method comprises the following steps: Obtaining a torque time sequence of the threshing cylinder, determining a current threshing working condition based on the torque time sequence; Identifying a target control sub-model matched with the current threshing working condition, determining a threshing cylinder speed adjustment amount, a screen cylinder speed adjustment amount and a screen cylinder gap adjustment amount based on the torque time sequence through the target control sub-model; Generating a control instruction based on the threshing cylinder speed adjustment amount, the screen cylinder speed adjustment amount and the screen cylinder gap adjustment amount, wherein the control instruction is used to adjust the current speed of the threshing cylinder, the current speed of the screen cylinder and the current gap of the screen cylinder.

[0022] In some embodiments, the determination of the current threshing working condition based on the torque time sequence comprises: Training the torque time sequence in a shallow multi-layer perception model for threshing working condition identification to determine the current threshing working condition.

[0023] In some embodiments, the training process of the shallow multi-layer perception model comprises: Obtaining a training data set, the training data set comprising a sample torque time sequence and a sample working condition; Training an initial shallow multi-layer perception model according to the training data set to obtain a trained shallow multi-layer perception model.

[0024] In some embodiments, the identification of the target control sub-model matched with the current threshing working condition comprises: Pre-constructing a mapping relationship between the threshing working condition and the control sub-model; According to the current threshing working condition, querying the mapping relationship to identify the target control sub-model.

[0025] In some embodiments, the training process of the control sub-model comprises: obtaining a training sample, the training sample comprising a sample torque time sequence and corresponding sample threshing cylinder speed adjustment amount, sample screen cylinder speed adjustment amount and sample screen cylinder gap adjustment amount; inputting the sample torque time sequence into an initial control sub-model to obtain a predicted threshing cylinder speed adjustment amount, a predicted screen cylinder speed adjustment amount and a predicted screen cylinder gap adjustment amount; training the initial control sub-model according to the sample threshing cylinder speed adjustment amount and the predicted threshing cylinder speed adjustment amount, the sample screen cylinder speed adjustment amount and the predicted screen cylinder speed adjustment amount, and the sample screen cylinder gap adjustment amount and the predicted screen cylinder gap adjustment amount to obtain a trained control sub-model.

[0026] In some embodiments, training the initial control sub-model according to the sample threshing cylinder speed adjustment amount and the predicted threshing cylinder speed adjustment amount, the sample screen cylinder speed adjustment amount and the predicted screen cylinder speed adjustment amount, and the sample screen cylinder gap adjustment amount and the predicted screen cylinder gap adjustment amount to obtain a trained control sub-model comprises: determining a loss function of the initial control sub-model according to the sample threshing cylinder speed adjustment amount and the predicted threshing cylinder speed adjustment amount, the sample screen cylinder speed adjustment amount and the predicted screen cylinder speed adjustment amount, and the sample screen cylinder gap adjustment amount and the predicted screen cylinder gap adjustment amount; adjusting model parameters of the initial control sub-model according to the loss function until a training end condition is met to obtain a trained control sub-model. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic diagram of a threshing device according to an embodiment of the present application, and comprises a cover plate.

[0028] Figure 2 is a structural schematic diagram of a threshing device according to an embodiment of the present application, and does not comprise a cover plate Figure 3 is a structural schematic diagram of a cylinder unit according to an embodiment of the present application.

[0029] Figure 4 is a structural schematic diagram of a first adjustment assembly according to an embodiment of the present application.

[0030] Figure 5 is a structural schematic diagram of a first adjustment assembly according to an embodiment of the present application, from another angle.

[0031] Figure 6 is a structural schematic diagram of a first threshing component according to an embodiment of the present application.

[0032] Figure 7 is a structural schematic view of a second threshing component of an embodiment of the present application.

[0033] Figure 8 is a structural schematic view of a sieve cylinder unit of an embodiment of the present application.

[0034] Figure 9 is a structural schematic view of a second adjusting assembly of an embodiment of the present application.

[0035] Figure 10 is a flow schematic view of a threshing method of an embodiment of the present application.

[0036] Figure 11 is a flow schematic view of a threshing method of another embodiment of the present application.

[0037] Figure 12 is a control logic diagram of a threshing method of an embodiment of the present application.

[0038] Figure 13 is a structural schematic view of a control system of a threshing method of an embodiment of the present application.

[0039] Reference Signs: sieve cylinder unit 100, drum unit 200, first adjusting assembly 300, second adjusting assembly 400, frame 1, threshing drum 2, rotating disc 3, first transmission gear 4, one-way limiting component 5, limiting claw 51, elastic member 52, first connecting component 53, fixing disc 531, first guide slot 5311, driving rod 532, first connecting rod 533, mounting base 534, first threshing component 6, threshing rod 61, first mounting member 62, second threshing component 7, threshing block 71, second mounting member 72, sieve cylinder body 8, support ring 81, sieve rod 82, fixing ring 83, driving ring 9, first driving component 10, second transmission gear 101, first driver 102, rotating ring 11, second guide slot 111, second driving component 12, second driver 121, third transmission gear 122, support wheel 13, cover plate 14, conveying auger 15, first transmission gear 16. DETAILED DESCRIPTION

[0040] Embodiments of the present application are described in detail below with reference to the attached drawings. The embodiments described below are examples of the present application, and are intended to explain the present application, and should not be understood as limiting the present application.

[0041] As Figures 1 to 9 shown, the threshing device of the embodiment of the present application comprises a frame 1, a sieve cylinder unit 100 and a cylinder unit 200, the sieve cylinder unit 100 is connected with the frame 1, the sieve cylinder unit 100 is provided with sieve holes, the threshed grains are discharged from the sieve cylinder unit 100 through the sieve holes, the cylinder unit 200 is connected with the frame 1, and the cylinder unit 200 is penetrated in the sieve cylinder unit 100, the cylinder unit 200 comprises a threshing cylinder 2 and a plurality of threshing modules, the plurality of threshing modules are respectively connected with the threshing cylinder 2, and the plurality of threshing modules are arranged in the circumferential direction of the threshing cylinder 2 at intervals, at least part of the plurality of threshing modules are adjustable in the radial direction of the threshing cylinder 2, and at least part of the threshing modules adjustable in the radial direction of the threshing cylinder 2 can be extended or retracted into the threshing cylinder 2.

[0042] Specifically, as Figure 1 and Figure 2 shown, the sieve cylinder unit 100 is located above the frame 1, the bottom of the sieve cylinder unit 100 is provided with sieve holes, and the threshed grains are discharged from the sieve cylinder unit 100 through the sieve holes.

[0043] It should be noted that the cross section of the sieve cylinder unit 100 is annular, in other words, the sieve cylinder unit 100 is also cylindrical.

[0044] The cylinder unit 200 is penetrated in the sieve cylinder unit 100, the threshing cylinder 2 is arranged coaxially with the sieve cylinder unit 100, the threshing cylinder 2 extends in the left-right direction, the plurality of threshing modules are arranged in the radial direction of the threshing cylinder 2 at intervals, all of the plurality of threshing modules are adjustable in the radial direction of the threshing cylinder 2, or part of the plurality of threshing modules are adjustable in the radial direction of the threshing cylinder 2.

[0045] It should be noted that when part of the plurality of threshing modules are adjustable in the radial direction of the threshing cylinder 2, the adjustable threshing modules and the fixed threshing modules are arranged alternately in the axial direction of the threshing cylinder 2 (such as the left-right direction as shown in Figure 1 ).

[0046] Alternatively, the plurality of threshing modules can be different in the extension size of the threshing cylinder 2, so as to form the staggered threshing modules, or the extension size of the threshing modules at the feeding port is smaller than that of the threshing modules at the middle and rear of the threshing cylinder 2, because the crops at the feeding port have not been threshed and the overall size is large, the extension size of the threshing modules at the feeding port is small, which is beneficial to the smooth feeding.

[0047] For example, the extension size of the threshing module on the threshing cylinder 2 gradually increases in the direction of the crop flow, that is, the interval distance between the threshing module and the sieve cylinder unit 100 gradually decreases, which is conducive to feeding and can also improve the threshing efficiency and quality.

[0048] For example, the threshing module can extend or retract the threshing cylinder 2. When the threshing module extends the threshing cylinder 2, the interval distance between the top of the threshing module and the inner side of the sieve cylinder unit 100 decreases, and vice versa, when the threshing module retracts into the threshing cylinder 2, the interval distance between the top of the threshing module and the inner side of the sieve cylinder unit 100 increases.

[0049] Optionally, a torque sensor can be installed on the threshing cylinder 2 to monitor the real-time torque of the threshing cylinder 2. The real-time torque is used to reflect the load borne by the threshing cylinder 2. It should be noted that the greater the load borne by the threshing cylinder 2, the higher the real-time torque, and vice versa, the smaller the load borne by the threshing cylinder 2, the smaller the torque.

[0050] The threshing device of the embodiment of the present application uses the rotation of the threshing cylinder 2 to drive the rotation of the threshing module. The threshing module rubs, collides and rubs with the crop to be threshed to achieve threshing. The interval distance between the threshing component and the sieve cylinder unit 100 can be adjusted during threshing to reduce the risk of grain breakage and blockage and improve the stability of continuous operation.

[0051] Referring to Figures 1 to 3 As shown, the upper part of the outside of the sieve cylinder unit 100 also has a cover plate 14, which surrounds the upper half of the sieve cylinder unit 100. In this way, the overflow of dust or impurities generated during threshing can be reduced.

[0052] Continuing to refer to Figure 3 As shown, the threshing cylinder 2 includes a cylinder body and a conveying auger 15. The conveying auger 15 is detachably connected to the cylinder body, or the conveying auger 15 is integrally formed with the cylinder body. The conveying auger 15 is located at the feed inlet. The conveying auger 15 can convey the fruit clusters to be threshed to the threshing section.

[0053] Continuing to refer to Figure 2 As shown, the left and right sides of the cylinder body are respectively connected to the rack 1 through the bearing seat. The rack 1 supports the cylinder body of the threshing cylinder 2.

[0054] In some embodiments, the threshing device further comprises a first adjusting assembly 300. One side of the first adjusting assembly 300 is connected to the threshing cylinder 2, and the other side of the first adjusting assembly 300 is connected to the threshing module. The first adjusting assembly 300 is used to drive the threshing module to move in the radial direction of the threshing cylinder 2 to extend or retract the threshing module from the threshing cylinder 2.

[0055] It should be noted that the first adjusting assembly 300 can be a telescopic component, for example, the telescopic component can be a hydraulic cylinder or a pneumatic cylinder, and the telescopic ends of each hydraulic cylinder are respectively connected to the plurality of threshing modules one by one, and the telescopic driving of the hydraulic cylinder or the pneumatic cylinder drives the plurality of threshing modules to extend or retract into the threshing cylinder 2.

[0056] In some embodiments, the first adjusting assembly 300 includes a rotating disc 3, a first transmission gear 4, a one-way limiting component 5, and a first connecting assembly, the rotating disc 3 is sleeved on the rotating shaft of the threshing cylinder 2, the rotating disc 3 is rotatable relative to the threshing cylinder 2, the first transmission gear 4 is sleeved on the periphery of the rotating disc 3, the first transmission gear 4 is rotatable relative to the threshing cylinder 2, and the first transmission gear 4 is coaxially arranged with the rotating disc 3, the one-way limiting component 5 is located between the rotating disc 3 and the first transmission gear 4, and the one-way limiting component 5 is used to limit the rotating direction of the rotating disc 3, the rotating disc 3 is connected to one side of the first connecting assembly, and the other side of the first connecting assembly is connected to the plurality of threshing modules.

[0057] Specifically, as shown in Figure 4 and Figure 5 , the first adjusting assembly 300 is located on the side of the threshing cylinder 2 away from the conveying auger 15, that is, when the conveying auger 15 is located on the right side of the threshing cylinder 2, the first adjusting assembly 300 is located on the left side of the threshing cylinder 2.

[0058] The rotating disc 3 is sleeved on the rotating shaft, and the rotating disc 3 is rotatable relative to the rotating shaft, the first transmission gear 4 is annularly arranged on the periphery of the rotating disc 3, and the first transmission gear 4 is rotatable relative to the rotating shaft.

[0059] Exemplarily, the first transmission gear 4 is an annular gear, that is, the inner ring and the outer ring of the first transmission gear 4 both have meshing teeth. The first transmission gear 4 is coaxially arranged with the rotating disc 3, and the one-way limiting component 5 is located between the rotating disc 3 and the first transmission gear 4, in other words, the one-way limiting component 5 can realize power transmission and rotation direction limitation between the rotating disc 3 and the first transmission gear 4.

[0060] Exemplarily, the one-way limiting component 5 has a first state and a second state, in the first state, the position of the one-way limiting component 5 relative to the first transmission gear 4 is movable, in the second state, the position of the one-way limiting component 5 relative to the first transmission gear 4 is fixed, and in the second state, the rotating disc 3 rotates together with the first transmission gear 4.

[0061] It should be noted that, as Figure 4As shown, when the first transmission gear 4 rotates clockwise, the rotating disc 3 does not rotate with the first transmission gear 4, at this time, the one-way limiting component 5 connects the rotating disc 3 and the first transmission gear 4 as a whole, that is, the one-way limiting component 5 serves as a power transmission component between the rotating disc 3 and the first transmission gear 4, thereby realizing synchronous rotation of the rotating disc 3 and the first transmission gear 4.

[0062] As shown in the examples, Figure 1 and Figure 4 The first transmission gear 4 is connected with the first driving gear 16 through a toothed belt, and the first driving gear 16 can drive the rotation through a driving component.

[0063] In this way, the rotating disc 3, the first transmission gear 4 and the one-way limiting component 5 realize power transmission and power disengagement between the rotating disc 3 and the first transmission gear 4, when the first transmission gear 4 rotates with the rotating disc 3, the power can be transmitted to the first connecting assembly, thereby driving the extension or retraction of the threshing cylinder 2 installed on the first connecting assembly.

[0064] In some embodiments, the one-way limiting component 5 includes a limiting pawl 51 and an elastic member 52, one side of the limiting pawl 51 is pivoted to the rotating disc 3, the other side of the limiting pawl 51 is connected to one side of the elastic member 52, the other side of the elastic member 52 is connected to the rotating disc 3, the inner ring of the first transmission gear 4 has limiting teeth matched with the limiting pawl 51, in the first state, the limiting pawl 51 is movable relative to the first transmission gear 4, in the second state, the limiting pawl 51 is clamped between two adjacent limiting teeth to make the rotating disc 3 rotate with the first transmission gear 4.

[0065] Specifically, as shown in the examples, Figure 4 The number of one-way limiting components 5 is multiple, and the multiple one-way limiting components 5 are uniformly and spacedly arranged in the circumferential direction of the rotating disc 3, for example, the number of one-way limiting components 5 is four.

[0066] The rotating disc 3 is provided with multiple accommodating grooves, the number of the accommodating grooves is the same as the number of the one-way limiting components 5, and the multiple accommodating grooves are uniformly and spacedly arranged in the circumferential direction of the rotating disc 3.

[0067] The limiting pawl 51 and the elastic member 52 are both installed in the accommodating grooves, the inner side of the limiting pawl 51 is hinged to the rotating disc 3 through a pin shaft, the outer side of the limiting pawl 51 can be in contact with the inner ring surface of the first transmission gear 4, and the outer side of the limiting pawl 51 is connected to the elastic member 52. For example, the elastic member 52 can be a spring or a metal elastic sheet.

[0068] In the first state, the limiting claw 51 is movable relative to the first transmission gear 4, at this time, the elastic member 52 is compressed by the limiting claw 51, in the second state, the limiting claw 51 is clamped between the two limiting teeth in the inner circle of the first transmission gear 4, at this time, the first transmission gear 4 rotates to transmit power to the rotating disc 3 through the limiting claw 51.

[0069] In this way, the limiting claw 51, the elastic member 52 and the limiting teeth in the inner circle of the first transmission gear 4 cooperate with each other to enable the transmission between the first transmission gear 4 and the rotating disc 3 to be in only one direction, for example, the rotating disc 3 can be driven to rotate only when the first transmission gear 4 rotates counterclockwise, thereby realizing one-way limiting transmission between the first transmission gear 4 and the rotating disc 3.

[0070] In some embodiments, the first connecting component 53 includes a fixed disc 531, a plurality of drive rods 532 and a plurality of first connecting components 53, the fixed disc 531 is connected with the threshing cylinder 2, the fixed disc 531 is provided with a plurality of first guide grooves 5311, the plurality of first guide grooves 5311 are arranged at intervals in the circumferential direction of the threshing cylinder 2, one side of the drive rod 532 passes through the first guide groove 5311 and is connected with the rotating disc 3, and the plurality of drive rods 532 correspond one-to-one to the plurality of first guide grooves 5311, and the plurality of first connecting components 53 are installed at intervals on the drive rod 532 in the axial direction of the threshing cylinder 2.

[0071] Specifically, as shown in Figure 5 the fixed disc 531 is installed on the threshing cylinder 2, the number of the fixed disc 531 is two, and the two fixed discs 531 are arranged on the left and right sides inside the threshing cylinder 2 respectively, and the fixed disc 531 and the rotating disc 3 are coaxially arranged.

[0072] Exemplarily, a fixed disc 531 can also be added in the middle part inside the threshing cylinder 2 for supporting the drive rod 532 extending in the left-right direction, thereby improving the structural stability of the drive rod 532.

[0073] The fixed disc 531 is provided with a plurality of first guide grooves 5311, the first guide groove 5311 includes a first guide section and a second guide section which are in communication, the first guide section extends annularly along the circumferential direction of the fixed disc 531, and the second guide section extends along the radial direction of the fixed disc 531. The drive rod 532 is arranged in parallel with the threshing cylinder 2, the drive rod 532 extends in the left-right direction, the left end of the drive rod 532 passes through the first guide groove 5311 and is hinged with the rotating disc 3, and the right end of the drive rod 532 passes through the fixed disc 531 at the right end of the threshing cylinder 2.

[0074] A plurality of first connecting components 53 are evenly spaced in the left-right direction and mounted on the driving rod 532. It should be noted that a plurality of first connecting components 53 can be arranged on one driving rod 532, and a plurality of driving rods 532 can be arranged on the circumference of the fixing disc 531, and the number of first connecting components 53 on each driving rod 532 can be the same or different.

[0075] Exemplarily, the number of first connecting components 53 on each driving rod 532 is the same, so that the dynamic balance of the threshing drum 2 can be ensured when the threshing drum 2 rotates, and the vibration of the threshing drum 2 is reduced.

[0076] In some embodiments, the first connecting component 53 further comprises a first connecting rod 533 and a mounting base 534, one end of the first connecting rod 533 is pivotally connected with the driving rod 532, the other end of the first connecting rod 533 is pivotally connected with the mounting base 534, the mounting base 534 is at least partially clamped in the first guide groove 5311, and the mounting base 534 is movable in the first guide groove 5311, and the threshing module is detachably mounted on the mounting base 534.

[0077] Specifically, as shown in Figure 5 and Figure 6 , the lower end of the first connecting rod 533 is pivotally connected with the driving rod 532, the upper end of the first connecting rod 533 is pivotally connected with the mounting base 534, the lower end of the mounting base 534 is clamped in the second guide segment, the mounting base 534 is movable in the second guide segment, and the threshing module is detachably mounted on the upper end of the mounting base 534, for example, the threshing module is mounted on the mounting base 534 by bolts.

[0078] In this way, the rotation of the rotating disc 3 drives the movement of the driving rod 532 in the first guide groove 5311, and the first connecting rod 533 drives the movement of the mounting base 534 in the first guide groove 5311, thereby achieving the movement of the threshing module in the radial direction of the threshing drum 2, and adjusting the extension or retraction of the threshing module from the threshing drum 2.

[0079] In some embodiments, the threshing module comprises a first threshing component 6 and a second threshing component 7, the first threshing component 6 comprises a threshing rod 61 and a first mounting piece 62, the threshing rod 61 is mounted on the corresponding mounting base 534 through the first mounting piece 62, and the second threshing component 7 comprises a threshing block 71 and a second mounting piece 72, the threshing block 71 is mounted on the corresponding mounting base 534 through the second mounting piece 72.

[0080] Specifically, as shown in Figure 6 and Figure 7 , the first threshing component 6 comprises a threshing rod 61 and a first mounting piece 62, for example, the first mounting piece 62 can be a bolt, and the threshing rod 61 is mounted on the mounting base 534 by the bolt.

[0081] The second threshing component 7 comprises a threshing block 71 and a second mounting member 72, for example, the second mounting member 72 can be a bolt, and the threshing block 71 is mounted on the mounting base 534 by the bolt.

[0082] Optionally, a spring is sleeved outside the first mounting member 62 and outside the second mounting member 72, that is, there is a gap between the lower end of the threshing rod 61 and the mounting base 534, and the spring is located in the gap and sleeved outside the first mounting member 62.

[0083] Illustratively, protrusions can also be provided on the threshing rod 61 and the threshing block 71, which can improve the rubbing and friction force on the crops and improve the threshing efficiency and quality.

[0084] Optionally, the outer part of the threshing rod 61 and / or the threshing block 71 is coated with a buffer layer. For example, the outer part of the threshing rod 61 and the threshing block 71 is coated with a polyethylene material. In this way, for example, the spring and the buffer layer can reduce the impact on the crop fruits, and flexible threshing is achieved.

[0085] In some embodiments, the sieve cylinder unit 100 comprises a sieve cylinder body 8 and a first driving assembly, the sieve cylinder body 8 is sleeved outside the threshing cylinder 2 and coaxially arranged with the threshing cylinder 2, the sieve cylinder body 8 comprises a pair of supporting rings 81 and a plurality of sieve rods 82, the plurality of sieve rods 82 are arranged between the pair of supporting rings 81 along the axial direction of the threshing cylinder 2, and the plurality of sieve rods 82 are arranged parallel to each other, and the spacing distance between the plurality of sieve rods 82 is adjustable, and the first driving assembly is used to drive the rotation of the sieve cylinder body 8.

[0086] Specifically, as shown in Figure 1 , Figure 8 and Figure 9 , the pair of supporting rings 81 are oppositely arranged in the left-right direction and coaxially arranged, and the plurality of sieve rods 82 are respectively located between the pair of supporting rings 81 and arranged parallel to each other, and the spacing distance between the adjacent two sieve rods 82 is adjustable.

[0087] Optionally, in order to improve the structural strength of the sieve rod 82 and the entire sieve cylinder body 8, a plurality of fixing rings 83 are added in the middle region of the sieve rod 82, the sieve rod 82 is arranged in the fixing ring 83, and the fixing ring 83 can improve the support strength of the middle region of the sieve rod 82, thereby improving the structural strength of the sieve cylinder body 8.

[0088] It should be noted that the rotation speed of the sieve cylinder body 8 and the rotation speed of the threshing cylinder 2 can be the same or different, when the rotation speeds are different, a speed difference can be formed between the sieve cylinder body 8 and the threshing cylinder 2, when the corn ears enter between the two, the rubbing effect is achieved by the speed difference between the two, thereby improving the threshing quality.

[0089] In this way, the first driving assembly drives the screen cylinder body 8 to rotate, the independent rotation of the cylinder and the screen cylinder changes the relative speed between the two, improves the threshing intensity and rubbing effect, solves the problem of corn ear accumulation at the lower part of the device under the action of gravity, effectively makes up for the problem of insufficient shearing force under the static screen cylinder structure, the kernel is affected by the centrifugal force and shearing force in the separation zone, the penetration ability of the screen cylinder is enhanced, the retention and blockage phenomenon is reduced, the threshing and separation are synergistically enhanced, the efficiency is improved, and the continuous high-load operation is suitable.

[0090] The plurality of screen rods 82 surround the screen plate, and the spacing distance between adjacent two screen rods 82 is adjustable to adjust the size of the screen hole, so that the flexible threshing element of the first and second threshing components 6 and 7 can adjust the threshing gap in real time according to the crop variety, moisture content, feeding amount, etc., effectively control the stress degree of the kernel, balance the complete threshing rate and kernel breakage rate, and improve the overall operation quality and adaptability.

[0091] In some embodiments, the first driving assembly includes a driving ring 9 and a first driving component 10, the driving ring 9 is sleeved on the support ring 81, and the first driving component 10 is located outside the driving ring 9, and the first driving component 10 is used to drive the driving ring 9 to rotate to drive the screen cylinder body 8 to rotate.

[0092] Specifically, as shown in Figure 1 and Figure 8 , the number of driving rings 9 is two, and the two driving rings 9 are sleeved on the two support rings 81 respectively, and the first driving component 10 is located at the side of the driving ring 9.

[0093] Exemplarily, as shown in Figure 1 , the first driving component 10 includes a second driving gear 101 and a first driver 102, the second driving gear 101 is engaged with the driving ring 9, and the second driving gear 101 is sleeved on the output shaft of the first driver 102.

[0094] The number of second driving gears 101 is two, and the two second driving gears 101 are engaged with the two driving rings 9 one by one.

[0095] It should be noted that the first driving gear 16 is also arranged on the output shaft of the first driver 102, and the first driving gear 16 and the second driving gear 101 are arranged at intervals on the output shaft of the first driver 102. For example, the first driver 102 can be a hydraulic motor, an electric motor or a pneumatic motor.

[0096] In this way, the two second driving gears 101 drive the two driving wheels to rotate, and the two driving wheels are arranged relative to each other in the left-right direction of the screen cylinder body 8, so as to ensure the stability of the rotation of the screen cylinder body 8.

[0097] In some embodiments, the screen cylinder unit 100 further includes a second adjustment component 400, which includes a pair of rotating rings 11 and a second driving component 12. The rotating rings 11 are respectively sleeved on the support ring 81, and the pair of rotating rings 11 are arranged opposite each other in the axial direction of the threshing drum 2. The rotating rings 11 and the driving ring 9 are arranged at intervals in the axial direction of the threshing drum 2.

[0098] The rotating ring 11 is provided with a plurality of second guide grooves 111. The second guide grooves 111 extend radially inclinedly along the rotating ring 11. The plurality of second guide grooves 111 are arranged parallel to each other and are evenly spaced in the circumferential direction of the support ring 81. The two ends of the screen rod 82 pass through the drive ring 9 and the support ring 81 in sequence, and the end of the screen rod 82 is located in the second guide groove 111. The screen rod 82 is movable in the second guide groove 111. The second drive component 12 is used to drive the rotating ring 11 to rotate relative to the support ring 81.

[0099] Specifically, such as Figure 8 As shown, the rotating ring 11 is sleeved on the support ring 81. A pair of rotating rings 11 are arranged opposite each other in the left and right directions of the screen cylinder body 8, and the rotating rings 11 and the drive ring 9 are arranged at intervals in the left and right directions.

[0100] It should be noted that the rotating ring 11 is located on the outside of the screen cylinder body 8 relative to the drive ring 9. In other words, a pair of drive rings 9 are located between a pair of rotating rings 11. The rotating ring 11 is rotatable relative to the support ring 81, that is, the rotating ring 11 is rotatable relative to the drive ring 9, and the rotating ring 11 rotates under the drive of the second drive component 12.

[0101] The second driving component 12 includes a second driver 121 and a third driving gear 122. The third driving gear 122 is located on the side of the rotating ring 11 and is sleeved on the output shaft of the second driver 121. There are two third driving gears 122, which are arranged at intervals on the output shaft of the second driver 121 and mesh with the two rotating rings 11 in a one-to-one correspondence. In this way, the synchronicity of the rotation of the left and right rotating rings 11 can be improved.

[0102] The rotating ring 11 is provided with a plurality of second guide grooves 111, which are arranged in a ring-shaped inclined manner along the radial direction of the rotating ring 11, and the inclination direction of the plurality of second guide grooves 111 is the same. The left and right ends of the screen rod 82 are respectively inserted into the second guide grooves 111 located on the left and right sides of the rotating ring 11, and the plurality of screen rods 82 correspond one-to-one with the plurality of second guide grooves 111.

[0103] It should be noted that the positions corresponding to the second guide groove 111 on the support ring 81 and the driving ring 9 are also provided with through grooves, so that the screen rods 82 pass through the support ring 81 and the driving ring 9. For example, the size, shape and opening position of the through grooves on the support ring 81 and the driving ring 9 are consistent with the size, shape and starting position of the second guide groove 111 on the rotating ring 11.

[0104] It should be noted that when the rotating ring 11 rotates relative to the driving ring 9, the position of the second guide groove 111 changes with the rotation of the rotating ring 11. Since the two ends of the screen rod 82 are provided in the second guide groove 111, when the position of the second guide groove 111 changes, the position of the screen rod 82 in the second guide groove 111 moves, and the positions of the plurality of screen rods 82 simultaneously move, thereby adjusting the spacing distance between the adjacent two screen rods 82, so as to adjust the diameter of the screen cylinder body 8. For example, when the rotating ring 11 rotates clockwise, the screen rod 82 moves downward, the diameter of the screen cylinder body 8 decreases, and correspondingly, the screen hole gap of the screen cylinder body 8 decreases. Conversely, when the rotating ring 11 rotates counterclockwise, the screen rod 82 moves upward, the diameter of the screen cylinder body 8 increases, and correspondingly, the screen hole gap of the screen cylinder body 8 increases.

[0105] The differential rotation between the rotating ring 11 and the driving ring 9 and the movement of the screen rod 82 in the second guide groove 111 when the rotating ring 11 rotates are used to adjust the diameter of the screen cylinder body 8, so as to adjust the spacing distance between the screen cylinder body 8 and the threshing drum 2, and cooperate with the extendable and retractable threshing module on the screen cylinder body 8, so that the adjustment mode of the spacing distance between the screen cylinder body 8 and the threshing drum 2 can be more diversified, thereby being suitable for threshing operations under different crops and different working conditions, and being capable of adjusting the threshing gap in real time according to the crop variety, moisture content, feeding amount and the like, effectively controlling the stress degree of the grains, balancing the complete threshing rate and the grain breakage rate, and improving the overall operation quality and adaptability.

[0106] In some embodiments, the threshing device further comprises a support wheel 13, which is located below the screen cylinder body 8, and the outer surface of the support wheel 13 is in contact with the outer surface of the support ring 81.

[0107] Specifically, as shown in Figure 1 and Figure 9 the support wheel 13 is installed on the rack 1 through a mounting seat, and the support wheel 13 is rotatable relative to the rack 1. The number of support wheels 13 is four, and the four support wheels 13 are oppositely arranged in the left-right direction in two groups respectively. Each group of support wheels 13 is arranged on the front and rear sides of the screen cylinder body 8 respectively, and the outer surface of the support wheel 13 is in contact with the outer surface of the support ring 81. The support wheel 13 is used to support the screen cylinder body 8, thereby ensuring the stability of the screen cylinder body 8 during rotation.

[0108] The following will be described with reference to Figures 1 to 9The operation process of the threshing device of the embodiment of the present application is described.

[0109] Exemplarily, taking corn ear threshing as an example: Firstly, the corn ear is put into the device from one side of the conveying auger 15 of the threshing cylinder 2; The threshing unit and the sieve cylinder unit 100 are started, the sieve cylinder body 8 and the threshing cylinder 2 rotate at the same time, and the two can rotate in the same direction or in the opposite direction. The corn ear moves from the feeding end to the impurity discharge end under the action of the two. The torque sensor monitors the torque of the threshing cylinder 2 in real time, and judges whether the feeding amount of the corn ear is too large according to the torque of the threshing cylinder 2. By adjusting the rotating speed of the second driver 121, the relative speed between the third driving gear 122 and the second driving gear 101 is changed, the rotating ring 11 rotates relative to the driving ring 9, the sieve rods 82 are driven to move in the second guide groove 111, the diameter of the sieve cylinder body 8 is adjusted, and then the change of the threshing gap between the sieve cylinder body 8 and the threshing cylinder 2 is realized, and the adjustment range is (25mm to 60mm). If the feeding amount is too large and exceeds the torque threshold 1000N·m, the device is congested, the motor drives the sieve cylinder body 8 to rotate in the opposite direction, and at the same time, the first adjusting assembly 300 is driven to move, so that the threshing module on the threshing cylinder 2 is retracted, and the material in the device moves with the sieve cylinder body 8 in the opposite direction, so as to avoid damage to the device caused by the blocked material.

[0110] The corn ear completes the separation of the corn kernel and the core shaft under the action of the first threshing component 6, the second threshing component 7 and the sieve rod 82, the corn kernel can pass between the sieve rods 82, and the core shaft is discharged from the impurity discharge end of the threshing cylinder 2, and the threshing and separation of the corn kernel are completed. It should be noted that the traditional neural network controller usually adopts a single model sharing strategy, trying to adapt to all working conditions through one network. This often causes precision loss in an environment with severe nonlinear changes. The multi-model method allows each sub-model to focus on its own adaptation to the working condition, improving the specialization ability and the overall robustness of the system. Therefore, the second aspect of the present application provides a threshing method applied to the threshing device of any one of the first aspect, the method comprising the following steps: S100, acquiring a torque time sequence of a threshing cylinder, and determining a current threshing working condition based on the torque time sequence.

[0111] Exemplarily, the torque time sequence of the threshing cylinder in a 20-frame sliding window can be collected, and the working condition discrimination module based on a shallow multilayer perception machine is used to identify and classify the cylinder torque time sequence, thereby providing a real-time basis for downstream control strategy selection. This module plays the role of a “lightweight decision maker” in the system, taking the cylinder torque sequence in a 20-frame sliding window as the input feature, and outputting the working condition category (normal / overweight / risk of blockage) at the current time. For example, 1000 is overweight; 500-999 is overweight; and below 500 is normal.

[0112] S200, identify a target control sub-model matched with the current threshing working condition, and determine a threshing cylinder speed adjustment amount, a sieve cylinder speed adjustment amount and a sieve cylinder gap adjustment amount based on the torque time sequence through the target control sub-model.

[0113] It should be noted that each threshing working condition corresponds to a control sub-model, each type of working condition corresponds to an independent control sub-model, and the output corresponding to each control sub-model includes adjustment control instructions of the threshing cylinder speed, the sieve cylinder speed and the sieve cylinder gap; the model switching module selects a corresponding target control sub-model or fuses outputs of each model according to an output of the working condition discrimination module, The actuator adjusts the threshing cylinder speed, the sieve cylinder speed and the sieve cylinder gap according to the control instructions. In the multi-model adaptive control structure, the controllers are parallel to constitute a controller library, and the switching mechanism selects the optimal controller to respond to different working conditions, which can significantly improve the control performance and robustness of the system in the nonlinear large load range.

[0114] S300, based on the threshing cylinder speed adjustment amount, the sieve cylinder speed adjustment amount and the sieve cylinder gap adjustment amount, generate a control instruction, wherein the control instruction is used to adjust the current speed of the threshing cylinder, the current speed of the sieve cylinder and the current gap of the sieve cylinder.

[0115] The threshing method of the embodiment of the application realizes a closed-loop control process with the threshing cylinder torque as a core feedback variable, continuously adjusts mechanical parameters, and enables the threshing device to maintain efficient and safe operation under changing feeding conditions. Through the collaborative work of the multi-model neural network, the system can adapt to different load working conditions, improve the threshing effect and reduce the jamming failure rate.

[0116] In some embodiments, based on the torque time sequence, the current threshing working condition is determined, including: The torque time sequence is input into a shallow multi-layer perception model for threshing working condition identification for training to determine the current threshing working condition.

[0117] The training process of the shallow multi-layer perception model includes: S101, obtain a training data set, the training data set including a sample torque time sequence and a sample working condition.

[0118] S102, according to the training data set, train an initial shallow multi-layer perception model to obtain a trained shallow multi-layer perception model.

[0119] It should be noted that the shallow multi-layer perception model adopts a shallow structure, taking into account the classification accuracy and calculation real-time performance, and the specific network structure is as follows: Input layer: the input is 20 long, for example, the cylinder torque history sequence is [T t-19 , T t-18T, …, T t ]。

[0120] Hidden layer: Determine the number of fully connected layers as needed, and determine the number of neurons, and the activation function uses ReLU.

[0121] Output layer: Softmax activation, output dimension is 3, corresponding to three working condition categories (normal, heavy, and blocked).

[0122] In the formula, W1, W2 are weight matrices, b1, b2 are bias terms, and T is an input sequence vector.

[0123] The shallow multi-layer perception model is responsible for real-time judgment of the current threshing working condition (normal, heavy, and blocked risk), and the discrimination result is used as the input of the control strategy selector.

[0124] In some embodiments, identifying a target control sub-model matching the current threshing working condition includes: S201, pre-constructing a mapping relationship between the threshing working condition and the control sub-model.

[0125] S202, according to the current threshing working condition, querying the mapping relationship to identify the target control sub-model.

[0126] As shown in Figure 12 , a working condition discrimination module based on a shallow multi-layer perception model (MLP) is used, and a multi-model control module (Bi-LSTM) is used to pre-establish a control sub-model. When the perception model identifies the working condition, the corresponding control sub-model is identified and switched to, and each control sub-model corresponds to the adjustment parameter control instruction for the threshing cylinder speed, the screen cylinder speed, and the screen cylinder gap.

[0127] Exemplarily, (1) normal working condition: the feeding amount range is M n , and the corresponding torque is not greater than T n ; at this time, the threshing cylinder speed R n1 , the screen cylinder speed r n , and the screen cylinder gap S n are set.

[0128] (2) Heavy working condition: the feeding amount range is M h , and the corresponding torque range is T h ; the cylinder and screen cylinder speed need to be increased by 5-10% (about +50 r / min), and the screen cylinder gap is appropriately widened to prevent blocking.

[0129] (3) Blocking risk: the feeding amount is greater than M b , and the corresponding torque is greater than T b; it belongs to high load risk working condition, should trigger the drum short reverse rotation and significantly expand the screen drum gap, to exclude the blockage.

[0130] In some embodiments, the training process of the control sub-model comprises: S400, acquiring a training sample, the training sample comprising a sample torque time sequence and corresponding sample threshing drum speed adjustment amount, sample screen drum speed adjustment amount and sample screen drum gap adjustment amount.

[0131] S500, inputting the sample torque time sequence into the initial control sub-model to obtain a predicted threshing drum speed adjustment amount, a predicted screen drum speed adjustment amount and a predicted screen drum gap adjustment amount.

[0132] S600, training the initial control sub-model according to the sample threshing drum speed adjustment amount and the predicted threshing drum speed adjustment amount, the sample screen drum speed adjustment amount and the predicted screen drum speed adjustment amount, and the sample screen drum gap adjustment amount and the predicted screen drum gap adjustment amount, to obtain a trained control sub-model.

[0133] It should be noted that the control sub-model is a control model with attention mechanism.

[0134] Exemplarily, the control sub-model is a multi-modal control model (Bi-LISM+Attention), Bi-LSTM (Bidirectional Long Short-Term Memory Network) is the core component for processing time series data, which can effectively capture long and short term dependencies in data. In the control sub-model, the role of bidirectional LSTM is to process time series data through two LSTM layers at the same time, to obtain more comprehensive information.

[0135] Specifically, the input of each Bi-LSTM and attention mechanism control sub-model is the drum torque time sequence classified by the working condition discrimination module. The length of the time series is set to 20 frames (T=20) sliding window, that is, each input sample contains data of the past 20 time steps. The output target change amount is: threshing drum speed adjustment amount, screen drum speed adjustment amount and screen drum gap adjustment amount (the difference in circumferential displacement of the two rings is realized by controlling the motor speed, so as to adjust the screen drum gap). For normal working conditions, the training target is to keep the threshing drum speed and screen drum speed at the optimal working parameter values respectively; for heavy working conditions, the speed is appropriately increased and the gap is relaxed; for blockage risk working conditions, the logic of triggering reverse rotation and expanding the gap needs to be learned.

[0136] The Bi-LSTM layer has two directions of hidden units, each using 64 hidden units. The forward and backward LSTMs process the past and future information of the time series, respectively. A Bi-LSTM layer is used to calculate the forward and backward hidden states based on the input data, and the two hidden states are combined to obtain the bidirectional representation of each time step. The tanh and sigmoid activation functions are used inside the LSTM layer, which are usually used to control the state update of the memory cell and the calculation of the input gate and output gate.

[0137] The attention mechanism is a component after the Bi-LSTM, which is used to dynamically focus on the most important part of the time series. By weighting the LSTM output of each time step, the model can pay more attention to the time that is most critical to the current control task, improving the performance of the model. The attention mechanism assigns a weight to the output of each Bi-LSTM, i.e., the hidden state of each time step. The specific implementation is usually through a small feedforward neural network (or fully connected layer) to calculate the attention score of each time step. Assuming the output of the Bi-LSTM is h t , the attention score a t is calculated as: In the formula, W a and b a are training parameters, and the softmax function is used to ensure that the sum of all weights is 1, representing the importance of weighting.

[0138] The output of the Bi-LSTM is weighted by the calculated attention score a t . The final weighted output h attn is: Here T is the length of the time series, h t is the output of the t-th step of the Bi-LSTM, and a t is the corresponding attention weight. This weighted output represents the time that the model focuses on and contains the most important time series information.

[0139] After the Bi-LSTM and attention mechanism extract the key time information, the model needs to map it to the actual control quantity, i.e., the adjustment value of the threshing cylinder speed (AR), the sieve cylinder speed (Ar), and the sieve cylinder gap (AS). In order to ensure that the control output is within a reasonable range, a fully connected layer is used to map the weighted time series information to the adjustment value of the threshing cylinder speed and the sieve cylinder gap.

[0140] In the formula, W out and bout is a training parameter, and the output is a vector containing the threshing cylinder speed adjustment value and the sieve cylinder gap adjustment value.

[0141] S601, according to the sample threshing cylinder speed adjustment amount and the predicted threshing cylinder speed adjustment amount, the sample sieve cylinder speed adjustment amount and the predicted sieve cylinder speed adjustment amount, the sample sieve cylinder gap adjustment amount and the predicted sieve cylinder gap adjustment amount, determine the loss function of the initial control submodel; S602, according to the loss function, adjust the model parameters of the initial control submodel until the training end condition is met, to obtain the trained control submodel.

[0142] In order to ensure that the control submodel can effectively learn the relationship between the torque sequence and the control parameters, a supervised learning method is used for training. The Adam optimizer is used for model training, which can adaptively adjust the learning rate according to the historical gradient information, and improve the training efficiency. The mean square error (MSE) loss function is used to calculate the error between the predicted value and the actual control target: In the formula N is the number of samples, Δ R i , Δ r i , Δ S i is the target value, Δ Ȓ i , Δ ȓ i , Δ Ŝ i is the predicted value.

[0143] In online operation, the current working condition is output by the shallow multi-layer perception working condition discriminator in real time; the control submodel corresponding to the working condition is activated, and the current and the last 20 frames of torque history sequence are used as input to generate (Δ R i , Δ r i , Δ S i ), which is mapped to the cylinder actuator through the controller instruction, and the adaptive control closed loop is completed. Since the Bi-LSTM controller has state memory, it can effectively adapt to the dynamic fluctuation of torque, and enhance the adaptability and stability of the control system to complex threshing working conditions.

[0144] In some embodiments, as Figure 13To better implement the threshing method, the embodiment of the application further provides a control system, which comprises: an adaptive control method based on a multi-model neural network, and a set of intelligent control hardware architecture integrating perception, calculation, control and execution. The architecture takes the threshing cylinder torque sensor as the core perception input, fuses the high-speed communication between the edge calculation unit and the execution mechanism, and realizes the real-time linkage regulation and control of the threshing cylinder speed and the screen cylinder gap. The control system mainly comprises five parts: a sensing unit, a calculation and decision unit, an execution control unit, a communication and human-computer interaction unit and a power management unit.

[0145] The modules are cascaded through standardized interfaces inside the system, and the continuous signals collected by the torque sensor are input into the edge calculation unit through the A / D module. The working condition recognition module inside the calculation unit recognizes the current working condition type, and according to the output result, selects the corresponding control sub-modeler to calculate the target adjustment amount of the threshing cylinder speed and the screen cylinder gap. The control amount is sent to the controller through the serial port or CAN bus to drive the servo motor and electro-hydraulic proportional execution unit to complete the physical adjustment.

[0146] The system design adopts 200ms as a control cycle, and 20Hz sampling frequency is used to input 20 frames of sliding window into the shallow multi-layer perception machine, so as to guarantee the sensitive response to the working condition change. In terms of communication protocol, the calculation unit and the execution control module can communicate through the CAN bus, have anti-interference ability, support high-speed data transmission and broadcast ability, and adapt to the complex electromagnetic interference scene in the agricultural operation environment.

[0147] Characteristics of each component: A "working condition-response" hierarchical cooperative control framework is proposed, which divides the complex threshing control task into two levels: the upper layer working condition discriminator identifies the current feeding state (normal / heavy / blockage risk) in real time, and the lower layer working condition corresponding control sub-model outputs the corresponding control strategy according to the state output, and a closed-loop system of "state recognition→sub-model calling→parameter regulation" is constructed.

[0148] Torque sensor module: installed on the threshing cylinder drive shaft, which measures the torque borne by the cylinder in real time. The output time sequence torque signal is input into the working condition discriminator and the LSTM controller after anti-interference filtering. The signal reflects the material load condition and is the key feedback of the whole control system.

[0149] Working condition discriminator: the input is the windowed historical torque value sequence, and the output is a three-class working condition label (or a three-class probability vector). The main function is to judge the current feeding amount state in real time, and to pass the category information to the controller switching module. It has small calculation amount, fast response speed and is suitable for deployment on embedded processors.

[0150] Control sub-modeler: Each control sub-model receives the current time and historical torque sequence as input, and outputs continuous control variables: cylinder motor target speed, sieve cylinder motor target speed and sieve cylinder gap drive motor target position (or adjustment increment). The function of this module is to dynamically generate fine control instructions according to the working conditions, and to realize the optimization adjustment of threshing intensity and efficiency.

[0151] Actuator: Including the threshing cylinder motor and the second adjusting assembly. After receiving the control signal, the actuator rotates at a specified speed and moves the sieve cylinder to adjust the gap, which directly acts on the corn threshing process. The torque control loop is closed, and the actual speed and gap position are monitored through feedback to achieve precise control.

[0152] Abnormal state processing: If the torque exceeds 1800 N·m for more than 3 cycles, and the feeding amount does not decrease significantly, it is determined to be blocked; the controller triggers the cylinder reverse rotation logic, sets AR and Ar to negative values (such as -100 rpm), and forces AS to increase to the upper limit value (such as 60 mm); feedback recovery mechanism: if the torque drops to 1500 N·m, stop reverse rotation and restore normal rotation.

[0153] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0154] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0155] In the present application, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", "fixedly connected", "connection", "fixedly connected", "connected", "fixed", and the like should be construed broadly, for example, can be fixed connection, can be detachable connection, or integral; can be mechanical connection, can be electrical connection or communication with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0156] In the present application, unless specifically defined otherwise, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact or indirectly contact through an intermediate medium. Moreover, the first feature "on", "above" and "over" the second feature can be directly above or obliquely above the first feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature can be directly below or obliquely below the first feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0157] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or features of different embodiments or examples described in the present specification without contradiction.

[0158] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A threshing device, characterized in that, include: frame; A sieve cylinder unit is connected to the frame and has sieve holes on it. The grains that have been separated are discharged from the sieve cylinder unit through the sieve holes. A drum unit is connected to the frame and extends through the screen cylinder unit. The drum unit includes a threshing drum and multiple threshing modules. The multiple threshing modules are respectively connected to the threshing drum and are arranged at intervals in the circumferential direction of the threshing drum. At least some of the threshing modules have adjustable radial extension dimensions in the threshing drum, and at least some of the threshing modules with adjustable radial extension dimensions can extend or retract into the threshing drum.

2. The threshing device according to claim 1, characterized in that, It also includes a first adjusting component, one side of which is connected to the threshing drum, and the other side of which is connected to the threshing module. The first adjusting component is used to drive the threshing module to move radially on the threshing drum so that the threshing module extends or retracts from the threshing drum. The first adjusting component includes a rotating disk, a first transmission gear, a one-way limiting component, and a first connecting component. The rotating disk is sleeved on the rotating shaft of the threshing drum and is rotatable relative to the threshing drum. The first transmission gear is sleeved on the periphery of the rotating disk and is rotatable relative to the threshing drum. The first transmission gear is coaxially arranged with the rotating disk. The one-way limiting component is located between the rotating disk and the first transmission gear and is used to limit the rotation direction of the rotating disk. The rotating disk is connected to one side of the first connecting component, and the other side of the first connecting component is connected to the threshing module.

3. The threshing device according to claim 2, characterized in that, The one-way limiting component has a first state and a second state. In the first state, the position of the one-way limiting component relative to the first transmission gear is movable. In the second state, the position of the one-way limiting component relative to the first transmission gear is fixed, and in the second state, the rotating disk rotates together with the first transmission gear. The one-way limiting component includes a limiting pawl and an elastic element. One side of the limiting pawl is pivotally connected to the rotating disk, and the other side of the limiting pawl is connected to one side of the elastic element. The other side of the elastic element is connected to the rotating disk. The inner ring of the first transmission gear has limiting teeth that cooperate with the limiting pawl. In the first state, the limiting pawl is movable relative to the first transmission gear. In the second state, the limiting pawl engages between two adjacent limiting teeth to make the rotating disk rotate with the first transmission gear.

4. The threshing device according to claim 3, characterized in that, The first connecting component includes a fixed plate, multiple drive rods, and multiple first connecting parts. The fixed plate is connected to the threshing drum. The fixed plate is provided with multiple first guide grooves, which are spaced apart in the circumferential direction of the threshing drum. One side of each drive rod passes through a first guide groove and is connected to the rotating plate. Each drive rod corresponds to one of the multiple first guide grooves. The multiple first connecting parts are spaced apart on the drive rods along the axial direction of the threshing drum.

5. The threshing device according to claim 4, characterized in that, The first connecting component further includes a first connecting rod and a mounting base. One end of the first connecting rod is pivotally connected to the drive rod, and the other end of the first connecting rod is pivotally connected to the mounting base. The mounting base is at least partially engaged in the first guide groove, and the mounting base is movable within the first guide groove. The threshing module is detachably mounted on the mounting base.

6. The threshing device according to claim 5, characterized in that, The threshing module includes a first threshing component and a second threshing component. The first threshing component includes a threshing rod and a first mounting component. The threshing rod is mounted on a corresponding mounting base via the first mounting component. The second threshing component includes a threshing block and a second mounting component. The threshing block is mounted on a corresponding mounting base via the second mounting component.

7. The threshing apparatus according to any one of claims 1-6, characterized in that, The screen cylinder unit includes a screen cylinder body and a first drive assembly. The screen cylinder body is sleeved outside the threshing drum and is coaxially arranged with the threshing drum. The screen cylinder body includes a pair of support rings and a plurality of screen rods. The plurality of screen rods are arranged axially along the threshing drum between the pair of support rings and are arranged parallel to each other. The spacing between the plurality of screen rods is adjustable. The first drive assembly is used to drive the screen cylinder body to rotate.

8. The threshing device according to claim 7, characterized in that, The first driving assembly includes a driving ring and a first driving component. The driving ring is sleeved on the support ring, and the first driving component is located outside the driving ring. The first driving component is used to drive the driving ring to rotate, thereby driving the screen cylinder body to rotate. The sieve cylinder unit further includes a second adjusting assembly, which comprises a pair of rotating rings and a second driving component. The rotating rings are respectively sleeved on the support ring, and the pair of rotating rings are arranged opposite each other in the axial direction of the threshing drum. The rotating rings and the driving ring are arranged at intervals in the axial direction of the threshing drum. The rotating ring is provided with a plurality of second guide grooves, which extend radially inclined along the rotating ring. The plurality of second guide grooves are arranged parallel to each other and are evenly spaced in the circumferential direction of the support ring. The two ends of the screen rod pass through the drive ring and the support ring in sequence, and the end of the screen rod is located in the second guide groove. The screen rod is movable in the second guide groove. The second drive component is used to drive the rotating ring to rotate relative to the support ring.

9. A threshing method, characterized in that, The threshing apparatus according to any one of claims 1-8, the method comprising the following steps: Obtain the torque time series of the threshing drum, and determine the current threshing condition based on the torque time series; Identify a target control sub-model that matches the current threshing conditions, and determine the adjustment amount of the threshing drum speed, the screen drum speed, and the screen drum gap based on the torque time series using the target control sub-model; Based on the adjustment amount of the threshing drum speed, the adjustment amount of the screen cylinder speed, and the adjustment amount of the screen cylinder gap, a control command is generated, wherein the control command is used to adjust the current speed of the threshing drum, the current speed of the screen cylinder, and the current gap of the screen cylinder.

10. A control system for performing the threshing method of claim 9, characterized in that: include: Sensors are used to monitor the torque of the threshing drum; The working condition identification module is used to identify the current threshing working condition; The control sub-model module switches the corresponding control sub-model based on the current threshing condition. The execution module is used to execute the control commands sent by the control sub-model.

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