Combine harvester header feed quantity control method and related device
By acquiring various parameters of the combine harvester, calculating the losses of the threshing and cleaning systems, and establishing a quantitative correlation model, the problems of accuracy and robustness of feed rate control were solved, and efficient harvesting by the combine harvester was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-24
- Publication Date
- 2026-04-14
AI Technical Summary
In existing technologies, the control of feed rate of combine harvester header is subject to uncontrollable interference from changes in crop moisture content in the field, and lacks a quantitative correlation model between feed rate and the performance of threshing and cleaning systems, resulting in low control accuracy and poor robustness, which affects harvesting efficiency and grain loss.
By acquiring parameters such as the longitudinal slope of the working ground, the longitudinal tilt angle of the combine harvester, the rotor speed of the threshing system, the gap between the rotor and the concave plate, the feed rate, the grain ratio, and the grain moisture content, the separation loss of the threshing system and the cleaning loss of the cleaning system are calculated. Based on these losses, the forward speed of the combine harvester is controlled, and a quantitative correlation model between the feed rate and the threshing and cleaning systems is established to achieve dynamic compensation and collaborative optimization.
It improves the accuracy and robustness of feed rate control, reduces grain loss, increases harvesting efficiency, and achieves stable control of feed rate.
Smart Images
Figure CN121844834A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of agricultural machinery control technology, and in particular to a method and related device for controlling the feed rate of a combine harvester header. Background Technology
[0002] The feed rate of a combine harvester's header directly affects the efficiency of the threshing and cleaning systems and the grain loss rate. Excessive feed rate leads to incomplete threshing, overloaded cleaning, and a surge in grain loss; insufficient feed rate wastes equipment capacity and reduces harvesting efficiency. Therefore, controlling the feed rate is crucial.
[0003] Currently, there are the following drawbacks in controlling the feed rate: (1) there are uncontrollable disturbances such as changes in crop moisture content in the field; (2) there is a lack of a quantitative correlation model between the feed rate and the performance of the threshing and cleaning systems, making it impossible to adjust the feed rate based on the separation loss of the threshing system and the cleaning loss of the cleaning system. Therefore, the control accuracy of the feed rate is low and the control robustness is poor.
[0004] Therefore, there is an urgent need for a feeding control method that can dynamically compensate for interference and achieve collaborative optimization. Summary of the Invention
[0005] The purpose of this application is to provide a method and related device for controlling the feed rate of a combine harvester header, which can dynamically compensate for interference, achieve collaborative optimization, improve control accuracy and robustness, and balance harvesting efficiency and grain loss.
[0006] To achieve the above objectives, this application provides the following solution.
[0007] In a first aspect, this application provides a method for controlling the feed rate of a combine harvester header, the method comprising: The longitudinal slope of the working ground, the longitudinal tilt angle of the combine harvester, the rotor speed of the combine harvester's threshing system, the rotor-concave plate gap, the feed rate, the grain ratio and grain moisture content, as well as the fan speed, screen opening, impurity moisture content and feed grain flow rate of the combine harvester's cleaning system. Based on the longitudinal tilt angle of the machine body, the rotor speed, the gap between the rotor and the concave plate, the feed rate, the grain ratio and the grain moisture content, the separation loss of the threshing system is calculated. The feed impurity flow rate of the cleaning system is calculated based on the rotor speed, the gap between the rotor and the concave plate, the feed rate, the grain ratio and the impurity moisture content. Based on longitudinal slope, grain moisture content, fan speed, screen opening, feed grain flow rate, and feed impurity flow rate, the cleaning loss of the cleaning system is calculated. The forward speed of the combine harvester is controlled based on the feed rate, separation loss, and cleaning loss to achieve header feed rate control.
[0008] Secondly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to implement the above-described combine harvester header feed control method.
[0009] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for controlling the feed rate of the header of a combine harvester.
[0010] Fourthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described combine harvester header feed control method.
[0011] According to the specific embodiments provided in this application, this application has the following technical effects.
[0012] This application provides a method and related apparatus for controlling the feed rate of a combine harvester header. The method acquires the longitudinal slope of the working ground, the longitudinal tilt angle of the combine harvester body, the rotor speed of the threshing system, the rotor-to-concave plate clearance, the feed rate, the grain ratio, and the grain moisture content, as well as the fan speed, screen opening, impurity moisture content, and feed grain flow rate of the combine harvester cleaning system. Based on the longitudinal tilt angle, rotor speed, rotor-to-concave plate clearance, feed rate, grain ratio, and grain moisture content, the separation loss of the threshing system is calculated. Based on the rotor speed, rotor-to-concave plate clearance, feed rate, grain ratio, and impurity moisture content, the feed impurity flow rate of the cleaning system is calculated. Based on the longitudinal slope, grain moisture content, fan speed, screen opening, feed grain flow rate, and feed impurity flow rate, the cleaning loss of the cleaning system is calculated. Based on the feed rate, separation loss, and cleaning loss, the forward speed of the combine harvester is controlled to complete the header feed rate control. This application considers grain moisture content and impurity moisture content during control, addressing uncontrollable disturbances such as changes in crop moisture content in the field. It dynamically compensates for these disturbances and calculates the separation loss of the threshing system and the cleaning loss of the cleaning system based on operating parameters (longitudinal slope of the working ground, longitudinal tilt angle of the combine harvester, rotor speed of the threshing system, rotor-concave plate clearance, feed rate, grain ratio, and grain moisture content, as well as fan speed, screen opening, impurity moisture content, and feed grain flow rate of the cleaning system). Control is then based on these separation and cleaning losses, addressing the lack of a quantitative correlation model between feed rate and the performance of the threshing and cleaning systems, which prevents adjustment of feed rate based on these losses. This achieves synergistic optimization. Therefore, this application can dynamically compensate for disturbances, achieve synergistic optimization, improve control accuracy and robustness, and balance harvesting efficiency and grain loss. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0014] Figure 1 This is an application environment diagram of a combine harvester header feed control method provided in Embodiment 1 of this application.
[0015] Figure 2 This is a flowchart illustrating a method for controlling the feed rate of a combine harvester header, as provided in Embodiment 1 of this application.
[0016] Figure 3This is a schematic diagram of the structure of a computer device provided in Embodiment 2 of this application. Detailed Implementation
[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0018] Example 1.
[0019] The header feed rate control method for combine harvesters provided in this application can be applied to, for example... Figure 1 The application environment shown depicts a scenario where the terminal communicates with the server via a network. The data storage system stores the data the server needs to process. This data storage system can be configured independently, integrated into the server, or located in the cloud or on another server. The terminal can send control requests to be processed to the server. After receiving the control requests, the server obtains the longitudinal slope of the working ground, the longitudinal tilt angle of the combine harvester, the rotor speed of the threshing system, the rotor-to-concave plate clearance, the feed rate, the grain ratio, and the grain moisture content, as well as the fan speed, screen opening, impurity moisture content, and feed grain flow rate of the cleaning system. Based on the longitudinal tilt angle, rotor speed, rotor-to-concave plate clearance, feed rate, grain ratio, and grain moisture content, the server calculates the separation loss of the threshing system. Based on the rotor speed, rotor-to-concave plate clearance, feed rate, grain ratio, and impurity moisture content, the server calculates the feed impurity flow rate of the cleaning system. Based on the longitudinal slope, grain moisture content, fan speed, screen opening, feed grain flow rate, and feed impurity flow rate, the server calculates the cleaning loss of the cleaning system. Based on the feed rate, separation loss, and cleaning loss, the server controls the forward speed of the combine harvester to complete the header feed rate control.
[0020] In addition, in some embodiments, the combine harvester header feed control method can also be implemented by a server or a terminal. For example, the terminal can directly process the control request to be processed, or the server can obtain the control request to be processed from the data storage system and process it.
[0021] In one exemplary embodiment, such as Figure 2 As shown, a method for controlling the feed rate of a combine harvester header is provided. This method is executed by a computer device, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the method is applied to... Figure 1 The following steps are used as an example of a server in the example.
[0022] Step S1: Obtain the longitudinal slope of the working ground, the longitudinal tilt angle of the combine harvester body, the rotor speed of the combine harvester threshing system, the gap between the rotor and the concave plate, the feed rate, the grain ratio and the grain moisture content, as well as the fan speed, screen opening, impurity moisture content and feed grain flow rate of the combine harvester cleaning system.
[0023] Step S2: Based on the longitudinal tilt angle of the machine body, the rotor speed, the gap between the rotor and the concave plate, the feed rate, the grain ratio and the grain moisture content, the separation loss of the threshing system is calculated.
[0024] Step S3: Based on the rotor speed, the gap between the rotor and the concave plate, the feed rate, the grain ratio and the moisture content of the impurities, the feed impurity flow rate of the cleaning system is calculated.
[0025] Step S4: Based on the longitudinal slope, grain moisture content, fan speed, screen opening, feed grain flow rate, and feed impurity flow rate, calculate the cleaning loss of the cleaning system.
[0026] Step S5: Based on the feed rate, separation loss, and cleaning loss, control the forward speed of the combine harvester to complete the header feed rate control.
[0027] By implementing steps S1 to S5 above, this embodiment can dynamically compensate for interference, achieve collaborative optimization, improve control accuracy and control robustness, and take into account both harvesting efficiency and grain loss.
[0028] Before introducing the header feed control method used in this embodiment, the header, threshing system, and cleaning system of the combine harvester will be introduced first. The header is used to harvest crops in the field and transport the harvested crops to the feeding chamber. The feeding chamber is used to transport the crops transported by the header evenly, continuously, and stably to the threshing system. The threshing system is used to thresh the crops transported by the feeding chamber to obtain grains and impurities, and then transport the grains and impurities to the cleaning system. The cleaning system is used to clean the grains and impurities transported by the threshing system. It is equipped with a blower and screens (generally including an upper screen and a lower screen). Impurities are removed by blowing with the blower and filtering with the screens, and only the grains are stored.
[0029] The cleaning system has four external connection ports: a feed port, a tailings outlet, a grain outlet, and an impurity outlet. The feed port provides grains and impurities to the system. The tailings outlet collects the grains and impurities removed by the blower and screen and places them at the feed port for further cleaning. The grain outlet stores the discharged grains and impurities removed by the blower and screen. The impurity outlet discards the lost grains and impurities removed by the blower and screen. Based on these four external connection ports, the cleaning system operates as follows: Impure grains (including feed grains and feed impurities) are conveyed to the screen through the feed inlet and conveyor plate. After being filtered by the screen, the first elevator conveys the material that has passed through the screen (including discharge grains and discharge impurities) to the grain silo through the discharge outlet for storage. At the same time, an airflow generated by a blower sweeps away the impure grains on the screen, and blows the lost material (including lost grains and lost impurities) to the ground through the impurity outlet for disposal. The second elevator places the tail material (including tail grains and tail impurities) that has not passed through the screen and has not been blown away by the blower back to the feed inlet for the next cleaning.
[0030] Based on the above introduction, the objective of this embodiment is to consider the separation loss of the threshing system (i.e., the loss of grain flow rate in the threshing system) and the cleaning loss of the cleaning system (i.e., the loss of grain flow rate in the cleaning system), and to adjust the forward speed of the combine harvester based on the feed rate, separation loss and cleaning loss, so as to achieve dynamic optimization control of the header feed rate, thereby achieving the goal of stable feed rate, improved harvesting efficiency and reduced grain loss.
[0031] To achieve the above objectives, this embodiment takes "dynamic prediction + feedback adjustment" as its core and adopts a three-level architecture of "sensing-modeling-control" to dynamically predict the feed amount, establish a quantitative correlation model between the feed amount and the performance of the threshing and cleaning systems, and achieve precise control based on feedback adjustment. Specifically, the dynamic optimization control of the feed amount is achieved through the sensing layer, modeling layer, and control layer, including the following contents.
[0032] (a) Perception layer: multi-sensor fusion perception.
[0033] The multiple sensors include: a feed rate sensor, a forward speed sensor, and a yield sensor. The feed rate sensor collects the measured value of the feed amount entering the threshing system, the forward speed sensor collects the measured value of the forward speed of the combine harvester, and the yield sensor collects the measured value of the output grain flow rate of the cleaning system.
[0034] Based on the above multi-sensor fusion sensing logic, it is as follows: it integrates the feed rate sensor, the forward speed sensor, and the output sensor. In the short term, it uses the feed rate sensor and the forward speed sensor to predict changes in the feed rate and complete the feed rate prediction. In the long term, it uses the output sensor to calibrate the feed rate sensor and complete the control mode switching.
[0035] (ii) Modeling layer: Construction of correlation model and prediction model.
[0036] A correlation model between feed rate and threshing system, a correlation model between feed rate and cleaning system, and a dynamic prediction model are established. The correlation models between feed rate and threshing system and cleaning system are quantitative correlation models for the feed rate and the performance of the threshing system and cleaning system. Based on the correlation models between feed rate and threshing system and cleaning system, the impact of feed rate on separation loss, feed impurity flow rate and cleaning loss are quantified, and the separation loss and cleaning loss are calculated. The feed rate is predicted based on the dynamic prediction model.
[0037] (III) Control layer: closed-loop control and anomaly handling.
[0038] The forward speed is dynamically adjusted through closed-loop control logic with feedback regulation, and abnormal operating conditions are handled by combining cumulative sum control chart statistical change detection (with long-term calibration) to stabilize the feed rate within the dynamic range.
[0039] Based on the above architecture, the following is a detailed description of a combine harvester header feed control method used in this embodiment, which includes the following steps.
[0040] (a) Data acquisition.
[0041] This embodiment obtains the longitudinal slope of the working ground, the longitudinal tilt angle of the combine harvester, the rotor speed of the combine harvester's threshing system, the gap between the rotor and the concave plate, the feed rate, the grain ratio and the grain moisture content, as well as the fan speed, screen opening, impurity moisture content and feed grain flow rate of the combine harvester's cleaning system.
[0042] A longitudinal slope sensor and a longitudinal tilt sensor are installed on the chassis of the combine harvester. The longitudinal slope sensor can collect the longitudinal slope of the working ground (i.e., the ground on which the combine harvester travels), and the longitudinal tilt sensor can collect the longitudinal tilt angle of the combine harvester.
[0043] A speed sensor is installed at the rotor of the threshing system to collect the rotor speed. The gap between the rotor and the concave plate is a design parameter that can be directly obtained. A feed rate sensor is installed in the feeding chamber to collect the measured feed rate. The subsequent feed rate is determined based on the measured feed rate. The feed rate sensor can be a potentiometer. The electrical signal output by the potentiometer reflects the crop accumulation state in the feeding chamber and is positively correlated with the crop accumulation height. There is a linear mapping relationship between this electrical signal and the measured feed rate: electrical signal = a The measured feed rate + b, where a is the slope and b is the intercept, is used to convert the electrical signal into the measured feed rate. The response time is less than 1 second. The grain ratio is determined by the crop variety and maturity in the field and is a fixed value that can be directly obtained. A capacitive sensor is installed at the outlet of the threshing system (leading to the outlet of the cleaning system) to collect the grain moisture content.
[0044] Installing a speed sensor at the blower of the cleaning system can collect the blower speed. The screen opening is a working parameter, and the screen opening issued by the system can be directly adopted. Installing a near-infrared sensor at the screen of the cleaning system can collect the moisture content of impurities. Installing a feed impact sensor at the feed inlet of the cleaning system can collect the feed grain flow rate.
[0045] In this embodiment, the measured value of the feeding amount can be directly used as the feeding amount. Preferably, in this embodiment, the feeding amount is dynamically predicted. In this case, the method for obtaining the feeding amount specifically includes the following steps.
[0046] (1) Obtain the measured values of feed volume and forward speed.
[0047] This embodiment designs a forward speed sensor to collect the real-time measured value of the forward speed of the combine harvester. Specifically, a speed sensor can be installed at the wheel of the combine harvester to collect the measured value of the forward speed.
[0048] (2) Based on the measured forward speed and the effective cutting width of the cutting platform, the flow rate of the cutting platform area is calculated.
[0049] Estimating feed rate changes using the header area flow rate formula essentially involves quantifying the crop area covered by the combine harvester per unit time by multiplying the measured forward speed by the effective cutting width of the header, thus obtaining the header area flow rate, which indirectly reflects changes in feed rate. Therefore, the header area flow rate is obtained by calculating the product of the measured forward speed and the effective cutting width of the header.
[0050] The formula for flow rate per unit area is: ; in, The header area flow rate is the area of crop covered by the header per unit time by the combine harvester. The forward speed is the measured value, which is the real-time speed at which the combine harvester travels along the field. The effective cutting width of the header is the actual width of the crop that the header participates in cutting.
[0051] (3) Based on the flow rate of the cutting platform area and the crop density in the field, the predicted value of the feed amount is calculated.
[0052] The cutter area flow rate is not directly equal to the feed rate, but it can be converted into the feed rate by combining it with the field crop density. The cutter area flow rate determines the "crop area cut per unit time," while the field crop density determines the "crop mass per unit area." Both together determine the feed rate. Therefore, the predicted feed rate is obtained by calculating the product of the cutter area flow rate and the field crop density.
[0053] The formula for calculating the predicted feed intake is: ; in, This is the predicted feed rate, which is the total mass of crop entering the combine harvester per unit time. For the flow rate of the cutting platform area; The field crop density is determined by the user based on experience. Actual sampling can be carried out in multiple areas of the field to obtain the crop density in each area, and then the average crop density in each area is calculated to obtain the field crop density.
[0054] (4) The measured and predicted feed amounts are weighted and summed to obtain the feed amount.
[0055] This embodiment designs short-term sensing: using the forward speed sensor to collect the measured forward speed value in real time, the change in feed amount is estimated to obtain the predicted feed amount value. Then, combined with the feed amount sensor to collect the measured feed amount in real time, a dynamic prediction model is used to predict the feed amount.
[0056] The dynamic prediction model is: ; in, This refers to the amount of feed. This is a dynamic coefficient, which can be set to 0.8. This is the actual measured value of the feed amount; This is the predicted feed rate.
[0057] (ii) Calculation of separation loss in the threshing system.
[0058] This embodiment calculates the separation loss of the threshing system based on the longitudinal tilt angle of the machine body, the rotor speed, the gap between the rotor and the concave plate, the feed rate, the grain ratio, and the grain moisture content.
[0059] Data related to the crop threshing system (first input parameters and first output parameters) were collected using a laboratory test bench. The correlation between the first input parameter (parameters related to separation loss) and the first output parameter (separation loss) was quantified using a normalized relative gain matrix analysis. The normalized relative gain matrix is used to quantify the coupling strength between the input and output parameters, and its value range is usually [-1, 1]. The larger the absolute value, the stronger the correlation. Thus, the input variable used to calculate the separation loss is determined from the first input parameters. Furthermore, a feeding rate-threshing system correlation model is established. This feeding rate-threshing system correlation model satisfies the following: the separation loss increases exponentially with the feeding rate, because a high feeding rate will shorten the residence time of the crop in the rotor of the threshing system.
[0060] The separation loss of the threshing system is the flow rate of grains discarded by the threshing system. At this time, the separation loss of the threshing system is calculated based on the longitudinal tilt angle of the machine body, the rotor speed, the gap between the rotor and the concave plate, the feed rate, the grain ratio and the grain moisture content. The specific steps include the following steps.
[0061] (1) The relative proportion of separation loss is calculated by using the longitudinal tilt angle of the machine body, the rotor speed, the gap between the rotor and the concave plate, the feed amount, the grain ratio and the grain moisture content as inputs and the separation loss model obtained by prefitting. The separation loss model is a nonlinear model obtained by multinomial regression fitting based on historical data, with the longitudinal tilt angle of the machine body, the rotor speed, the gap between the rotor and the concave plate, the feed amount, the grain ratio and the grain moisture content as input variables and the relative proportion of separation loss as output variables.
[0062] The relative proportion of separation loss is the ratio of the grain flow rate lost in the threshing system (i.e., the grain flow rate discarded by the threshing system) to the total grain flow rate (i.e., the grain flow rate delivered to the threshing system). It represents the proportion of the total grain flow rate converted into separation loss. The separation loss model is as follows: ; in, The relative proportion of separation loss; The calculation function for the separation loss model is a nonlinear function determined based on polynomial regression fitting. For the model parameters of the separation loss model; The input variables for the separation loss model include the longitudinal tilt angle of the fuselage, rotor speed, rotor-concave plate clearance, feed rate, grain ratio, and grain moisture content.
[0063] The process of determining the separation loss model includes: collecting first historical data, which includes multiple sets of historical values for longitudinal tilt angle, rotor speed, rotor-concave plate clearance, feed rate, grain ratio, grain moisture content, and the relative proportion of separation loss. The relative proportion of separation loss is the ratio of the historical separation loss to the historical total grain flow rate. The historical separation loss is obtained based on sensor data, and the historical total grain flow rate is the product of the historical feed rate and the historical grain ratio. Using longitudinal tilt angle, rotor speed, rotor-concave plate clearance, feed rate, grain ratio, and grain moisture content as input variables, and the relative proportion of separation loss as the output variable, a polynomial regression fitting is performed based on the first historical data. The resulting nonlinear model is the separation loss model.
[0064] When performing polynomial regression fitting, an exponential polynomial can be used, and the model parameters can be determined by minimizing the residuals of the output variables through the least squares method.
[0065] (2) Based on the relative proportion of separation loss, feed amount and grain ratio, the separation loss of the threshing system is calculated.
[0066] The separation loss of the threshing system is obtained by multiplying the relative proportion of separation loss, the feed amount, and the grain ratio.
[0067] ; in, Separation loss in the threshing system, i.e., the flow rate of uncollected grains; The relative proportion of separation loss; The grain ratio refers to the proportion of grains in the feed material, which is determined by the crop variety and maturity in the field. This refers to the feeding amount.
[0068] (III) Calculation of impurity flow rate in the cleaning system.
[0069] This embodiment calculates the feed impurity flow rate of the cleaning system based on rotor speed, rotor-concave plate gap, feed rate, grain ratio, and impurity moisture content.
[0070] Data related to the crop cleaning system (second input parameters and second output parameters) were collected using a laboratory test bench. The correlation between the second input parameters (parameters related to feed impurity flow rate or cleaning loss) and the second output parameters (feed impurity flow rate or cleaning loss) was quantified using normalized relative gain matrix analysis. This allowed the determination of input variables used to calculate feed impurity flow rate or cleaning loss from the second input parameters. Furthermore, a feed rate-cleaning system correlation model was established, which satisfies the following: feed impurity flow rate (i.e., impurity throughput) increases non-linearly with feed rate, and cleaning loss increases significantly with feed impurity flow rate.
[0071] The feed impurity flow rate is the impurity flow rate delivered from the threshing system to the cleaning system. At this time, the feed impurity flow rate of the cleaning system is calculated based on the rotor speed, the gap between the rotor and the concave plate, the feed amount, the grain ratio and the impurity moisture content. The specific steps include the following steps.
[0072] (1) Using rotor speed, rotor-concave plate gap, feed rate and impurity moisture content as inputs, the impurity separation ratio is calculated using the impurity separation model obtained by prefitting. The impurity separation model is a nonlinear model obtained by multinomial regression fitting based on historical data, with rotor speed, rotor-concave plate gap, feed rate and impurity moisture content as input variables and impurity separation ratio as output variable.
[0073] The impurity separation ratio is the proportion of the impurity flow rate retained in the threshing system (i.e., the impurity flow rate from the threshing system to the cleaning system) to the total impurity flow rate (i.e., the impurity flow rate from the threshing system to the threshing system). The impurity separation model is as follows: ; in, The impurity separation ratio; is the calculation function for the impurity separation model, which is a nonlinear function determined based on polynomial regression fitting; These are the model parameters for the impurity separation model; The input variables for the impurity separation model include rotor speed, rotor-concave plate clearance, feed rate, and impurity moisture content.
[0074] The process of determining the impurity separation model includes: collecting second historical data, which includes multiple sets of historical values for rotor speed, rotor-concave plate clearance, feed rate, impurity moisture content, and impurity separation ratio. Using rotor speed, rotor-concave plate clearance, feed rate, and impurity moisture content as input variables, and the impurity separation ratio as output variable, a polynomial regression fitting is performed based on the second historical data. The resulting nonlinear model is the impurity separation model.
[0075] When performing polynomial regression fitting, an exponential polynomial can be used, and the model parameters can be determined by minimizing the residuals of the output variables through the least squares method.
[0076] (2) Calculate the difference between 1 and the grain ratio to obtain the impurity ratio. Based on the impurity separation ratio, the impurity ratio and the feed amount, calculate the feed impurity flow rate of the cleaning system.
[0077] The impurity separation ratio, the impurity ratio, and the product of the feed amount are calculated to obtain the feed impurity flow rate of the cleaning system.
[0078] ; in, This refers to the feed impurity flow rate of the cleaning system; The impurity separation ratio; The grain ratio, This refers to the feeding amount.
[0079] (iv) Calculation of cleaning loss in the cleaning system.
[0080] This embodiment calculates the cleaning loss of the cleaning system based on longitudinal slope, grain moisture content, fan speed, screen opening, feed grain flow rate, and feed impurity flow rate.
[0081] At this point, based on the longitudinal slope, grain moisture content, fan speed, screen opening, feed grain flow rate, and feed impurity flow rate, the cleaning loss of the cleaning system is calculated, specifically including the following steps.
[0082] (1) Using longitudinal slope, grain moisture content, fan speed, screen opening and feed impurity flow rate as inputs, the relative proportion of lost grains is calculated using a pre-fitted grain loss model. The grain loss model is a nonlinear model obtained by multinomial regression fitting based on historical data, with longitudinal slope, grain moisture content, fan speed, screen opening and feed impurity flow rate as input variables and the relative proportion of lost grains as output variables.
[0083] The relative proportion of lost grains is the ratio of the grain flow rate lost in the cleaning system to the grain flow rate in the feed. The grain loss model is as follows: ; in, This represents the relative percentage of lost grains. This is the calculation function for the grain loss model, which is a nonlinear function determined based on polynomial regression fitting. These are the model parameters for the grain loss model; The input variables for the grain loss model include longitudinal slope, grain moisture content, fan speed, screen opening, and feed impurity flow rate.
[0084] The process of determining the grain loss model includes: collecting third-party historical data, which includes historical values of longitudinal slope, grain moisture content, fan speed, screen opening, feed impurity flow rate, and the relative proportion of lost grains. Using longitudinal slope, grain moisture content, fan speed, screen opening, and feed impurity flow rate as input variables, and the relative proportion of lost grains as output variables, a polynomial regression fitting is performed based on the third-party historical data. The resulting nonlinear model is the grain loss model.
[0085] When performing polynomial regression fitting, the basic polynomial, exponential polynomial, or logistic polynomial can be used. The model parameters are determined by minimizing the residuals of the output variables using the least squares method.
[0086] (2) The cleaning loss of the cleaning system is calculated based on the relative proportion of lost grains and the feed grain flow rate.
[0087] The cleaning loss of the cleaning system is obtained by multiplying the relative proportion of lost grains by the feed grain flow rate.
[0088] ; in, This refers to the cleaning loss in the cleaning system; This represents the relative percentage of lost grains. This refers to the feed grain flow rate.
[0089] (v) Forward speed control.
[0090] This embodiment controls the forward speed of the combine harvester based on the feed rate, separation loss, and cleaning loss, thereby controlling the header feed rate.
[0091] This embodiment is designed with feedback adjustment.
[0092] Feedback adjustments include: adjustment of the target feed amount and adjustment of the forward speed.
[0093] Feed rate target value adjustment: Based on crop type, the default value of the feed rate is dynamically set. For example, the default value range of the feed rate for wheat / barley is 80ton / h-100ton / h, and the default value can be 90ton / h. The default value range of the feed rate for corn is 60ton / h-80ton / h, and the default value can be 70ton / h. During the first control, the target value of the feed rate is set to the default value of the feed rate. When the separation loss is greater than 2% (first loss, other values can also be used) or the cleaning loss is greater than 1.5% (second loss, other values can also be used), the target feed rate will be automatically reduced by 10% (first proportion, other values can also be used). It is necessary to ensure that the reduced target feed rate is greater than the lower limit of the default feed rate range. When the separation loss is ≤2% and the cleaning loss is ≤1.5% for a duration of 10 seconds (set duration, other values can also be used), since control is performed every certain period of time, each control will determine whether the separation loss is >2% and the cleaning loss is >1.5%. Therefore, the duration of separation loss ≤2% and cleaning loss ≤1.5% for 10 seconds is equivalent to multiple determinations of separation loss ≤2% and cleaning loss ≤1.5%. That is, when the number of times the separation loss is ≤2% and the cleaning loss is ≤1.5% reaches the preset number, the target feed rate will be automatically increased by 5% (second proportion, other values can also be used). It is necessary to ensure that the increased target feed rate is less than the default feed rate.
[0094] Forward speed adjustment: Increase the target feed rate by 5% (third ratio, other values can also be used) to obtain the upper limit of the feed rate. Decrease the target feed rate by 5% (fourth ratio, other values can also be used) to obtain the lower limit of the feed rate. When the feed rate is greater than the upper limit, the forward speed needs to be reduced by 0.2 m / s each time (first value, other values can also be used). It is necessary to ensure that the reduced forward speed is greater than the lower limit, which is the minimum operating speed and is determined by the user based on experience. When the feed rate is less than the lower limit, the forward speed needs to be increased by 0.1 m / s each time (second value, other values can also be used). It is necessary to ensure that the increased forward speed is less than the upper limit, which is the basic operating speed and is determined by the user based on experience.
[0095] Through the above feedback adjustment, the feed rate is kept within ±5% of the target feed rate, and grain loss is reduced, thereby improving harvest efficiency.
[0096] At this point, the forward speed of the combine harvester is controlled based on the feed rate, separation loss, and cleaning loss, specifically including the following steps.
[0097] (1) Determine the target value of feed rate based on separation loss and cleaning loss.
[0098] Based on separation loss and cleaning loss, the target value of the feed amount is determined, specifically including: if the separation loss is greater than the first loss or the cleaning loss is greater than the second loss, then the previously controlled target value of the feed amount is reduced by a first proportion to obtain the target value of the feed amount; otherwise, it is determined whether the number of times the separation loss is less than or equal to the first loss and the cleaning loss is less than or equal to the second loss has reached a preset number. If so, the previously controlled target value of the feed amount is increased by a second proportion to obtain the target value of the feed amount; if not, the previously controlled target value of the feed amount is used as the target value of the feed amount.
[0099] (2) Determine the forward speed target value based on the feed amount and the feed amount target value.
[0100] Based on the feed rate and the target feed rate value, the target forward speed value is determined, specifically including: increasing the target feed rate value by a third percentage to obtain the upper limit of the feed rate, and decreasing the target feed rate value by a fourth percentage to obtain the lower limit of the feed rate; if the feed rate is greater than the upper limit of the feed rate, the previously controlled target forward speed value is decreased by a first value to obtain the target forward speed value; if the feed rate is less than or equal to the upper limit of the feed rate, and greater than or equal to the lower limit of the feed rate, the previously controlled target forward speed value is used as the target forward speed value; if the feed rate is less than the lower limit of the feed rate, the previously controlled target forward speed value is increased by a second value to obtain the target forward speed value.
[0101] (3) Generate forward speed adjustment commands based on the forward speed target value to control the forward speed of the combine harvester.
[0102] By controlling the movement, the forward speed is made equal to the target forward speed value.
[0103] This embodiment is designed for long-term calibration: the measured value of clean grain flow rate (i.e. the measured value of grain flow rate discharged from the cleaning system) collected by the yield sensor is used to determine whether there is a deviation in the feed rate sensor.
[0104] The yield sensor collects the measured value of clean grain flow rate. Combined with material transport delay compensation, the estimated feed rate is obtained. In this embodiment, the first delay time (obtained from the test data of the combine harvester with the sensor installed, generally 5s~8.5s) is determined relative to the measured value of clean grain flow rate, the second delay time (obtained from the test data of the combine harvester with the sensor installed), and the third delay time (obtained from the test data of the combine harvester with the sensor installed) relative to the cleaning loss are determined. The sum of the measured value of clean grain flow rate at a certain time i, the cleaning loss at a certain time i - the third delay time, and the separation loss at a certain time i - the second delay time is calculated to obtain the grain flow rate in the feed rate. Then, the ratio of the grain flow rate to the grain ratio in the feed rate is calculated to obtain the estimated feed rate at a certain time i - the first delay time. Subsequently, it is determined whether there is a deviation in the feed rate sensor (i.e., whether it is damaged), and the control mode is switched accordingly.
[0105] Specifically, multiple sets of data are acquired. Each set of data includes the measured value and the estimated value of the feed amount at each time point. For each set of data, the difference between the measured value and the estimated value of the feed amount is calculated to obtain the deviation. When the number of sets of data with an absolute value of deviation > 0.1 ton / h (preset deviation, other values can also be used) is greater than 5 (first preset number, other values can also be used), it is determined that there is a deviation in the feed amount sensor. At this time, emergency handling is performed: switch to the "adjust forward speed only" mode, no longer relying on the feed amount sensor data, using the predicted value of the feed amount as the feed amount, and only based on the comparison between the feed amount and the target value of the feed amount to reduce or increase the forward speed, avoid loss of control, and achieve robust design under abnormal working conditions. When the number of data sets with an absolute value of deviation less than or equal to 0.1 ton / h is greater than 10 (the second preset number, or other values can be used), switch to the "sensor fusion adjustment" mode. Relying on the feed rate sensor data, the feed rate is determined based on the measured feed rate and the predicted feed rate. First, adjust the target feed rate value, and then reduce or increase the forward speed based on the comparison between the feed rate and the target feed rate value.
[0106] At this time, every preset time interval, the combine harvester header feed rate control method of this embodiment further includes: acquiring multiple sets of data in the most recent preset time interval (i.e., the preset time interval that has just been experienced), each set of data including the measured feed rate and the estimated feed rate, the estimated feed rate being calculated based on the measured flow rate of the discharged grains from the cleaning system; for each set of data, calculating the difference between the measured feed rate and the estimated feed rate to obtain the deviation; if the absolute value of the deviation is greater than the number of preset deviations and greater than the first preset number, then when controlling in the next preset time interval (i.e., the next preset time interval to be experienced), the predicted feed rate is used as the feed rate. At this time, based on the feed rate, separation loss, and cleaning loss, the forward speed of the combine harvester is controlled, specifically including: determining the forward speed target value based on the feed rate and the feed rate target value; generating a forward speed adjustment command based on the forward speed target value to control the forward speed of the combine harvester. If the absolute value of the deviation is less than or equal to a preset number of deviations greater than a second preset number, then during control in the next preset time period (i.e., the next preset time period to be experienced), the feed rate is determined based on the measured and predicted feed rates. At this time, the forward speed of the combine harvester is controlled based on the feed rate, separation loss, and cleaning loss. Specifically, this includes: determining the target feed rate value based on separation loss and cleaning loss; determining the target forward speed value based on the feed rate and the target feed rate value; and generating a forward speed adjustment command based on the target forward speed value to control the forward speed of the combine harvester. It should be noted that this method is a preferred implementation; not using this method will not affect the implementation of the combine harvester header feed rate control method.
[0107] This embodiment discloses a method for controlling the feed rate of a combine harvester header. The core of this method lies in the collaborative control logic of "dynamic prediction + feedback adjustment." Through multi-sensor fusion sensing, correlation modeling, dynamic prediction, and closed-loop control, it resolves the contradiction between crop heterogeneity in the field and the performance of the feed rate and the threshing and cleaning systems, achieving a balance between "high throughput (representing harvest efficiency) and low grain loss." Short-term prediction and long-term calibration fusion are performed using feed rate sensors, forward speed sensors, and yield sensors to establish a correlation model between feed rate and separation and cleaning losses. Closed-loop control with feedback adjustment dynamically adjusts the forward speed, and cumulative sum and control chart statistical change detection ensure robustness under abnormal operating conditions. After applying this embodiment, the feed rate fluctuation is reduced by 40%, harvest efficiency is increased by 12%-18%, and grain loss rate is reduced by 0.3%-0.5%.
[0108] This embodiment has the following advantages: (1) Improved harvesting efficiency: Compared with manual operation, the average feeding amount is increased by 12%-18%, and the harvesting time is shortened by 10%-15%; (2) Reduced loss: The average grain loss rate is reduced by 0.3%-0.5%, and the economic benefits are significant in industrialized harvesting scenarios; (3) Strong robustness: Through multi-sensor fusion perception and accumulation and control chart statistical change detection, it adapts to field interference and sensor failure; (4) High practicality: The control method is simple and easy to implement.
[0109] This application also provides an application scenario in which the above-described combine harvester header feed rate control method is applied. Specifically, the combine harvester header feed rate control method provided in this embodiment can be applied to a wheat harvesting scenario. The wheat harvesting scenario includes a control command generation stage and a control stage. The control command generation stage generates forward speed adjustment commands, and the control stage controls the forward speed based on the forward speed adjustment commands. The combine harvester header feed rate control method provided in this embodiment belongs to the control command generation stage.
[0110] Example 2.
[0111] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 3 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a method for controlling the feed rate of a combine harvester header.
[0112] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0113] In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program that, when executed by the processor, implements a method for controlling the feed rate of a combine harvester header.
[0114] Example 3.
[0115] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements a method for controlling the feed rate of a combine harvester header.
[0116] Example 4.
[0117] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements a method for controlling the feed rate of a combine harvester header.
[0118] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of the relevant data are carried out in compliance with the relevant data protection laws and policies of the country where the location is located, and with the authorization granted by the owner of the corresponding device.
[0119] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0120] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A method for controlling the feed rate of a combine harvester header, characterized in that, The method for controlling the feed rate of the header of the combine harvester includes: The longitudinal slope of the working ground, the longitudinal tilt angle of the combine harvester, the rotor speed of the combine harvester's threshing system, the rotor-concave plate gap, the feed rate, the grain ratio and grain moisture content, as well as the fan speed, screen opening, impurity moisture content and feed grain flow rate of the combine harvester's cleaning system. Based on the longitudinal tilt angle of the machine body, the rotor speed, the gap between the rotor and the concave plate, the feed rate, the grain ratio and the grain moisture content, the separation loss of the threshing system is calculated. The feed impurity flow rate of the cleaning system is calculated based on the rotor speed, the gap between the rotor and the concave plate, the feed rate, the grain ratio and the impurity moisture content. Based on longitudinal slope, grain moisture content, fan speed, screen opening, feed grain flow rate, and feed impurity flow rate, the cleaning loss of the cleaning system is calculated. The forward speed of the combine harvester is controlled based on the feed rate, separation loss, and cleaning loss to achieve header feed rate control.
2. The method for controlling the feed rate of the header of a combine harvester according to claim 1, characterized in that, Methods for obtaining the feed amount include: Obtain the measured values of feed volume and forward speed; Based on the measured forward speed and the effective cutting width of the header, the flow rate of the header area is calculated. Based on the flow rate per cutter area and the crop density in the field, the predicted feed rate is calculated. The feed amount is obtained by weighted summation of the measured and predicted feed amounts.
3. The method for controlling the feed rate of the header of a combine harvester according to claim 1, characterized in that, Based on the longitudinal tilt angle of the machine body, rotor speed, rotor-concave plate clearance, feed rate, grain ratio, and grain moisture content, the separation loss of the threshing system is calculated, specifically including: Using the longitudinal tilt angle of the machine body, rotor speed, rotor-concave plate clearance, feed rate, grain ratio, and grain moisture content as inputs, the relative proportion of separation loss is calculated using a pre-fitted separation loss model. The separation loss model is a nonlinear model obtained by polynomial regression fitting based on historical data, using the longitudinal tilt angle of the machine body, rotor speed, rotor-concave plate clearance, feed rate, grain ratio, and grain moisture content as input variables and the relative proportion of separation loss as the output variable. The relative proportion of separation loss is the proportion of grain flow rate lost in the threshing system to the total grain flow rate. The separation loss of the threshing system is calculated based on the relative proportion of separation loss, the feed amount, and the grain ratio.
4. The method for controlling the feed rate of the header of a combine harvester according to claim 1, characterized in that, Based on rotor speed, rotor-concave plate clearance, feed rate, grain ratio, and impurity moisture content, the feed impurity flow rate of the cleaning system is calculated, specifically including: Using rotor speed, rotor-concave plate clearance, feed rate, and impurity moisture content as inputs, the impurity separation ratio is calculated using a pre-fitted impurity separation model. The impurity separation model is a nonlinear model obtained by multinomial regression fitting based on historical data, using rotor speed, rotor-concave plate clearance, feed rate, and impurity moisture content as input variables and the impurity separation ratio as the output variable. The impurity separation ratio is the proportion of impurity flow rate retained in the threshing system to the total impurity flow rate. Calculate the difference between 1 and the grain ratio to obtain the impurity ratio. Based on the impurity separation ratio, the impurity ratio, and the feed rate, calculate the feed impurity flow rate of the cleaning system.
5. The method for controlling the feed rate of the header of a combine harvester according to claim 1, characterized in that, Based on longitudinal slope, grain moisture content, fan speed, screen opening, feed grain flow rate, and feed impurity flow rate, the cleaning loss of the cleaning system is calculated, specifically including: Using longitudinal slope, grain moisture content, blower speed, screen opening, and feed impurity flow rate as inputs, the relative proportion of lost grains is calculated using a pre-fitted grain loss model. The grain loss model is a nonlinear model obtained by multinomial regression fitting based on historical data, using longitudinal slope, grain moisture content, blower speed, screen opening, and feed impurity flow rate as input variables and the relative proportion of lost grains as the output variable. The relative proportion of lost grains is the ratio of the flow rate of lost grains in the cleaning system to the flow rate of the feed grains. The cleaning loss of the cleaning system is calculated based on the relative proportion of lost grains and the feed grain flow rate.
6. The method for controlling the feed rate of the header of a combine harvester according to claim 2, characterized in that, The forward speed of the combine harvester is controlled based on feed rate, separation loss, and cleaning loss, specifically including: The target feed rate is determined based on separation loss and cleaning loss; Based on the feed rate and the target feed rate value, determine the target forward speed value; A forward speed adjustment command is generated based on the forward speed target value to control the forward speed of the combine harvester.
7. The method for controlling the feed rate of the header of a combine harvester according to claim 6, characterized in that, Based on separation loss and cleaning loss, the target value of the feed rate is determined, specifically including: if the separation loss is greater than the first loss or the cleaning loss is greater than the second loss, the previously controlled target value of the feed rate is reduced by a first proportion to obtain the target value of the feed rate; otherwise, it is determined whether the number of times the separation loss is less than or equal to the first loss and the cleaning loss is less than or equal to the second loss has reached a preset number. If so, the previously controlled target value of the feed rate is increased by a second proportion to obtain the target value of the feed rate; if not, the previously controlled target value of the feed rate is used as the target value of the feed rate. Based on the feed rate and the target feed rate value, the target forward speed value is determined, specifically including: increasing the target feed rate value by a third percentage to obtain the upper limit of the feed rate, and decreasing the target feed rate value by a fourth percentage to obtain the lower limit of the feed rate; if the feed rate is greater than the upper limit of the feed rate, the previously controlled target forward speed value is decreased by a first value to obtain the target forward speed value; if the feed rate is less than or equal to the upper limit of the feed rate, and greater than or equal to the lower limit of the feed rate, the previously controlled target forward speed value is used as the target forward speed value; if the feed rate is less than the lower limit of the feed rate, the previously controlled target forward speed value is increased by a second value to obtain the target forward speed value.
8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that the processor executes the computer program to implement the combine harvester header feed control method according to any one of claims 1-7.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the harvester header feed control method as described in any one of claims 1-7.
10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the harvester header feed control method as described in any one of claims 1-7.