Self-propelled silage harvester with automatic material filling function

Abstract

The utility model discloses a self-propelled silage harvester with an automatic material filling function, which comprises a walking system and a harvesting system, and a main controller, a motion controller and an electromagnetic valve group are arranged above a rack of the walking system; the harvesting system comprises an arc-shaped material throwing barrel, a Hall sensor is arranged in front of a meshing fluted disc of a worm steering device of the arc-shaped material throwing barrel, a flow sensor is arranged on the inner side of a second section of material throwing barrel, a laser distance measuring sensor is arranged on the inner side of a third section of material throwing barrel, and a camera is arranged at the bottom end, close to a discharging guide pipe, of the third section of material throwing barrel. An angle sensor is arranged at the front end of a fixed rotating shaft of the discharging guide pipe. When the self-propelled silage harvester works, the visual system intelligently controls a second section of throwing cylinder of the throwing execution device to transversely and horizontally rotate, longitudinally and vertically ascend and descend and a discharging guide pipe to be opened and closed, it is guaranteed that materials are evenly thrown to a stock bin or a material receiving trolley of the self-propelled silage harvester and are filled with the materials, and the silage harvesting efficiency and quality are improved; and the intelligent degree of the silage harvester in China is improved.

Description

Technical Field

[0001] The utility model relates to the field of silage harvesting equipment, in particular to a self-propelled silage harvester with a material automatic filling function. Background Art

[0002] Silage refers to the fresh stems and leaves of plants used as feed. Under the general background of "grain to feed", silage is an ideal feed for feeding livestock such as dairy cows, beef cattle and sheep. When used to feed livestock, in order to avoid waste, the silage is generally crushed before feeding to the livestock. The ensiled feed has good palatability, high nutrient retention rate and long storage time, and is deeply loved by domestic livestock farms and breeders.

[0003] The harvesting efficiency and quality of silage in the field completely rely on the driver's operating experience. During the busy harvesting season, complex field conditions and high-intensity, long-term operations can easily cause driver fatigue. The Chinese invention patent with application number 202310029205.1 discloses a hilly mountain self-propelled silage harvester with a self-adjusting center of gravity function. In order to evenly and efficiently fill the silage silage bin or the receiving vehicle with silage, the driver needs to frequently manually control the operating buttons or rods of the three electric hydraulic cylinders of the throwing barrel, and then adjust the direction of the throwing barrel and the outlet to ensure that the material is sprayed into the silo. On the one hand, it is to avoid improper operation causing blockage of the throwing barrel and reduce the harvesting efficiency. On the other hand, it is to avoid the material from being sprayed outside the silo or the receiving vehicle and causing waste. This method is cumbersome to operate and has high work intensity, resulting in a large amount of labor in the silage industry, resulting in low efficiency and quality of silage harvesting, and the driver cannot concentrate on dealing with the complex field environment, which poses a major safety hazard. Utility Model Content

[0004] The utility model provides a self-propelled silage harvester with an automatic material loading function, aiming to solve the problem that the existing harvesters need to rely on the driver to manually frequently adjust the direction of the throwing barrel and the direction of the discharge port during harvesting, resulting in low harvesting efficiency and greater safety hazards.

[0005] To achieve its purpose, the utility model adopts the following technical solutions:

[0006] A self-propelled silage harvester with an automatic material loading function comprises a walking system and a harvesting system, wherein the walking system comprises a frame; the harvesting system comprises a silo, a silo moving device and a cutting table, the rear end of the cutting table is connected to a chopping device, the top of the chopping device is connected to an arc-shaped throwing barrel; the arc-shaped throwing barrel comprises a first-section throwing barrel, a second-section throwing barrel and a third-section throwing barrel which are sequentially connected to the chopping device, a worm steering device is provided on the first-section throwing barrel, the worm steering device is controlled by a rotating motor, and a worm steering device is provided on the inner side between the first-section throwing barrel and the second-section throwing barrel A main throwing material angle control cylinder, the free end of the third throwing material barrel is connected to the discharge guide tube through a throwing material barrel pull rod, an auxiliary throwing material angle control cylinder is arranged inside the third throwing material barrel and the discharge guide tube, and a main controller, a motion controller and a solenoid valve group are arranged above the frame; a Hall sensor is arranged in front of the meshing gear disk of the worm steering device, a flow sensor is arranged inside the second throwing material barrel, a laser ranging sensor is arranged inside the third throwing material barrel, a camera is arranged at the bottom of the third throwing material barrel close to the discharge guide tube, and an angle sensor is arranged at the front end of the fixed rotating shaft of the discharge guide tube;

[0007] The signal input end of the main controller is electrically connected to the camera, the signal input end of the motion controller is electrically connected to the signal output end of the main controller, the Hall sensor, the flow sensor, the laser ranging sensor and the angle sensor respectively, the signal output end of the motion controller is electrically connected to the signal input end of the solenoid valve group, and the signal output end of the solenoid valve group is electrically connected to the rotary motor, the main throwing angle control cylinder and the auxiliary throwing angle control cylinder respectively.

[0008] Furthermore, the main controller includes an image acquisition module, an image processing module and a communication module.

[0009] Furthermore, the motion controller includes a sensor acquisition module, a solenoid valve control module and a communication module.

[0010] Furthermore, the camera is a 3D binocular depth camera.

[0011] Further, the flow sensor is a microwave solid flow meter.

[0012] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0013] When the automatic material filling system provided by the utility model is used to operate the silage harvester, the video captured by the visual system camera and the built-in filling algorithm are used to intelligently control the arc-shaped throwing barrel to rotate horizontally, lift vertically, and open and close the discharge guide tube, and the material falls to the target point of the harvester silo. The flow sensor is used to calculate the current filling mass and compare it with the geometric shape and center of mass of the expected filling material at the target point. When the expected threshold is reached, the next target point is filled until the silo or the receiving vehicle box is filled to achieve the maximum volume utilization rate. It replaces the traditional method of manual operation for eye observation control, effectively preventing the throwing barrel from being blocked due to improper manual operation, reducing the harvesting efficiency, or the material being sprayed outside the harvester silo or the receiving vehicle to cause waste. The automatic material filling device can effectively alleviate the pressure of the silage industry on the demand for a large number of labor, allowing the driver to concentrate on dealing with the complex field environment, reducing the frequent operation of the harvesting components, improving the efficiency and quality of silage harvesting, and improving the intelligence level of my country's silage harvesters. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the self-propelled silage harvester of the utility model;

[0015] In the figure: the following reference numerals refer to the number of the authorized patent (authorization announcement number CN115708446B): 100-travel system; 200-harvesting system; 4-travel crawler; 5-frame; 43-discharging guide tube; 44-throwing barrel pull rod; 45-auxiliary throwing angle control cylinder; 46-third throwing barrel; 47-second throwing barrel; 48-main throwing angle control cylinder; 50-first throwing barrel; 51-chopping device; 52-cutting table;

[0016] The newly added numbers are: 67-arc throwing barrel; 68-worm steering device; 69-rotation motor; 70-main controller; 71-motion controller; 72-Hall sensor; 73-flow sensor; 74-laser ranging sensor; 75-camera; 76-angle sensor; 77-solenoid valve group; 78-three-point suspension bracket; 79-cutting platform lifting cylinder. DETAILED DESCRIPTION

[0017] The utility model is further described below in conjunction with the accompanying drawings:

[0018] like Figure 1 As shown, the utility model is a self-propelled silage harvester with automatic material loading function, including a walking system 100 and a harvesting system 200. The specific structure refers to the authorized invention patent (authorization announcement number CN115708446B, invention name: a hilly and mountainous self-propelled silage harvester with self-adjusting center of gravity function).

[0019] The walking system 100 includes a frame 5; the harvesting system 200 includes a silo 27, a silo moving device and a header 52, the rear end of the header 52 is connected to a shredder 51, the top of the shredder 51 is connected to an arc-shaped throwing cylinder 67; the arc-shaped throwing cylinder 67 includes a first-section throwing cylinder 50, a second-section throwing cylinder 47 and a third-section throwing cylinder 46 which are sequentially connected to the shredder 51, and a worm steering device 68 is provided on the first-section throwing cylinder 50, which is controlled by a rotary motor 69 and is used to control the arc-shaped throwing cylinder 67. The throwing cylinder 67 rotates to the target horizontal position, and a main throwing angle control cylinder 48 is provided on the inner side between the first section throwing cylinder 50 and the second section throwing cylinder 47, which is used to control the arc-shaped throwing cylinder 67 to move to the target height. The free end of the third section throwing cylinder 46 is connected to the discharge guide pipe 43 through the throwing cylinder pull rod 44, and an auxiliary throwing angle control cylinder 45 is provided on the inner side between the third section throwing cylinder 46 and the discharge guide pipe 43, which is used to control the arc-shaped throwing cylinder 67 to move to the target angle, and the thrown material is filled at the target point in the silo 27.

[0020] A main controller 70, a motion controller 71 and a solenoid valve group 77 are provided above the frame 5; a Hall sensor 72 is provided in front of the meshing gear disk of the worm steering device 68, which is used to detect the lateral horizontal position of the current second-section throwing cylinder 47; a flow sensor 73 is provided on the inner side of the second-section throwing cylinder 47, which is used to calculate the current filling material mass; a laser ranging sensor 74 is provided on the inner side of the third-section throwing cylinder 46, which is used to detect the current height of the silo 27; a camera 75 is provided at the bottom end of the third-section throwing cylinder 46 near the discharge guide tube 43, which is used to shoot whether the material accumulation shape at the current drop position reaches the threshold; an angle sensor 76 is provided at the front end of the fixed rotating shaft of the discharge guide tube 43, which is used to detect the discharge angle of the current discharge guide tube 43.

[0021] The main controller 70 includes an image acquisition module, an image processing module and a communication module, and the motion controller 71 includes a sensor acquisition module, a solenoid valve control module and a communication module. The signal input end of the main controller 70 is electrically connected to the camera 75, and the signal input end of the motion controller 71 is electrically connected to the signal output end of the main controller 70, the Hall sensor 72, the flow sensor 73, the laser ranging sensor 74 and the angle sensor 76 respectively. The signal output end of the motion controller 71 is electrically connected to the signal input end of the solenoid valve group 77, and the signal output end of the solenoid valve group 77 is electrically connected to the rotary motor 69, the main throwing angle control cylinder 48 and the auxiliary throwing angle control cylinder 45 respectively. Among them, the camera 75 is a 3D binocular depth camera, and the flow sensor 73 is a microwave solid flowmeter. During operation, the camera 75 captures the material accumulation shape at the current material dropping position to see if it reaches the threshold value. If the conditions for changing the position are met, the material dropping position at the next moment is predicted through the main controller 70, and the value is transmitted to the motion controller 71 through the CAN communication module. The motion controller 71 calculates the optimal target positions of the rotating motor 69, the main material throwing angle control cylinder 48 and the auxiliary material throwing angle control cylinder 45 at the next moment based on the point coordinates and the current values ​​of the Hall sensor 72, the flow sensor 73, the laser ranging sensor 74 and the angle sensor 76. Finally, the solenoid valve module outputs a voltage value to control the solenoid valve group 77 and then controls the action of the rotating motor 69, the main material throwing angle control cylinder 48 and the auxiliary material throwing angle control cylinder 45.

[0022] The arc-shaped throwing barrel 67 is connected to the cutting platform 52 by bolts, the walking crawler 4 is hinged to the cutting platform 52 by a three-point suspension frame 78, and a cutting platform lifting cylinder 79 is provided between the three-point suspension frame 78 and the crossbeam of the frame 5. The cutting platform lifting cylinder 79 can be extended and retracted forward and backward to control the ground clearance of the cutting platform 52. The crawler driving wheels on both sides of the walking crawler 4 are flange-connected to the hydrostatic transmission device HST through the drive axle, and the hydrostatic transmission device HST is connected to the engine 19 for rear driving force transmission.

[0023] The self-propelled silage harvester is used to harvest and crush straw forage crops while driving. The operation steps are straw support, straw cutting, straw feeding, straw chopping, crushed material throwing, crushed material into the silo and unloading. The rear end of the harvester's cutting table 52 is connected to the chopping device 51. The upper part of the chopping device 51 cover is connected to the arc-shaped throwing barrel 67 through a flange. The chopping device 51 is equipped with a high-speed rotating blade to cut the straw, and the cut crops are transported to the spike-tooth clamping feeding device in the chopping device 51 to chop the straw. Then, through the high-speed rotating wind force of the chopping device 51, the crushed materials are accelerated by the throwing blades in the chopping device 51 and sent into the arc-shaped throwing barrel 67. The crops are sent into the silo 27 through the arc-shaped throwing barrel 67.

[0024] When the self-propelled forage harvester is in operation, the second section throwing cylinder 47 of the arc-shaped throwing cylinder 67 needs to be rotated horizontally and lifted vertically, and the opening and closing angle of the discharge guide tube 43 also needs to be adjusted to ensure that the material is evenly thrown into the silo 27 or the receiving vehicle and filled.

[0025] The specific working process is as follows: First, the laser ranging sensor 74 installed under the third section throwing cylinder 46 detects the current height of the silo 27, and the main throwing angle control cylinder 48 installed on the inner side of the second section throwing cylinder 46 moves to the target height position; secondly, the Hall sensor 72 installed in front of the meshing gear disc of the worm steering device 68 detects the current lateral horizontal position of the second section throwing cylinder 47, and the rotary motor 69 at the front end of the worm steering device 68 rotates to the target position; finally, the angle sensor 76 installed at the front end of the fixed shaft of the discharge guide tube 43 detects the current discharge angle of the discharge guide tube 43, and the auxiliary throwing angle control cylinder 45 connected between the third section throwing cylinder 46 and the discharge guide tube 43 moves to the target angle, and the thrown material is filled at the target point in the silo 27. The visual system identifies and calculates the geometric shape and center of mass of the current filling based on the video captured by the camera 75 at a set rate of 20-25 frames per second, and uses the flow sensor 73 installed on the inner side of the second section throwing cylinder 47 to calculate the current filling mass, which is compared with the geometric shape and center of mass of the expected filling material at the target point. When the expected threshold is reached, the next target point is filled until the silo 27 is fully filled to achieve maximum volume utilization.

Claims

1. A self-propelled silage harvester with an automatic material loading function, comprising a walking system (100) and a harvesting system (200), wherein the walking system (100) comprises a frame (5); the harvesting system (200) comprises a silo (27), a silo moving device and a header (52), the rear end of the header (52) being connected to a chopping device (51), the top of the chopping device (51) being connected to an arc-shaped throwing barrel (67); the arc-shaped throwing barrel (67) comprising a first throwing barrel (50) and a second throwing barrel connected in sequence to the chopping device (51); (47) and the third throwing barrel (46), the first throwing barrel (50) is provided with a worm steering device (68), the worm steering device (68) is controlled by a rotary motor (69), a main throwing angle control cylinder (48) is provided inside between the first throwing barrel (50) and the second throwing barrel (47), the free end of the third throwing barrel (46) is connected to the discharge guide tube (43) through the throwing barrel pull rod (44), and an auxiliary throwing angle control cylinder (45) is provided inside between the third throwing barrel (46) and the discharge guide tube (43), characterized in that: A main controller (70), a motion controller (71) and a solenoid valve group (77) are provided above the frame (5); a Hall sensor (72) is provided in front of the meshing gear disk of the worm steering device (68); a flow sensor (73) is provided on the inner side of the second section throwing barrel (47); a laser distance sensor (74) is provided on the inner side of the third section throwing barrel (46); a camera (75) is provided at the bottom end of the third section throwing barrel (46) near the discharge guide tube (43); and an angle sensor (76) is provided at the front end of the fixed rotating shaft of the discharge guide tube (43); The signal input end of the main controller (70) is electrically connected to the camera (75); the signal input end of the motion controller (71) is electrically connected to the signal output end of the main controller (70), the Hall sensor (72), the flow sensor (73), the laser distance sensor (74) and the angle sensor (76); the signal output end of the motion controller (71) is electrically connected to the signal input end of the solenoid valve group (77); and the signal output end of the solenoid valve group (77) is electrically connected to the rotary motor (69), the main throwing angle control cylinder (48) and the auxiliary throwing angle control cylinder (45).

2. A self-propelled silage harvester with automatic material loading function as claimed in claim 1, characterized in that: The main controller (70) comprises an image acquisition module, an image processing module and a communication module.

3. The self-propelled silage harvester with automatic material loading function as claimed in claim 1, characterized in that: The motion controller (71) comprises a sensor acquisition module, a solenoid valve control module and a communication module.

4. A self-propelled forage harvester with automatic material loading function as claimed in any one of claims 1 to 3, characterized in that: The camera (75) is a 3D binocular depth camera.

5. A self-propelled silage harvester with automatic material loading function as claimed in any one of claims 1 to 3, characterized in that: The flow sensor (73) is a microwave solid flow meter.

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