阅读说明：本技术 一种高含水率玉米收获滚筒转速控制系统与控制方法 (High-moisture-content corn harvesting roller rotating speed control system and control method ) 是由 迟瑞娟 朱晓龙 杜岳峰 于 2020-07-16 设计创作，主要内容包括：本发明属于农业自动化领域。具体地,涉及一种高含水率玉米收获滚筒转速控制系统与控制方法。控制系统包括CAN总线、测量变送装置、主控制器、液压执行机构、扶手箱总成和显示器。本发明采用CAN总线集成技术,基于CAN总线,集成玉米收获质量参数在线检测与传感信息处理、故障诊断系统,保证了控制系统信息传输的实时性和可靠性。通过电液比例阀无级调节,减轻了驾驶员的工作强度,提高了玉米收获机的操作性。多传感器融合调节,保证了滚筒转速调节的可靠性和科学性,使收获过程中的滚筒转速控制更加合理准确。(The invention belongs to the field of agricultural automation. In particular to a system and a method for controlling the rotating speed of a high-moisture-content corn harvesting roller. The control system comprises a CAN bus, a measuring and transmitting device, a main controller, a hydraulic actuating mechanism, a handrail box assembly and a display. The invention adopts CAN bus integration technology, integrates corn harvest quality parameter on-line detection and sensing information processing and fault diagnosis systems based on the CAN bus, and ensures the real-time performance and reliability of information transmission of a control system. Through the stepless regulation of the electro-hydraulic proportional valve, the working strength of a driver is reduced, and the operability of the corn harvester is improved. The multi-sensor fusion adjustment ensures the reliability and scientificity of the adjustment of the rotating speed of the roller, and the control of the rotating speed of the roller in the harvesting process is more reasonable and accurate.)

1. The utility model provides a high moisture content maize results cylinder rotational speed control system, includes CAN bus, measurement transmission device (9), main control unit (10), hydraulic actuator (11), handrail case assembly (17) and display (7), its characterized in that:

the hydraulic actuating mechanism (11) comprises an operation speed control electro-hydraulic proportional valve (12), an operation speed control variable pump (13), an operation speed control hydraulic motor (14), a switching electromagnetic valve (15) and a stepless speed change wheel (16); the working speed control variable pump (13) is respectively connected with the working speed control electro-hydraulic proportional valve (12) and the working speed control hydraulic motor (14), and the switch electromagnetic valve (15) is connected with the stepless speed change wheel (16);

the operation speed control hydraulic motor (14) is connected with a gearbox (19) of the corn harvester; the operation speed control electro-hydraulic proportional valve (12) is connected with a pulse signal output port of the main controller (10); the working speed control electro-hydraulic proportional valve (12) changes the flow of a working speed control variable pump (13) according to a current signal sent by the main controller (10), so that the rotating speed of a working speed control hydraulic motor (14) is changed;

the switching electromagnetic valve (15) is connected with a pulse signal output port of the main controller (10); the switching electromagnetic valve (15) determines the switching time of the switching electromagnetic valve (15) according to a control signal sent by the main controller (10) to control the diameter of the stepless speed changing wheel (16) to increase and decrease, so that the rotating speed of the roller is changed;

the armrest box assembly (17) comprises a key board (5) and an operating handle (6);

the measurement and transmission device (9) comprises an entrainment loss sensor (1), a vehicle speed sensor (2), a roller rotating speed sensor (3) and a seed crushing sensor (4); the entrainment loss sensor (1) is arranged at a bract discharge port (18) at the rear part of a tail sieve of the corn harvester; the vehicle speed sensor (2) is arranged on the gearbox (19); the drum rotating speed sensor (3) is arranged on a rotating shaft of the drum (21); the seed breakage rate sensor (4) is arranged at the tail end of a grain conveying auger (20) in the granary;

the entrainment loss sensor (1), the vehicle speed sensor (2) and the roller rotating speed sensor (3) are all connected and communicated with a pulse input port of the main controller (10); the grain crushing sensor (4), the key board (5), the control handle (6), the display (7) and the engine (8) are all connected and communicated with a CAN communication port of the main controller (10) through a CAN bus.

2. The high moisture content corn harvesting drum speed control system of claim 1, wherein: the system comprises 6 CAN nodes which are respectively as follows: the device comprises a main controller (10), a display (7), a control handle (6), a key board (5), a grain crushing sensor (4) and an engine (8).

3. The high moisture content corn harvesting drum speed control system of claim 1, wherein: the main controller (10) acquires the rotating speed information of the engine (8) through the CAN bus and judges whether the current rotating speed of the engine meets the corn harvesting operation condition; the main controller (10) acquires operation instructions of the key board (5) and the operation handle (6) through the CAN bus, and performs mode selection and roller rotation speed control; the main controller (10) acquires the grain breakage rate information acquired by the grain breakage sensor (4) through the CAN bus; the main controller (10) acquires entrainment loss rate information acquired by an entrainment loss sensor (1), vehicle speed information acquired by a vehicle speed sensor (2) and rotating speed information of a roller (21) acquired by a roller rotating speed sensor (3) through a pulse input port; the main controller (10) sends the acquired information to the display (7) for display.

4. The high moisture content corn harvesting drum speed control system of claim 1, wherein: the main controller (10) is installed under the front passenger seat.

5. The high moisture content corn harvesting drum speed control system of claim 1, wherein: a main controller armrest box assembly (17) and a display (7) are arranged on the right side of the cab.

6. A method for controlling the rotating speed of a high-moisture-content corn harvesting roller is characterized by comprising the following steps: the method comprises the following steps:

s1 seed kernel disruption and entrainment loss control

Comparing the grain breakage rate and the entrainment loss rate acquired by the grain breakage sensor (4) and the entrainment loss sensor (1) with the grain breakage rate and the entrainment loss rate preset by the system to obtain the target rotating speed of the roller, and adjusting the rotating speed of the roller to change the grain breakage rate and the entrainment loss rate;

s2 control of drum rotation speed

Judging whether the engine has backup power or not through the reduction of the rotating speed of the engine, if the reduction of the rotating speed of the engine does not reach a preset value, judging whether the stepless speed changing wheel (16) reaches an adjusting limit, if the stepless speed changing wheel (16) does not reach the adjusting limit, controlling the rotating speed of the roller to reach the target rotating speed of the roller obtained through S1 seed crushing and entrainment loss control through adjusting the stepless speed changing wheel (16), and in the process, acquiring the rotating speed information of the roller in real time by a roller rotating speed sensor (3) and comparing the rotating speed information with the target rotating speed of the roller obtained through S1 seed crushing and entrainment loss control;

s3, vehicle speed control

In the automatic harvesting mode, if the reduction of the rotating speed of the engine is detected to reach a preset value, the engine is judged to have insufficient backup power, at the moment, an alarm is sent out through a display (7), or a stepless speed change wheel (16) reaches an adjusting limit, a target vehicle speed is obtained through calculation of a main controller (10), the main controller (10) sends out a control instruction to adjust the vehicle speed to the target vehicle speed, and in the process, a vehicle speed sensor (2) detects the operation speed in real time and compares the operation speed with the target vehicle speed.

Technical Field

The invention belongs to the field of agricultural automation. In particular to a system and a method for controlling the rotating speed of a high-moisture-content corn harvesting roller.

Background

The corn harvester is a main machine for harvesting corn. The corn harvester mainly comprises a snapping machine and a kernel direct harvester. The direct kernel harvester changes the traditional corn harvesting process of harvesting the ears firstly and then airing and threshing, greatly reduces the labor amount, reduces the occupation of the ears to the field, and improves the agricultural productivity and the production efficiency. The direct harvesting of corn kernels is generally realized abroad, and the domestic corn harvesting period is short, so that the high moisture content of the kernels during harvesting is easy to cause great kernel damage and kernel loss, and is severely restricted. The threshing process is mainly a process that the threshing cylinder threshes and separates corn kernels from ears, so the control of the rotating speed of the cylinder is particularly important. At present, the domestic control of the rotating speed of the threshing cylinder is mainly to determine the optimal target rotating speed of the cylinder during harvesting according to manual experience and realize the control of the rotating speed of the cylinder by replacing belt wheels with different transmission ratios. The influence of the moisture content of the corn kernels on the optimal target rotating speed of the roller is not considered, and the change of the rotating speed of the roller can be indirectly influenced by the change of the speed of the roller in the harvesting process, so that the threshing quality and the harvesting quality are finally influenced.

Disclosure of Invention

The invention aims to provide a high-moisture-content corn harvesting roller rotating speed control system and a high-moisture-content corn harvesting roller rotating speed control method, aiming at the problems that the method for controlling the rotating speed of a roller of a corn harvester in China is in need of breakthrough and the control factor is single.

The corn kernel harvesting comprises three processes of ear picking, threshing and cleaning, wherein the kernel damage and the kernel loss caused by the threshing process account for a large part of the whole harvesting process, and particularly for the harvesting of the corn with high water content, the kernel damage and the kernel loss are more easily caused in the threshing process. Therefore, it is important to control the rotational speed of the drum. At present, the roller rotating speed is controlled by setting a target roller rotating speed of harvesting according to manual experience before harvesting and replacing belt wheels with different transmission ratios. The influence of the moisture content of the corn grains on the optimal target roller rotating speed is not considered, the target roller rotating speed is not changed along with the change of the crop characteristics and the harvesting quality in the harvesting process, and the control effect cannot adapt to the harvesting of the corn with high moisture content. Therefore, aiming at the problems that the method for controlling the rotating speed of the roller of the corn harvester in China is to be broken through and the control factor is single, the invention provides the system and the method for controlling the rotating speed of the high-moisture-content corn harvesting roller.

In order to achieve the purpose, the invention provides the following technical scheme:

a high-moisture-content corn harvesting roller rotating speed control system comprises a CAN bus, a measurement transmission device 9, a main controller 10, a hydraulic actuating mechanism 11, a handrail box assembly 17 and a display 7.

The hydraulic actuating mechanism 11 comprises an operation speed control electro-hydraulic proportional valve 12, an operation speed control variable pump 13, an operation speed control hydraulic motor 14, a switching electromagnetic valve 15 and a stepless speed change wheel 16; the work speed control variable pump 13 is connected to the work speed control electro-hydraulic proportional valve 12 and the work speed control hydraulic motor 14, respectively, and the on-off solenoid valve 15 is connected to the continuously variable transmission 16.

The operation speed control hydraulic motor 14 is connected with a gearbox 19 of the corn harvester; the operation speed control electro-hydraulic proportional valve 12 is connected with a pulse signal output port of the main controller 10; the work speed control electro-hydraulic proportional valve 12 changes the flow rate of the work speed control variable pump 13 according to the current signal sent by the main controller 10, thereby changing the rotation speed of the work speed control hydraulic motor 14.

The switching electromagnetic valve 15 is connected with a pulse signal output port of the main controller 10; the switching solenoid valve 15 determines the switching period of the switching solenoid valve 15 according to the control signal sent from the main controller 10 to control the increase and decrease of the diameter of the continuously variable transmission wheel 16, thereby achieving the change of the drum rotation speed.

The console box assembly 17 includes a key sheet 5 and a manipulation handle 6.

The measuring and transmitting device 9 comprises an entrainment loss sensor 1, a vehicle speed sensor 2, a roller rotating speed sensor 3 and a kernel crushing sensor 4; the entrainment loss sensor 1 is arranged at a bract outlet 18 at the rear part of the tail sieve of the corn harvester; the vehicle speed sensor 2 is arranged on the gearbox 19; the drum rotation speed sensor 3 is provided on the rotation shaft of the drum 21; the kernel breakage rate sensor 4 is installed at the tail end of a grain conveying auger 20 in the granary.

The entrainment loss sensor 1, the vehicle speed sensor 2 and the roller rotating speed sensor 3 are all connected and communicated with a pulse input port of the main controller 10; the grain crushing sensor 4, the key board 5, the control handle 6, the display 7 and the engine 8 are all connected and communicated with a CAN communication port of the main controller 10 through a CAN bus.

The system comprises 6 CAN nodes which are respectively as follows: a main controller 10, a display 7, a joystick 6, a keypad 5, a grain break sensor 4, and a motor 8.

The main controller 10 acquires the rotating speed information of the engine 8 through the CAN bus, and judges whether the current rotating speed of the engine meets the corn harvesting operation condition; the main controller 10 obtains the operation instructions of the key board 5 and the operation handle 6 through the CAN bus, and performs mode selection and roller rotation speed control; the main controller 10 acquires the grain breakage rate information acquired by the grain breakage sensor 4 through the CAN bus; the main controller 10 acquires entrainment loss rate information acquired by the entrainment loss sensor 1, vehicle speed information acquired by the vehicle speed sensor 2 and rotating speed information of the roller 21 acquired by the roller rotating speed sensor 3 through the pulse input port; the main controller 10 sends the acquired information to the display 7 for display.

The main controller 10 is installed under the front passenger seat.

The main controller armrest box assembly 17 and the display 7 are mounted on the right side of the cab.

A method for controlling the rotating speed of a high-moisture-content corn harvesting roller comprises the following steps:

s1 seed kernel disruption and entrainment loss control

Comparing the grain breakage rate and the entrainment loss rate acquired by the grain breakage sensor 4 and the entrainment loss sensor 1 with the grain breakage rate and the entrainment loss rate preset by the system to obtain the target rotating speed of the roller, and adjusting the rotating speed of the roller to change the grain breakage rate and the entrainment loss rate;

s2 control of drum rotation speed

Judging whether the engine has backup power or not through the reduction of the rotating speed of the engine, if the reduction of the rotating speed of the engine does not reach a preset value, judging whether the stepless speed changing wheel 16 reaches an adjustment limit, if the stepless speed changing wheel 16 does not reach the adjustment limit, controlling the rotating speed of the roller to reach the target rotating speed of the roller obtained through S1 seed crushing and entrainment loss control through adjusting the stepless speed changing wheel 16, and in the process, acquiring rotating speed information of the roller in real time by the roller rotating speed sensor 3 and comparing the rotating speed information with the target rotating speed of the roller obtained through S1 seed crushing and entrainment loss control;

s3, vehicle speed control

In the automatic harvesting mode, if the reduction of the rotating speed of the engine is detected to reach a preset value, the engine backup power is judged to be insufficient, at the moment, an alarm is sent out through the display 7, or the infinitely variable speed wheel 16 reaches an adjusting limit, a target vehicle speed is obtained through calculation of the main controller 10, the main controller 10 sends out a control instruction to adjust the vehicle speed to the target vehicle speed, and in the process, the vehicle speed sensor 2 detects the operation speed in real time and compares the operation speed with the target vehicle speed.

Compared with the prior art, the invention has the beneficial effects that:

(1) the control system has the functions of manual control and automatic control, can adjust the control mode at any time according to the requirements of users, and has the advantages of convenient and flexible operation and reliable work.

(2) The control system integrates the corn harvest quality parameter on-line detection, sensing information processing and fault diagnosis system based on the CAN bus by adopting the CAN bus integration technology, and ensures the real-time performance and reliability of information transmission of the control system.

(3) The invention ensures that the rotation speed of the roller is adjusted in real time from the determination of the target value to the selection of the adjusting mode according to the operation condition, ensures the accuracy and the reliability of the adjustment of the roller, and improves the harvesting efficiency and the harvesting quality.

(4) The speed of the corn harvester can be steplessly adjusted through the electro-hydraulic proportional valve, the working strength of a driver is reduced, and the operability of the corn harvester is improved.

(5) The multi-sensor fusion adjustment ensures the reliability and scientificity of the adjustment of the rotating speed of the roller, and the control of the rotating speed of the roller in the harvesting process is more reasonable and accurate.

Drawings

FIG. 1 is a network topology structure diagram of the high moisture content corn harvesting drum speed control system of the present invention;

FIG. 2 is a schematic diagram of the system components of the high moisture content corn harvesting drum speed control system of the present invention;

FIG. 3 is a schematic diagram of the system installation location of the high moisture content corn harvesting drum speed control system of the present invention;

FIG. 4 is a schematic structural view of the console box assembly 17;

FIG. 5 is a control flow chart of the method for controlling the rotation speed of the high moisture content corn harvesting drum according to the present invention.

Wherein the reference numerals are:

1 entrainment loss sensor 2 vehicle speed sensor

3 broken sensor of 4 seed grains of cylinder rotational speed sensor

5 Key sheet 6 operating handle

7 display 8 engine

9 measurement transmitter 10 main controller

11 hydraulic actuator 12 operating speed control electro-hydraulic proportional valve

13 working speed control variable pump 14 working speed control hydraulic motor

15-switch electromagnetic valve 16 stepless speed change wheel

17 18 bract discharge ports of handrail case assembly

19 gear box 20 grain conveying auger

21 roller

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

The corn harvester comprises a cab, an engine 8, a gearbox 19, a grain conveying auger 20 and a roller 21.

As shown in figure 1, the high-moisture-content corn harvesting roller rotating speed control system provided by the invention adopts a CAN bus to collect and transmit data, so that the reliability and safety of data transmission are improved, and the CAN network is provided with 6 nodes which are respectively: a main controller 10, a display 7, a joystick 6, a keypad 5, a grain break sensor 4, and a motor 8.

The main controller 10 is used for completing basic control of the corn harvester on/off, walking, steering and the like, and automatically controlling the rotating speed of the roller, the speed of the vehicle and the like. The display 7 is used for parameter setting, data storage and displaying information such as operation parameters, conventional vehicle electricity, fault diagnosis and alarm; the operating handle 6 is used for manual adjustment of vehicle speed; the key board 5 is used for selecting manual and automatic mode selection, and manual control of working components such as a roller and the like; the grain crushing sensor 4 acquires grain crushing information through images and is used for detecting the grain crushing rate of the harvested grains; the engine 8 control module provides engine speed signals, engine working state information, engine fault detection and alarm.

As shown in figures 2 and 3, the high-moisture-content corn harvesting roller rotating speed control system comprises a CAN bus, a measuring and transmitting device 9, a main controller 10, a hydraulic actuating mechanism 11, a handrail box assembly 17 and a display 7.

The hydraulic actuating mechanism 11 comprises a working speed control electro-hydraulic proportional valve 12, a working speed control variable pump 13, a working speed control hydraulic motor 14, an on-off electromagnetic valve 15 and a stepless speed change wheel 16; the work speed control variable pump 13 is connected to the work speed control electro-hydraulic proportional valve 12 and the work speed control hydraulic motor 14, respectively, and the on-off solenoid valve 15 is connected to the continuously variable transmission wheel 16.

The working speed control hydraulic motor 14 is connected with a gearbox 19 of the corn harvester and is used for controlling the output rotating speed of the gearbox 19. The operation speed control electro-hydraulic proportional valve 12 is connected with a pulse signal output port of the main controller 10; the work speed control electro-hydraulic proportional valve 12 changes the flow of the work speed control variable pump 13 according to a current signal sent by the main controller 10, so that the rotating speed of the work speed control hydraulic motor 14 is changed, and the control of the vehicle speed is realized.

The switching electromagnetic valve 15 is connected with a pulse signal output port of the main controller 10; the switching solenoid valve 15 determines the switching period of the switching solenoid valve 15 according to the control signal sent from the main controller 10, thereby controlling the increase and decrease of the diameter of the continuously variable transmission wheel 16, thereby achieving the change of the rotational speed of the drum.

The main controller 10 is installed under the front passenger seat; the armrest box assembly 17 and the display 7 are arranged on the right side of the cab, and operation of a driver is facilitated. As shown in fig. 4, the console box assembly 17 includes a key sheet 5 and a manipulation handle 6.

The measuring and transmitting device 9 comprises an entrainment loss sensor 1, a vehicle speed sensor 2, a roller rotating speed sensor 3 and a kernel crushing sensor 4. The entrainment loss sensor 1 is arranged at a bract discharge port 18 at the rear part of the tail sieve of the corn harvester and is used for collecting the current entrainment loss rate information of the corn harvester; the vehicle speed sensor 2 is arranged on the gearbox 19 and used for collecting vehicle speed information; the drum rotating speed sensor 3 is arranged on a rotating shaft of the drum 21 and used for collecting the rotating speed of the drum 21; the grain breakage rate sensor 4 is installed at the tail end of a grain conveying auger 20 in the granary and used for acquiring grain breakage information through images and obtaining the grain breakage rate in the granary.

The entrainment loss sensor 1, the vehicle speed sensor 2 and the roller rotating speed sensor 3 are all connected and communicated with a pulse input port of the main controller 10; the grain crushing sensor 4, the key board 5, the control handle 6, the display 7 and the engine 8 are all connected and communicated with a CAN communication port of the main controller 10 through a CAN bus.

The main controller 10 acquires the rotating speed information of the engine 8 through the CAN bus, and judges whether the current rotating speed of the engine meets the corn harvesting operation condition; the main controller 10 obtains the operation instructions of the key board 5 and the control handle 6 through the CAN bus, and performs mode selection and roller rotation speed control; the main controller 10 acquires the grain breakage rate information acquired by the grain breakage sensor 4 through the CAN bus; the main controller 10 acquires entrainment loss rate information acquired by the entrainment loss sensor 1, vehicle speed information acquired by the vehicle speed sensor 2 and rotating speed information of the roller 21 acquired by the roller rotating speed sensor 3 through the pulse input port; the main controller 10 sends the acquired information to the display 7 for display.

The invention discloses a method for controlling the rotating speed of a high-moisture-content corn harvesting roller, which comprises the following steps of:

s1 seed kernel disruption and entrainment loss control

Comparing the grain breakage rate and the entrainment loss rate acquired by the grain breakage sensor 4 and the entrainment loss sensor 1 with the grain breakage rate and the entrainment loss rate preset by the system to obtain a target roller rotating speed, and changing the grain breakage rate and the entrainment loss rate by adjusting the roller rotating speed;

s2 control of drum rotation speed

Judging whether the engine has backup power or not through the reduction of the rotating speed of the engine, if the reduction of the rotating speed of the engine does not reach a preset value, judging whether the stepless speed changing wheel 16 reaches an adjustment limit, if the stepless speed changing wheel 16 does not reach the adjustment limit, controlling the rotating speed of the roller to reach a target rotating speed of the roller obtained by S1 seed crushing and entrainment loss control through adjusting the stepless speed changing wheel 16, and in the process, acquiring rotating speed information of the roller in real time by the roller rotating speed sensor 3 and comparing the rotating speed information with the target rotating speed of the roller;

s3, vehicle speed control

In the automatic harvesting mode, if the reduction of the rotating speed of the engine is detected to reach a preset value, the engine backup power is judged to be insufficient, at the moment, an alarm is sent out through the display 7, or the infinitely variable speed wheel 16 reaches an adjusting limit, a target vehicle speed is obtained through calculation of the main controller 10, the main controller 10 sends out a control instruction to adjust the vehicle speed to the target vehicle speed, and in the process, the vehicle speed sensor 2 detects the operation speed in real time and compares the operation speed with the target vehicle speed.

As shown in fig. 5, the working process of the present invention is as follows:

the main controller 10 of the high-moisture-content corn harvesting roller rotating speed control system acquires rotating speed information of an engine 8 through a CAN bus, and judges whether the current rotating speed of the engine meets the corn harvesting operation condition; if the engine speed reaches a predetermined value, manual or automatic mode selection is performed by the key sheet 5. In the manual mode, the control system can directly adjust the diameter of the stepless speed change wheel 16 through the key board 5, so as to achieve the purpose of manually adjusting the rotating speed of the roller. In the automatic mode, the control system can automatically set the optimal target roller rotating speed according to the current harvesting condition of the corn crops, the preset seed crushing rate and the preset entrainment loss rate, and automatically adjust the roller rotating speed to realize the self-adaptive adjustment of the roller rotating speed in the harvesting process.

After the target roller rotating speed is determined, the roller rotating speed sensor 3 collects roller rotating speed information in real time and sends the roller rotating speed information to the main controller 10 to calculate deviation with the target roller rotating speed value, the main controller 10 judges whether the engine rotating speed reduction amount reaches a preset value or not and whether the infinitely variable transmission wheel reaches an adjustment limit or not, if the engine rotating speed reduction amount and the infinitely variable transmission wheel do not meet the adjustment limit, the rotating speed of the roller is changed by adjusting the diameter of the infinitely variable transmission wheel 16, if any one of the conditions of the engine rotating speed reduction amount and the infinitely variable transmission wheel meets the condition. Wherein an alarm is given via the display 7 if the engine is turned down to a predetermined value.

The driver can select a driving mode and an operation mode through the key sheet 5, and in the operation mode, a manual mode and an automatic mode can be selected through the key sheet 5. Touching the keypad 5 or the joystick 6 during automatic control will cause the control system to exit the automatic control mode and return to manual control.