阅读说明：本技术 一种谷物收获机智能调节系统及其控制方法 (Intelligent adjusting system of grain harvester and control method thereof ) 是由 耿振科 魏本同 李素霞 谢青臣 于 2019-11-29 设计创作，主要内容包括：本发明涉及一种谷物收获机智能调节系统及控制方法,AI控制单元根据粮仓摄像头、升运器摄像头获取的图像信息,计算粮食含杂率和破碎率；当含杂率和破碎率超过设定的阈值时,判断所需匹配的筛片开度、凹板间隙、滚筒转速、风机转速、拨禾轮转速、作业速度数值,并将上述所需匹配数值传送至整车控制单元；整车控制单元相应调节筛片开度、凹板间隙、滚筒转速、风机转速、拨禾轮转速、作业速度,以达到所需的匹配数值。本发明结构简单、操作方便,有效保证收获机的作业质量和效率。(The invention relates to an intelligent adjusting system and a control method of a grain harvester.A grain impurity rate and a breakage rate are calculated by an AI control unit according to image information obtained by a granary camera and an elevator camera; when the impurity rate and the crushing rate exceed set thresholds, judging the numerical values of the opening degree of the sieve sheet, the gap of the concave plate, the rotating speed of the roller, the rotating speed of the fan, the rotating speed of the reel and the operating speed which need to be matched, and transmitting the numerical values which need to be matched to a whole vehicle control unit; the whole vehicle control unit correspondingly adjusts the opening of the sieve sheet, the gap of the concave plate, the rotating speed of the roller, the rotating speed of the fan, the rotating speed of the reel and the operating speed so as to achieve the required matching numerical value. The invention has simple structure and convenient operation, and effectively ensures the operation quality and efficiency of the harvester.)

1. The utility model provides a grain harvester intelligence governing system, is including setting up AI the control unit and the detecting element on the harvester, and the information that AI the control unit received and the analysis and processing detecting element detected, the detecting element includes cereal seed grain detecting element, harvester cylinder rotational speed detecting element, harvester sieve piece aperture detecting element and harvester intaglio clearance detecting element.

2. The grain harvester intelligent regulation system of claim 1, wherein: the grain kernel detection unit comprises a plurality of kernel image acquisition elements for acquiring image information of kernels in the granary, the signal output end of each image acquisition element is connected to the AI control unit, and the AI control unit judges the impurity content and the breakage rate of the kernels according to the image information.

3. The grain harvester intelligent regulation system of claim 1, wherein: the drum rotation speed detection unit comprises a first sensor mounted on the drum; the sieve sheet opening degree detection unit comprises a second sensor arranged on the sieve sheet; the concave plate gap detection unit comprises a third sensor installed on the concave plate;

the signal output ends of the first sensor, the second sensor and the third sensor are connected to a whole vehicle control unit of the harvester, and the whole vehicle control unit is in communication connection with the AI control unit;

the signal output end of the whole vehicle control unit is respectively connected with the threshing cylinder speed regulation proportional electromagnetic valve, the concave plate gap regulation motor control unit and the sieve sheet regulation motor control unit.

4. The grain harvester intelligent regulation system of claim 1, wherein: the harvester fan speed detection device is characterized by further comprising a harvester fan speed detection unit, wherein the fan speed detection unit comprises a fourth sensor which is arranged on the fan and used for detecting the fan speed, the signal output end of the fourth sensor is connected with the whole vehicle control unit of the harvester, and the signal output end of the whole vehicle control unit is connected with a fan speed regulation proportional electromagnetic valve.

5. The grain harvester intelligent regulation system of claim 1, wherein: the harvester reel rotation speed detection unit comprises a fifth sensor installed on a reel shaft, the signal output end of the fifth sensor is connected to the whole harvester control unit, and the signal output end of the whole harvester control unit is connected with the motor control unit of the reel.

6. The grain harvester intelligent regulation system of claim 1, wherein: the vehicle speed detection unit comprises a sixth sensor installed on the gearbox; the signal output end of the sixth sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a vehicle speed control proportional solenoid valve.

7. The grain harvester intelligent regulation system of claim 1, wherein: the grain kernel detection unit comprises an elevator camera, and the elevator camera is used for shooting an impurity rate and breakage rate image of grains in the elevator; and the signal output end of the elevator camera is connected with the AI control unit.

8. The intelligent grain harvester adjustment system of any one of claims 1 to 7, further comprising a crop morphology detection unit comprising a front-facing camera disposed at a front end of the harvester; the header height detection unit comprises a seventh sensor arranged on the header; the signal output end of the front camera is connected with the AI control unit; the signal output end of the seventh sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a header height-adjusting proportional electromagnetic valve.

9. The grain harvester intelligent adjustment system of claim 8, further comprising a steering detection unit comprising an eighth sensor for detecting a harvester steering angle; and the signal output end of the eighth sensor is connected with the whole vehicle control unit, and the signal output end of the whole vehicle control unit is connected with the integral electromagnetic valve group for controlling the steering of the harvester.

10. The intelligent grain harvester regulating system of claim 9, further comprising a positioning detection unit, wherein the positioning detection unit comprises a GPS positioning module, and a signal output end of the GPS positioning module is connected with the AI control unit.

11. A control method of an intelligent adjusting system of a grain harvester at least comprises the following steps:

s1, the grain seed detection unit collects the image information of the seeds in the granary and feeds the image information back to the AI control unit;

s2: the AI control unit analyzes the acquired image information and calculates the impurity content and the breakage rate of grains in the granary in real time;

s3: the AI control unit compares the real-time calculation result with the preset parameter ranges of impurity rate and breakage rate of grains; when the real-time calculation result is not within the range of the preset parameters, the AI control system judges the matching numerical values of the rotating speed of the roller, the opening degree of the sieve sheet and the gap of the concave plate in the current state and feeds the required matching numerical values back to the whole vehicle control unit of the harvester;

s4: the whole vehicle control unit correspondingly adjusts the rotating speed of the roller, the opening degree of the sieve sheet and the intaglio gap so as to achieve the required matching numerical value.

S5: repeating steps S1-S4 until the harvester stops working.

12. Control method according to claim 11, characterized in that the AI control unit is also adjustably controllable according to lodging, denseness parameters of the crops, comprising at least the following steps:

s1', the front camera collects the lodging and dense image information of the crop and feeds back to the AI control unit;

s2': the AI control unit analyzes the acquired image information and calculates the values of crop lodging and density parameters in real time;

s3': the AI control unit compares the real-time calculation result with a preset crop lodging and dense parameter range; when the real-time calculation result is not in the range of the setting value, the AI control unit judges the matching numerical values of the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle in the current state and feeds the required matching numerical values back to the whole-vehicle control unit of the harvester;

s4': the whole-vehicle control unit correspondingly adjusts the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle;

s5': and repeating the steps S1 '-S4' until the harvester stops working.

13. The control method according to claim 11, characterized in that: the AI control unit can also carry out automatic driving control, calculate a driving path according to the image information acquired by the front camera and the positioning information acquired by the GPS positioning module, transmit the driving path information to the whole vehicle control unit, and correspondingly adjust the operation speed and the steering angle by the whole vehicle control.

Technical Field

The invention relates to an intelligent adjusting system of a grain harvester and a control method thereof.

Background

The harvester often needs trans-regional operation, because the region is different, the soil topography is different, the harvester needs to adjust relevant mechanism to adapt to local topography, and mechanical vehicle needs agricultural machinery user to adjust relevant part manually at present to it properly adjusts to rely on experience, and can not guarantee to adjust back in actual operation and can normally operate, probably appear to influence driving speed, the miscellaneous rate and the crushing rate of seed grain, the feed amount of harvester after adjusting, influences operation quality and operating efficiency greatly.

The prior art most related to the present invention is a patent named as a harvester intelligent adjusting system (patent number: 201310198284.5), which can only prevent the harvester from being blocked by adjusting the torque of a roller during the operation of the harvester, but can not fundamentally ensure the operation quality and efficiency.

Disclosure of Invention

The invention aims to provide an intelligent adjusting system and a control method of a grain harvester, which can effectively ensure the operation quality and efficiency of the harvester.

Based on the same purpose, the invention has two independent technical schemes:

1. the utility model provides a grain harvester intelligence governing system, is including setting up AI the control unit and the detecting element on the harvester, and the information that AI the control unit received and the analysis and processing detecting element detected, the detecting element includes cereal seed grain detecting element, harvester cylinder rotational speed detecting element, harvester sieve piece aperture detecting element and harvester intaglio clearance detecting element.

Furthermore, the grain seed detection unit comprises a plurality of seed image acquisition elements for acquiring image information of the seeds in the granary, the signal output end of each image acquisition element is connected to the AI control unit, and the AI control unit judges the impurity content and the breakage rate of the seeds according to the image information.

Further, the drum rotation speed detecting unit includes a first sensor mounted on the drum; the sieve sheet opening degree detection unit comprises a second sensor arranged on the sieve sheet; the concave plate gap detection unit comprises a third sensor installed on the concave plate;

the signal output ends of the first sensor, the second sensor and the third sensor are connected to a whole vehicle control unit of the harvester, and the whole vehicle control unit is in communication connection with the AI control unit;

the signal output end of the whole vehicle control unit is respectively connected with the threshing cylinder speed regulation proportional electromagnetic valve, the concave plate gap regulation motor control unit and the sieve sheet regulation motor control unit.

Further, still include harvester fan rotational speed detecting element, fan rotational speed detecting element is including installing the fourth sensor that is used for detecting the fan rotational speed on the fan, the signal output part of fourth sensor is connected in the whole car the control unit of harvester, the signal output part termination of whole car the control unit fan speed governing proportion solenoid valve.

Furthermore, the harvester reel speed detection unit is further included, the reel speed detection unit comprises a fifth sensor installed on a reel shaft, the signal output end of the fifth sensor is connected to the whole harvester control unit, and the signal output end of the whole harvester control unit is connected with the motor control unit of the reel.

Further, the vehicle speed detection unit is further included and comprises a sixth sensor installed on the gearbox; the signal output end of the sixth sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a vehicle speed control proportional solenoid valve.

Further, the grain kernel detection unit comprises an elevator camera, and the elevator camera is used for shooting an impurity rate and breakage rate image of the grains in the elevator; and the signal output end of the elevator camera is connected with the AI control unit.

Further, the device also comprises a crop form detection unit, wherein the crop form detection unit comprises a front camera; the header height detection unit comprises a seventh sensor arranged on the header; the signal output end of the front camera is connected with the AI control unit; the signal output end of the seventh sensor is connected with the whole vehicle control unit; the signal output end of the whole vehicle control unit is connected with a header height-adjusting proportional electromagnetic valve.

Further, the harvester also comprises a steering detection unit, wherein the steering detection unit comprises an eighth sensor for detecting the steering angle of the harvester; and the signal output end of the eighth sensor is connected with the whole vehicle control unit, and the signal output end of the whole vehicle control unit is connected with the integral electromagnetic valve group for controlling the steering of the harvester.

Furthermore, the device also comprises a positioning detection unit, wherein the positioning detection unit comprises a GPS positioning module, and the signal output end of the GPS positioning module is connected with the AI control unit.

2. A control method of an intelligent adjusting system of a grain harvester at least comprises the following steps:

s1, the grain seed detection unit collects the image information of the seeds in the granary and feeds the image information back to the AI control unit;

s2: the AI control unit analyzes the acquired image information and calculates the impurity content and the breakage rate of grains in the granary in real time;

s3: the AI control unit compares the real-time calculation result with the preset parameter ranges of impurity rate and breakage rate of grains; when the real-time calculation result is not in the range of the set value, the AI control system judges the matching numerical values of the rotating speed of the roller, the opening degree of the sieve sheet and the gap of the concave plate in the current state and feeds the required matching numerical values back to the whole vehicle control unit of the harvester;

s4: the whole vehicle control unit correspondingly adjusts the rotating speed of the roller, the opening degree of the sieve sheet and the intaglio gap so as to achieve the required matching numerical value.

S5: repeating steps S1-S4 until the harvester stops working.

Further, the AI control unit can also carry out adjustment control according to lodging and denseness parameters of crops, and at least comprises the following steps:

s1', the front camera collects the lodging and dense image information of the crop and feeds back to the AI control unit;

s2': the AI control unit analyzes the acquired image information and calculates the values of crop lodging and density parameters in real time;

s3': the AI control unit compares the real-time calculation result with a preset crop lodging and dense parameter range; when the real-time calculation result is not in the range of the setting value, the AI control unit judges the matching numerical values of the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle in the current state and feeds the required matching numerical values back to the whole-vehicle control unit of the harvester;

s4': the whole-vehicle control unit correspondingly adjusts the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle;

s5': and repeating the steps S1 '-S4' until the harvester stops working.

Further, the AI control unit can also carry out automatic driving control, calculate the driving path according to the image information acquired by the front camera and the positioning information acquired by the GPS positioning module, transmit the driving path information to the whole vehicle control unit, and correspondingly adjust the operation speed and the steering angle under the control of the whole vehicle.

The invention has the following beneficial effects:

the grain seed detection unit acquires the image information of the seeds in the granary and feeds the image information back to the AI control unit; the AI control unit analyzes the acquired image information and calculates the impurity content and the breakage rate of grains in the granary in real time; the AI control unit compares the real-time calculation result with a preset grain impurity rate and a preset breakage rate range; when the real-time calculation result is not within the range of the preset parameters, the AI control system judges the matching numerical values of the rotating speed of the roller, the opening degree of the sieve sheet and the gap of the concave plate in the current state and feeds the required matching numerical values back to the whole vehicle control unit of the harvester; the whole vehicle control unit correspondingly adjusts the rotating speed of the roller, the opening degree of the sieve sheet and the intaglio gap so as to achieve the required matching numerical value, effectively ensure the operation quality and improve the operation efficiency.

The invention is characterized in that a front-mounted camera acquires lodging and dense image information of crops and feeds the lodging and dense image information back to an AI control unit; the AI control unit analyzes the acquired image information and calculates the values of crop lodging and density parameters in real time; the AI control unit compares the real-time calculation result with a preset crop lodging and dense parameter range; when the real-time calculation result is not in the range of the setting value, the AI control unit judges the matching numerical values of the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle in the current state and feeds the required matching numerical values back to the whole-vehicle control unit of the harvester; the whole-vehicle control unit correspondingly adjusts the rotating speed of the reel, the height of the cutting table, the operation speed and the steering angle so as to achieve the required matching numerical value, further ensure the operation quality and improve the operation efficiency.

The automatic steering control system comprises a steering angle sensor and a GPS positioning module, wherein an AI control unit calculates a driving path according to image information acquired by a front camera and positioning information acquired by the GPS positioning module, the driving path information is transmitted to a whole vehicle control unit, and the whole vehicle controls to correspondingly adjust the operation speed and the steering angle, so that the time and labor are saved, and the operation efficiency is effectively improved.

In conclusion, the harvester has a simple structure and is convenient to operate, a series of problems of influencing operation caused by the fact that each part of the harvester needs to be manually adjusted in the operation process are solved, time and labor cost are saved, and operation efficiency is greatly improved.

Drawings

FIG. 1 is a schematic circuit diagram of the automatic speed control, steering system of the present invention;

FIG. 2 is a schematic diagram of the circuit for automatically adjusting the fragmentation rate and impurity rate of the present invention;

FIG. 3 is a flow chart of a control method of the present invention;

FIG. 4 is a schematic diagram of the arrangement positions of all components of the whole machine.

Detailed Description

The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.