CN114342665A - Reel rotating speed adjusting device for reducing harvesting loss and control method - Google Patents

Abstract

The invention provides a reel speed adjusting device and a control method for reducing harvesting loss. The reel is provided with a reel adjusting device, and further comprises a sensor, a hydraulic motor, a stepping motor, a controller and a height. adjustment device; the hydraulic motor is used to drive the reel turntable to rotate; the height adjustment device is used to adjust the height of the reel; the controller determines the reel speed ratio, and the controller judges whether or not according to the reel speed ratio It is necessary to adjust the radius of the reel or/and the height of the header or/and the installation height of the reel; the controller determines the target value of the reel speed according to the forward speed of the header; the controller determines the target value of the reel according to the target value and the reel The speed difference of the actual speed is obtained through the fuzzy PID algorithm to obtain the output, and the controller controls the proportional solenoid valve to adjust the opening according to the output. The invention realizes the matching of the rotating speed of the reel with the forward speed when different crops are harvested, reduces the failure rate of the harvester, and significantly reduces the loss of the header.

Description

A reel speed adjusting device and control method for reducing harvest loss

technical field

The invention relates to the technical field of agricultural production, in particular to a reel rotational speed adjusting device and a control method for reducing harvest losses.

Background technique

As an important part of the header, the reel speed is too high will increase the impact on the grain, the speed is too slow, the plant will be pushed down by the cutter, increasing the loss of grain.

The prior art has the matching of reel speed and forward speed, but it does not take into account the different effects of different header heights or different crops on the reel speed ratio, resulting in inaccurate adjustment and inability to completely solve the problem of large losses.

SUMMARY OF THE INVENTION

Aiming at the deficiencies in the prior art, the present invention provides a reel rotational speed adjusting device and a control method for reducing harvest losses, so as to realize the matching of the reel rotational speed and the forward speed when different crops are harvested, which is a combine harvester. The stability control lays the foundation, reduces the failure rate of the harvester, significantly reduces the loss of the header, and reduces the labor intensity.

The present invention achieves the above technical purpose through the following technical means.

A reel speed adjusting device for reducing harvest losses, a reel is installed on a header, and a reel adjusting device is provided on the reel, and the reel adjusting device is used to adjust the reel Wheel diameter, also including sensors, hydraulic motors, stepper motors, controllers and height adjustment devices;

The hydraulic motor is used to drive the reel turntable to rotate; the stepper motor is used to drive the reel adjustment device; the height adjustment device is used to adjust the height of the reel;

at least one sensor located at the reel turntable for detecting the rotational speed of the reel turntable, the installation height of the reel and the diameter of the reel;

at least one sensor is located at the header for detecting the height of the header and the height of the harvested crop;

The controller determines the reel speed ratio λ according to the height of the harvested crop collected, the reel installation height, the reel radius and the header height, and the controller judges whether the reel needs to be adjusted according to the reel speed ratio λ. Wheel radius or/and header height or/and reel installation height; the controller determines the target value of the reel speed according to the forward speed of the header;

The controller obtains the output through the fuzzy PID algorithm according to the speed difference between the target value and the actual speed of the reel, and the controller controls the proportional solenoid valve to adjust the opening according to the output to control the output speed of the hydraulic motor.

Further, a Hall sensor is installed at the turntable of the reel to detect the rotational speed of the reel turntable; a first displacement sensor is installed on the reel to detect the installation height H of the reel; A second displacement sensor is installed on the reel to detect the reel radius R; a third displacement sensor is installed on the header to detect the height h of the header; an infrared sensor is installed on the header to detect harvesting The height L of the crop.

Further, the controller determines the reel speed ratio λ according to the height of the harvested crops collected, the installation height of the reel, the radius of the reel and the height of the header, specifically:

in:

R is the radius of the reel;

H is the installation height of the reel;

h is the height of the header;

L is the height of the harvested crop.

A control method of a reel speed adjusting device for reducing harvest losses, comprising the steps of:

According to the harvested crops, the standard reel speed ratio λ ₀ is in the range of [λ _min , λ _max ];

According to the height L of the harvested crops collected, the installation height H of the reel, the radius R of the reel and the height h of the header, determine the reel speed ratio λ, specifically:

则通过调节拨禾轮直径或/和割台高度或/和拨禾轮安装高度使拨禾速比λ∈[λ_min,λ_max]；Wo speed ratio

Then by adjusting the diameter of the reel or/and the height of the header or/and the installation height of the reel, the reel speed ratio λ∈[ _λmin , _λmax ];

When λ∈[λ _min ,λ _max ], the target value of the reel rotation speed is determined according to the forward speed vm of the header, specifically:

The forward speed vm of the header is obtained by the speed sensor;

According to the speed difference between the target value of the speed of the reel and the actual speed of the reel, the output is obtained through the fuzzy PID algorithm, and the proportional solenoid valve is controlled according to the output to adjust the opening, and the output speed of the hydraulic motor is controlled, so that the actual speed of the reel can be adjusted. The speed is approaching the target value of the reel speed.

优先通过驱动拨禾轮调节装置调节拨禾轮半径，若调节拨禾轮直径后的拨禾速比

则调节割台高度或/和拨禾轮安装高度使拨禾速比λ∈[λ_min,λ_max]。Further, if the Wo speed ratio

It is preferred to adjust the radius of the reel by driving the reel adjusting device. If the reel diameter is adjusted, the reel speed ratio

Then adjust the height of the header or/and the installation height of the reel to make the reel speed ratio λ∈[ _λmin , _λmax ].

Further, if the reel speed ratio λ < λ _min , the reel radius is increased by driving the reel adjusting device; if the reel speed ratio λ > λ _max , the reel is first reduced by driving the reel adjusting device. radius, then by increasing header height or/and reel installation height.

Further, the standard grain speed ratio λ 0 ∈ [1.3, 1.5] determined according to rice; the standard grain speed ratio λ ₀ ∈ [1.4, 1.8] determined according to rapeseed _{; the standard grain speed ratio λ 0 ∈} determined according to millet [1.5, 1.7].

The beneficial effects of the present invention are:

The reel speed adjusting device and control method for reducing harvest loss of the present invention adopts fuzzy PID control to improve accuracy and response speed, and judge whether the reel speed ratio is in a suitable range, and if it is not in the appropriate range, adjust the reel speed ratio. After the speed ratio is in the appropriate range, it is accurately matched according to the mathematical model, which not only ensures the matching adjustment of the reel speed and the forward speed of the harvester, but also ensures that the reel speed ratio is in the appropriate range, so as to realize the difference between the reel speed and the speed of the reel when different crops are harvested. The forward speed is matched, which reduces the harvest loss, improves the harvest quality and reduces the labor intensity.

Description of drawings

FIG. 1 is a schematic diagram of a reel speed adjusting device for reducing harvest loss according to the present invention.

FIG. 2 is a control principle diagram of the reel speed adjusting device for reducing harvest loss according to the present invention.

Fig. 3 is a flow chart of the control method of the reel rotational speed adjusting device for reducing harvest loss according to the present invention.

In the picture:

101-hydraulic motor; 102-hall sensor; 103-stepper motor; 104-gear mechanism; 105-second displacement sensor.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", The orientation or positional relationship indicated by "radial", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description , rather than indicating or implying that the indicated device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first", "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

As shown in Figure 1, in the reel speed adjusting device for reducing harvest loss according to the present invention, a reel is installed on the header, and a reel adjusting device is provided on the reel. The reel adjusting device is used to adjust the diameter of the reel. The stepping motor 103 is connected to the reel adjusting device through the gear mechanism 104, and the reel adjusting device is driven by the stepping motor 103; the reel adjusting device is an existing structure, It will not be described in detail. The reel speed adjusting device for reducing harvesting loss according to the present invention further comprises a sensor, a hydraulic motor 101, a controller, a height adjusting device and a reel adjusting device;

The hydraulic motor 101 drives the reel turntable to rotate; the height adjustment device adjusts the height of the reel; a Hall sensor 102 is installed at the turntable of the reel for detecting the rotational speed of the reel turntable; A first displacement sensor is installed on the reel to detect the installation height H of the reel; a second displacement sensor 105 is installed on the reel to detect the reel radius R; a third displacement is installed on the header The sensor is used to detect the height h of the header; the infrared sensor is installed on the header to detect the height L of the harvested crop.

The controller determines the reel speed ratio λ according to the height of the harvested crop collected, the reel installation height, the reel radius and the header height, and the controller judges whether the reel needs to be adjusted according to the reel speed ratio λ. Wheel radius or/and header height or/and reel installation height; the controller determines the target value of the reel speed according to the forward speed of the header;

The controller obtains the output through the fuzzy PID algorithm according to the speed difference between the target value and the actual speed of the reel. The controller controls the proportional solenoid valve to adjust the opening according to the output to control the output speed of the hydraulic motor 101 .

As shown in FIG. 2 and FIG. 3 , the control method of the reel rotational speed adjusting device for reducing harvest loss according to the present invention includes the following steps:

The standard grain-removing speed ratio λ ₀ is determined according to the harvested crops in the range [λ _min , λ _max ]; the harvested crops can be obtained through experiments to obtain the corresponding grain-removing speed ratio range of the harvested crops, such as the standard grain-removing speed ratio λ ₀ determined according to rice ∈ [1.3, 1.5], the standard reel speed ratio λ _{0 ∈ [1.4, 1.8] determined according to rape, and the standard reel speed ratio λ 0 ∈} [1.5, 1.7] determined according to millet.

The controller determines the reel speed ratio λ according to the collected harvested crop height L, reel installation height H, reel radius R and header height h, specifically:

则优先通过驱动拨禾轮调节装置调节拨禾轮半径，这是由于拨禾轮半径大小对损失率的影响最小。若调节拨禾轮直径后的拨禾速比

则调节割台高度或/和拨禾轮安装高度使拨禾速比λ∈[λ_min,λ_max]；具体如下：Wo speed ratio

Then, the reel radius is preferably adjusted by driving the reel adjustment device, because the influence of the size of the reel radius on the loss rate is the least. If the reel speed ratio after adjusting the diameter of the reel

Then adjust the height of the header or/and the installation height of the reel to make the reel speed ratio λ∈[ _λmin , _λmax ]; the details are as follows:

If the reel speed ratio λ < λ _min , increase the reel radius by driving the reel adjusting device; if the reel speed ratio λ > λ _max , first reduce the reel radius by driving the reel adjusting device, Again by increasing header height or/and reel installation height.

When λ∈[λ _min ,θ _max ], the target value of the reel speed is determined according to the forward speed vm of the header, specifically:

The forward speed vm of the header is obtained by the speed sensor;

According to the speed difference between the target value of the speed of the reel and the actual speed of the reel, the output is obtained through the fuzzy PID algorithm, and the proportional solenoid valve is controlled according to the output to adjust the opening, and the output speed of the hydraulic motor 101 is controlled, so as to make the reel The actual speed is close to the target value of the reel speed.

Take rice as an example below:

The standard grain speed ratio θ ₀ ∈ [1.3, 1.5] determined according to rice;

要求可知，R的变化范围为：

控制器驱动步进电机103带动齿轮机构104改变拨禾轮半径 R，使拨禾速比进入到合适区间。If the reel speed ratio λ obtained by the controller is less than 1.3, it is preferred to increase the reel speed ratio by increasing the reel radius R, and at the same time according to the installation height of the reel

It can be seen from the requirements that the variation range of R is:

The controller drives the stepping motor 103 to drive the gear mechanism 104 to change the reel radius R, so that the reel speed ratio enters an appropriate range.

If the reel speed ratio λ obtained by the controller is greater than 1.5, the reel radius R can be appropriately reduced under the requirement of the installation height to obtain a suitable reel speed ratio. The above is only the method of changing the reel radius R. To change the reel speed ratio, the reel speed ratio can also be adjusted by fine-tuning the height h of the header and the installation height H of the reel.

If the reel speed ratio is in the appropriate range of the crop, that is, λ is between 1.3 and 1.5, the current reel speed is obtained by collecting the signal of the Hall sensor 102 by the controller, and the forward speed Vm of the harvester is also collected by the speed sensor. The speed sensor is mounted on the drive wheel of the track wheel.

计算得到拨禾轮目标转速，根据拨禾轮转速的目标值与拨禾轮实际转速的转速差，通过模糊PID算法得出输出量，根据输出量控制比例电磁阀调节开度，控制液压马达101输出转速，从而使拨禾轮实际转速接近拨禾轮转速的目标值。所述比例电磁阀驱动液压马达101带动拨禾轮达到目标转速实现与收获机前进速度的匹配。所述控制器根据收获机前进速度的改变实时调节拨禾轮转速，形成一个自适应的闭环控制系统。controller according to

Calculate the target speed of the reel, according to the speed difference between the target value of the reel speed and the actual speed of the reel, obtain the output through the fuzzy PID algorithm, control the proportional solenoid valve according to the output to adjust the opening, and control the hydraulic motor 101 Output speed so that the actual speed of the reel is close to the target value of the speed of the reel. The proportional solenoid valve drives the hydraulic motor 101 to drive the reel to reach the target rotational speed to match the forward speed of the harvester. The controller adjusts the speed of the reel in real time according to the change of the forward speed of the harvester, forming an adaptive closed-loop control system.

The invention discloses a control method of a reel rotational speed adjusting device for reducing harvesting losses. When harvesting, a driver can select a crop type to be harvested on a display screen and automatically match the reel speed ratio range suitable for the crop. If the reel speed ratio is not suitable, enter the appropriate range by adjustment, change the diameter R by changing the diameter of the reel, or change the installation height H or the height h of the header to make the reel speed ratio reach the appropriate range, and then according to the calculation and forward speed The matching reel speed is calculated by the fuzzy PID algorithm to calculate the output control amount, and the proportional solenoid valve is driven to drive the hydraulic motor 101 to adjust the reel speed, and the forward speed is adjusted by the stepper motor to achieve the matching of the two. Under the matching adjustment of the rotating speed and the forward speed, the reel speed ratio is also in a suitable range when the crops are harvested, the harvest loss is reduced, and the harvest quality is improved.

It should be understood that although this specification is described according to various embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions for the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Changes should all be included within the protection scope of the present invention.

Claims (7)

1. A reel rotating speed adjusting device for reducing harvesting loss is characterized by further comprising a sensor, a hydraulic motor (101), a stepping motor (103), a controller and a height adjusting device, wherein the reel is arranged on a header and is provided with a reel adjusting device for adjusting the diameter of the reel;

the hydraulic motor (101) is used for driving the reel turntable to rotate; the stepping motor (103) is used for driving the reel adjusting device; the height adjusting device is used for adjusting the height of the reel;

the at least one sensor is positioned at the reel turntable and used for detecting the rotating speed of the reel turntable, the mounting height of the reel and the diameter of the reel;

at least one sensor is located at the header for detecting a header height and a height of the harvested crop;

the controller determines a reel speed ratio lambda according to the collected height of the harvested crops, the reel mounting height, the reel radius and the header height, and judges whether the reel radius or/and the header height or/and the reel mounting height need to be adjusted or not according to the reel speed ratio lambda; the controller determines a target value of the rotating speed of the reel according to the advancing speed of the header;

the controller obtains an output quantity through a fuzzy PID algorithm according to the rotating speed difference between the target value and the actual rotating speed of the reel, and controls the proportional electromagnetic valve to regulate the opening according to the output quantity so as to control the output rotating speed of the hydraulic motor (101).

2. The device for regulating the rotation speed of a reel for reducing harvest loss according to claim 1, characterized in that a hall sensor (102) is mounted at the turntable of the reel for detecting the rotation speed of the turntable of the reel; a first displacement sensor is arranged on the reel and used for detecting the mounting height H of the reel; a second displacement sensor is arranged on the reel and used for detecting the radius R of the reel; a third displacement sensor is arranged on the header and used for detecting the height h of the header; and an infrared sensor is arranged on the header and used for detecting the height L of the harvested crops.

3. The reel speed adjusting device for reducing harvest loss according to claim 1, wherein the controller determines a reel speed ratio λ according to the collected height of the harvested crops, the reel mounting height, the reel radius and the header height, and specifically:

wherein:

r is the radius of the reel;

h is the mounting height of the reel;

h is the header height;

l is the height of the harvested crop.

4. A control method of a reel speed regulating device for reducing harvest loss according to claim 1, characterized by comprising the steps of:

setting speed ratio lambda according to crop harvest determination standard₀In the range of [ lambda ]_min,λ_max]；

According to the collected height L of the harvested crops, the mounting height H of the reel, the radius R of the reel and the height H of the header, the reel speed ratio lambda is determined, and the method specifically comprises the following steps:

speed ratio of reel

The grain pulling speed ratio lambda epsilon [ lambda epsilon ] is realized by adjusting the diameter of the grain pulling wheel or/and the height of the cutting table or/and the installation height of the grain pulling wheel_min,λ_max]；

When λ ∈ [ ]_min,λ_max]During the process, the target value of the rotating speed of the reel is determined according to the advancing speed vm of the cutting table, and the method specifically comprises the following steps:

the header advancing speed vm is obtained through a speed sensor;

according to the rotation speed difference between the target value of the rotation speed of the reel and the actual rotation speed of the reel, the output quantity is obtained through a fuzzy PID algorithm, the proportional electromagnetic valve is controlled according to the output quantity to adjust the opening, and the output rotation speed of the hydraulic motor (101) is controlled, so that the actual rotation speed of the reel is close to the target value of the rotation speed of the reel.

5. The method for subtracting of claim 4The control method of the rotating speed adjusting device of the reel with small harvest loss is characterized in that if the speed ratio of the reel is higher than that of the reel

The radius of the reel is preferentially adjusted by driving the reel adjusting device, and the reel speed ratio is adjusted after the diameter of the reel is adjusted

Then the height of the cutting table or/and the installation height of the reel are adjusted to ensure that the reel speed ratio is lambda epsilon [ lambda ]_min,λ_max]。

6. The method as claimed in claim 4, wherein the speed ratio λ < λ is selected from the group consisting of_minWhen the reel is used, the reel radius is increased by driving the reel adjusting device; if the speed ratio of standing grain pulling is more than lambda_maxWhen the cutting table is used, the radius of the reel is reduced by driving the reel adjusting device, and then the height of the cutting table or/and the installation height of the reel are increased.

7. Method for controlling a reel speed regulation device for reducing harvest losses according to claim 4, characterized in that the standard reel speed ratio λ determined according to the rice₀∈[1.3,1.5](ii) a Standard standing grain-pulling speed ratio lambda determined according to rape₀∈[1.4,1.8](ii) a Standard standing grain-pulling speed ratio lambda determined according to millet₀∈[1.5,1.7]。

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