CN106576579B - A kind of unloading electric-control system and self-correction unloading control method - Google Patents
A kind of unloading electric-control system and self-correction unloading control method Download PDFInfo
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- CN106576579B CN106576579B CN201710042085.3A CN201710042085A CN106576579B CN 106576579 B CN106576579 B CN 106576579B CN 201710042085 A CN201710042085 A CN 201710042085A CN 106576579 B CN106576579 B CN 106576579B
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- unloading
- grain
- control unit
- wagon box
- correction
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/1208—Tanks for grain or chaff
- A01D41/1217—Unloading mechanisms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Control And Safety Of Cranes (AREA)
- Threshing Machine Elements (AREA)
Abstract
The invention discloses a kind of unloading electric-control system and self-correction unloading control method, unloading electric-control system includes control unit, unloading handle, automatic unloading button, camera, rotation drive device, lifting drive and screw feeder driving device；Unloading handle and automatic unloading button are electrically connected the signal input part of control unit；The signal input part of the signal output end electrical connection control unit of camera, for shooting the image of grain vehicle and grain face；The signal output end of rotation drive device, lifting drive and screw feeder driving device electrical connection control unit.The present invention can be modified automatically adjustment to unloading grain tube position and unloading speed, efficiently avoid that unloading is poured down or forth and grain face is excessively high pours down or forth for part, and greatly reduce the labor intensity of driver.
Description
Technical field
The present invention relates to unloading technical fields, specifically, being related to a kind of unloading electric-control system and self-correction unloading control
Method.
Background technique
Cropper is that the Main Agricultural of the harvests such as wheat in modern agriculture, rice is mechanical, realize agricultural modernization into
It plays an important role in journey.Existing cropper product configures unloading handle or control stick in bridge or driver's cabin, unloads
Grain handle includes rotating handle and lifting handle, control pedestal rotary oil cylinder and the lifting of unloading grain tube oil cylinder is respectively used to, so as to unload
Grain cylinder reaches suitable position, and the alignment of unloading grain tube grain outlet is made to receive grain wagon box to realize unloading.Existing this unloading mode, is being unloaded
During grain, driver is on bridge or in driver's cabin, in a manner of range estimation, by constantly regulate rotating handle and lifting
Handle reaches suitable position and the unloading into grain wagon box to adjust unloading grain tube.And it is limited to bridge or the driver's cabin visual field, plot
The factors such as flatness and receipts grain vehicle stop position, have following defects that
1, driver cannot hold position and the grain face height of unloading well, it is easy to unloading occur and pour down or forth and local grain
Face excessively high situations such as pouring down or forth.
2, driver needs constantly to manually adjust unloading grain tube rotation and goes up and down to reach better loading effect, greatly increases
The labor intensity of driver, and it is slow to regulate the speed.
Summary of the invention
It can be during unloading to unloading grain tube position the first technical problem to be solved by the present invention is: providing one kind
And unloading speed review one's lessons by oneself the unloading electric-control system of positive justification.
Second technical problem to be solved by this invention is: providing one kind can be during unloading to unloading grain tube position
And unloading speed review one's lessons by oneself the self-correction unloading control method of positive justification.
In order to solve the first technical problem mentioned above, the technical scheme is that
A kind of unloading electric-control system, comprising:
Control unit；
Unloading handle, the unloading handle are electrically connected described control unit, manually adjust mode for starting；
Automatic unloading button, the automatic unloading button is electrically connected described control unit, for starting adjust automatically unloading
Mode；
The signal output end of camera, the camera is electrically connected described control unit, for shooting the image of grain wagon box
And the image of the grain face in the grain wagon box, and captured image information is transmitted to described control unit；
Rotation drive device, the rotation drive device is electrically connected described control unit, for driving unloading grain tube to rotate；
Lifting drive, the lifting drive is electrically connected described control unit, for driving unloading grain tube to go up and down；
Screw feeder driving device, the screw feeder driving device are electrically connected described control unit, for driving conveying screw feeder rotation.
It preferably, further include display unit, the display unit and described control unit communicate to connect.
It preferably, further include alarm lamp, the signal output end of the alarm lamp electrical connection described control unit, for prompting
Grain expires state and unloading malfunction.
Preferably, the camera is installed at the grain outlet of unloading grain tube.
It preferably, further include alarm lamp, the signal output end of the alarm lamp electrical connection described control unit, for prompting
Grain expires state and unloading malfunction.
Preferably, the display unit is liquid crystal instrument disk.
To solve above-mentioned second technical problem, the technical scheme is that
A kind of self-correction unloading control method, using above-mentioned discharging electric-control system, which is characterized in that including following step
It is rapid:
A, the internal parameter control of described control unit is preset, the internal parameter control includes self-correction stepping
Value, grain expires reserved value and grain expires alarming value；
B, unloading handle is manipulated, unloading electric-control system is in and manually adjusts state, manually controls the grain outlet for making unloading grain tube
The corresponding top for being located at grain wagon box；
C, the automatic unloading button is pressed, control unit receives the signal of the automatic unloading button, and confirmation enters certainly
Dynamic adjustment unloading mode；Control unit starts screw feeder driving device automatically, makes to convey screw feeder rotation with the unloading into grain wagon box；
D, during unloading, the image of grain face in the image and the grain wagon box of the camera shooting grain wagon box, and
Captured image information is transmitted to described control unit, described control unit is built by the position and color on four side of grain wagon box
The image data base of vertical grain wagon box, described control unit establish the figure of grain face by unloading position, grain face size and grain face color
As database, during unloading, point sampling, described control unit will sample the grain face obtained to the camera in different times
Image data is compared with grain wagon box image data, determines the distance between the upper bucket side of grain face and grain wagon box；
When the grain face of different location in control unit judgement grain wagon box is different from the distance between upper bucket side, show grain vehicle
Grain face in bucket is uneven, and control unit control rotation drive device drives unloading grain tube to the lower position of grain face by automatically stepping value
It is gradually displaced, and automatically controls lifting drive, the automatic height for correcting unloading grain tube；
When the grain that the grain face of different location in control unit judgement grain wagon box reaches setting expires reserved value, screw feeder is closed
Driving device stops unloading.
Preferably, it when control unit determines that grain face reaches grain and expire alarming value in grain wagon box, prompts to alarm.
Preferably, in the step d, control unit passes through camera during carrying out reviewing one's lessons by oneself positive justification to unloading grain tube
Acquire grain wagon box in grain face, four side of wagon box, driver's cabin and periphery barrier information, control current unloading grain tube and be in security activity
In range.
Preferably, the internal parameter control of described control unit and described control unit external information collected are described
Real-time display on display unit.
Preferably, in the step a, the internal parameter control is set by the display unit.
After above-mentioned technical proposal, the beneficial effects of the present invention are:
Camera shooting is arranged in unloading electric-control system and self-correction unloading control method of the invention at the grain outlet of discharge tube
Head acquires the information of unloading handle and automatic unloading button by control unit, into the mode that manually adjusts or adjust automatically
Unloading mode.Under manual adjustment mode, control unit directly drives lifting drive according to the information of unloading handle to control
Unloading grain tube lifting directly drives unloading grain tube steer-drive to control unloading grain tube steering.Automatic unloading button is pressed at this time, it will not
It enables camera image acquisition and enters automatic adjustment unloading mode.And when the grain outlet pair by manually adjusting adjustment unloading grain tube
After the top of grain wagon box should being located at, when pressing the automatic automatic unloading adjustment modes of unloading button triggering, system is adopted by camera
Collect the information in grain wagon box including grain face, four side of wagon box, driver's cabin and periphery barrier etc., is reviewed one's lessons by oneself according to what control unit saved
The parameters such as positive step value, alarming value and image sampling value, it is ensured that current unloading grain tube is within the scope of security activity, and control unit will
The grain face image data that sampling obtains is compared with grain wagon box image data, is determined between grain face and the upper bucket side of grain wagon box
Distance, and unloading grain tube height, left-right position and unloading speed are corrected by range information automatically, it can be in grain wagon box grain Man Shiti
Show alarm and be automatically stopped unloading, and starts the functions such as safeguard protection and alarm during reviewing one's lessons by oneself positive justification unloading.It can
Unloading grain tube position and unloading speed are carried out reviewing one's lessons by oneself positive justification, realize the automation amendment adjustment of unloading, it is ensured that unloading
Accuracy, efficiently avoid occurring that unloading is poured down or forth and local grain face excessively high situations such as pouring down or forth, unloading effect are good.In addition, this
The agricultural machinery and unloading control method of invention, self-correction tune can be carried out to unloading grain tube position and unloading speed by realizing
It is whole, the automation amendment adjustment of unloading is realized, is regulated the speed fast, without driver again in a manner of range estimation, is constantly adjusted manually
Rotating handle and lifting handle are saved to be adjusted unloading, greatly reduces the labor intensity of driver.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the functional block diagram of the unloading electric-control system in the present invention；
Fig. 2 is the structural schematic diagram using the cropper of unloading electric-control system of the invention；
Fig. 3 is the schematic diagram one that camera corresponds to grain wagon box shooting image；
Fig. 4 is the schematic diagram two that camera corresponds to grain wagon box shooting image；
Fig. 5 is the flow chart of the self-correction unloading control method in the present invention；
In figure: 1, unloading grain tube；2, rotation drive device；3, screw feeder driving device；4, lifting drive；5, alarm lamp；
6, liquid crystal instrument disk；7, camera；8, unloading handle；9, automatic unloading button；10, control unit；11, grain wagon box；111, it struggles against
Side；112, bucket bottom.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Figures 1 and 2, unloading electric-control system of the invention, including control unit 10, unloading handle 8, automatic unloading are pressed
Button 9, camera 7, rotation drive device 2, lifting drive 4, screw feeder driving device 3 and display unit 10.Rotation driving
Motor can be used in device 2 and screw feeder driving device 3.Hydraulic system can be used in lifting drive 4.In the present embodiment, unload automatically
Grain button 9 is set up directly on unloading handle 8, it is of course also possible to be not arranged on unloading handle 8, but is separately independently arranged.
Wherein, unloading handle 8 is electrically connected the signal input part of control unit 10, manually adjusts mode for starting.
Automatic unloading button 9 is electrically connected the signal input part of control unit 10, for starting adjust automatically unloading mode.
Camera 7 is installed at the grain outlet of unloading grain tube 1, the signal output end electrical connection control unit 10 of camera shooting 7
Signal input part, the image of the grain face in image and grain wagon box for shooting grain wagon box, and by captured image information
It is transmitted to control unit 10.
The power control loop of rotation drive device 2 is electrically connected to the signal output end of control unit 10, unloads for driving
The rotation of grain cylinder 1.
The signal output end of the power control loop electrical connection control unit 10 of lifting drive 4.
The signal output end of the power control loop electrical connection control unit 10 of screw feeder driving device 3.
Liquid crystal instrument disk 6 can be used in display unit, communicates to connect with control unit 10.
In order to it is full to loading in grain wagon box when carry out prompt alarm, settable alarm lamp 5 is built-in with alarm in alarm lamp 5
Loudspeaker, alarm lamp 5 are electrically connected the signal output end of control unit 10, when grain is full, by sound-light alarm prompt grain expire state or
Person's unloading malfunction.Certainly, the full alarm lamp of prompt grain and the alarm lamp of prompt failure can be separated and be independently arranged.
Referring to Fig. 3 and Fig. 4, grain wagon box 11 includes bucket side 111 and bucket bottom 112, by camera 7 to the grain in grain wagon box 11
When face is shot, the upper edge distance on bucket side 111 of the grain face apart from grain wagon box 11 is 100 millimeters, with grain face apart from grain wagon box 11
The upper of bucket side 111 compare along distance for 40 millimeters, the grain face size captured by the former is smaller, and color is shallower, with grain wagon box
11 color contrast is bigger.That is, the height of grain face is different, then the cross of different height grain faces captured by camera 7
Will be different to size and shade, and gradual change can be presented with the height of grain face, it is based on such principle, by taking the photograph
The analysis of size, the color of image shot as head etc., the grain face height that can judge to put out cereal in wagon box 11.
Based on the above principles, referring to Fig. 5, the invention discloses a kind of self-correction unloading control method, the self-correction unloadings
Control method apply above-mentioned unloading electric-control system, the self-correction unloading control method the following steps are included:
A, the internal parameter control of control unit 10 is preset, internal parameter control includes that self-correction step value, grain are full
Reserved value and grain expire alarming value, and grain, which expires alarming value, expires reserved value greater than grain, and self-correction step value is that unloading grain tube rotation is adjusted and risen
The adjusted value of every step of falling tone section；
B, unloading handle 8 is manipulated, unloading electric-control system is in and manually adjusts state, and manually controlling makes putting out cereal for unloading grain tube 1
The corresponding top for being located at grain wagon box of mouth；
C, automatic unloading button 9 is pressed, control unit 10 receives the signal of the automatic unloading button, and confirmation enters automatic
Adjust unloading mode；Control unit starts screw feeder driving device 3 automatically, makes to convey screw feeder rotation with the unloading into grain wagon box；
D, during unloading, camera 7 shoots the image of grain face in the image and grain wagon box of grain wagon box, and will be captured
Image information be transmitted to control unit 10, control unit 10 establishes the figure of grain wagon box by the position and color on four side of grain wagon box
As database, control unit 10 establishes the image data base of grain face, unloading by unloading position, grain face size and grain face color
Cheng Zhong, point sampling, control unit 10 will sample the grain face image data obtained and grain wagon box image to camera 7 in different times
Data compare, and determine the distance between the upper bucket side highest edge of grain face and grain wagon box；
When the grain face of different location in the judgement grain wagon box of control unit 10 is different from the distance between upper bucket side, show grain
Grain face in wagon box is uneven, and control unit 10 controls rotation drive device 2 and drives unloading grain tube to the lower position of grain face by automatic
Step value is gradually displaced, and automatically controls lifting drive 4, the automatic height for correcting unloading grain tube；
When the grain that the grain face of different location in control unit judgement grain wagon box reaches setting expires reserved value, screw feeder is closed
Driving device stops unloading.
As a preferred option, it when control unit determines that grain face reaches grain and expire alarming value in grain wagon box, prompts to alarm.
As a preferred option, control unit 10 passes through camera 7 during carrying out reviewing one's lessons by oneself positive justification to unloading grain tube 1
The information in grain wagon box including grain face, four side of wagon box, driver's cabin and periphery barrier etc. is acquired, and establishes image data base, it will
The image data information of the unloading grain tube of real-time detection and image data base real time contrast control current unloading grain tube 1 and are in safety
In scope of activities.
When control unit 10 determines that grain face reaches grain and expire alarming value in grain wagon box, prompt to alarm.
The internal parameter control and the external information collected of control unit 10 of control unit 10 can communicate and be transmitted to display
Real-time display is carried out on unit, the modes such as CAN communication can be used in communication mode.
The self-correction unloading control method of the present embodiment, can set internal parameter control by display unit.
Wherein, in Fig. 5 each symbol meaning: wherein ai be camera acquisition current unloading point grain face；Ai is camera
The current unloading point of acquisition corresponds to four Bian Gaodu of transverse and longitudinal axis bucket；B is that grain expires reserved value, grain face and grain vehicle when as grain wagon box grain is full
The distance between the side highest that struggles against on bucket edge reserved value, the value can be set by display unit.
The agricultural machinery and self-correction unloading control method of above-described embodiment, control unit acquisition unloading handle unload automatically
The external informations such as grain button and camera image are adjusted by acquiring the information of unloading handle and automatic unloading button into manual
Integral pattern or adjust automatically unloading mode.Under manual adjustment mode, control unit directly drives according to the information of unloading handle
Lifting drive directly drives rotation drive device to control unloading grain tube lifting to control unloading grain tube steering, and directly drive
Screw feeder driving device is moved with manual unloading.Automatic unloading button is pressed at this time, will not enable camera image acquisition and is entered automatic
Adjust unloading mode.And after the grain outlet by manually adjusting adjustment unloading grain tube corresponds to the top for being located at grain wagon box, it presses certainly
When dynamic unloading button triggers automatic unloading adjustment modes, system acquires grain face in grain wagon box by camera, four side of wagon box, drives
Information including room and periphery barrier etc., self-correction step value, alarming value and the image sampling value saved according to control unit
Etc. parameters, it is ensured that current unloading grain tube be within the scope of security activity, and automatic to correct unloading grain tube height, left-right position and unloading fast
Degree prompt can alarm when grain wagon box grain is full and be automatically stopped unloading, and start peace during reviewing one's lessons by oneself positive justification unloading
The functions such as full guard and alarm.Unloading grain tube position and unloading speed can be carried out reviewing one's lessons by oneself positive justification, realize oneself of unloading
Dynamicization amendment adjustment, it is ensured that the accuracy of unloading efficiently avoids occurring that unloading is poured down or forth and grain face is excessively high for part pours down or forth
Situation, unloading effect are good.In addition, agricultural machinery and unloading control method of the invention, realize can to unloading grain tube position with
And unloading speed carries out reviewing one's lessons by oneself positive justification, realizes the automation amendment adjustment of unloading, regulates the speed fast, do not have to driver again with
The mode of range estimation manually adjusts rotating handle and lifting handle constantly to be adjusted unloading, greatly reduces the labor of driver
Fatigue resistance.All external informations and internal parameter control of control unit acquisition, are being shown by CAN communication mode real-time display
On unit, and the self-correction step value under automatic unloading mode can be set by display unit, grain expires reserved value, alarm
The core parameters such as value and image sampling accuracy value are sent to the corresponding replacement of control unit progress and save.Adjust automatically unloading mode
In the process, such as occur that grain is full or fault message, control unit is by the alarming horn buzzing controlled in alarm lamp and passes through CAN communication
Mode passes to display unit corresponding failure code, expires state to grain and malfunction carries out real-time display.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, without departing from the spirit and scope of the present invention, this hair
Bright to will also have various changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The present invention claims
Protection scope is defined by the appending claims and its equivalent thereof.
Claims (8)
1. a kind of self-correction unloading control method of unloading electric-control system, which is characterized in that
The unloading electric-control system includes the unloading handle being electrically connected with control unit respectively, automatic unloading button, camera, rotation
Rotary driving device, lifting drive, screw feeder driving device；
The self-correction unloading control method the following steps are included:
A, the internal parameter control of described control unit is preset, the internal parameter control includes self-correction step value, grain
Full reserved value and grain expire alarming value；
B, unloading handle is manipulated, unloading electric-control system is in and manually adjusts state, and manually controlling keeps the grain outlet of unloading grain tube corresponding
Positioned at the top of grain wagon box；
C, the automatic unloading button is pressed, control unit receives the signal of the automatic unloading button, and confirmation enters automatic adjust
Whole unloading mode；Control unit starts screw feeder driving device automatically, makes to convey screw feeder rotation with the unloading into grain wagon box；
D, during unloading, the image of grain face in the image and the grain wagon box of camera shooting grain wagon box, and by institute
The image information of shooting is transmitted to described control unit, and described control unit establishes grain by the position and color on four side of grain wagon box
The image data base of wagon box, described control unit establish the picture number of grain face by unloading position, grain face size and grain face color
According to library, during unloading, point sampling, described control unit will sample the grain face image obtained to the camera in different times
Data are compared with grain wagon box image data, determine the distance between the upper bucket side of grain face and grain wagon box；
When the grain face of different location in control unit judgement grain wagon box is different from the distance between upper bucket side, show in grain wagon box
Grain face it is uneven, control unit control rotation drive device drives unloading grain tube to the lower position of grain face by automatically stepping value gradually
Displacement, and lifting drive is automatically controlled, the automatic height for correcting unloading grain tube；
When the grain that the grain face of different location in control unit judgement grain wagon box reaches setting expires reserved value, screw feeder driving is closed
Device stops unloading.
2. the self-correction unloading control method of unloading electric-control system as described in claim 1, it is characterised in that: the unloading electricity
Control system further includes display unit, and the display unit and described control unit communicate to connect.
3. the self-correction unloading control method of unloading electric-control system as claimed in claim 2, it is characterised in that: the unloading electricity
Control system further includes alarm lamp, the signal output end of the alarm lamp electrical connection described control unit, for prompting grain to expire state
With unloading malfunction；When control unit determines that grain face reaches grain and expire alarming value in grain wagon box, prompt to alarm.
4. the self-correction unloading control method of unloading electric-control system as described in claim 1, it is characterised in that: the camera
It is installed at the grain outlet of unloading grain tube.
5. such as the self-correction unloading control method of the described in any item unloading electric-control systems of claim 2 to 3, it is characterised in that:
The display unit is liquid crystal instrument disk.
6. self-correction unloading control method as described in claim 1, it is characterised in that: in the step d, control unit is right
Unloading grain tube carries out during reviewing one's lessons by oneself positive justification, acquires grain face, four side of wagon box, driver's cabin and periphery in grain wagon box by camera and hinders
The information for hindering object controls current unloading grain tube and is within the scope of security activity.
7. self-correction unloading control method as claimed in claim 2, it is characterised in that: the internal control of described control unit is joined
Several and described control unit external information collected real-time display on the display unit.
8. self-correction unloading control method as claimed in claim 2, it is characterised in that: in the step a, pass through the display
Unit sets the internal parameter control.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107172967A (en) * | 2017-06-05 | 2017-09-19 | 中联重机股份有限公司 | A kind of cane harvesting machine and its monitoring system |
| CN107409606A (en) * | 2017-08-31 | 2017-12-01 | 天津职业技术师范大学 | United reaper high position unloading control system and control method |
| CN108702925A (en) * | 2018-07-24 | 2018-10-26 | 苏州诺思特微电子有限公司 | A kind of device and control method for realizing the automatic unloading of grain harvesting machine |
| CN109906757B (en) * | 2019-03-21 | 2020-08-25 | 潍坊万隆电气股份有限公司 | Harvester head grain unloading accurate control device and control method |
| CN110637593B (en) * | 2019-08-28 | 2021-06-22 | 江苏大学 | Grain unloading opening positioning system and positioning method and combine harvester |
| CN112997678A (en) * | 2021-03-01 | 2021-06-22 | 潍柴雷沃重工股份有限公司 | Automatic grain unloading control system and method for harvester and harvester |
| CN113655793A (en) * | 2021-08-12 | 2021-11-16 | 上海三一重机股份有限公司 | Obstacle avoidance control method and device based on fusion strategy and engineering machinery |
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