CN-121970595-A - Independent header self-adaptive profiling control system based on multi-sensor fusion

CN121970595ACN 121970595 ACN121970595 ACN 121970595ACN-121970595-A

Abstract

The invention belongs to the technical field of combine harvesters, and discloses an independent header self-adaptive profiling control system based on multi-sensor fusion, which comprises a sensing module, an executing module and a control module, wherein the sensing module and the executing module are respectively and electrically connected with the control module; the sensing module comprises high-precision angle sensors arranged on the left side and the right side of the cutting table, and each high-precision angle sensor is hinged with the tension spring assembly and the cutting table through a mechanical rotating arm and is used for converting vertical displacement and inclination angle of the cutting table relative to the ground into electric signals. The invention reduces the crop loss rate by 30-50% and the impurity content by the deep cooperation of the sensing, executing and controlling technologies, is particularly suitable for low stubble harvesting operations of soybeans, rape and the like, greatly improves the operation quality and economic benefit of the combine harvester, and promotes the intelligent upgrade of agricultural machinery equipment to high end.

Inventors

CHEN YUHANG
LAN HAITAO
LI ZHIBO
WANG ZHIYIN
WANG SHIWEI
CHANG JIANGUO
PAN HONGRUN
SHI LEI
SUN CHAO
LI DEXIN
YE TONG

Assignees

哈尔滨第一机械集团有限公司

Dates

Publication Date: 20260505
Application Date: 20251228

Claims (10)

1. The self-adaptive profiling control system for the independent header based on the multi-sensor fusion is characterized by comprising a sensing module, an executing module and a control module, wherein the sensing module and the executing module are respectively and electrically connected with the control module; The sensing module comprises high-precision angle sensors arranged on the left side and the right side of the cutting table, and each high-precision angle sensor is hinged with the tension spring assembly and the cutting table through a mechanical rotating arm and is used for converting the vertical displacement and the inclination angle of the cutting table relative to the ground into electric signals; The sensing module can be also integrated with an inertial measurement unit selectively, and is used for detecting the posture of the machine body and providing auxiliary compensation signals; the execution module is a hydraulic driving system and comprises an integrated electromagnetic proportional valve group, a header lifting single-acting oil cylinder, a header swinging double-acting oil cylinder and a hydraulic control one-way valve, wherein the integrated electromagnetic proportional valve group is respectively connected with the header lifting single-acting oil cylinder and the header swinging double-acting oil cylinder through an oil way, and the hydraulic control one-way valve is integrated in the oil way; The control module is a high-performance electronic control unit, a feedforward prejudging and real-time feedback double-loop intelligent control algorithm is arranged in the electronic control unit and is used for receiving the electric signals of the sensing module, carrying out data fusion processing and outputting control instructions to the execution module, the electronic control unit is connected with a sensor signal of a flexible part of the header through a feedforward loop to carry out terrain change prejudging, is connected with a sensor signal of a bridge crossing part of the header through a feedback loop to carry out gesture monitoring, and carries out dynamic correction control instructions after operation comparison on feedforward prejudging quantity and real-time feedback quantity so as to realize accurate regulation and control of the gesture of the header.
2. The multi-sensor fusion-based independent header self-adaptive profiling control system according to claim 1, wherein the signal output range of the high-precision angle sensor is 0-5V, and the detection angle range is 0-180 degrees.
3. The multi-sensor fusion-based independent header adaptive profiling control system of claim 1, wherein the rising speed of the header lifting single-acting cylinder is 0.4m/s and the falling speed is 0.32m/s.
4. The multi-sensor fusion-based independent header self-adaptive profiling control system according to claim 1, wherein the action synchronism error of the header lifting single-acting oil cylinder and the header swinging double-acting oil cylinder is less than or equal to 5%.
5. The multi-sensor fusion-based independent header self-adaptive profiling control system according to claim 1, wherein the locking pressure range of the hydraulic control one-way valve is 20-170bar, and the hydraulic control one-way valve has a pressure self-adaptive adjusting function.
6. The multi-sensor fusion-based independent header adaptive profile control system of claim 1, wherein the system response time of the dual loop intelligent control algorithm is <0.7 seconds.
7. The multi-sensor fusion-based independent header adaptive profile control system of claim 1, wherein the control error of the header profile height to the target height is <7 millimeters.
8. The multi-sensor fusion-based independent header adaptive profiling control system of claim 1, wherein the electronic control unit has multi-channel analog/digital input, high-speed CAN bus communication, and high-current drive output capabilities.
9. The multi-sensor fusion-based independent header adaptive profiling control system according to claim 1, wherein the sensing module further comprises a pair of pressure sensors, the signal output range of the pair of pressure sensors is 0-5V, and the detection pressure range is 0-160BAR.
10. The multi-sensor fusion-based independent header self-adaptive profiling control system according to claim 1, wherein the electromagnetic valve power supply specification of the execution module comprises DC12V and DC24V, wherein the header self-electrified valve is powered by DC12V, and the bridge-crossing control electromagnetic valve is controlled by DC24V proportional current.

Description

Independent header self-adaptive profiling control system based on multi-sensor fusion Technical Field The invention belongs to the technical field of combine harvesters, and particularly relates to an independent header self-adaptive profiling control system based on multi-sensor fusion. Background The header profiling technology of the combine harvester is a core link of an intelligent harvesting technology, and directly influences the harvesting quality and economic benefit. The header profiling technology of the traditional harvester goes through the development stage from mechanical profiling, semi-automatic profiling to intelligent self-adaptive profiling. The early mechanical profiling relies on a connecting rod mechanism to realize passive ground pasting operation, the profiling precision is low, the semiautomatic profiling drives the cutting table to lift through a hydraulic system, but the response is slow, frequent intervention of a driver is needed, and the existing intelligent profiling technology realizes automatic control to a certain extent and still has a plurality of defects. In the aspect of mechanical perception, the existing system mostly adopts the configuration of a mechanical sliding shoe and a unilateral angle sensor, only can acquire single-point or unilateral topographic information, cannot capture the integral three-dimensional posture of the header, has a perception blind area in a transverse fluctuation land block, leads to the inclination of the header to leak cutting or the phenomenon of digging pit of a grain pickup device, and has high crop loss rate. In the aspect of hydraulic execution, a conventional system adopts a switch electromagnetic valve or a simple proportional valve, the lifting action of the cutting table has large impact and uncontrollable speed, and an effective locking and synchronous control mechanism is lacking, so that the cutting table is easy to sink and drift, and the actions of multiple oil cylinders are asynchronous to cause torsion clamping stagnation. In the aspect of electric control decision, the main stream control strategy is single PID real-time feedback control, belongs to a passive reaction mode, the system response time is often more than 1 second, the header always "catches up" with the topography change, the control error is large, and the high standard operation requirement cannot be met. Therefore, development of a header adaptive profiling control system capable of realizing precise sensing of the terrain domain, improving stability and dynamic accuracy of an actuating mechanism and having a look-ahead intelligent control capability is needed to solve the above problems in the prior art. Disclosure of Invention The invention aims to solve the technical problems of high header loss and high impurity content of the combine harvester during complex uneven land operation. In order to solve the technical problems, the specific technical scheme of the invention is as follows: the self-adaptive profiling control system of the independent header based on multi-sensor fusion comprises a sensing module, an executing module and a control module, wherein the sensing module and the executing module are respectively and electrically connected with the control module; The sensing module comprises high-precision angle sensors arranged on the left side and the right side of the cutting table, and each high-precision angle sensor is hinged with the tension spring assembly and the cutting table through a mechanical rotating arm and is used for converting the vertical displacement and the inclination angle of the cutting table relative to the ground into electric signals; The sensing module can be also integrated with an inertial measurement unit selectively, and is used for detecting the posture of the machine body and providing auxiliary compensation signals; the execution module is a hydraulic driving system and comprises an integrated electromagnetic proportional valve group, a header lifting single-acting oil cylinder, a header swinging double-acting oil cylinder and a hydraulic control one-way valve, wherein the integrated electromagnetic proportional valve group is respectively connected with the header lifting single-acting oil cylinder and the header swinging double-acting oil cylinder through an oil way, and the hydraulic control one-way valve is integrated in the oil way; The control module is a high-performance electronic control unit, a feedforward prejudging and real-time feedback double-loop intelligent control algorithm is arranged in the electronic control unit and is used for receiving the electric signals of the sensing module, carrying out data fusion processing and outputting control instructions to the execution module, the electronic control unit is connected with a sensor signal of a flexible part of the header through a feedforward loop to carry out terrain change prejudging, is connected with a sensor signal of a bridge crossing