Combine harvester cleaning control and cleaning method

A combine harvester self-adaptive cleaning control apparatus, includes a return plate, a cleaning sieve, a cleaning centrifugal blower, an impurity collection and stirring auger, a grain collection and stirring auger, a cleaning grain loss monitoring sensor, a grain tank grain impurity rate automatic monitoring apparatus, and an on-line monitoring and control system. The on-line monitoring and control system is connected to the cleaning centrifugal blower, the cleaning grain loss monitoring sensor, the grain tank grain impurity rate automatic monitoring apparatus, and a power driving mechanism of a louver sieve having an adjustable opening. Also disclosed is a self-adaptive cleaning method of the cleaning apparatus which can automatically adjust various working parameters according to a working quality of a working process, control failure rate, and improve a down-time working time for the apparatus.

TECHNICAL FIELD

The present invention relates to a cleaning system design and adaptive control of combine harvesters, and more particularly to a combine harvester with a multi-duct cleaning system and an adaptive cleaning method for a combine harvester.

BACKGROUND OF THE INVENTION

The cleaning system is the “digestive system” of the combine harvester, which is the core working section that significantly affects the quality, efficiency and adaptability of the entire apparatus. Most of the larger rice combine harvesters in China use a traditional wind-sieve cleaning system (single-channel centrifugal fan+double-layer vibrating screen). A single-channel centrifugal fan is used to produce clear air, using the difference in suspension velocity among grains, short straws, chaff and small amount of miscellaneous fines, etc.), combine with a double-layer vibrating weaving sieve or fish scale sieve to complete the separation of the grains and straws, and the miscellaneous fines, etc. As a practical matter traditional wind sieve cleaning section design is the main limiting factor to the development of large-scale rice combine harvesters in China. A specific manifestation is that the water content of high-yield super rice is high, and the floating rate of each component is staggered. It is difficult to quickly separate the grains, which seriously restricts the performance and efficiency of the cleaning system. The traditional cleaning system cannot adapt to improvements of crop varieties, and rapid increases in yield requirements.

Large and medium-sized combine harvesters such as the 988 STS (John Deere), the 2388 (CASE), the CR980 (New Holland) and the TUCANO 470 (CLAAS) have been developed in recent years, by John Deere, CASE, New Holland, CLAAS and other manufacturers. However, such large and medium-sized combine harvesters are mainly used for harvesting wheat, soybean, rape and other dry crops, since such large and medium-sized combine harvesters which may have a length of over 6-10 m, and a dead weight were about 8-10 tons cannot adapt to China's southern super-rice producing areas which typically are of 10-15 acres of plot size and present a deep mud angle operating environment. In addition, a conventional cleaning system using a double fan (or large diameter double duct fan), a pre-selected jitter plate (with a corrugated surface), a return conveyor plate (with a corrugated surface), a multi-layer screening screen and other composite structure, used with large and medium-sized combine harvesters cannot be applied to China's rice combine harvesters. So-called “half-size” combine harvesters made by Japanese and South Korean companies have their own limitations, cannot achieve large-scale, operational efficiency and harvest adaptability. Moreover, although Europe and the United States and other developed countries produce large-scale combine harvesters, their relevant test data, design theory and methods are maintained as trade secrets. In short, there is no relevant theory and method that can be used to guide the designing of China's large-scale feeding rice harvesters and its cleaning system, and because of the specific characteristics of the operating conditions in China, we cannot borrow foreign product design experience.

In addition, due to the significant differences in the working conditions of a combine harvester, operating conditions are ever-changing and the operating environment is extremely complicated, the performance of the cleaning system is significantly affected. The structure and motion parameters of the conventional cleaning system can only be carried out by manual adjustment, the working parameters cannot be adjusted based on the objects and the environment changes automatically to ensure top working performance, and harvesting adaptability is poor. To maximize performance, operating parameters need to be adjusted according to conditions to adjust for trends of technological development. For advanced combine harvesters, electronic information technology has been widely used, with joint harvesting function according to operational processes of the work automatically adjusting for various operating parameters, while improving the production efficiency, and controlling failure rate, while greatly improving the machine's trouble-free working hours. Compared with advanced combine harvesters of European and American multinational companies, China's grain combine harvesters are mostly equipped with only a small number of alarm devices, and general lack of working parameters and operating performance monitoring, working parameters such as electric/automatic adjustment and other intelligent monitoring device, result in machine operating performance being unstable, operating efficiency mainly depending on the skill level of the machine operator, and the handling of large, plug the fault frequently, the trouble-free working time less than one-fifth of foreign models, cannot meet the scale of China's rice production and rice oil (wheat) rotation area harvest and other operating requirements. In recent years, domestic and foreign scholars have done a lot of research work on intelligent technology of combine harvesters, but most of the research is only a research on the monitoring or prediction model of single working parameters and operating performance parameters, and not based on the current operation. Parameter value of the relevant parts of the feedback control and multi-operation parameters of the fusion control research is relatively small.

In addition, the relevant intelligent technology research towards the cleaning system performance monitoring focuses only on the grain loss monitoring, without taking into account another important performance indicator-namely grain impurity ratio. Therefore, the performance of the grain impurity ratio monitoring device is an important factor to achieve adaptive control of the cleaning system, and a literature search found that there has not yet been seen a publication about this problem so far in China.

SUMMARY OF THE INVENTION

To achieve the above object, the present invention provides a combine harvester adaptive cleaning control apparatus and an adaptive cleaning control method.

The present invention is achieved by the following technical means: A combine harvester has an adaptive cleaning system, comprising a return plate, a sieve, a miscellaneous auger, a grain auger, a grain loss monitoring sensor centrifugal fan, and a grain impurity ratio monitoring system. The grain loss monitoring sensor is located at the tail of the sieve, the return plate and the miscellaneous auger are located on the underside of the tail of the vibrating screen, and the grains collection tank are collected with the grain auger flush with the bottom of the centrifugal fan. The centrifugal fan is located on the underside of the sieve, and the front side of the cleaning centrifugal fan is flush with the front side of the sieve. The sieve comprises an upper jitter plate, a lower jitter plate, an adjustable opening chaff, an upper vibrating screen, and a serrated tail sieve, a lower vibrating screen drive shaft, a lower vibrating screen, a lower vibrating screen driving hydraulic motor. The upper jitter plate is located on the front side of the adjustable scale sieve. The adjustable scale chaff is located on the front side of the upper vibrating screen, the serrated tail sieve is located on the tail of upper vibrating screen, and the power driver of adjustable scale sieve is locates in the tail of sieve. The lower shaker driving hydraulic motor is installed in the sieve, and the vibrating screen drive shaft is connected to the lower vibrating screen driving hydraulic motor by means of a coupling (2014) and a lower vibrating screen drive shaft.

The combine harvester further comprises of an on-line monitoring and control system. The input of the on-line monitoring and control system and grain loss monitoring sensor, the lower vibrating screen driving hydraulic motor, and the output of the on-line monitoring and control system are connected to the power drive mechanism of an adjustable scale fish scale sieve, a cleaning centrifugal fan is connected for controlling the opening degree of a fish tail sieve and the air intake and outlet direction of a cleaning centrifugal fan.

In one embodiment of the invention the combine harvester includes an adaptive cleaning device having a fish tail opening adjusting mechanism which comprises a connecting piece, the first connecting rod, a direction changing element, a second link, a connecting plate, a direct current electric cylinder, a linear displacement sensor, a support plate, a first connecting pin, a supporting shall and a second connecting pin. The support plate is mounted on a side plate below the serrated tail sieve of the cleaning screen, and includes a support shaft fixed at one end to the left of support plate. A direction switch is fixed to the left side of the support plate by fasteners at one end of the support shaft on the side plate below the zigzag tail curtain, and the direction switch is connected to the first link through a first connecting pin, and a direction switching means is connected to the first connecting rod which is connected to the second link through a second connecting pin, and the other end of the second link is mounted with a rod end bearing. The connecting pin connects the rod end bearing of the second link to the rod end bearing on the extension shall of a DC electric cylinder, and the DC electric cylinder is mounted on the support is mounted on the inside of the DC motor cylinder on the support plate and is parallel to the DC motor cylinder. A straight line displacement sensor (205-7) is connected with the output shaft of the DC electric cylinder (205-6) through the connecting plate, and the rectangular plate is welded at the lower edge of the adjustable scale sieve. The first link passes through the serrated tail sieve in the clear screen and is connected to a rectangular hole beneath the fish tail screen by fasteners. The DC electric cylinder is connected with the on-line monitoring and control system through a signal line. The on-line monitoring and control system senses the driving direction and controls the movement of the DC electric cylinder. The first connecting rod movement completes the adjustment opening of fish tail sieve.

In one embodiment of the combine harvester adaptive cleaning control apparatus of the invention the cleaning centrifugal fan comprises a fan inlet opening adjustment mechanism, a fan blade drive, a lower outlet, a sub-wind plate I and a first angle adjusting mechanism, a sub-wind plate II, and a second angle adjusting mechanism. The upper outlet is on the upper part of the upper vibrating screen, the lower outlet is composed of a sub-wind plate I and the first angle adjusting mechanism, and the sub-wind plate II, the sub-wind plate I and the first angle adjusting mechanism pass through the center of the upper vibrating screen, the sub-wind plate II and the second angle adjusting mechanism which extends in a line intersecting the tail of the lower vibrating screen, the fan inlet opening adjusting mechanism, and the fan blade drive mechanism. The angle adjustment mechanism and the second angle adjustment mechanism are connected to the output of the on-line monitoring and control system, respectively.

In another embodiment of the combine harvester adaptive cleaning system of the present invention, the fan blade drive mechanism comprises a hydraulic motor, a hydraulic motor mounting plate, fan blades, a fan shaft and a bearing seat. The fan blades are uniformly mounted on the fan shaft (502-5), the fan shaft is mounted on the frame through the bearing seat at both ends, and the hydraulic motor mounting plate is bolted to the frame and the hydraulic motor. The center line of the output shaft of the hydraulic motor coincides with the center line of the fan shaft, and the fan shaft is connected with an extension shaft of the hydraulic motor. The signal line of the hydraulic motor is connected with the on-line monitoring and control system, and the on-line monitoring and control system.

In another embodiment the combine harvester adaptive cleaning system of the present invention the fan inlet opening adjustment mechanism comprises a DC electric push rod, a upper connecting hole of a half moon plate, a half-moon shield plate, and a lower connecting hole of a half moon plate. The DC electric push rod is mounted on the side wall of the upper outlet. The half-moon shield plate accommodates the DC electric push rod though an upper connecting hole of the half moon plate; the half-moon shield plate connects the outer wall of the blower outlet of the fan by the lower connecting hole of the half moon plate; the DC electric push rod is connected to the on-line monitoring and control system via a signal line, and movement of the shaft is controlled by controlling the movement of the DC electric push rod around the half-moon shield plate connection hole (501-4) rotation to control the fan air inlet air volume.

In another embodiment of the combine harvester adaptive cleaning system of the present invention, the first angle adjusting mechanism comprises a lifting ear I, a stepping motor, a rotating rod, a sub-fan I, a chute, a hanging ear II, and a stepping motor support frame. The stepping motor is mounted on the wall by a stepping motor support frame, and one end of the rotary lever, the lifting lug I is fixed to the output shaft of the stepping motor, and the crankshaft and the other end of the rotary rod are connected to the hanging ear II via a circular slide rail, and the stepping motor. A line is connected to the on-line monitoring and control system, and the stepping motor produces forward or reverse rotation under the control of the on-line monitoring and control system, thereby driving the sub-wind plate I to achieve the adjustment of the angle of the wind plate I.

In another embodiment the combine harvester adaptive cleaning system of the present invention, the second angle adjusting mechanism comprises a lifting ear I, a stepping motor, chute1, a chute2, a lifting lug2, a stepping motor support frame, a wind turbine, and a stepping motor mounted on the wall by a stepping motor support frame. At one end of the rotary lever is fixed the output shaft of the stepping motor on the output shaft of the intake motor, and the crankshaft. The other end of the slide bar and the rotary lever is connected to the lifting lug2via a circular guide, and the stepping motor. A line is connected to the on-line monitoring and control system, and the stepping motor produces forward or reverse rotation under the control of the on-line monitoring and control system, thereby driving the sub-wind plate II To achieve the adjustment of the angle of wind plate II.

In another embodiment of the combine harvester adaptive cleaning system of the present invention the joint harvester grain box grain includes a rate automatic monitoring means comprising a grain extraction means, a transport mechanism, a machine vision section and a processor. The grain extraction mechanism includes a guide groove, a bracket a sampling drum, a hopper, a DC stepping motor, a coupling, and a connecting frame. A hopper is located on the bottom surface of guide groove, and a sampling drum is supported by a bracket located within the hopper and the surface of the sampling roller and has at least one groove which is tangent to the rectangular hole when rotated, and one end of the sampling roller is connected to the DC stepping motor (618) through a coupling;

The grain transfer mechanism comprises at least a conveyor platform carrying a grain sample, and a transmission means capable of transporting the grain to the transport platform.

The machine vision system comprises a support plate, a light box, a light source and a visible light CCD camera. The support plate is welded to the bracket, the support plate having a vertical plate perpendicular to the conveyor platform. A gap is provided between the lower edge of the vertical plate and the conveyor platform which is slightly greater than the height of the harvested grain of the harvester, the visible light CCD camera being located in the light box. The processor comprises a current controller, a DC stepper motor control is connected with the image preprocessing unit, the light source is connected with the current controller, and the image is connected with the image preprocessing unit. The light source is connected with the image preprocessing unit, and the preprocessing unit is used for converting the image to be measured photographed by the visible CCD camera into a binary image for dividing the residual feature image into a binary image and extracting the spurious Morphological and color characteristics and separating the miscellaneous grains from the grains, the miscellaneous count units being used to count the fathals in the image. The conveyor platform of the grain transfer mechanism is a feed table, which comprises a plate spring, a core coil, an armature, a base, and a feeding platform. The feeding platform is fixed to the base by a plate spring which is fixed to the lower surface of the base and the feed table, respectively, The coil is connected to the current controller and is fixed under the tail of the conveyor platform; and the grain extraction mechanism further comprises a warehouse wall exciter provided on the bottom surface of the hopper, the width of the hopper corresponds with the width of the feed table.

The processor is connected to the on-line monitoring and control system via a signal line.

In one embodiment of the combine harvester adaptive cleaning system of the present invention, the distance between dither plate and upper vibrating screen is in the range of 0.050˜0.10 m, the tail of the jitter plate and upper vibrating screen is located on the upper side of the lower vibrating screen by 0.10 m to 0.15 m, the outer width of the upper vibrating screen and the lower vibrating screen is 1.2˜1.5 m, and the length of the return plate is 0.8˜1.5 m, the width is 1.0˜1.5 mm.

Also provided is a method for adaptive selection using a combine harvester adaptive cleaning control system, comprising of the following steps:

S1: In the operation of a joint harvesting machine, on-line monitoring of the first wind plate I tilt angle, the second outlet wind plate II angle, fan speed, fan vibration frequency, fish tail sieve opening, and grain removal loss rate, grain box grain containing rate to characterize the multi-channel adaptive cleaning device operating status;
S2: multi-channel adaptive cleaning system operating status on-line monitoring of abnormal data on the monitoring data replacement, missing data padding, data pretreatment to eliminate random, and uncertain factors on the follow-up data of the impact of analysis;
S3: the on-line monitoring of the first wind board I tilt, the second outlet wind plate II tilt, fan speed, fan inlet opening, time series of the parameters of the sieve, frequency of the fish tail, and the rate of grain removal, wherein the time series of the grains in the grain box are considered as the associated variables. Based on the monitoring data preprocessing, a forecast validity is used as a evaluation criterion of prediction accuracy. Time series correlation coefficients of the performance parameters of the multivariate cleaning device are determined by a chaotic phase space reconstruction method, and the reconstructed dimensions of the time series samples are combine with a gray correlation cluster analysis. Using a Gaussian process regression model, an optimal reconstruction dimension of the time series samples of the performance parameters of the cleaning device is determined dynamically.
S4: A time series of the performance parameters of the cleaning system is decomposed into a superposition of intrinsic instantaneous function (IMF) components by a empirical mode decomposition (EMD) using a Hilbert-Huang transform (HHT), and instantaneous characteristics of the time series of the performance parameters of the cleaning system are used to establish an adaptive prediction model of the performance parameters of the cleaning system.
S5: A predictive value of the adaptive prediction model is selected as a sample input, and the variable fitting residual is used as a sample output. The adaptive prediction model of the performance parameters of the cleaning system is obtained by a multi-core support vector regression machine (MSVR) fitting residuals for regression analysis, and further correction of the predicted value;
S6: Multi-channel adaptive cleaning system operating status online monitoring and control system (7), through the multi-core support vector regression machine (MSVR) model of the revised selection of the performance parameters of the parameters of the input value for the input variable, applying Fuzzy control theory, real-time output of the corresponding control signal on the multi-channel adaptive cleaning system to select the centrifugal wind (5) under the outlet of the first wind plate I tilt angle, the second outlet outlet wind plate II angle, fan speed, fan (2) the vibration frequency of the sieve (2) and the actuating element of each regulating mechanism of the fish tail opening, and real-time adjustment of working parameters of the multi-channel adaptive cleaning system is completed so that the multi-channel performance parameters of the adaptive cleaning system are distributed within a reasonable range.

The Beneficial Effects of the Present Invention are:

(1) The invention reduces the number of core components of a feed rice combine harvester, reduces operating performance bottleneck, and increases efficiency and adaptability for harvest. The present invention automatically adjust various operating parameters during operation, and improve product efficiency. At the same time failure rate will be reduced while time between failures improved. (2) The apparatus of the present may be adapted for handling rice, wheat, canola, soybeans and other crops which cleaning systems may be used in advancement of the harvest machinery industry and provide theoretical, technical and logistical support for China's food security.

DETAILED DESCRIPTION OF THE INVENTION

Below in conjunction with the accompanying drawings and specific embodiments of the present invention will be further described, but the scope of the present invention is not limited thereto.

AsFIG. 1shown, a multi-channel self-adaptive cleaning apparatus comprises a return plate1, a sieve2, a tailing collecting auger3, a grain auger4, a centrifugal fan5, a grain impurity ratio monitoring device6and multi-channel self-adaptive cleaning apparatus online monitoring with line monitoring and control system7. Return plate1is located up the sieve2, tailing collecting auger3is located on the underside of the tail of the sieve2. Grain auger4is behind the ¼ length of sieve2and equals the bottom of centrifugal fan5. The grains tank are collected with the grain auger4and the bottom of the centrifugal fan5is flush. Centrifugal fan5is located on the underside of the sieve2. The front side of the cleaning centrifugal fan5is flush with the front side of the sieve2. Grain impurity ratio monitoring devices6is mounted on the outlet of grain auger4. The length of grain cleaning equipment is 0.8˜1.5 m, the width of it is 1.0˜1.5 mm, the height of it is 0.6˜0.8 m. The length of return plate is 0.8˜1.5 m and the width of it is 1.0˜1.5 mm.

AsFIG. 2andFIG. 3show the sieve2comprises an upper jitter plate201, a under jitter plate202, an adjustable sieve scale203, an upper vibrating screen204, a serrated tail sieve206, a shaker drive shaft208, a the lower shaker209, a curved wind deflector2010, a jitter panel driver bearing2011, and an air inlet2012. The upper jitter plate201is located on the front side of the adjustable sieve scale203. The adjustable scale sieve203is located on the front side of the upper vibrating screen204. The serrated tail sieve206is located on the tail of upper vibration screen204. Sieve opening scale adjustment mechanism205is between vibration sieve204and the lower shaker209. Power drive mechanism of sieve opening scale adjustment mechanism205is placed on the tail of sieve2. Curved wind deflector2010is behind vibration sieve204and connects with the front of lower shaker209. The front of curved wind deflector2010aligns with the front of upper vibration sieve204in the horizontal direction. Air inlet2012is between upper jitter plate201and vibration sieve204. Air inlet2012is in front of upper vibration sieve204. The extending line of air inlet2012and upper vibration sieve204are parallel. Jitter panel driver bearing2011connects with upper jitter plate201. Shaker drive shaft208is on the rear outside of sieve2and connects with the lower shaker209. Under shaker drive hydraulic motor2013is mounted on the rear outside of sieve2and fixed on the bracket of cleaning room. Vibrating screen drive shaft208is connected with under shaker drive hydraulic motor2013by coupling2014. Cleaning grain loss monitoring sensors207is on the tail of sieve2. Lower shaker209has a weaving structure. The length of sieve2is 2.0 m˜2.5 m, the width is 1.2 m˜1.5 m and the height is 0.6 m˜0.8 m. The distance between upper jitter plate201and vibration sieve204is 0.050 m˜0.10 m. The length of tail of upper jitter plate201and upper vibrating screen204overlap is 0.5˜0.8 m. The vibration sieve204is located on the upper side of the lower vibrating screen209by 0.10 m to 0.15 m, and the outer width of the upper vibrating screen204and the lower vibrating screen209is 1.2˜1.5 m.

AsFIG. 4,FIG. 5andFIG. 6shown, sieve opening scale adjustment mechanism205comprises a connecting piece205-1, a first link205-2, a direction changing element205-3, a second link205-4, a connecting plate205-5, a DC electric cylinder205-6, a linear displacement sensor205-7, a support plate205-8, a first connecting pin205-9, a supporting shaft205-10and a second connecting pin205-11. The support plate205-8is mounted on a side plate below the serrated tail sieve206of the cleaning screen2. The support shaft205-10is fixed on the left of support plate205-8. Direction switch205-3is fixed by fasteners at one end of the support shaft205-10. The direction changing member205-3is connected to the first link205-2through a first connecting pin205-9and is connected to the second link205-4through a second connecting pin205-11. The other end of the second link205-4is mounted with a rod end bearing. The connecting pin connects the rod end bearing of the second link205-4to the rod end hearing on the extension shaft of the DC electric cylinder205-6. The DC electric cylinder205-6is mounted on the support plate205-8parallel to the DC motor cylinder205-6. The output shaft of the displacement sensor205-7is connected with the output shaft of the DC electric cylinder205-6through the connecting plate205-5, and the rectangular plate is welded at the lower edge of the adjustable scale sieve203. The first link205-2passes through the serrated tail sieve206in the sieve2and is connected to the rectangular hole beneath the fish scale screen205-1by fasteners. The DC electric cylinder205-6is connected with the on-line monitoring and control system7through a signal line. The on-line monitoring and control system7realizes the driving direction changing member by controlling the movement of the DC electric cylinder205-6. The first connecting rod205-3movement completes the adjustment opening of fish tail sieve.

AsFIG. 7shows, cleaning centrifugal fan5comprises a fan inlet opening adjustment mechanism501, a volute503, a lower outlet504, a sub-wind plate I and a first angle adjusting mechanism505, a sub-wind plate II, a second angle adjusting mechanism506and upper outlet507. The upper outlet507is on the upper part of the upper vibrating screen209. The lower outlet504is composed of a sub-wind plate I and the first angle adjusting mechanism505and a sub-wind plate II506. The sub-wind plate I and the first angle adjusting mechanism505pass through the center of the upper vibrating screen204. The sub-wind plate II and the second angle adjust in a mechanism506extending line intersecting the tail of the lower vibrating screen209.

AsFIG. 8shows, fan blade drive mechanism comprises a hydraulic motor502-1, a hydraulic motor mounting plate502-2, fan blades502-4, a fan shaft502-5and a bearing seat502-6. The fan blades502-4are uniformly mounted on the fan shaft502-5. The fan shaft502-5is mounted on the frame through the hearing seat502-6at both ends. The hydraulic motor mounting plate502-2is bolted to the frame. The center line of the output shaft of the hydraulic motor502-1coincides with the center line of the fan shaft502-5, and the fan shaft502-5is connected with the extension shaft of the hydraulic motor502-1. A signal line of the hydraulic motor502-1is connected with the on-line monitoring and control system7which includes a multi-channel self-adaptive line monitoring and control system. The controller of hydraulic motor502-1drives the related execution parts of hydraulic motor502-1to control the motor rotating speed so that the rotating speed of centrifugal fan5can be controlled.

AsFIG. 9shows, fan inlet opening adjustment mechanism comprises a DC electric push rod501-1, the upper connecting hole of the half moon plate501-2, a half-moon shield plate501-3, and a lower connecting hole of the half moon plate501-4. The DC electric push rod501-1is mounted on the side wall of the upper outlet507. The half-moon shield plate501-3connects the DC electric push rod501-1though the upper connecting hole of the half moon plate501-2. The half-moon shield plate501-3connects outer wall of the blower outlet504of the fan by the lower connecting hole of the half moon plate501-4. Fan inlet opening adjustment mechanism501-1connects with multi-channel self-adaptive cleaning apparatus working, surrounding line monitoring and control system7by signal lines. When the machine is working, movement of the shaft is controlled by controlling the movement of the DC electric push rod501-1around the half-moon shield plate connection hole501-4rotation to control the fan air inlet air volume.

AsFIG. 10,FIG. 11andFIG. 12show, a first angle adjusting mechanism505comprises a lifting ear I505-1, a stepping motor505-2, a rotating rod505-3, a sub-fan I505-4, a chute505-5, a hanging car II505-6, and a stepping motor support frame505-8. The stepping motor505-2is mounted on the wall505-8by a stepping motor support frame505-7, and one end of the rotary lever505-3, the lifting lug I505-1is fixed to the output shaft of the stepping motor505-2, and the crankshaft505-5, and the other end of the rotary rod505-3is connected to the hanging ear II505-6via a circular slide rail505-5, and the stepping motor505-2. A line is connected to the on-line monitoring and control system7, and the stepping motor505-2achieves forward or reverse rotation under the control of the on-line monitoring and control system7, thereby driving the sub-wind plate I505-4to achieve the adjustment of the angle of the wind plate I505-4.

AsFIG. 13.FIG. 14andFIG. 15shown, a second angle adjusting mechanism506comprises a lifting ear I506-1, a stepping motor506-2, a rotating plate506-3, a chute506-4, a chute506-5, a lifting lug2506-6, a stepping motor support frame506-7and a wind turbine506-8. The stepping motor506-2is mounted on the wall506-8by a stepping motor support frame506-7, and one end of the rotary lever506-3is fixed to the output shaft of the stepping motor506-2and the crankshaft506-8. The output shaft of stepping motor506-2is fixed on lug1506-1. The other end of the slide bar506-5and the rotary lever506-3is connected to the lifting lug2506-6by a circular guide506-5, and the stepping motor506-2. A line is connected to the on-line monitoring and control system7. The stepping motor506-2achieves forward or reverse rotation under the control of the on-line monitoring and control system7thereby driving the sub-wind plate II506-4to achieve the adjustment of the angle of the wind plate II506-4.

AsFIG. 16andFIG. 17shown, joint harvester grain box grain containing rate automatic monitoring means6comprises a grain extraction means, a transport mechanism, a machine vision section and a processor617. The grain extraction mechanism includes a guide groove601, a bracket602, a sampling drum603, a hopper604, a DC stepping motor18, a coupling19, and a connecting frame20. A hopper604is located on the bottom surface of guide groove601. A sampling drum603is supported by a bracket602located within the hopper604and the surface of the sampling roller603has at least one groove603which is tangent to the rectangular hole when rotated, and one end of the sampling roller603is connected to the DC stepping motor618through a coupling619. The outlet of hopper604is on one side. A warehouse wall vibrator616is set on the outside of hopper604. The warehouse wall vibrator616vibrates the bottom of hopper604to cause materials from hopper604to slide smoothly. A conveyor platform of the grain transfer mechanism is a feed table or platform606, which comprises a plate spring607, a core coil608, an armature609and a base610. The feeding platform606is fixed to the base610by a plate spring607. A core-coil sheet608and armature base609are fixed to the lower surface of the base610and the feed table606respectively. Baffles611are fixed under the tail of the conveyor platform, and the sample is diverted. In order to prevent the material from scattering, it is preferable that the width of the hopper604coincides with the width of the feeding stations606. The machine vision part is composed of a support plate605, a light box613, a light source614and a visible light CCD camera615. The light box613is suspended from the support plate605and is on the top of transport platform. The support plate605is welded to the bracket602. The support plate605has a vertical plate perpendicular to the conveyor platform, with a gap between the lower edge of the vertical plate and the conveyor platform being slightly greater than the height of the harvested grain of the harvester. The visible light CCD camera615is located in the light box613. The processor617comprises a current controller, a DC stepping motor controller, an image preprocessing unit, an image segmentation unit, a mismatch counting unit. Visible light CCD camera615and processor617are connected with multi-channel adaptive cleaning device operating status on-line monitoring and control system7by signal lines. The core-coil sheet608is connected to a current controller embedded in the control core coil608in the processor via a signal line. Frequency of the iron core coil608and the armature609is controlled by controlling the current on and off in the coil. So, the transmission speed of the grain sample on the grain transfer mechanism is controlled. The warehouse wall vibrator616is provided on the outside of the bottom surface of the hopper604and is connected to the current controller. The light source614is connected to a current controller, and the visible light CCD camera615is connected to the image preprocessing unit via a data line. The image preprocessing unit is used for converting the image to be measured photographed by the visible CCD camera615into a binary image. The image segmentation unit is used for dividing the residual feature image in the binary image, extracting morphological and color features of the miscellaneous matter and separating miscellaneous grains from grain. A hash count unit is used to count mismatches in the images.

Adaptive selection using a combine harvester adaptive cleaning control device, comprises the following steps:

(1) The grain extraction mechanism use DC stepper motor controller and DC stepper motor18drive drum samples603. The grooves on the sampling drum603are scraped off the effluent from the food container of the combine harvester. The scraped material is conveyed through the hopper604to the conveying platform of the grain transfer mechanism, driven by the DC stepping motor18.

(2) The visible light CCD camera615acquires the mismatched sample image sequence in real time and feeds it into the processor617when the transport platform is moved into the visible area of the visible light CCD camera615.

(3) The image preprocessing unit converts the image to be measured into a gray scale image and performs mean filtering and median filtering. A Hough transform is used to remove the edge image and contrast enhancement to further remove noise and enhance the image turning a degree image into a binary image.

(4) The image segmentation unit divides mismatched feature images by a distance transformation minima combination method and a watershed algorithm extracts residual morphological features and color characteristics and separates the miscellaneous grains from the grains by a morphological method.

(5) The mismatch counting unit counts mismatches in the image using a method of “performing eight neighborhood edge traces on the mismatched region and then filling pixels inside the connected region”, and then calculating mismatches in the current detection sample content.

The working process of using self-adaptive cleaning apparatus to make self-adaptive clean is:

Firstly, mount the grain loss monitoring sensor on the trail of the sieve bracket. Based on a mathematic relationship between the grain size of the selected grain and the distribution of grain in different areas of the sieve tail, the grain removal rate of the current multi-channel cleaning device is monitored in real time. Then, once the scrapings of the sampling drum fall onto the inclined wall of the hopper, with a continuous turning of DC stepper motor the scraping material reaches the upper side of the grain transfer mechanism with constant vibration of the wall-wall exciter.

The grain extraction mechanism of grain impurity ratio monitoring devices use the DC stepper motor to drive drum samples turning. The grooves on the sampling drum are scraped off of effluent from the food container of the combine harvester.

Secondly, the grain transfer mechanism controls the grain sample to be conveyed at a constant speed past the machine vision part of the set lighting condition. The visible light CCD camera takes miscellaneous samples of black and white image sequence in real-time and sends the images into the computer when grain samples run past the visible light CCD camera. The images taken by the CCD camera are processed by the mean filter, the median filter, image sharpening, contrast enhancement and other pre-processing to further remove noise, and enhance the images in the processor.
Thirdly, a Hough transform is used to detect the circle to remove the edge image for subsequent counting, and then combine with a watershed algorithm to separate the residual feature images to extract morphological and color characteristics of the images and separate the grains by morphological methods. Mismatches in the sample can be calculated by counting mismatches in the image using the method of “performing the eight neighborhood edge tracking on the mismatched region and then filling the pixels inside the connected region”. After the image collection of the light box is finished, the discharge falling from the feeding table is guided by the baffle and discharged through the discharge port. The DC stepping motor is rotated in a semi-circle under control of the computer and automatically enters the next sampling cycle in order to obtain real-time grain rate of grain box.

Fourthly, multi-channel adaptive cleaning device operating status on-line monitoring and control system receive working parameters (the wind fan angle of under the outlet belonging to clear centrifugal fan, the wind fan angle of under the outlet, fan speed, fan inlet opening, clear sieve vibration frequency, fish scale sieve opening) and performance parameters (grain cleaning loss grate miscellaneous rate of grain from grain box) and display the status of multi-channel adaptive cleaning device operating status.

Lastly, multi-channel adaptive cleaning device operating status on-line monitoring and control system has features of abnormal data substitution, missing data padding, data denoising to eliminate the influence of random and uncertain factors on subsequent data analysis. Then, the working parameters and performance parameters time series is treated as an associated variable. Based on the monitoring data preprocessing, a prediction validity is used as the evaluation criterion of the prediction accuracy. Time series correlation coefficients of the performance parameters of the multivariate cleaning device are determined by a chaotic phase space reconstruction method and the reconstructed dimensions of the time series samples are combine with the gray correlation cluster analysis. Using a Gaussian process regression model, an optimal reconstruction dimension of the time series samples of the performance parameters of the cleaning device is determined dynamically. Time series of the performance parameters of the cleaning device is decomposed into the superposition of the intrinsic instantaneous function (IMF) components by empirical mode decomposition (EMD) using a Hilbert-Huang transform (HHT), and instantaneous characteristics of the time series of the performance parameters of the cleaning device are used to establish an adaptive prediction model of the performance parameters of the cleaning device.

The predictive value of the adaptive prediction model is selected as the sample input, and the variable fitting residual is used as the sample output. The adaptive prediction model of the performance parameters of the cleaning device is obtained by the multi-core support vector regression machine (MSVR), for fitting residuals for regression analysis, and further correction of the predicted value.

With the multi-channel adaptive cleaning device operating status online monitoring and control system of the present invention, through a multi-core support vector regression machine (MSVR) model of the revised selection of the performance parameters of the parameters of the input value for the input variable, the application Fuzzy control theory, real-time output of the corresponding control signal on the multi-channel adaptive cleaning device to select the centrifugal wind under the outlet of the wind plate I tilt angle, the next outlet wind plate II angle, fan speed, fan inlet opening, the vibration frequency of the sieve and the actuating element of each regulating mechanism of the fish scale opening, and real-time adjustment of the working parameters of the multi-channel adaptive cleaning device is achieved. The performance parameters of the adaptive cleaning device are produced within a reasonable range.

The embodiments are preferred embodiments of the present invention, but the invention is not limited to the embodiments described above, and any obvious improvement, substitution, or modification can be made by a person skilled in the art without departing from the spirit of the invention[. Variations are within the scope of the present invention.

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