Self-adaptive control system and method for stubble height and stubble righting operation of ratooning rice

A self-adaptive control system for stubble height and righting operation of ratooning rice, comprising a stubble righting device, a profiling contact sensor, a speed radar, and a controller;

• wherein the stubble righting device is arranged at a rear of a combine harvester, and the stubble righting device is connected to a hydraulic cylinder bracket installed on the combine harvester through a stubble righting device hydraulic cylinder;
• the profiling contact sensor is configured to detect a height of a header above ground and transmit data to the controller;
• the speed radar is configured to obtain speed information of the combine harvester and transmit the speed information to the controller;
• a hydraulic valve block is installed on a chassis frame and is respectively connected to a header lifting hydraulic cylinder and the stubble righting device hydraulic cylinder;
• an input terminal of the controller is connected to the profiling contact sensor and the speed radar, and an output terminal of the controller is connected to a motor and the hydraulic valve block;
• a header angle sensor and a stubble righting device angle sensor are further comprised, wherein the header angle sensor is configured to measure a first angle between the header and the chassis frame and transmit the first angle to the controller, and the stubble righting device angle sensor is configured to measure a second angle between the stubble righting device and the chassis frame, and transmit the second angle to the controller;
• the controller comprises a working condition judgment module for the stubble righting device, and a forward speed and device rotation speed matching module;
• the combine harvester is divided into a working state and a non-working state, wherein the working state comprises:
• harvesting, and the non-working state comprises:
• steering, crossing ridges, downhill, and reversing;
• when a steering current is greater than a set value and lasts for a set time, it is determined as the steering state;
• when the steering current is less than or equal to the set value, it is determined that the combine harvester is in the harvesting state;
• when the height of the header lifting exceeds a set threshold during ridge crossing and downhill, it is determined that the combine harvester is in the non-working state;
• when switching to a reverse gear, it is judged as a reverse action;
• in addition, when a forward speed is less than the set threshold and lasts for the set time, it is determined that the combine harvester is in an abnormal working state;
• under the non-working state and the abnormal working state, the motor stops rotating and lifts the stubble righting device to a safe position;
• the stubble righting device comprises a righting wheel and a rotating shaft;
• the righting wheel is installed on the rotating shaft, and a plurality of connecting bars are arranged on the stubble righting device;
• each of the plurality of connecting bars is equipped with at least two tooth installation seats, wherein the at least two tooth installation seats are respectively located on both sides of each of the connecting bar;
• the tooth installation seats are each equipped with a plurality of teeth;
• steps of determining a working condition of the stubble righting device, and matching the forward speed with a device rotation speed are as follows:
• determining the working condition of the stubble righting device:
• the working condition judgment module of the self-adaptive control system judges the working condition of the combine harvester based on operating parameters of the combine harvester;
• when it is determined that the combine harvester is in the non-working state, the controller controls a contraction of the stubble righting device hydraulic cylinder to lift the stubble righting device to an established safe position;
• when the combine harvester is judged to be in the working state the profiling contact sensor measures the height of the header from the ground and sends the height to the controller;
• the controller adjusts the stubble height by controlling an expansion or contraction of the header lifting hydraulic cylinder;
• the controller, after processing with prediction methods, adjusts a height of the stubble righting device by controlling an expansion or contraction of the stubble righting device hydraulic cylinder;
• and
• matching the forward speed with the device rotation speed:
• the forward speed and device rotation speed matching module selects the corresponding speed based on a combine harvester forward speed measured by the speed radar in real time, and sends the corresponding speed to the motor through the controller to control the rotation speed of the stubble righting device;
• the speed radar collects a speed signal of the combine harvester and inputs the speed signal into the controller;
• the forward speed and device rotation speed matching module of the self-adaptive control system obtains the optimal matching relationship between the forward speed and the rotation speed of the stubble righting device based on simulation;
• the forward speed and device rotation speed matching module selects the corresponding speed based on a real-time speed signal of the combine harvester collected by the speed radar, then send the corresponding speed to the motor through the controller to control the rotation speed of a rotating shaft of the stubble righting device.