Combine harvester blockage detection method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of agricultural machinery blockage detection, and discloses a combined harvester blockage detection method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a hydraulic pressure signal time sequence of a first preset part of a combined harvester, and a vibration signal time sequence of a second preset part, obtaining a material distribution image of the combine harvester; and inputting the hydraulic pressure signal time sequence, the vibration signal time sequence and the material distribution image into a trained blockage detection model to obtain a predicted blockage position. By integrating various sensor data, the running state of the machine is comprehensively captured, the accuracy of blockage position judgment is improved, and therefore the overall working efficiency and economical efficiency of the combine harvester are improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery blockage detection technology, and in particular to a blockage detection method, system, electronic device and storage medium for combine harvesters. Background Technology

[0002] Currently, blockage detection technology in combine harvesters mainly relies on speed sensors (such as threshing drum and elevator shaft speed monitoring) to determine the risk of blockage by detecting abnormal speed, and combines this with multi-dimensional data from pressure sensors, temperature sensors, and other sources for comprehensive early warning. Cleaning methods include manually reversing the drum, manually cleaning during machine shutdown, or using a preset program to control the hydraulic actuator to reverse briefly. Some advanced models can also prevent blockages by automatically adjusting the feed rate or the gap between the concave plates.

[0003] The latest combine harvesters feature an automatic declogging program that triggers the conveyor chain to reverse via preset logic, allowing operators to complete the cleaning work without leaving the cab. This system comprises a speed sensor to monitor drum rotation speed, a preset reversal control module that drives a hydraulic motor to reverse via an electronically controlled valve, and a human-machine interface in the cab displaying a blockage alarm. However, this approach also has certain drawbacks: relying solely on speed signals can easily lead to misjudgments, such as speed fluctuations caused by changes in crop moisture; there is no closed-loop verification mechanism, requiring manual confirmation of the cleaning effect; and it does not integrate material flow status data, making it impossible to pinpoint the location of the blockage.

[0004] Therefore, there is an urgent need to provide a technical solution to address the above problems. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a method, system, electronic device, and storage medium for detecting blockages in combine harvesters.

[0006] In a first aspect, the present invention provides a method for detecting blockages in a combine harvester, the technical solution of which is as follows:

[0007] The time series of hydraulic pressure signals of the first preset component of the combine harvester, the time series of vibration signals of the second preset component, and the material distribution image of the combine harvester are acquired.

[0008] The hydraulic pressure signal time series, the vibration signal time series, and the material distribution image are input into a trained blockage detection model to obtain the predicted blockage location. The blockage detection model includes an LSTM layer, a CNN layer, and a feature fusion layer. The LSTM layer is used to obtain target temporal features characterizing the dynamic process of blockage evolution based on the hydraulic pressure signal time series and the vibration signal time series. The CNN layer is used to identify the material distribution image to obtain target spatial features characterizing the local blockage morphology. The feature fusion layer is used to fuse the target temporal features and the target spatial features and combine them with an attention mechanism to obtain the predicted blockage location.

[0009] The beneficial effects of the blockage detection method for combine harvesters of the present invention are as follows:

[0010] The method of this invention integrates data from multiple sensors to comprehensively capture the machine's operating status, improving the accuracy of blockage location determination, thereby enhancing the overall operating efficiency and economy of the combine harvester.

[0011] Based on the above scheme, the blockage detection method for combine harvesters of the present invention can be further improved as follows.

[0012] In one alternative approach, it also includes:

[0013] Based on the hydraulic pressure signal time series, the vibration signal time series, or the material distribution image, and combined with the determination result of whether a blockage warning has been triggered, the current blockage warning level of the combine harvester is determined, and the current response strategy corresponding to the current blockage warning level is triggered.

[0014] In one optional approach, the current blockage warning level is: a first blockage warning level, a second blockage warning level, or a third blockage warning level; the step of determining the current blockage warning level of the combine harvester based on the hydraulic pressure signal time series, the vibration signal time series, or the material distribution image, and in conjunction with the determination result of whether a blockage warning has been triggered, includes:

[0015] When the hydraulic pressure fluctuation in the hydraulic pressure signal time series exceeds the preset hydraulic pressure range, or when there are abnormal harmonic components in the vibration signal time series, or when there is local accumulation in the material distribution image, if no blockage warning is triggered at present, the current blockage warning level is determined as the first blockage warning level.

[0016] When the hydraulic pressure signal time series is under continuous high pressure, or when the vibration signal time series has continuous vibration abnormality, or when the material accumulation height in the material distribution image exceeds the preset height, if no blockage warning is triggered at present, the current blockage warning level is determined as the second blockage warning level.

[0017] When the hydraulic pressure signal time series is under continuous high pressure, or when the vibration signal time series has continuous vibration abnormality, or when the material accumulation height in the material distribution image exceeds a preset height, if the second blockage warning level has been triggered and continues for a preset duration, then the current blockage warning level is determined as the third blockage warning level.

[0018] In one alternative approach, the step of triggering the current response strategy corresponding to the current congestion warning level includes:

[0019] When the current blockage warning level is the first blockage warning level, the current response strategy is: adjust the hydraulic flow distribution, the rotation speed of the separation device and the material feeding speed, and trigger the interface to display the warning;

[0020] When the current congestion warning level is the second congestion warning level, the current response strategy is: to execute an automatic cleanup process and trigger an audible and visual alarm;

[0021] When the current congestion warning level is the third congestion warning level, the current response strategy is to control the combine harvester to stop running and output a manual intervention prompt message.

[0022] In one alternative approach, the automated cleanup process includes:

[0023] Based on the predicted blockage location, the reverse rotation parameters of the hydraulic actuator are determined, and the hydraulic actuator is controlled to reverse according to the reverse rotation parameters in order to clean the combine harvester;

[0024] and / or,

[0025] The combine harvester is cleaned by using a directional injection solenoid valve to regulate compressed air and perform high-frequency pulse purging on the predicted blockage location through an adjustable-angle nozzle.

[0026] In one alternative approach, it also includes:

[0027] After the automatic cleaning process is completed, the cleaning effect of the combine harvester is verified; if the cleaning effect of the combine harvester fails to meet the target after multiple consecutive cleaning attempts, a manual intervention prompt is output and fault data is stored.

[0028] Among the above-mentioned optional methods, by further designing a closed-loop logic for automatic cleaning and effect verification, cleaning can be automatically achieved and the cleaning effect can be fed back in real time, reducing the manual confirmation process and optimizing the performance of the combine harvester.

[0029] Secondly, the present invention provides a blockage detection system for a combine harvester, the technical solution of which is as follows:

[0030] Includes: a data acquisition module and a prediction module;

[0031] The acquisition module is used to: acquire the hydraulic pressure signal time series of the first preset component of the combine harvester, the vibration signal time series of the second preset component, and the material distribution image of the combine harvester;

[0032] The prediction module is used to: input the hydraulic pressure signal time series, the vibration signal time series, and the material distribution image into a trained blockage detection model to obtain the predicted blockage location; the blockage detection model includes: an LSTM layer, a CNN layer, and a feature fusion layer; the LSTM layer is used to obtain target temporal features characterizing the dynamic process of blockage evolution based on the hydraulic pressure signal time series and the vibration signal time series; the CNN layer is used to identify the material distribution image to obtain target spatial features characterizing the local blockage morphology; the feature fusion layer is used to fuse the target temporal features and the target spatial features and combine them with an attention mechanism to obtain the predicted blockage location.

[0033] The beneficial effects of the blockage detection system for a combine harvester according to the present invention are as follows:

[0034] The system of this invention integrates data from multiple sensors to comprehensively capture the machine's operating status, improving the accuracy of blockage location determination, thereby enhancing the overall operating efficiency and economy of the combine harvester.

[0035] Based on the above solution, the blockage detection system for combine harvesters of the present invention can be further improved as follows.

[0036] In an optional embodiment, the method further includes: a determination module; the determination module is used for:

[0037] Based on the hydraulic pressure signal time series, the vibration signal time series, or the material distribution image, and combined with the determination result of whether a blockage warning has been triggered, the current blockage warning level of the combine harvester is determined, and the current response strategy corresponding to the current blockage warning level is triggered.

[0038] Thirdly, the technical solution of an electronic device according to the present invention is as follows:

[0039] It includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of the combine harvester blockage detection method of the present invention.

[0040] Fourthly, the technical solution of a computer-readable storage medium provided by the present invention is as follows:

[0041] The computer-readable storage medium stores instructions that, when read, cause the computer-readable storage medium to perform the steps of the combine harvester blockage detection method of the present invention.

[0042] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. Attached Figure Description

[0043] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0044] Figure 1 This is a schematic flowchart of an embodiment of a blockage detection method for a combine harvester according to the present invention;

[0045] Figure 2 This is a schematic diagram illustrating the principle of the blockage detection model;

[0046] Figure 3 This is a schematic diagram illustrating the cleaning principle of a combine harvester.

[0047] Figure 4 This is a schematic diagram of the overall process for detecting blockages in a combine harvester.

[0048] Figure 5 This is a schematic diagram of an embodiment of a blockage detection system for a combine harvester according to the present invention;

[0049] Figure 6 This is a schematic diagram of an embodiment of an electronic device according to the present invention. Detailed Implementation

[0050] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0051] Figure 1The diagram illustrates a flowchart of an embodiment of a combine harvester blockage detection method provided by the present invention. This combine harvester blockage detection method is implemented using a vehicle controller. Figure 1 As shown, it includes the following steps:

[0052] S1. Acquire the hydraulic pressure signal time series of the first preset component of the combine harvester, the vibration signal time series of the second preset component, and the material distribution image of the combine harvester.

[0053] The combine harvester is an integrated agricultural machine capable of completing the cutting, threshing, separating, and cleaning of crops in one operation, directly outputting clean grains. The first preset component includes, but is not limited to: the header conveyor chain and UI lift. The second preset component includes, but is not limited to: the threshing drum and the separating screen. Each first preset component corresponds to a hydraulic pressure signal time series, with a default acquisition frequency of 50-100Hz. Each second preset component corresponds to a hydraulic pressure signal time series, with a default acquisition frequency of 0-5kHz. The material distribution image refers to the image representing the material accumulation height and distribution pattern acquired by multiple sets of infrared sensors arranged along the crop conveying channel (from the header to the grain bin).

[0054] S2. Input the hydraulic pressure signal time series, the vibration signal time series, and the material distribution image into the trained blockage detection model to obtain the predicted blockage location.

[0055] Among them, such as Figure 2 As shown, the blockage detection model is an improved CNN-LSTM hybrid model, including an LSTM layer, a CNN layer, and a feature fusion layer. The LSTM layer is a Long Short-Term Memory network used to obtain target temporal features characterizing the dynamic process of blockage evolution based on the hydraulic pressure signal time series and the vibration signal time series. The target temporal features default to abrupt change trends and vibration energy accumulation patterns. The CNN layer is a Convolutional Neural Network used to identify the material distribution image and obtain target spatial features characterizing the local blockage morphology. The target spatial features default to the shape of the accumulation area and the density distribution of the blockage material. The feature fusion layer fuses the target temporal features and the target spatial features and incorporates an attention mechanism to obtain the predicted blockage location. The attention mechanism is used to strengthen the weights of key features.

[0056] It should be noted that the blockage detection model employs transfer learning optimization. The model is pre-trained based on historical operational data from various crops such as wheat and corn (including different crop types, operating conditions, and other scenarios), and quickly adapted to new equipment or environments through transfer learning. The blockage detection model in this embodiment supports online incremental learning, allowing for real-time updates of model parameters to adapt to feature drift caused by changes in crop characteristics or equipment aging.

[0057] In one alternative approach, it also includes:

[0058] Based on the hydraulic pressure signal time series, the vibration signal time series, or the material distribution image, and combined with the determination result of whether a blockage warning has been triggered, the current blockage warning level of the combine harvester is determined, and the current response strategy corresponding to the current blockage warning level is triggered.

[0059] The current congestion warning levels are: Level 1, Level 2, or Level 3.

[0060] Specifically, the step of determining the current blockage warning level of the combine harvester based on the hydraulic pressure signal time series, the vibration signal time series, or the material distribution image, combined with the determination result of whether a blockage warning has been triggered, includes:

[0061] When the hydraulic pressure fluctuation in the hydraulic pressure signal time series exceeds the preset hydraulic pressure range, or when there are abnormal harmonic components in the vibration signal time series, or when there is local accumulation in the material distribution image, if no blockage warning is triggered at present, the current blockage warning level is determined as the first blockage warning level.

[0062] The preset hydraulic pressure range is dynamically adjusted based on historical operation data. Instantaneous fluctuations exceeding this range are considered an anomaly in the first preset component. Abnormal harmonic components refer to the occurrence of harmonic energy exceeding a threshold (e.g., 10% of total energy) in frequency bands outside the natural frequency of the threshing drum after FFT analysis of the vibration signal, indicating an abnormal impact or friction on the second preset component. Localized accumulation refers to the pixel density gradient in a localized area of ​​the material distribution image identified by the CNN model exceeding a preset value (e.g., grayscale difference between adjacent pixels > 50), and the shape conforming to blockage characteristics (e.g., strip-shaped areas with an aspect ratio > 3:1).

[0063] When the hydraulic pressure signal time series is under continuous high pressure, or when the vibration signal time series has continuous vibration abnormalities, or when the material accumulation height in the material distribution image exceeds the preset height, if no blockage warning is triggered at present, the current blockage warning level is determined as the second blockage warning level.

[0064] Among them, "continuous high pressure" refers to the hydraulic pressure remaining above the threshold (e.g., 120% of the rated pressure) for a set time window (e.g., 10 seconds). "Continuous abnormal vibration" refers to the vibration signal exhibiting continuously excessive harmonic energy within the same time window, and the frequency band energy distribution showing a steady-state abnormality (e.g., low-frequency energy ratio > 40%). "Preset height" refers to the safety threshold, such as 10cm.

[0065] When the hydraulic pressure signal time series is under continuous high pressure, or when the vibration signal time series has continuous vibration abnormality, or when the material accumulation height in the material distribution image exceeds a preset height, if the second blockage warning level has been triggered and continues for a preset duration, then the current blockage warning level is determined as the third blockage warning level.

[0066] The default duration is 30 seconds, but it can be set according to the actual situation; there is no limit here.

[0067] In one alternative approach, the step of triggering the current response strategy corresponding to the current congestion warning level includes:

[0068] When the current blockage warning level is the first blockage warning level, the current response strategy is to adjust the hydraulic flow distribution, the rotation speed of the separation device and the material feeding speed, and trigger the interface to display the warning.

[0069] Adjusting the hydraulic flow distribution involves reducing the oil supply pressure at the blockage point using a proportional valve (e.g., reducing the flow rate in the cutting table's hydraulic circuit by 20%), while simultaneously increasing the flow rate in adjacent circuits to balance the load. Adjusting the separation device speed involves reducing the speed of the corresponding separation drum based on the predicted blockage location to alleviate material congestion. Adjusting the material feed rate involves sending commands to the feeding auger motor via the CAN bus to limit the feed rate to a safe value. The interface display warning indicates that the predicted blockage location is marked with a yellow icon by default in the Human-Machine Interface (HMI), and the adjustment parameters are displayed for operator confirmation.

[0070] When the current congestion warning level is the second congestion warning level, the current response strategy is: to execute an automatic cleanup process and trigger an audible and visual alarm.

[0071] Among them, the audible and visual alarm refers to the buzzer in the driver's cab sounding intermittently at a high frequency (such as 1kHz), while the HMI interface switches to the red alarm page.

[0072] When the current congestion warning level is the third congestion warning level, the current response strategy is to control the combine harvester to stop running and output a manual intervention prompt message.

[0073] The operation to stop operation involves disengaging the main clutch and braking the travel system to prevent mechanical damage caused by blockage. Manual intervention prompts refer to the HMI displaying a dialog box indicating the specific location of the blockage and suggested handling steps (e.g., "Please clean the chain on the left side of the cutter"), and locking the control system until manual confirmation.

[0074] In one alternative approach, such as Figure 3 As shown, the automatic cleaning process includes:

[0075] Based on the predicted blockage location, the reverse rotation parameters of the hydraulic actuator are determined, and the hydraulic actuator is controlled to reverse according to the reverse rotation parameters in order to clean the combine harvester;

[0076] and / or,

[0077] The combine harvester is cleaned by using a directional injection solenoid valve to regulate compressed air and perform high-frequency pulse purging on the predicted blockage location through an adjustable-angle nozzle.

[0078] The reversal parameters refer to selecting the reversal duration (e.g., 2 seconds for the cutting platform, 3 seconds for the elevator) and pressure (e.g., 150% of the rated pressure) based on the predicted blockage location, and dynamically adjusting the reversal frequency and duration to optimize the cleaning effect. The control logic for reversal is as follows: the opening of the electro-hydraulic proportional valve is dynamically adjusted through a PID algorithm to control the hydraulic actuator, driving the conveyor chain, elevator, and other components to perform 0.5-3 second pulsed intermittent reversals.

[0079] The directional injection solenoid valve control process involves the solenoid valve switching the airflow path according to the location of the blockage, for example, controlling the opening of a specific passage in a multi-nozzle system. High-frequency pulse purging refers to the solenoid valve alternately switching on and off at 50ms intervals by default, creating an impact airflow to peel away the adhered blockage. Adjustable-angle nozzles can be driven by a servo motor to deflect the nozzle ±30°, covering the blocked area (such as gaps in the elevator chain).

[0080] It should be noted that the cleaning method can be determined according to different blockage locations. You can choose only reverse control, only purging control, or both reverse and purging control (such as reverse first and then purging).

[0081] In one alternative approach, it also includes:

[0082] After the automatic cleaning process is completed, the cleaning effect of the combine harvester is verified; if the cleaning effect of the combine harvester fails to meet the target after multiple consecutive cleaning attempts, a manual intervention prompt is output and fault data is stored.

[0083] The cleaning effect verification process is as follows: After cleaning, the hydraulic pressure signal time series, vibration signal time series, and material distribution image are re-acquired at 10-second intervals and input into the blockage detection model to determine whether the blockage has been resolved (e.g., pressure fluctuations return to the normal range). Multiple consecutive attempts are performed by default (3 times), but this can be adjusted according to actual conditions. The cleaning target is set to ±10% of the baseline value by default. The prompt message is: HMI displays "Automatic cleaning failed, manual inspection of the right side of the cutter is recommended" and historical fault data curves (e.g., pressure-time changes). Fault data is stored as follows: multimodal signals and cleaning parameters before and after the blockage occur.

[0084] like Figure 4 As shown, this embodiment constructs a complete closed-loop control system of "perception-decision-execution-verification", which can make relatively accurate blockage warnings and ensure efficient cleaning.

[0085] The technical solution in this embodiment integrates data from multiple sensors to comprehensively capture the machine's operating status, improving the accuracy of blockage location determination, thereby enhancing the overall operating efficiency and economy of the combine harvester.

[0086] Figure 5 A schematic diagram of an embodiment of a combine harvester blockage detection system 200 provided by the present invention is shown. Figure 5 As shown, the system 200 includes: a data acquisition module 210 and a prediction module 220;

[0087] The acquisition module 210 is used to: acquire the hydraulic pressure signal time series of the first preset component of the combine harvester, the vibration signal time series of the second preset component, and the material distribution image of the combine harvester;

[0088] The prediction module 220 is used to: input the hydraulic pressure signal time series, the vibration signal time series, and the material distribution image into a trained blockage detection model to obtain a predicted blockage location; the blockage detection model includes: an LSTM layer, a CNN layer, and a feature fusion layer; the LSTM layer is used to obtain target temporal features characterizing the dynamic process of blockage evolution based on the hydraulic pressure signal time series and the vibration signal time series; the CNN layer is used to identify the material distribution image to obtain target spatial features characterizing the local blockage morphology; the feature fusion layer is used to fuse the target temporal features and the target spatial features and combine them with an attention mechanism to obtain the predicted blockage location.

[0089] In an optional embodiment, the method further includes: a determination module; the determination module is used for:

[0090] Based on the hydraulic pressure signal time series, the vibration signal time series, or the material distribution image, and combined with the determination result of whether a blockage warning has been triggered, the current blockage warning level of the combine harvester is determined, and the current response strategy corresponding to the current blockage warning level is triggered.

[0091] In one optional approach, the current congestion warning level is: a first congestion warning level, a second congestion warning level, or a third congestion warning level; the determination module is specifically used for:

[0092] When the hydraulic pressure fluctuation in the hydraulic pressure signal time series exceeds the preset hydraulic pressure range, or when there are abnormal harmonic components in the vibration signal time series, or when there is local accumulation in the material distribution image, if no blockage warning is triggered at present, the current blockage warning level is determined as the first blockage warning level.

[0093] When the hydraulic pressure signal time series is under continuous high pressure, or when the vibration signal time series has continuous vibration abnormality, or when the material accumulation height in the material distribution image exceeds the preset height, if no blockage warning is triggered at present, the current blockage warning level is determined as the second blockage warning level.

[0094] When the hydraulic pressure signal time series is under continuous high pressure, or when the vibration signal time series has continuous vibration abnormality, or when the material accumulation height in the material distribution image exceeds a preset height, if the second blockage warning level has been triggered and continues for a preset duration, then the current blockage warning level is determined as the third blockage warning level.

[0095] In one alternative approach, the determination module is specifically used for:

[0096] When the current blockage warning level is the first blockage warning level, the current response strategy is: adjust the hydraulic flow distribution, the rotation speed of the separation device and the material feeding speed, and trigger the interface to display the warning;

[0097] When the current congestion warning level is the second congestion warning level, the current response strategy is: to execute an automatic cleanup process and trigger an audible and visual alarm;

[0098] When the current congestion warning level is the third congestion warning level, the current response strategy is to control the combine harvester to stop running and output a manual intervention prompt message.

[0099] In one alternative approach, the automated cleanup process includes:

[0100] Based on the predicted blockage location, the reverse rotation parameters of the hydraulic actuator are determined, and the hydraulic actuator is controlled to reverse according to the reverse rotation parameters in order to clean the combine harvester;

[0101] and / or,

[0102] The combine harvester is cleaned by using a directional injection solenoid valve to regulate compressed air and perform high-frequency pulse purging on the predicted blockage location through an adjustable-angle nozzle.

[0103] In an alternative embodiment, the method further includes: a verification module; the verification module is used for:

[0104] After the automatic cleaning process is completed, the cleaning effect of the combine harvester is verified; if the cleaning effect of the combine harvester fails to meet the target after multiple consecutive cleaning attempts, a manual intervention prompt is output and fault data is stored.

[0105] It should be noted that the beneficial effects of the combine harvester blockage detection system 200 provided in the above embodiments are the same as those of the combine harvester blockage detection method described above, and will not be repeated here. Furthermore, the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0106] The combine harvester blockage detection system 200 of the present invention can be a computer program (including program code) running on a computer device. For example, the combine harvester blockage detection system of the present invention is an application software that can be used to execute the corresponding steps in the combine harvester blockage detection method of the present invention.

[0107] In some embodiments, the combine harvester blockage detection system of the present invention can be implemented in a combination of hardware and software. As an example, the combine harvester blockage detection system of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the combine harvester blockage detection method of the present invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0108] The modules described in the embodiments of this invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0109] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-described combine harvester blockage detection methods. That is, an electronic device according to an embodiment of the present invention may include, but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the combine harvester blockage detection method shown in any embodiment of the present invention by calling the computer program.

[0110] In one alternative embodiment, an electronic device is provided, such as Figure 6 As shown, Figure 6 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0111] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0112] Bus 4002 may include a path for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus 4002 is represented by only one thick line, but this does not mean that there is only one bus or one type of bus.

[0113] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0114] The memory 4003 stores the application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0115] Among them, electronic devices can also be terminal devices. A terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart TVs, and smart in-vehicle devices.

[0116] It should be noted that, Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0117] An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described methods for detecting blockages in a combine harvester.

[0118] Alternatively, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0119] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the aforementioned combine harvester blockage detection method.

[0120] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0122] The computer-readable storage medium provided in this invention can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0123] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0124] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0125] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and represent a limitation on a specific order or sequence. Where appropriate, the order of use for similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0126] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this invention can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0127] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for detecting blockages in a combine harvester, characterized in that, include: The time series of hydraulic pressure signals of the first preset component of the combine harvester, the time series of vibration signals of the second preset component, and the material distribution image of the combine harvester are acquired. The hydraulic pressure signal time series, the vibration signal time series, and the material distribution image are input into a trained blockage detection model to obtain the predicted blockage location. The blockage detection model includes an LSTM layer, a CNN layer, and a feature fusion layer. The LSTM layer is used to obtain target temporal features characterizing the dynamic process of blockage evolution based on the hydraulic pressure signal time series and the vibration signal time series. The CNN layer is used to identify the material distribution image to obtain target spatial features characterizing the local blockage morphology. The feature fusion layer is used to fuse the target temporal features and the target spatial features and combine them with an attention mechanism to obtain the predicted blockage location.

2. The method for detecting blockages in a combine harvester according to claim 1, characterized in that, Also includes: Based on the hydraulic pressure signal time series, the vibration signal time series, or the material distribution image, and combined with the determination result of whether a blockage warning has been triggered, the current blockage warning level of the combine harvester is determined, and the current response strategy corresponding to the current blockage warning level is triggered.

3. The method for detecting blockages in a combine harvester according to claim 2, characterized in that, The current blockage warning level is: a first blockage warning level, a second blockage warning level, or a third blockage warning level; the step of determining the current blockage warning level of the combine harvester based on the hydraulic pressure signal time series, the vibration signal time series, or the material distribution image, and in conjunction with the determination result of whether a blockage warning has been triggered, includes: When the hydraulic pressure fluctuation in the hydraulic pressure signal time series exceeds the preset hydraulic pressure range, or when there are abnormal harmonic components in the vibration signal time series, or when there is local accumulation in the material distribution image, if no blockage warning is triggered at present, the current blockage warning level is determined as the first blockage warning level. When the hydraulic pressure signal time series is under continuous high pressure, or when the vibration signal time series has continuous vibration abnormality, or when the material accumulation height in the material distribution image exceeds the preset height, if no blockage warning is triggered at present, the current blockage warning level is determined as the second blockage warning level. When the hydraulic pressure signal time series is under continuous high pressure, or when the vibration signal time series has continuous vibration abnormality, or when the material accumulation height in the material distribution image exceeds a preset height, if the second blockage warning level has been triggered and continues for a preset duration, then the current blockage warning level is determined as the third blockage warning level.

4. The method for detecting blockages in a combine harvester according to claim 3, characterized in that, The steps for triggering the current response strategy corresponding to the current congestion warning level include: When the current blockage warning level is the first blockage warning level, the current response strategy is: adjust the hydraulic flow distribution, the rotation speed of the separation device and the material feeding speed, and trigger the interface to display the warning; When the current congestion warning level is the second congestion warning level, the current response strategy is: to execute an automatic cleanup process and trigger an audible and visual alarm; When the current congestion warning level is the third congestion warning level, the current response strategy is to control the combine harvester to stop running and output a manual intervention prompt message.

5. The method for detecting blockages in a combine harvester according to claim 4, characterized in that, The automatic cleaning process includes: Based on the predicted blockage location, the reverse rotation parameters of the hydraulic actuator are determined, and the hydraulic actuator is controlled to reverse according to the reverse rotation parameters in order to clean the combine harvester; and / or, The combine harvester is cleaned by using a directional injection solenoid valve to regulate compressed air and perform high-frequency pulse purging on the predicted blockage location through an adjustable-angle nozzle.

6. The method for detecting blockages in a combine harvester according to claim 4 or 5, characterized in that, Also includes: After the automatic cleaning process is completed, the cleaning effect of the combine harvester is verified. If the combine harvester fails to achieve the target cleaning effect after multiple consecutive attempts, it will output a manual intervention prompt and store the fault data.

7. A blockage detection system for a combine harvester, characterized in that, include: Data acquisition module and prediction module; The acquisition module is used to: acquire the hydraulic pressure signal time series of the first preset component of the combine harvester, the vibration signal time series of the second preset component, and the material distribution image of the combine harvester; The prediction module is used to: input the hydraulic pressure signal time series, the vibration signal time series, and the material distribution image into a trained blockage detection model to obtain the predicted blockage location; the blockage detection model includes: an LSTM layer, a CNN layer, and a feature fusion layer; the LSTM layer is used to obtain target temporal features characterizing the dynamic process of blockage evolution based on the hydraulic pressure signal time series and the vibration signal time series; the CNN layer is used to identify the material distribution image to obtain target spatial features characterizing the local blockage morphology; the feature fusion layer is used to fuse the target temporal features and the target spatial features and combine them with an attention mechanism to obtain the predicted blockage location.

8. The combine harvester blockage detection system according to claim 7, characterized in that, Also includes: Determination module; the determination module is used for: Based on the hydraulic pressure signal time series, the vibration signal time series, or the material distribution image, and combined with the determination result of whether a blockage warning has been triggered, the current blockage warning level of the combine harvester is determined, and the current response strategy corresponding to the current blockage warning level is triggered.

9. An electronic device, characterized in that, The electronic device includes a processor coupled to a memory storing at least one computer program, which is loaded and executed by the processor to enable the electronic device to implement the combine harvester blockage detection method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer-readable storage medium to implement the combine harvester blockage detection method as described in any one of claims 1 to 6.

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