Cotton picker collection head speed control method and system, cotton picker

Abstract

The present invention discloses a cotton picker head speed control method and system, and a cotton picker. After obtaining the harvesting vehicle speed, the harvesting head speed is first regulated to a target operating speed according to a reference corresponding relationship, and the real-time operating pressure of the harvesting head pump is obtained during the harvesting operation. The pressure margin is determined based on the real-time operating pressure, and the harvesting vehicle speed and the harvesting head speed are adaptively adjusted according to the pressure margin. When the pressure margin is insufficient, the harvesting vehicle speed and the harvesting head speed are restricted from increasing, and when the pressure margin is sufficient, the harvesting vehicle speed and the harvesting head speed are allowed to increase. Therefore, on the basis of the reference corresponding relationship between the harvesting vehicle speed and the harvesting head speed, the pressure margin of the harvesting head pump is introduced as a regulating factor, and the harvesting vehicle speed and the harvesting head speed can be more accurately regulated according to the different growth characteristics of the plants, which is more in line with the harvesting needs of the actual cotton field working conditions, thereby improving the cotton picking rate, reducing the cotton impurity rate, and achieving a good cotton harvesting effect.

Description

Technical Field

[0001] The present invention relates to the technical field of cotton pickers, and in particular, to a method and system for controlling the speed of a cotton picker's collecting head. In addition, the present invention also particularly relates to a cotton picker using the above control system. Background Art

[0002] Cotton is a major cash crop worldwide. With the increasing development of agricultural mechanization, mechanized cotton picking is an inevitable trend in the cotton industry. The cotton harvester's collecting head is the core component for cotton picking. A cotton harvester can be equipped with multiple collecting heads. Each spindle in each collecting head is capable of independent rotation, effectively separating the cotton from the bolls by contacting, hooking, and wrapping the cotton, completing the picking process. Therefore, controlling the collecting head's speed is crucial for the cotton harvester's clean picking rate and efficiency. Current methods for controlling the collecting head's speed rely on obtaining the machine's current harvesting speed signal and then regulating the speed to a target operating speed based on a pre-set baseline relationship between the harvesting speed and the collecting head's speed. The baseline relationship between the harvesting speed and the collecting head's speed is defined as a fixed ratio between the collecting head's speed and the harvesting vehicle's speed. To ensure spindle hooking and wrapping, the collecting head has a minimum operating speed, while to accommodate the machine's load capacity, the head has a maximum operating speed. However, during actual harvesting operations, the growth characteristics of plants vary significantly at different harvesting periods. For example, the separation force between cotton and bolls varies greatly at different harvesting periods, and the separation force between cotton and bolls directly affects the cotton picking effect. If a fixed matching relationship is used to control the speed of the collection head, it cannot meet the harvesting needs of actual cotton field conditions. The cotton picking rate is low, the impurity rate is high, and the harvesting effect is poor. Summary of the Invention

[0003] The present invention provides a cotton picker head speed control method and system, and a cotton picker, to solve the technical problems of low clean picking rate and high impurity rate in the existing method of controlling the speed of the cotton picker head based on the speed of the harvesting vehicle and a fixed matching relationship.

[0004] According to one aspect of the present invention, a method for controlling the speed of a cotton picker's collecting head is provided, comprising the following steps:

[0005] Obtain the harvesting speed of the cotton picker and adjust the speed of the harvesting head to the target operating speed based on the reference correspondence between the harvesting speed and the speed of the harvesting head;

[0006] Obtain the real-time operating pressure of the harvesting head pump during the harvesting operation;

[0007] The speed of the harvesting vehicle and the speed of the harvesting head are adaptively adjusted based on the real-time operating pressure of the harvesting head pump.

[0008] Furthermore, the process of adaptively adjusting the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump is specifically as follows:

[0009] Setting a system protection limit value and a system acceleration limit value of the sampling head pump pressure, wherein the system protection limit value is less than the upper limit value of the operating pressure of the sampling head pump, and the system acceleration limit value is less than the system protection limit value;

[0010] The real-time operating pressure of the collection head pump is compared with the system protection limit value and the system acceleration limit value, and the collection vehicle speed and the collection head speed are adaptively adjusted according to the comparison results.

[0011] Furthermore, when the actual harvesting speed is lower than the target control speed and the real-time operating pressure of the harvesting head pump is less than or equal to the system acceleration limit value, the cotton picker is allowed to accelerate to the target control speed, and the harvesting head speed is controlled to increase to the target operating speed according to the reference correspondence between the harvesting speed and the harvesting head speed; during the accelerated harvesting operation of the cotton picker, if the real-time operating pressure of the harvesting head pump is greater than the system acceleration limit value, the harvesting speed and the harvesting head speed are restricted; when the cotton picker is performing a stable harvesting operation, if the real-time operating pressure of the harvesting head pump is greater than the system protection limit value, the harvesting speed is reduced, and the harvesting head speed is reduced accordingly according to the reference correspondence between the harvesting speed and the harvesting head speed.

[0012] Furthermore, it also includes the following:

[0013] The hydraulic oil temperature is collected. When the hydraulic oil temperature is lower than the preset threshold and the real-time operating pressure of the sampling pump is greater than the system protection limit value, the driver is prompted to preheat the equipment or perform maintenance.

[0014] Furthermore, it also includes the following:

[0015] The actual cotton picking rate is obtained based on the cotton field images before and after harvesting, and the collection head rotation speed is corrected according to the actual cotton picking rate.

[0016] Furthermore, the process of correcting the speed of the collection head according to the actual cotton picking rate is specifically as follows:

[0017] Obtain the first and second change curves of the head pump pressure in the system no-load state and the system cotton picking state respectively, and obtain the head pump pressure value required for cotton picking based on the pressure difference between the first and second change curves in the stable harvesting stage;

[0018] A first pressure margin influence coefficient is calculated based on the real-time operating pressure of the picking head pump, the system acceleration limit value, and the picking head pump pressure value required for cotton picking. A second pressure margin influence coefficient is calculated based on the real-time operating pressure of the picking head pump and the system protection limit value.

[0019] When the actual cotton picking rate is lower than the preset lower limit value, the first picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset lower limit value, and the collection head speed is positively corrected based on the first pressure margin influence coefficient and the first picking rate influence coefficient. When the actual cotton picking rate is higher than the preset upper limit value, the second picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset upper limit value, and the collection head speed is negatively corrected based on the second pressure margin influence coefficient and the second picking rate influence coefficient.

[0020] Furthermore, the rotation speed of the acquisition head is corrected in the positive direction based on the following formula:

[0021] I=I base *α1*k0θ 2 ;

[0022] The acquisition head speed is reversely corrected based on the following formula:

[0023] I=I base *k1α2*k2ε 2 ;

[0024] Among them, I represents the correction current of the solenoid valve of the sampling pump, I base represents the reference control current of the solenoid valve of the mining head pump, α1 represents the first mining rate influence coefficient, α1=|N min -N pick |, N min Indicates the preset lower limit of cotton picking rate, N pick represents the actual cotton picking rate, α2 represents the second cotton picking rate influence coefficient, α2=|N max -N pick |, N max represents the preset upper limit of cotton picking rate, θ represents the first pressure margin influence coefficient, P acc Indicates the system acceleration limit value, P work Indicates the real-time operating pressure of the head pump, P ne Indicates the pressure value of the picking pump required for cotton picking, ε indicates the second pressure margin influence coefficient, ε=P work -P pro , P pro Indicates the system protection limit value, k0, k1, and k2 are fixed coefficients.

[0025] In addition, the present invention also provides a cotton picker head speed control system, comprising:

[0026] The benchmark control module is used to obtain the harvesting speed of the cotton picker and control the speed of the harvesting head to the target operating speed based on the benchmark correspondence between the harvesting speed and the speed of the harvesting head;

[0027] The pressure acquisition module is used to obtain the real-time operating pressure of the collection head pump during the collection operation at the target operating speed;

[0028] The adaptive adjustment module is used to adaptively adjust the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump.

[0029] Furthermore, it also includes:

[0030] The speed correction module is used to obtain the actual cotton picking rate based on the cotton field images before and after harvesting, and to correct the speed of the collection head according to the actual cotton picking rate.

[0031] In addition, the present invention also provides a cotton picker that adopts the above-mentioned picking head speed control system.

[0032] The present invention has the following effects:

[0033] The cotton picker's collecting head speed control method of the present invention, after obtaining the cotton picker's harvesting speed, first regulates the collecting head speed to the target working speed according to the reference correspondence between the harvesting speed and the collecting head speed, and obtains the real-time operating pressure of the harvesting head pump during the harvesting operation, judges its pressure margin based on the real-time operating pressure of the harvesting head pump, and adaptively adjusts the harvesting vehicle speed and the collecting head speed according to the pressure margin of the harvesting head pump. When the pressure margin of the harvesting head pump is insufficient, the harvesting vehicle speed and the collecting head speed are restricted from increasing, and when the pressure margin of the harvesting head pump is sufficient, the harvesting vehicle speed and the collecting head speed are allowed to increase. Therefore, on the basis of the reference correspondence between the harvesting vehicle speed and the collecting head speed, the pressure margin of the harvesting head pump is introduced as a regulating factor, and the harvesting vehicle speed and the collecting head speed can be more accurately regulated according to the different growth characteristics of the plants, which is more in line with the harvesting needs of actual cotton field working conditions, improves the cotton picking rate, reduces the cotton impurity rate, and achieves a good cotton harvesting effect.

[0034] In addition, the cotton picker's collecting head speed control system of the present invention also has the above advantages.

[0035] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0037] Figure 1 It is a flow chart of a method for controlling the speed of a cotton picker's collecting head according to a preferred embodiment of the present invention.

[0038] Figure 2 Schematic diagram of the relationship between the separation force between cotton and boll shell, moisture content and ripening time in a preferred embodiment of the present invention.

[0039] Figure 3 It is a schematic diagram of the linear relationship between the sampling head pump pressure and the sampling head rotation speed in the preferred embodiment of the present invention.

[0040] Figure 4 yes Figure 1 Schematic diagram of the sub-process of step S3 in FIG.

[0041] Figure 5 yes Figure 1 Another sub-process diagram of step S3 in FIG.

[0042] Figure 6 It is a schematic diagram of the relationship curve between the head pump pressure and the hydraulic oil temperature in the preferred embodiment of the present invention.

[0043] Figure 7 It is another flow chart of the method for controlling the speed of the collecting head of a cotton picker according to a preferred embodiment of the present invention.

[0044] Figure 8 It is a schematic diagram of the corresponding relationship between the speed of the harvesting head and the speed of the harvesting vehicle obtained in the preferred embodiment of the present invention.

[0045] Figure 9 yes Figure 7 Schematic diagram of the sub-process of step S4 in FIG.

[0046] Figure 10 This is a schematic diagram of the relationship between the speed of the picking head pump and the operation time in the system no-load state, the system cotton picking state, and the system not preheated and cotton picking state in a preferred embodiment of the present invention.

[0047] Figure 11 It is a schematic diagram of the module structure of a cotton picker head speed control system according to another embodiment of the present invention. DETAILED DESCRIPTION

[0048] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0049] It is understandable that Figure 1 As shown, a preferred embodiment of the present invention provides a method for controlling the speed of a cotton picker's collecting head, comprising the following contents:

[0050] Step S1: obtaining the harvesting speed of the cotton picker, and regulating the speed of the harvesting head to a target operating speed according to a reference correspondence between the harvesting speed and the speed of the harvesting head;

[0051] Step S2: obtaining the real-time operating pressure of the harvesting head pump during the harvesting operation;

[0052] Step S3: Adaptively adjust the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump.

[0053] It is understandable that the separation force between cotton and boll is mainly related to the moisture content and maturity time of cotton. Figure 2 As shown, as the moisture content of cotton increases, the overall separation force between cotton and boll shell gradually decreases, while as the maturity time increases, the overall separation force between cotton and boll shell shows a trend of first increasing and then decreasing, and the cotton maturity time has a greater impact on the separation force between cotton and boll shell than the moisture content. Therefore, as the harvesting period progresses, the speed of the collecting head should first increase gradually and then decrease gradually relative to the speed of the harvesting vehicle. When the matching relationship of the collecting head speed is low, the hooking force of the picking spindle is insufficient, and the amount of cotton hanging on the branches and falling to the ground increases, resulting in a low cotton picking rate; when the matching relationship of the collecting head speed is high, the hooking force of the picking spindle is large, and the scraping damage to the cotton plant branches increases, and the cotton is more seriously affected by impurities and coloring, resulting in a high cotton impurity content. Therefore, due to the different growth characteristics of cotton at different stages, if the reference correspondence between the harvesting vehicle speed and the collecting head speed is fixedly used to control the collecting head speed, it will inevitably lead to problems of low cotton picking rate and high impurity content. The present invention takes into account the existence of a reference linear correspondence between the collecting head speed and the collecting head pump pressure, such as Figure 3 As shown, during harvesting, a large amount of cotton is picked up by the harvesting head, further increasing the pressure of the harvesting head pump. Therefore, the harvesting head pump needs to have sufficient pressure margin to meet the cotton harvesting requirements. The pressure margin of the harvesting head pump is positively correlated with its power margin, so the pressure margin can directly reflect the power margin. For ease of explanation, the present invention uses the pressure margin as an example.

[0054] Therefore, the cotton picker's collecting head speed control method of this embodiment, after obtaining the cotton picker's harvesting speed, first adjusts the collecting head speed to the target working speed according to the benchmark correspondence between the harvesting speed and the collecting head speed, and obtains the real-time operating pressure of the collecting head pump during the harvesting operation, judges its pressure margin based on the real-time operating pressure of the collecting head pump, and adaptively adjusts the harvesting speed and the collecting head speed according to the pressure margin of the collecting head pump. When the pressure margin of the collecting head pump is insufficient, the harvesting speed and the collecting head speed are restricted from increasing, and when the pressure margin of the collecting head pump is sufficient, the harvesting speed and the collecting head speed are allowed to increase. Therefore, on the basis of the benchmark correspondence between the harvesting speed and the collecting head speed, the pressure margin of the collecting head pump is introduced as a control factor, and the harvesting speed and the collecting head speed can be more accurately adjusted according to the different growth characteristics of the plants, which is more in line with the harvesting needs of actual cotton field working conditions, improves the cotton picking rate, reduces the cotton impurity rate, and achieves a good cotton harvesting effect.

[0055] It can be understood that in step S1, the speed of the cotton picker is collected in real time based on the vehicle speed sensor, and then the speed of the collecting head is adjusted to the target working speed according to the preset reference correspondence between the harvesting vehicle speed and the collecting head speed.

[0056] It can be understood that in step S2, in the process of increasing the harvesting vehicle speed to the target control speed, the speed of the collecting head also gradually increases to the target working speed, and the pressure of the collecting head pump also gradually increases with the increase of the collecting head speed. As the harvesting progresses, due to a large amount of cotton entangled on the collecting head, the pressure of the collecting head pump further increases. During this process, the operating pressure value of the collecting head pump can be collected in real time by the pressure sensor, so as to facilitate real-time monitoring of the pressure margin of the collecting head pump. Once it is detected that the pressure margin of the collecting head pump is insufficient, it means that there is too much cotton entangled on the collecting head and the collecting head is at risk of clogging. At this time, it is necessary to reduce the harvesting vehicle speed and the speed of the collecting head.

[0057] It is understandable that Figure 4 As shown, in step S3, the process of adaptively adjusting the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump is specifically as follows:

[0058] Step S31: setting a system protection limit value and a system acceleration limit value of the sampling head pump pressure, wherein the system protection limit value is less than the upper limit value of the operating pressure of the sampling head pump, and the system acceleration limit value is less than the system protection limit value;

[0059] Step S32: Compare the real-time operating pressure of the harvesting head pump with the system protection limit value and the system acceleration limit value, and adaptively adjust the harvesting vehicle speed and the harvesting head speed according to the comparison result.

[0060] Specifically, in order to be suitable for the mechanical load-bearing capacity, the pressure of the collection head pump will have an operating pressure upper limit. When the workload of the collection head is too large and the pressure of the collection head pump is higher than the operating pressure upper limit, the hydraulic system will naturally release pressure to protect the safety of the system. In addition, when the collection head is blocked and stuck due to the influence of foreign objects in the field, the mechanical clutch will naturally bounce up, triggering the clutch alarm to protect the safety of the system. The high-pressure limit protection of the collection head pump is generally higher than that of the mechanical clutch, ensuring that the system still has good protection capabilities when the clutch fails. Therefore, the present invention first sets a system protection limit value and a system acceleration limit value for the pressure of the collection head pump, wherein the system protection limit value is less than the operating pressure upper limit of the collection head pump, and the system acceleration limit value is less than the system protection limit value. The system protection limit value plays a high-pressure limiting role during the stable harvesting operation, while the system acceleration limit value plays a high-pressure limiting role during the accelerated harvesting operation. In addition, the specific values ​​of the system protection limit value and the system acceleration limit value can be selected as needed and will not be repeated here. Then, when the actual harvesting speed of the cotton picker is lower than the target control speed, that is, the real-time speed detected by the speed sensor is lower than the speed controlled by the armrest box, the cotton picker is ready to start accelerated harvesting. If the real-time operating pressure of the harvesting head pump is less than or equal to the system acceleration limit value at this time, it means that the harvesting head pump has sufficient pressure margin, then the cotton picker is allowed to accelerate to the target control speed, and the harvesting head speed is controlled to increase to the target operating speed according to the reference correspondence between the harvesting speed and the harvesting head speed. If the real-time operating pressure of the harvesting head pump is greater than the system acceleration limit value at this time, it means that the pressure margin of the harvesting head pump is insufficient, then the harvesting speed and the harvesting head speed are restricted. Moreover, during the process of the cotton picker performing accelerated harvesting operations, as the cotton feed amount continues to increase, if the real-time operating pressure of the harvesting head pump is greater than the system acceleration limit value, it means that the pressure margin of the harvesting head pump is insufficient and there is a risk of clogging of the harvesting head, then the harvesting speed and the harvesting head speed are restricted. In addition, when the cotton picker is performing a stable harvesting operation, that is, the harvesting vehicle speed increases to the target control speed, and the collecting head speed increases to the target working speed, if the real-time operating pressure of the collecting head pump is greater than the system protection limit value, the harvesting vehicle speed is reduced, and the collecting head speed is reduced accordingly according to the benchmark correspondence between the harvesting vehicle speed and the collecting head speed to prevent the collecting head from being blocked.

[0061] Alternatively, as Figure 5 As shown, the step S3 also includes the following contents:

[0062] Step S33: Collect the temperature of the hydraulic oil. When the temperature of the hydraulic oil is lower than the preset threshold and the real-time operating pressure of the head pump is greater than the system protection limit value, the driver is prompted to preheat the equipment or perform maintenance.

[0063] It is understandable that during the cotton picking season, the climate changes significantly and the temperature difference is large. The properties of lubricating grease are significantly affected by temperature. In addition, there are many parts in the collection head that require lubricating grease, which causes the working pressure of the collection head pump to increase sharply as the temperature drops. Figure 6 As shown, therefore, in a cold environment, the equipment must be fully preheated to ensure that the collecting head pump has a certain amount of working power margin. Otherwise, there will be a problem of mismatch between the collecting head speed and the harvesting vehicle speed, or even if the collecting head speed is suitable for the harvesting operation speed, due to the lack of sufficient harvesting power, the collecting head load increases after entering the cotton field, causing the collecting head to slow down, become blocked and shut down, affecting the harvesting efficiency. Therefore, the present invention uses a temperature sensor to detect the temperature of the hydraulic oil in real time. When the temperature of the hydraulic oil is lower than the preset threshold and the real-time operating pressure of the collecting head pump is greater than the system protection limit value, it means that the temperature has too much impact on the pressure of the collecting head pump, resulting in insufficient power margin of the collecting head pump, which may cause the collecting head speed to not match the harvesting vehicle speed, and the cotton picker will not have the ability to harvest cotton. At this time, a prompt will be issued to remind the driver to preheat the equipment or perform maintenance, further ensuring the harvesting effect.

[0064] Alternatively, as Figure 7 As shown, the cotton picker head speed control method also includes the following contents:

[0065] Step S4: obtaining an actual cotton picking rate based on the cotton field images before and after harvesting, and correcting the speed of the cotton collecting head according to the actual cotton picking rate.

[0066] Specifically, cameras mounted on the front and rear of the cotton picker capture images of the cotton field before and after harvesting. Image processing techniques are then used to identify the cotton area before and after harvesting based on the captured images, and the actual cotton clean rate is calculated. The specific image processing techniques are known in the art and will not be detailed here. The speed of the harvesting head is then corrected based on the actual cotton clean rate. When the actual cotton clean rate is below a preset lower limit, indicating poor cotton clean rate, the slope of the relationship between the harvesting vehicle speed and the reference speed of the harvesting head is increased, i.e., the speed of the harvesting head corresponding to the reference operating speed is increased to improve cotton clean rate. When the actual cotton clean rate is above a preset upper limit, indicating good cotton clean rate, an excessively high clean rate also indicates a high trash content. To balance the clean rate and trash content, the present invention employs an appropriate loss of clean rate to minimize the trash content. This approach reduces the slope of the relationship between the harvesting vehicle speed and the reference speed of the harvesting head, i.e., the speed of the harvesting head corresponding to the reference operating speed is reduced, thereby reducing the trash content and dyeing rate of the cotton and minimizing wear on the mechanism. In addition, the corresponding relationship between the speed of the collecting head and the speed of the collecting vehicle obtained by the present invention is as follows: Figure 8 As shown, Figure 8The gray area in the figure is the range of the ratio of the collection head speed to the collection vehicle speed after correction based on the net collection rate.

[0067] Among them, Figure 9 As shown in FIG, the process of correcting the speed of the collection head according to the actual cotton picking rate is specifically as follows:

[0068] Step S41: obtaining a first change curve and a second change curve of the picking pump pressure in a system no-load state and a system cotton picking state, respectively, and obtaining the picking pump pressure value required for cotton picking based on the pressure difference between the first change curve and the second change curve in a stable harvesting stage;

[0069] Step S42: Calculating a first pressure margin influence coefficient based on the real-time operating pressure of the harvesting head pump, the system acceleration limit value, and the harvesting head pump pressure value required for cotton picking; and calculating a second pressure margin influence coefficient based on the real-time operating pressure of the harvesting head pump and the system protection limit value;

[0070] Step S43: When the actual cotton picking rate is lower than the preset lower limit value, the first picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset lower limit value, and the collection head rotation speed is positively corrected based on the first pressure margin influence coefficient and the first picking rate influence coefficient. When the actual cotton picking rate is higher than the preset upper limit value, the second picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset upper limit value, and the collection head rotation speed is negatively corrected based on the second pressure margin influence coefficient and the second picking rate influence coefficient.

[0071] Specifically, the first and second change curves of the head pump pressure changing with time in the system no-load state and the system cotton picking state are obtained respectively. In addition, the third change curve of the head pump pressure in the system not preheated and cotton picking state can also be obtained. The specific curve diagram is shown as follows: Figure 10 As shown. Among them, the system no-load state and the system cotton picking state are both under normal system preheating and running-in conditions, or under high temperature conditions without preheating and running-in, while the system is not preheated and cotton picking state is under low temperature conditions without preheating and running-in. Figure 10It can be seen that when the system is in an unloaded state, the speed of the collecting head increases linearly with the speed of the harvesting vehicle, and the pressure of the collecting head pump also increases linearly with the speed of the collecting head until the maximum speed is reached, and the speed of the collecting head and the pressure of the collecting head pump remain stable; when the system is in a cotton picking state, the speed of the collecting head increases linearly with the speed of the harvesting vehicle, and the pressure of the collecting head pump also increases linearly with the speed of the collecting head until the maximum speed is reached, and the speed of the collecting head and the pressure of the collecting head pump remain stable. At this time, due to the spinning spindles hooking the cotton during the harvesting operation, the pressure of the collecting head pump is greater than that when unloaded; and when the system is in a low temperature environment without preheating and in the cotton picking state, the load of the collecting head pump is higher than that of the normal cotton picking operation, and as the operation time increases, the pressure of the hydraulic system decreases linearly and is on par with the normal cotton picking operation condition. In addition, when the system is not preheated and the cotton is being picked, the pressure of the picking head pump may have reached its upper limit, resulting in the collection head speed being unable to increase to match the speed of the harvesting vehicle. In this case, the equipment no longer has the ability to pick cotton, and the pressure of the picking head pump remains at the system upper limit for a long time. The collection head speed increases linearly and slowly with the preheating time until the collection head reaches the maximum speed. Only then will the hydraulic system pressure decrease linearly and slowly with the preheating time. Optionally, while retaining a certain pressure margin, the maximum value in the third variation curve can be set as the system acceleration limit value. Then, based on the pressure difference between the first variation curve and the second variation curve during the stable harvesting phase, the required picking head pump pressure value can be calculated.

[0072] Then, the first pressure margin influence coefficient is calculated based on the following formula:

[0073]

[0074] The second pressure margin influence coefficient is calculated based on the following formula:

[0075] ε=P work -P pro

[0076] Where θ represents the first pressure margin influence coefficient, P acc Indicates the system acceleration limit value, P work Indicates the real-time operating pressure of the head pump, P ne Indicates the pressure value of the picking pump required for cotton picking, P pro Indicates the system protection limit value.

[0077] When the actual cotton picking rate is lower than the preset lower limit, the first cotton picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset lower limit. The calculation formula is: α1=|N min -N pick |, where α1 represents the first net mining rate influence coefficient, N min Indicates the preset lower limit of cotton picking rate, N pickIt represents the actual cotton picking rate. Then, the speed of the picking head is corrected in the positive direction based on the following formula:

[0078] I=I base *α1*k0θ 2

[0079] Among them, I represents the correction current of the solenoid valve of the sampling pump, I base This represents the baseline control current of the solenoid valve for the harvesting head pump, i.e., the current value of the solenoid valve when the harvesting head speed and the harvesting vehicle speed are in a baseline relationship. k0 represents a fixed coefficient, which increases the harvesting head speed corresponding to the baseline operating vehicle speed. The specific value of k0 can be determined through experimentation and is generally between (0.01 and 0.03), with possible values ​​being 0.01, 0.015, 0.02, and so on.

[0080] When the actual cotton picking rate is higher than the preset upper limit, the second cotton picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset upper limit. The calculation formula is: α2=|N max -N pick |, where α2 represents the second net mining rate influence coefficient, N max It represents the preset upper limit of cotton picking rate. Then, the speed of the picking head is reversely corrected based on the following formula:

[0081] I=I base *k1α2*k2ε 2 ;

[0082] Among them, k1 and k2 represent fixed coefficients. The specific values ​​of the two can be obtained through experiments. The value of k1 is generally a value between (0.002, 0.01), and the value of k2 is generally a value between (0.1, 0.6). For example, the value of k1 is 0.005 and the value of k2 is 0.2; or the value of k1 is 0.006 and the value of k2 is 0.4, etc. After the correction current I is calculated, the reference control current I base Based on this, combined with the corrected current I, the control current of the solenoid valve of the sampling head pump is obtained.

[0083] It can be seen from the above two control formulas that the present invention takes into account the influence of the collection rate and pressure margin on the correction of the collection head speed, and can accurately correct and adjust the collection head speed, which is conducive to further improving the collection rate and reducing the impurity rate.

[0084] It can be understood that the above reverse correction formula is mainly applicable to situations where the picking rate is too high and the high pressure of the picking head pump is abnormal. For example, at the end of the picking season, the branches are dry and broken. When picking cotton, the branches are broken and mixed into the picking mechanism, which increases the load. Although the picking rate is high, the blockage rate is extremely high, and the cotton cannot be sold due to the high impurity content. Optionally, when the actual cotton picking rate is higher than the preset upper limit, but the pressure margin of the picking head pump is sufficient, that is, when the real-time operating pressure of the picking head pump is less than the system protection limit value, the above reverse correction formula is transformed into: I = I base *k1α2, that is, at this time, only the influence of the net collection rate on the speed of the collection head is considered, because the purpose of the reverse correction is to reduce the speed of the collection head, and the reduction of the speed of the collection head will inevitably increase the pressure margin of the collection head pump. Therefore, the limitation of the pressure margin on the speed of the collection head cannot be considered at this time.

[0085] Optionally, when performing a forward correction on the speed of the harvesting head, if the speed reaches the maximum operating speed, the harvesting vehicle speed needs to be reduced to reduce the amount of cotton fed. The specific control algorithm is the same as the reverse correction formula for the speed of the harvesting head and will not be repeated here.

[0086] In addition, the cotton picker's collecting head speed control method can also detect the collecting head clutch status through a proximity switch. When the collecting head clutch pops up, the proximity switch can send a feedback signal to the display screen to prompt the driver that the collecting head is blocked and stuck, and to stop the machine for inspection in time.

[0087] Furthermore, since cotton lint has a certain degree of water absorption, setting the wetting water pressure too high will result in a high overall moisture content in the cotton, increasing the risk of cotton mold during storage. Setting the wetting water pressure too low will result in inadequate spindle cleaning, causing lint to tightly wrap around the spindles, reducing their ability to hook and entangle, impacting the clean harvest rate and increasing the risk of friction fires. Therefore, the cotton picker's collection head speed control method can also detect the wetting water pressure of the collection head using a water pressure sensor and compare the detected wetting water pressure with a set value range. If the detected value is greater than the upper limit of the set value range, the wetting water pressure is reduced; if the detected value is less than the upper limit of the set value range, the wetting water pressure is increased. Since the wetting water pressure required for cotton harvesting varies during the day and night, the specific values ​​of the set value range are different for daytime and nighttime harvesting. Furthermore, by analyzing the cotton field environment image and combining it with the system clock, it can be determined whether the current operation time is daytime or nighttime, and the set value range of the wetting water pressure can be set accordingly.

[0088] In addition, if Figure 11 As shown, another embodiment of the present invention further provides a collection head speed control system for a cotton picker, preferably using the collection head speed control method as described above, including:

[0089] The benchmark control module is used to obtain the harvesting speed of the cotton picker and control the speed of the harvesting head to the target operating speed based on the benchmark correspondence between the harvesting speed and the speed of the harvesting head;

[0090] The pressure acquisition module is used to obtain the real-time operating pressure of the collection head pump during the collection operation at the target operating speed;

[0091] The adaptive adjustment module is used to adaptively adjust the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump.

[0092] It can be understood that the cotton picker's collecting head speed control system of this embodiment, after obtaining the cotton picker's harvesting speed, first regulates the collecting head speed to the target working speed according to the reference correspondence between the harvesting speed and the collecting head speed, and obtains the real-time operating pressure of the collecting head pump during the harvesting operation, judges its pressure margin based on the real-time operating pressure of the collecting head pump, and adaptively adjusts the harvesting speed and the collecting head speed according to the pressure margin of the collecting head pump. When the pressure margin of the collecting head pump is insufficient, the harvesting speed and the collecting head speed are restricted from increasing, and when the pressure margin of the collecting head pump is sufficient, the harvesting speed and the collecting head speed are allowed to increase. Therefore, on the basis of the reference correspondence between the harvesting speed and the collecting head speed, the pressure margin of the collecting head pump is introduced as a regulating factor, and the harvesting speed and the collecting head speed can be more accurately regulated according to the different growth characteristics of the plants, which is more in line with the harvesting needs of the actual cotton field working conditions, improves the cotton picking rate, reduces the cotton impurity rate, and achieves a good cotton harvesting effect.

[0093] In addition, the cotton picker's collection head speed control system also includes:

[0094] The speed correction module is used to obtain the actual cotton picking rate based on the cotton field images before and after harvesting, and to correct the speed of the collection head according to the actual cotton picking rate.

[0095] It can be understood that the various modules of the present system embodiment correspond to the various steps of the above method embodiment, so the specific working process of each module will not be repeated here.

[0096] In addition, another embodiment of the present invention further provides a cotton picker, which preferably adopts the above-mentioned collection head speed control system.

[0097] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0098] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiment of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal translation scripting language JavaScript, etc.

[0099] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0102] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0103] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for controlling the speed of a cotton picker's collecting head, characterized in that: Includes the following: Obtain the harvesting speed of the cotton picker and adjust the speed of the harvesting head to the target operating speed based on the reference correspondence between the harvesting speed and the speed of the harvesting head; Obtain the real-time operating pressure of the harvesting head pump during the harvesting operation; Adaptively adjust the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump; The process of adaptively adjusting the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump is specifically as follows: Setting a system protection limit value and a system acceleration limit value of the sampling head pump pressure, wherein the system protection limit value is less than the upper limit value of the operating pressure of the sampling head pump, and the system acceleration limit value is less than the system protection limit value; Compare the real-time operating pressure of the harvesting head pump with the system protection limit value and the system acceleration limit value, and adaptively adjust the harvesting vehicle speed and the harvesting head speed according to the comparison results; When the actual harvesting speed is lower than the target control speed and the real-time operating pressure of the harvesting head pump is less than or equal to the system acceleration limit value, the cotton picker is allowed to accelerate to the target control speed, and the harvesting head speed is controlled to increase to the target operating speed according to the reference correspondence between the harvesting speed and the harvesting head speed; during the accelerated harvesting operation of the cotton picker, if the real-time operating pressure of the harvesting head pump is greater than the system acceleration limit value, the harvesting speed and the harvesting head speed are restricted; when the cotton picker is performing a stable harvesting operation, if the real-time operating pressure of the harvesting head pump is greater than the system protection limit value, the harvesting speed is reduced, and the harvesting head speed is reduced accordingly according to the reference correspondence between the harvesting speed and the harvesting head speed.

2. The method for controlling the speed of the cotton picking head of the cotton picking machine according to claim 1, wherein: Also included: The hydraulic oil temperature is collected. When the hydraulic oil temperature is lower than the preset threshold and the real-time operating pressure of the sampling pump is greater than the system protection limit value, the driver is prompted to preheat the equipment or perform maintenance.

3. The method for controlling the speed of the cotton picker's collecting head according to claim 1, wherein: Also included: The actual cotton picking rate is obtained based on the cotton field images before and after harvesting, and the collection head rotation speed is corrected according to the actual cotton picking rate.

4. The method for controlling the speed of the cotton picking head of the cotton picking machine according to claim 3, wherein: The process of correcting the speed of the collection head according to the actual cotton picking rate is specifically as follows: Obtain the first and second change curves of the head pump pressure in the system no-load state and the system cotton picking state respectively, and obtain the head pump pressure value required for cotton picking based on the pressure difference between the first and second change curves in the stable harvesting stage; A first pressure margin influence coefficient is calculated based on the real-time operating pressure of the picking head pump, the system acceleration limit value, and the picking head pump pressure value required for cotton picking. A second pressure margin influence coefficient is calculated based on the real-time operating pressure of the picking head pump and the system protection limit value. When the actual cotton picking rate is lower than the preset lower limit value, the first picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset lower limit value, and the collection head speed is positively corrected based on the first pressure margin influence coefficient and the first picking rate influence coefficient. When the actual cotton picking rate is higher than the preset upper limit value, the second picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset upper limit value, and the collection head speed is negatively corrected based on the second pressure margin influence coefficient and the second picking rate influence coefficient.

5. The method for controlling the speed of the cotton picking head of the cotton picking machine according to claim 4, wherein: The acquisition head speed is corrected positively based on the following formula: I=I base *α1*k0θ 2 ; The acquisition head speed is reversely corrected based on the following formula: I=I base *k1α2*k2ε 2 ; Among them, I represents the correction current of the solenoid valve of the sampling pump, I base represents the reference control current of the solenoid valve of the mining head pump, α1 represents the first mining rate influence coefficient, α1=|N min -N pick |, N min Indicates the preset lower limit of cotton picking rate, N pick represents the actual cotton picking rate, α2 represents the second cotton picking rate influence coefficient, α2=|N max -N pick |, N max represents the preset upper limit of cotton picking rate, θ represents the first pressure margin influence coefficient, P acc Indicates the system acceleration limit value, P work Indicates the real-time operating pressure of the head pump, P ne Indicates the pressure value of the picking pump required for cotton picking, ε indicates the second pressure margin influence coefficient, ε=P work -P pro , P pro Indicates the system protection limit value, k0, k1, and k2 are fixed coefficients.

6. A cotton picker head speed control system, using the cotton picker head speed control method according to any one of claims 1 to 5, characterized in that: include: The benchmark control module is used to obtain the harvesting speed of the cotton picker and control the speed of the harvesting head to the target operating speed based on the benchmark correspondence between the harvesting speed and the speed of the harvesting head; The pressure acquisition module is used to obtain the real-time operating pressure of the collection head pump during the collection operation at the target operating speed; The adaptive adjustment module is used to adaptively adjust the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump.

7. The cotton picking head speed control system of claim 6, wherein: Also includes: The speed correction module is used to obtain the actual cotton picking rate based on the cotton field images before and after harvesting, and to correct the speed of the collection head according to the actual cotton picking rate.

8. A cotton picker, characterized in that: The collection head speed control system according to claim 6 or 7 is adopted.

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