A cotton picker and an autonomous operation dynamic and static self-checking device and method thereof

Abstract

A cotton picker and an autonomous operation dynamic and static self-checking device and method thereof, the cotton picker comprising an autonomous operation dynamic and static self-checking device, the device comprising a sensing device installed on a corresponding operation device of the cotton picker for detecting a rotating speed, a position, a pressure and / or an angle parameter of the corresponding operation device, the sensing device comprising a plurality of proximity switches, a rotating speed sensor, an angle sensor and a pressure transmitter; and a control device connected with the sensing device and an electro-hydraulic automatic control device of the cotton picker respectively, the control device comprising a cotton picking controller, a bale forming controller and an autonomous operation controller for controlling a cotton picking operation, a bale forming operation and an autonomous operation respectively to realize static and dynamic self-checking of the cotton picker; the cotton picking controller, the bale forming controller and the autonomous operation controller are connected through a CAN bus for information communication and data transmission. The application further discloses a method for autonomous operation dynamic and static self-checking of the cotton picker.

Description

Technical Field

[0001] This invention relates to cotton harvesters, and more particularly to a cotton harvester and its autonomous operation dynamic and static self-inspection device. Background Technology

[0002] The performance and efficiency of existing cotton harvesting operations heavily rely on the experience of operators. Research on autonomous operation of cotton harvesters mainly focuses on automatic row alignment, online yield measurement, and intelligent control. The dynamic and static self-checking of autonomous operation of cotton harvesters is mainly based on automatic row alignment, electronic contouring, and intelligent control of forming. A fully complete autonomous operation device has not yet been realized, and it is also expensive. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies of the prior art by providing a cotton harvester and its autonomous operation dynamic and static self-inspection device and method.

[0004] To achieve the above objectives, the present invention provides an autonomous operation dynamic and static self-inspection device for a cotton harvester, comprising:

[0005] A sensing device, installed on the corresponding working device of the cotton harvester, is used to detect the rotational speed, position, pressure, and / or angle parameters of the corresponding working device. The sensing device includes multiple proximity switches, a speed sensor, an angle sensor, and a pressure transmitter; and

[0006] The control device is connected to the sensing device and the electro-hydraulic automatic control device of the cotton harvester. The control device includes a cotton harvesting controller, a bale forming controller and an autonomous operation controller, which are used to control the cotton harvesting operation, bale forming operation and autonomous operation respectively, so as to realize the static self-test and dynamic self-test of the cotton harvester. The cotton harvesting controller, bale forming controller and autonomous operation controller communicate and transmit information through a CAN bus.

[0007] The aforementioned autonomous operation dynamic and static self-inspection device for cotton harvesters also includes a human-machine interface terminal, which is connected to the control device and communicates and transmits information via the CAN bus. The human-machine interface terminal adopts a modular multi-interface split-screen structure, including a main display screen and a column-type instrument, and is installed in the cab of the cotton harvester for displaying key operating parameters and setting parameters.

[0008] The aforementioned autonomous operation dynamic and static self-checking device for cotton harvesters includes a sensor device, a control device, and a human-machine interface terminal that jointly perform static self-checks to accurately locate faults and troubleshoot them; and an operation device, a sensor device, a control device, and a human-machine interface terminal that jointly perform dynamic self-checks and send the dynamic self-check results.

[0009] The aforementioned autonomous operation dynamic and static self-testing device for cotton harvesters includes the following components: the speed sensors include an engine speed sensor, a harvesting head speed sensor, a blower speed sensor, a baling speed sensor, and / or a cotton feeding speed sensor; the proximity switches include a harvesting head high position sensor, an upper box high position sensor, an upper box low position sensor, and / or a bin door closing sensor; the angle sensors include a harvesting head contour sensor and / or an unloading angle sensor; and the pressure transmitters include a water pressure sensor and / or a baling pressure sensor.

[0010] The aforementioned autonomous operation dynamic and static self-testing device for cotton harvesters includes a cotton harvesting controller connected to the harvesting head speed sensor; a bale forming controller connected to the bale speed sensor, cotton feeding speed sensor, bale pressure sensor, bale position sensor, bin door closing sensor, and / or unloading angle sensor; and an autonomous operation controller connected to the harvesting head contour sensor, harvesting head high position sensor, water pressure sensor, fan speed sensor, engine speed sensor, upper bin high position sensor, and / or upper bin low position sensor.

[0011] The aforementioned autonomous operation dynamic and static self-inspection device for a cotton harvester includes the following components: an engine speed sensor mounted on the top of the engine flywheel to detect engine speed; a harvesting head speed sensor mounted on the rear end of the harvesting head transfer case to detect harvesting head speed; a fan speed sensor mounted on the fan support frame to detect fan speed; a baling speed sensor mounted on the baling motor connection plate to detect baling roller speed; a feeding speed sensor mounted on the feeding motor connection plate to detect feeding roller speed; a harvesting head height sensor mounted on the top of the harvesting head lifting frame to detect harvesting head height; and a harvesting head contour sensor mounted on... The cotton harvester's head-following boot connecting rod is used to detect changes in the head-following boot's position; the upper box high position sensor is installed at the upper corner of the cotton harvester's upper cotton box to detect the upper box's high position; the upper box low position sensor is installed at the lower corner of the upper cotton box to detect the upper box's low position; the water pressure sensor is installed on the cotton harvester's water circuit to detect the water circuit pressure; the baling pressure sensor is installed on the baling device's rocker arm lifting cylinder to detect the pressure in the rod chamber of the baling rocker arm cylinder; the bin door closing sensor is installed above the baling device's rear bin locking hook to detect when the baling device's rear bin is closed; and the unloading angle sensor is installed on the frame's rear crossbeam, coaxial with the two front hinge points of the unloading frame, to detect the unloading frame's position.

[0012] The aforementioned autonomous operation dynamic and static self-inspection device for cotton harvesters includes an electro-hydraulic automatic control device that controls the raising / lowering of the cotton harvesting head and the upper cotton box, as well as the start and stop of the cotton harvester's fan and water circuit, via a switching solenoid valve; and controls the rotational speed of the cotton harvesting head, the baling device, the cotton feeding mechanism, the cotton breaking roller, and the cotton discharging roller via a proportional solenoid valve.

[0013] To better achieve the above objectives, the present invention also provides a method for autonomous operation and dynamic / static self-inspection of a cotton harvester, wherein the method for automatically detecting problems and faults in various components of the cotton harvester with a single button includes the following steps:

[0014] S100. Static self-test: The control device automatically detects the sensors installed on the cotton picking head, fan, water circuit, cotton loading box, baling device, and engine of the cotton harvester, and determines whether the sensor signals and circuits of the sensors are normal. If the static self-test is normal, it will be displayed as normal on the human-machine interface terminal. If the static self-test is abnormal, it will be displayed as abnormal on the human-machine interface terminal, an alarm will be triggered, and a fault code will be output.

[0015] S200, Dynamic Self-Check: The control device automatically controls the engine start / stop, head lifting / lowering, upper box lifting / lowering, fan engagement, steady-speed start, head engagement, water pressure adjustment, and automatic packing actions item by item. Sensors installed on each component detect whether the actions are in place and send dynamic self-check results. If the dynamic self-check result is normal, the human-machine interface terminal displays "Autonomous Operation Ready"; if the dynamic self-check result is abnormal, the human-machine interface terminal displays "Autonomous Operation Ready Failed" and outputs a fault code.

[0016] S300. Based on the fault type and severity of the fault code, timely manual intervention is required to eliminate the fault.

[0017] In the above-mentioned autonomous operation dynamic and static self-inspection method for cotton harvesters, in step S200, the raising / lowering of the cotton harvesting head and the cotton loading box, as well as the start and stop of the fan and water circuit, are controlled by switching solenoid valves; the rotation speed of the cotton harvesting head, the baling device and the cotton feeding mechanism, the cotton breaking roller and the cotton discharging roller are controlled by proportional solenoid valves.

[0018] To better achieve the above objectives, the present invention also provides a cotton harvester, which includes the aforementioned autonomous operation dynamic and static self-inspection device.

[0019] The technical advantages of this invention are as follows:

[0020] This invention features electro-hydraulic automatic control of the cotton harvesting head, fan, engine, water system, and baling device. It enables one-click automatic detection of key components such as the engine, cotton harvesting head, fan, water system, and baling device. It can automatically detect and identify problems and faults in the power unit, hydraulic unit, electrical control unit, and key components in advance, and output fault codes with alarms. According to the type and severity of the fault, timely manual intervention is required to troubleshoot, laying the foundation for autonomous operation of the cotton harvester, shortening the inspection time for operators before cotton harvesting, and improving the ease of operation of cotton harvesting.

[0021] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a cotton harvester according to an embodiment of the present invention;

[0023] Figure 2 This is a structural block diagram of an autonomous operation dynamic and static self-testing device according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of one hydraulic control circuit according to an embodiment of the present invention;

[0025] Figure 4 This is another hydraulic control principle diagram according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the electrical control principle according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram illustrating the working principle of autonomous operation and dynamic / static self-checking according to an embodiment of the present invention.

[0028] Among them, the attached reference numerals

[0029] 1 rack

[0030] 11 Unloading rack

[0031] 12 Packaging Unloading Rack Lifting Cylinder

[0032] 13 Packaging rack lifting solenoid valve

[0033] 2 cotton heads

[0034] 21 head lifting cylinder

[0035] 22-head drive hydraulic pump

[0036] 23-head motor

[0037] 24-head motor proportional valve

[0038] 25-head contour solenoid valve

[0039] 26-head lifting solenoid valve

[0040] 27. Solenoid valve for lowering the head

[0041] 3 driver's cab

[0042] 4Waterway

[0043] 41 Electric water pressure regulating valve

[0044] 5 fans

[0045] 51 fan clutch hydraulic pump

[0046] 52 blower clutch cylinder

[0047] 53 Fan clutch hydraulic solenoid valve

[0048] 6. Upper cotton box

[0049] 61 cotton rollers

[0050] 611 cotton removal motor

[0051] 612 cotton discharge motor proportional valve

[0052] 62 Dragons

[0053] 621 auger motor

[0054] 622 auger motor solenoid valve

[0055] 63 cotton shredder roller

[0056] 631 cotton shredder motor

[0057] 632 cotton scrap motor proportional valve

[0058] 64 Cotton Feeding Mechanism

[0059] 641 cotton feeding motor

[0060] 642 Cotton Feeding Motor Proportional Valve

[0061] 65 Upper Cotton Box Lifting Cylinder

[0062] 66 Upper cotton box lifting solenoid valve

[0063] 67 Rocker arm telescopic solenoid valve

[0064] 7 engines

[0065] 71 Engine Starter

[0066] 72 Engine Starter Relay

[0067] 73 Engine Speed ​​Control Relay

[0068] 8 Packaging devices

[0069] 81 Warehouse Door

[0070] 82 Packaging Drive Hydraulic Pump

[0071] 83 Packaging Motor

[0072] 84 Chamber Door Switch Hydraulic Cylinder

[0073] 85 Warehouse Door Switch Solenoid Valve

[0074] 86 film delivery frame lifting cylinder

[0075] 87 Film delivery frame lifting solenoid valve

[0076] 88 rocker arm lifting cylinder

[0077] 89 Packaging Motor Proportional Valve

[0078] 9 Autonomous Operation Dynamic and Static Self-Inspection Device

[0079] 91 Cotton Picking Controller

[0080] 911 head rotation speed sensor

[0081] 92 Round Packaging Forming Controller

[0082] 921 Packaging Speed ​​Sensor

[0083] 922 Cotton Feeding Speed ​​Sensor

[0084] 923 Packaging Pressure Sensor

[0085] 924 cotton bale in-situ sensor

[0086] 925 compartment door closing sensor

[0087] 926 Unloading Angle Sensor

[0088] 93 Autonomous Operation Controller

[0089] 931 head contour sensor

[0090] 932 high-level sensor

[0091] 933 Water Pressure Sensor

[0092] 934 Fan Speed ​​Sensor

[0093] 935 engine speed sensor

[0094] 936 Upper Box High Position Sensor

[0095] 937 upper box low position sensor

[0096] 94 main display screen

[0097] 95-column instrument

[0098] 100 hydraulic unit

[0099] 101 Hydraulic Oil Tank

[0100] 102 Hydraulic Working Pump

[0101] 200 electrical control device

[0102] 201 Engine Controller

[0103] 202 Water pressure increase relay 203 Water pressure decrease relay Detailed Implementation

[0104] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0105] See Figure 1 , Figure 1 This is a schematic diagram of a cotton harvester according to an embodiment of the present invention. The cotton harvester of the present invention includes a frame 1 and, mounted on the frame 1, a cotton harvesting head 2, a driver's cab 3, a water system 4, a fan 5, a cotton loading box 6, an engine 7, a baling device 8, an electro-hydraulic automatic control device, and an autonomous operation dynamic and static self-checking device 9. The electro-hydraulic automatic control device includes a hydraulic device 100 and an electronic control device 200. Each of the corresponding operating devices, such as the cotton harvesting head 2, water system 4, fan 5, cotton loading box 6, engine 7, and baling device 8, includes key core components with electro-hydraulic automatic control functions, and can execute corresponding actions according to the control device instructions of the autonomous operation dynamic and static self-checking device 9. This autonomous operation dynamic and static self-checking device 9 is applicable to various types of cotton harvesters, such as round three-row cotton harvesters, round six-row cotton harvesters, box-type three-row cotton harvesters, and box-type six-row cotton harvesters. It can detect abnormal states of key core components of the cotton harvester in advance, shorten the inspection time for operators before cotton harvesting operations, improve the convenience of cotton harvesting operations, and provide strong support for the autonomous operation of the cotton harvester. The composition, structure, relative positions, connections, and working principles of other parts of the cotton harvester are all mature existing technologies, so they will not be described in detail here. The following is a detailed description of the autonomous operation dynamic and static self-inspection device 9 and method of the present invention.

[0106] See Figures 2-5 , Figure 2 This is a structural block diagram of an autonomous operation dynamic and static self-testing device 9 according to an embodiment of the present invention. Figure 3 This is a schematic diagram of one hydraulic control circuit according to an embodiment of the present invention. Figure 4 This is another hydraulic control schematic diagram according to an embodiment of the present invention. Figure 5This is a schematic diagram of the electrical control principle according to an embodiment of the present invention. The autonomous operation dynamic and static self-testing device 9 of the present invention includes: a sensing device, installed on the cotton harvesting head 2, fan 5, engine 7, water circuit 4, baling device 8 and other corresponding operating devices of the cotton harvester, used to detect the operating parameters such as the rotation speed, position, pressure and / or angle of the corresponding operating devices, the sensing device including multiple proximity switches, speed sensors, angle sensors and pressure transmitters; and a control device, connected to the sensing device and the electro-hydraulic automatic control device of the cotton harvester respectively, installed in an electrical control box fixed on the frame 1, used to collect data from the sensing device and send control commands; the control device includes a cotton harvesting controller 91, a bale forming controller 92 and an autonomous operation controller 93, used to control the cotton harvesting operation, bale forming operation and autonomous operation respectively, so as to realize the static self-testing and dynamic self-testing of the cotton harvester; the cotton harvesting controller 91, bale forming controller 92 and autonomous operation controller 93 communicate and transmit information via a CAN bus. The electro-hydraulic automatic control device controls the raising / lowering of the cotton harvesting head 2 and the upper cotton box 6 of the cotton harvester, as well as the start and stop of the fan 5 and water circuit 4 of the cotton harvester, through switching solenoid valves; and controls the rotational speed of the cotton harvesting head 2, the baling device 8, the cotton feeding mechanism 64, the cotton breaking roller 63 and the cotton discharging roller 61 through proportional solenoid valves.

[0107] In this embodiment, a human-machine interface terminal is also included, connected to the control device, and communicates and transmits information via the CAN bus. The human-machine interface terminal adopts a modular multi-interface split-screen structure, including a main display screen 94 and a column-type instrument 95, and is installed in the cab 3 of the cotton harvester for displaying and setting key operating parameters. The sensing device, control device, and human-machine interface terminal jointly perform static self-checks on the cotton harvester to accurately locate faults and troubleshoot them. The operating device, sensing device, control device, and human-machine interface terminal jointly perform dynamic self-checks on the cotton harvester and send the dynamic self-check results. The operating device, sensing device, control device, and human-machine interface terminal of the cotton harvester are all connected via wiring harnesses and transmit information based on the CAN bus.

[0108] In this embodiment, the speed sensor includes an engine speed sensor 935, a head speed sensor 911, a blower speed sensor 934, a baling speed sensor 921, and / or a cotton feeding speed sensor 922; the proximity switch includes a head high position sensor 932, an upper box high position sensor 936, an upper box low position sensor 937, and / or a bin door closing sensor 925; the angle sensor includes a head contour sensor 931 and / or a baling angle sensor 926; and the pressure transmitter includes a water pressure sensor and / or a baling pressure sensor 923. The cotton harvesting controller 91 is connected to the harvesting head speed sensor 911; the round bale forming controller 92 is connected to the baling speed sensor 921, the cotton feeding speed sensor 922, the baling pressure sensor 923, the cotton bale position sensor 924, the bin door closing sensor 925, and / or the unloading angle sensor 926; the autonomous operation controller 93 is connected to the harvesting head contour sensor 931, the harvesting head high position sensor 932, the water pressure sensor 933, the fan speed sensor 934, the engine speed sensor 935, the upper box high position sensor 936, and / or the upper box low position sensor 937.

[0109] In this embodiment, the engine speed sensor 935 is installed on the top of the flywheel of the engine 7 of the cotton harvester, outputting a 24V pulse signal to detect the engine speed; the harvesting head speed sensor 911 is installed at the rear end of the transfer case of the cotton harvesting head 2 of the cotton harvester, outputting a 24V pulse signal to detect the speed of the cotton harvesting head 2; the fan speed sensor 934 is installed on the support frame of the fan 5 of the cotton harvester, outputting a 24V pulse signal to detect the speed of the fan 5; the baling speed sensor 921 is installed on the connecting plate of the baling motor 83 of the cotton harvester, outputting a 24V pulse signal to detect the speed of the baling roller; the cotton feeding speed sensor 922 is installed on the connecting plate of the cotton feeding motor 641 of the cotton harvester, outputting a 24V pulse signal to detect the speed of the cotton feeding roller; the harvesting head height sensor 932 is installed on the top of the harvesting head lifting frame of the cotton harvester, outputting a 24V signal to detect the height of the harvesting head; and the harvesting head contour sensor 931 is installed at the connecting rod of the harvesting head contour shoe of the cotton harvester. The upper box high position sensor 936 is installed at the upper left corner of the upper cotton box 6 of the cotton harvester, outputting a 24V signal to detect the high position of the upper box; the upper box low position sensor 937 is installed at the lower left corner of the upper cotton box 6, outputting a 24V signal to detect the low position of the upper box; the water pressure sensor is installed on the water circuit 4 of the cotton harvester, outputting a 4-20mA signal to detect the pressure in the water circuit 4; the packing pressure sensor 9... 23 is installed on the rocker arm lifting cylinder 88 of the baling device 8 of the cotton harvester, and outputs a 4-20mA signal to detect the pressure in the rod chamber of the baling rocker arm cylinder; the hopper door closing sensor 925 is installed above the locking hook of the rear hopper of the baling device 8, and outputs a 24V signal to detect that the rear hopper of the baling device 8 is closed in place; the unloading angle sensor 926 is installed on the rear crossbeam of the frame 1, which is coaxial with the two front hinge points of the unloading frame 11, and outputs a 4-20mA signal to detect the position of the unloading frame 11.

[0110] The autonomous operation dynamic and static self-inspection device 9 of the present invention adopts a modular design based on the functional requirements of cotton harvesting, packing, and autonomous operation of cotton harvesters. Among them, the cotton harvesting controller 91 is mainly used for data acquisition and intelligent control during the cotton harvesting operation. The intelligent control of the cotton harvesting head 2 speed is its core technology. The cotton harvesting controller 91 collects information from the cotton harvesting head speed sensor 911 in real time, analyzes and processes it to obtain the cotton harvesting head 2 speed, and simultaneously collects the cotton harvester's walking speed in real time. Based on the cotton harvesting head speed control model, the cotton harvesting controller 91 sends a duty cycle command to control the valve opening of the cotton harvesting head motor proportional valve 24 according to the walking speed. High-pressure oil flows from the cotton harvesting head drive hydraulic pump 22 into the cotton harvesting head motor 23 through the cotton harvesting head motor proportional valve 24, realizing real-time regulation of the cotton harvesting head 2 speed to adapt to efficient cotton harvesting operations at different operating speeds.

[0111] The packing controller is mainly used for data acquisition and intelligent control of packing, wrapping, warehousing, and unloading operations, with automatic packing intelligent control being a key component. Upon receiving an automatic packing command, the packing controller first sends a duty cycle command to control the opening of the proportional valve 89 of the packing motor. High-pressure oil flows from the packing drive hydraulic pump 82 through the proportional valve 89 into the packing motor 83, causing the packing belt to rotate. When the packing speed signal from the packing speed sensor 921 reaches the target speed, the packing controller sends a duty cycle command to control the opening of the proportional valve 642 of the cotton feeding motor. High-pressure oil flows from the hydraulic working pump 102 through the proportional valve 642 into the cotton feeding motor 641, causing the cotton feeding belt to rotate. When the cotton feeding speed signal from the cotton feeding speed sensor 922 reaches the target speed, the packing controller sends a duty cycle command to control the opening of the proportional valve 632 of the cotton shredding motor. High-pressure oil flows from the hydraulic working pump 102 through the proportional valve 632 into the cotton shredding motor 631, causing the cotton shredding roller 63 to rotate. When the packing controller receives the cotton shredding speed signal and it reaches the target speed, the packing controller sends a duty cycle command to control the valve opening of the proportional valve 612 of the cotton discharge motor. High-pressure oil flows from the hydraulic working pump 102 through the proportional valve 612 into the cotton discharge motor 611, causing the cotton discharge roller 61 to rotate. When the packing controller receives the cotton discharge speed signal and it reaches the target speed, the packing controller sends an energizing command to energize the solenoid valve 622 of the auger motor. High-pressure oil flows from the hydraulic working pump 102 through the solenoid valve 622 into the auger motor 621, causing the auger 62 to rotate. When the packing controller receives the packing end signal, the packing controller sequentially sends commands to close the auger 62, the cotton discharge roller 61, the cotton feeding belt, and the packing belt, thus ending the intelligent packing control process.

[0112] The autonomous operation controller 93 is mainly used for intelligent control of actions such as engine 7 starting, water pressure regulation, fan 5 activation, cotton box lifting, and cotton head 2 lifting. Taking the intelligent control of cotton head 2 lifting as an example, the implementation process is explained as follows: When the autonomous operation controller 93 receives the signal that the cotton harvester has reached the end of the field, it sends a cotton head 2 lifting control signal. When the cotton head lifting solenoid valve 26 is energized, the high-pressure oil of the hydraulic working pump 102 flows into the rodless chamber of the cotton head lifting cylinder 21, pushing its piston rod to extend, and the cotton head 2 rises. The autonomous operation controller 93 detects this. After receiving a signal from the high-position sensor 932, the sensor sends a stop-ascent command. When the autonomous operation controller 93 receives the cotton harvester entry signal, it sends a descent control signal for the cotton harvesting head 2. When the cotton harvesting head contouring solenoid valve 25 and the cotton harvesting head descent solenoid valve 27 are energized, the high-pressure oil from the hydraulic working pump 102 flows into the rod chamber of the cotton harvesting head lifting cylinder 21, pushing the cylinder to retract and the cotton harvesting head 2 descends. This continues until the autonomous operation controller 93 detects a valid signal from the cotton harvesting head contouring sensor 931 and sends a stop-descent command, allowing the cotton harvesting head 2 to perform contour cotton harvesting operations.

[0113] See Figure 3 and Figure 4In this embodiment, the self-operating dynamic and static self-testing device 9 of the cotton harvester controls the raising and lowering of the cotton harvesting head 2, the cotton loading box 6, and other operating devices, as well as the start and stop of the fan 5, the speed stabilizer, and the water circuit 4, by controlling the energization of the solenoid valve or relay. The specific implementation process is as follows: When the solenoid valve 26 for raising the cotton harvesting head is energized, the high-pressure oil of the hydraulic working pump 102 flows into the rodless chamber of the lifting cylinder 21, pushing its piston rod to extend, and the cotton harvesting head 2 rises; when the solenoid valve 25 for shaping the cotton harvesting head and the solenoid valve 27 for lowering the cotton harvesting head are energized, the high-pressure oil of the hydraulic working pump 102 flows into the rod chamber of the lifting cylinder 21, pushing its cylinder to retract, and the cotton harvesting head 2 lowers. When the upper solenoid valve of the upper cotton box lifting solenoid valve 66 is energized, the high-pressure oil from the hydraulic working pump 102 flows into the rodless chamber of the upper cotton box lifting cylinder 65, pushing its piston rod to extend and lifting the upper cotton box 6. When the lower solenoid valve of the upper cotton box lifting solenoid valve 66 is energized, the high-pressure oil from the hydraulic working pump 102 flows into the rod chamber of the upper cotton box lifting cylinder 65, pushing its piston rod to retract and pulling the upper cotton box 6 down. When the upper solenoid valve of the unloading rack lifting solenoid valve 13 is energized, the high-pressure oil from the hydraulic working pump 102 flows into the rodless chamber of the unloading rack lifting cylinder 12, pushing its piston rod to extend and lifting the unloading rack 11. When the lower solenoid valve of the unloading rack lifting solenoid valve 13 is energized, the high-pressure oil from the hydraulic working pump 102 flows into the rod chamber of the unloading rack lifting cylinder 12, pushing its piston rod to retract and pulling the unloading rack 11 down. When the upper solenoid valve of the rocker arm extension solenoid valve 67 is slightly energized, the high-pressure oil from the hydraulic working pump 102 flows into the rodless chamber of the rocker arm lifting cylinder 88, pushing its piston rod to extend and lifting the rocker arm. When the lower solenoid valve of the rocker arm extension solenoid valve 67 is slightly energized, the high-pressure oil from the hydraulic working pump 102 flows into the rod chamber of the rocker arm lifting cylinder 88, pushing its piston rod to retract and lowering the rocker arm. When the upper solenoid valve of the door switch solenoid valve 85 is energized, the high-pressure oil from the hydraulic working pump 102 flows into the rodless chamber of the door switch cylinder 84, pushing its piston rod to extend and opening the door 81. When the lower solenoid valve of the door switch solenoid valve 85 is energized, the high-pressure oil from the hydraulic working pump 102 flows into the rod chamber of the door switch cylinder 84, pushing its piston rod to retract and closing the door 81. When the upper solenoid valve of the film delivery frame lifting solenoid valve 87 is energized, the high-pressure oil from the hydraulic working pump 102 flows into the rodless chamber of the film delivery frame lifting cylinder 86, pushing its piston rod to extend and lifting the film delivery frame. When the lower solenoid valve of the film delivery frame lifting solenoid valve 87 is energized, the high-pressure oil from the hydraulic working pump 102 flows into the rod chamber of the film delivery frame lifting cylinder 86, pushing its piston rod to retract and lowering the film delivery frame. When the blower clutch hydraulic solenoid valve 53 is energized, the high-pressure oil from the blower clutch hydraulic pump 51 flows into the rodless chamber of the blower clutch cylinder 52, pushing its piston rod to extend and engaging the blower 5 clutch. When the blower clutch hydraulic solenoid valve 53 is de-energized, the high-pressure oil from the blower clutch hydraulic pump 51 flows back to the hydraulic oil tank 101, and the piston rod of the blower clutch cylinder 52 retracts under the action of the return spring, disengaging the blower 5 clutch.

[0114] In this embodiment, the autonomous operation dynamic and static self-checking device 9 controls the rotational speed of the cotton picking head 2, as well as the rotational speeds of the forming devices such as baling, feeding, crushing, and discharging, by controlling proportional solenoid valves. The specific implementation process is as follows: The control device sends a duty cycle command to control the valve opening of the proportional valve 24 of the cotton picking head motor. High-pressure oil flows from the cotton picking head drive hydraulic pump 22 into the cotton picking head motor 23 via the proportional valve 24, achieving real-time control of the rotational speed of the cotton picking head 2. The control device also sends a duty cycle command to control the valve opening of the proportional valve 89 of the baling motor. High-pressure oil flows from the baling drive hydraulic pump 82 into the baling motor 83 via the proportional valve 89, achieving real-time control of the baling rotational speed. Finally, the control device sends a duty cycle command to control the valve opening of the proportional valve 642 of the cotton feeding motor. High-pressure oil flows from the hydraulic working pump 102 into the cotton feeding motor 641 via the proportional valve 642, achieving real-time control of the cotton feeding rotational speed. The control device sends a duty cycle command to control the opening of the proportional valve 632 of the cotton shredder motor. High-pressure oil flows from the hydraulic working pump 102 into the cotton shredder motor 631 through the proportional valve 632, achieving real-time control of the cotton shredder speed. The control device also sends a duty cycle command to control the opening of the proportional valve 612 of the cotton discharge motor. High-pressure oil flows from the hydraulic working pump 102 into the cotton discharge motor 611 through the proportional valve 612, achieving real-time control of the cotton discharge speed. Finally, the control device sends an energizing command to energize the solenoid valve 622 of the auger motor. High-pressure oil flows from the hydraulic working pump 102 into the auger motor 621 through the solenoid valve 622, starting the auger motor 62.

[0115] See Figure 5 The autonomous operation controller 93 sends a start command to the engine 7, energizing the engine start relay 72 and starting the engine starter 71, which in turn rotates the flywheel of the engine 7, thus starting the engine 7. The autonomous operation controller 93 then sends a start-and-steady-speed command, energizing the engine speed stabilization relay 73 and triggering the speed stabilization control function of the engine controller 201, ensuring the engine 7 operates at a stable speed. The autonomous operation controller 93 then sends a water pressure increase command, energizing the water pressure increase relay 202 and triggering the electric water pressure regulating valve 41 to rotate forward, decreasing the valve opening and increasing the water pressure. Finally, the autonomous operation controller 93 sends a water pressure decrease command, energizing the water pressure decrease relay 203 and triggering the electric water pressure regulating valve 41 to rotate in reverse, increasing the valve opening and decreasing the water pressure.

[0116] See Figure 6 , Figure 6 This is a schematic diagram illustrating the working principle of autonomous operation dynamic and static self-checking according to an embodiment of the present invention. The autonomous operation dynamic and static self-checking method for cotton harvesters of the present invention is used for one-click automatic detection of problems and faults in various components of the cotton harvester, including the following steps:

[0117] Step S100: Static self-test. The control device automatically detects the sensors installed on the cotton picking head 2, fan 5, water circuit 4, cotton loading box 6, baling device 8, and engine 7 of the cotton harvester, and determines whether the sensor signals and circuits of the sensors are normal. If the static self-test is normal, it will display "Normal" on the human-machine interface terminal. If the static self-test is abnormal, it will display "Abnormal" on the human-machine interface terminal, issue an alarm, and output a fault code. That is, when the static self-test is normal, "Autonomous operation static self-test normal" can be displayed on the touch screen main display 94; if the static self-test is abnormal, "Autonomous operation static self-test abnormal, please check" will be displayed on the touch screen main display 94, an alarm will be issued, and a fault code will be output to facilitate accurate location of the fault and troubleshooting.

[0118] Step S200: Dynamic self-check. The control device automatically controls the engine 7 start / stop, head lifting / lowering, upper box lifting / lowering, fan 5 engagement, steady-speed start, head engagement, water pressure adjustment, and automatic packing actions item by item. The sensors installed on each component detect whether the actions are in place and send the dynamic self-check results. If the dynamic self-check result is normal, the human-machine interface terminal displays "Autonomous operation ready." If the dynamic self-check result is abnormal, the human-machine interface terminal displays "Autonomous operation preparation failed" and outputs a fault code. Specifically, when the dynamic self-check result is normal, the touch-screen main display 94 displays "Autonomous operation dynamic self-check normal"; if the dynamic self-check result is abnormal, the touch-screen main display 94 displays "Autonomous operation dynamic self-check abnormal, please check," and outputs a specific fault code to accurately locate the fault and allow for manual intervention to troubleshoot.

[0119] Step S300: Based on the fault type and severity of the fault code, timely manual intervention is conducted to eliminate the fault.

[0120] In step S200, the rising / falling of the cotton picking head 2 and the cotton loading box 6, as well as the starting and stopping of the fan 5 and the water circuit 4, are controlled by switching solenoid valves; the rotational speeds of the cotton picking head 2, the baling device 8, the cotton feeding mechanism 64, the cotton breaking roller 63, and the cotton discharging roller 61 are controlled by proportional solenoid valves.

[0121] The autonomous operation dynamic and static self-testing device 9 of the present invention has a static self-testing function, that is, an automatic check when the engine 7 is not started, all working parts are in a static state, and only power is supplied to the equipment. This is mainly completed by the power-on automatic detection program built into the cotton picking operation controller, baling controller, and autonomous operation controller 93. The specific process is as follows: After the device is powered on, the cotton picking operation controller, baling controller, and autonomous operation controller 93 automatically collect data from the engine speed sensor 935 and the head height sensor 935 installed on the cotton picking head 2, fan 5, water channel 4, baling device 8, engine 7, and other components. Sensors with electrical signal feedback functions, such as position sensor 932, head contour sensor 931, head rotation speed sensor 911, upper box high position sensor 936, upper box low position sensor 937, silo door closing sensor 925, fan speed sensor 934, water pressure sensor 933, baling speed sensor 921, baling pressure sensor 923, cotton feeding speed sensor 922, unloading angle sensor 926, and cotton bale position sensor 924, are used to determine whether a sensor is open-circuited, short-circuited, or functioning normally by detecting whether each sensor provides feedback. If the static self-test is normal, "Static self-test normal" will be displayed on the touch-screen main display screen 94 of the human-machine interface terminal. If the static self-test is abnormal, "Static self-test abnormal, please check" will be displayed on the touch-screen main display screen 94 of the human-machine interface terminal, along with an alarm prompt and a fault code, to facilitate accurate fault location and troubleshooting.

[0122] Meanwhile, the autonomous operation dynamic and static self-testing device 9 has a one-button dynamic self-testing function. When the dynamic self-testing button on the main display screen 94 is pressed, the device automatically controls the engine 7 to start / stop, the cotton picking head 2 to raise / lower, the cotton box 6 to raise / lower, the fan 5 to engage, the engine 7 to start at a steady speed, the cotton picking head 2 to engage, the water pressure in the water circuit 4 to adjust, and the packing device 8 to pack, according to the set program. It also senses whether the actions are in place through sensors installed on each component and sends the dynamic self-testing results. If the dynamic self-testing result is normal, the words "Dynamic self-test normal" will be displayed on the touch-screen main display screen 94 of the human-machine interface terminal; if the dynamic self-testing result is abnormal, the words "Dynamic self-test abnormal, please check" will be displayed on the touch-screen main display screen 94 of the human-machine interface terminal, and a specific fault code will be output to accurately locate the fault and allow for manual intervention to troubleshoot. A specific implementation process of one embodiment is as follows:

[0123] 1) When the device is powered on and receives the device self-test command, it checks whether each sensor, controller and terminal is working properly. If there is no abnormality, the autonomous operation controller 93 sends the engine start command to start the engine 7 and checks whether the engine speed of the engine 7 is within the normal idle speed range. If it still fails to start after 3 attempts, the fault code is output on the touch screen main display screen 94 of the human-machine interface terminal and an alarm is triggered.

[0124] 2) After the engine 7 starts and idles, the cotton picking head 2 lifting function is activated for testing. The autonomous operation controller 93 sends a command to raise the cotton picking head 2, waits for 10 seconds (which can be modified in the terminal settings), and checks whether the cotton picking head 2 has reached the high position. After reaching the high position, the autonomous operation controller 93 sends a command to lower the cotton picking head 2, waits for 10 seconds (which can be modified in the terminal settings), and checks whether the cotton picking head 2 has reached the preset contouring height. If there is any abnormality during the raising and lowering of the cotton picking head 2, the same command can be executed 3 times. If it is still unsuccessful, a fault code will be output on the touch screen main display 94 of the human-machine interface terminal, and an alarm will be triggered.

[0125] 3) After completing the lifting function test of the cotton picking head 2, with the engine 7 idling, start the lifting function test of the upper cotton box 6. The autonomous operation controller 93 sends a command to raise the upper cotton box 6, waits for 20 seconds (which can be modified in the terminal setting), and checks whether the upper cotton box 6 has reached the high position. After reaching the high position, the autonomous operation controller 93 sends a command to lower the upper cotton box 6, waits for 20 seconds (which can be modified in the terminal setting), and checks whether the upper cotton box 6 has reached the low position. If there is any abnormality during the raising and lowering of the upper cotton box 6, a fault code will be output on the touch screen main display 94 of the human-machine interface terminal, and an alarm will be triggered.

[0126] 4) After completing the lifting function test of the upper cotton box 6, start the fan 5 engagement and disengagement function test while the engine 7 is idling. The autonomous operation controller 93 sends the engagement command to the fan 5 and waits for 10 seconds (which can be modified in the terminal settings). Check whether the speed of the fan 5 is within the normal range. If the engagement is still unsuccessful, output the fault code on the touch screen main display 94 of the human-machine interface terminal and issue an alarm.

[0127] 5) After the speed of the fan 5 stabilizes, the autonomous operation controller 93 sends a command to start the engine 7 and stabilize its speed. After waiting for 5 seconds (which can be modified in the terminal settings), it checks whether the speed of the engine 7 is within the normal range of stable speed. If it still fails to start after 3 attempts, it outputs a fault code on the touch screen main display 94 of the human-machine interface terminal and provides an alarm prompt.

[0128] 6) After the engine speed 7 and fan speed 5 stabilize, start the water pressure regulation function of water circuit 4 for testing. After the autonomous operation controller 93 sends an increase water pressure command for 3 seconds (which can be modified in the terminal settings), check whether the water pressure has increased. After the water pressure stabilizes, send a decrease water pressure command for 3 seconds (which can be modified in the terminal settings) and check whether the water pressure has decreased. Finally, stabilize the water pressure at about 110 kPa. If there is any abnormality during the increase and decrease of water pressure, the same command can be executed 3 times. If it is still unsuccessful, a fault code will be output on the touch screen main display 94 of the human-machine interaction terminal and an alarm will be triggered.

[0129] 7) After the water pressure regulation function test is completed, the autonomous operation controller 93 sends the separation fan 5 command and waits for 10 seconds (which can be modified in the terminal settings). It then checks whether the speed of the fan 5 is within the normal range. If the separation is still unsuccessful, a fault code is output on the touch screen main display 94 of the human-machine interface terminal, and an alarm is triggered.

[0130] 8) After the blower 5 is turned off, the engine 7 is in a steady-speed state. The cotton harvesting head 2 start-stop function test is started. The cotton harvesting operation controller sends the cotton harvesting head 2 engagement command and simultaneously applies a 200rpm control signal to the proportional valve of the cotton harvesting head hydraulic pump. After waiting for 5 seconds (which can be modified in the terminal setting), it is checked whether the cotton harvesting head speed is within the required range. If it still fails to start after 3 attempts, a fault code is output on the touch screen main display 94 of the human-machine interface terminal, and an alarm is triggered. After the cotton harvesting head speed stabilizes, the cotton harvesting operation controller sends the cotton harvesting head speed zeroing and cotton harvesting head 2 disengagement command. After waiting for 5 seconds (which can be modified in the terminal setting), it is checked whether the cotton harvesting head speed has returned to zero.

[0131] 9) When the engine speed 7 is at a steady speed, the automatic packaging function is activated. The packaging operation controller sends an automatic packaging start command to check if the device is in automatic packaging mode. After the device is in automatic packaging ready mode, the packaging operation controller sends an automatic packaging command to check if the packaging control device automatically starts the packaging belt, cotton feeding roller, cotton breaking roller 63, cotton discharging roller 61, and auger 62 of the packaging device 8 in sequence, and makes the packaging speed and cotton feeding speed reach the rated values. Since there is no cotton in the cotton box 6 during self-test, after the speed of each packaging component stabilizes, the auger 62, cotton discharging roller 61, cotton breaking roller 63, cotton feeding roller, and packaging belt of the packaging device 8 will be shut down in sequence. After waiting for 20 seconds, the device checks whether the speed of each packaging component returns to zero. If there is an abnormality during automatic packaging, the same command can be executed 3 times. If it still fails, a fault code will be output on the touch screen main display 94 of the human-machine interface terminal, and an alarm will be triggered.

[0132] 10) When engine 7 is at a steady speed and packing device 8 is in automatic packing ready state, the packing operation controller sends an automatic unloading command and sequentially checks whether unloading rack 11 has descended to the receiving position and whether the door 81 is open. After the door 81 is open, the photoelectric switch at the cotton bale position is manually blocked to simulate the cotton bale being in place, and the unloading rack 11 is checked to descend to the backpack position. After descending to the backpack position, the compartment is automatically closed. After waiting for 10 seconds, the door 81 is checked to see if it is closed properly. If there is an abnormality during the automatic unloading process, the same command can be executed 3 times. If it still fails, a fault code is output on the touch screen main display 94 of the human-machine interface terminal, and an alarm is triggered.

[0133] 11) After the automatic unloading function test is completed, the engine 7 is in a steady speed state, the packing device 8 is in an automatic packing ready state, the packing operation controller sends an automatic unloading command, the unloading frame 11 descends to the unloading position, and then automatically rises to the high position to test each control link and whether the position of the unloading frame 11 is normal.

[0134] 12) After the automatic unloading test is completed, the autonomous operation controller 93 sends a command to shut down the speed stabilization and checks whether the engine speed 7 is within the normal idle speed range. If it still fails to start after 3 attempts, a fault code is output on the touch screen main display 94 of the human-machine interface terminal and an alarm is triggered.

[0135] 13) After completing the above self-check, if the functions of each link are normal, the autonomous operation device's touch screen main display 94 will display "Dynamic self-check normal"; if individual links are abnormal, an alarm will be triggered during execution, and a fault code will be output, which will be fed back to the autonomous operation device as "Dynamic self-check abnormal, please check".

[0136] The autonomous operation dynamic and static self-inspection device 9 of the cotton harvester of this invention is a prerequisite for achieving autonomous operation. It can automatically detect problems and faults in the cotton harvester's power unit, hydraulic system 100, electrical control unit 200, and key components through one-button automatic detection, and output fault codes as alarms. Based on the type and severity of the fault, timely manual intervention can be implemented to resolve it, shortening the operator's pre-harvest inspection time, improving the ease of operation, and laying the foundation for autonomous operation of the cotton harvester. The device controls the raising and lowering of the cotton harvesting head 2, cotton loading box 6, and other operating devices, as well as the start and stop of the fan 5, speed stabilizer, and water circuit 4, through switching solenoid valves; it controls the rotation speed of the cotton harvesting head 2, and the rotation speed of the forming devices such as baling, feeding, crushing, and discharging through proportional solenoid valves, featuring fast response and precise control. The control unit, designed to meet the functional requirements of cotton harvesting, baling, and autonomous operation, adopts a modular design, consisting of a cotton harvesting controller 91, a baling controller, and an autonomous operation controller 93. These controllers provide intelligent control for cotton harvesting, baling, and autonomous operation, respectively. Installation is simple, maintenance is convenient, and communication and transmission between the controllers are fast and stable via a CAN bus. The human-machine interface (HMI) terminal, also designed to meet the functional requirements of cotton harvesting, baling, and autonomous operation, adopts a modular multi-interface split-screen design, consisting of a main display screen 94 and a column-type instrument 95. It can display and set key operating parameters of the cotton harvester. Communication and transmission between the HMI terminal and the controllers are also via a CAN bus, ensuring fast, stable, and reliable data transmission. The combination of the sensing device, control unit, and HMI terminal enables static self-testing of the cotton harvester, facilitating accurate fault location and troubleshooting, and laying a solid foundation for dynamic self-testing. The combination of operating device, sensing device, controller and human-machine interaction terminal can realize dynamic self-inspection of cotton harvester, check whether the key core components are performing the actions in place, and send dynamic self-inspection results, shorten the inspection time of operators before cotton harvesting, improve the convenience of cotton harvesting operation, and lay the foundation for autonomous operation of cotton harvester.

[0137] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. An autonomous operation dynamic and static self-checking device of a cotton picker, characterized in that, The application relates to a cotton picking machine static and dynamic self-checking system. The system comprises: a sensing device installed on corresponding working devices of a cotton picking machine for detecting rotating speed, position, pressure and angle parameters of the corresponding working devices, wherein the sensing device comprises multiple proximity switches, rotating speed sensors, angle sensors and pressure transmitters; and a control device connected with the sensing device and an electro-hydraulic automatic control device of the cotton picking machine, wherein the control device comprises a cotton picking controller, a bale forming controller and an autonomous working controller for controlling cotton picking work, bale forming work and autonomous work respectively to realize static and dynamic self-checking of the cotton picking machine; the cotton picking controller, the bale forming controller and the autonomous working controller are connected through a CAN bus for information communication and data transmission. The rotating speed sensors comprise engine rotating speed sensors, header rotating speed sensors, fan rotating speed sensors, baling rotating speed sensors and cotton feeding rotating speed sensors; the proximity switches comprise header high position sensors, upper box high position sensors, upper box low position sensors and warehouse door closing sensors; the angle sensors comprise header profiling sensors and bale unloading angle sensors; the pressure transmitters comprise water pressure sensors and baling pressure sensors. The cotton picking controller is connected with the header rotating speed sensors; the bale forming controller is connected with the baling rotating speed sensors, the cotton feeding rotating speed sensors, the baling pressure sensors, the cotton bale in-position sensors, the warehouse door closing sensors and the bale unloading angle sensors; the autonomous working controller is connected with the header profiling sensors, the header high position sensors, the water pressure sensors, the fan rotating speed sensors, the engine rotating speed sensors, the upper box high position sensors and the upper box low position sensors. The static self-checking automatically detects the sensing devices installed on the cotton picking header, the fan, the water circuit, the upper cotton box, the baling device and the engine of the cotton picking machine through the control device, and judges whether the sensor signals and lines of the sensing devices are normal. The dynamic self-checking automatically controls the engine start-stop, the header lifting, the upper box lifting, the fan combination, the steady speed starting, the header combination, the water pressure adjustment and the automatic baling action through the control device, and judges whether the actions are in place through the sensing devices installed on the components and sends the dynamic self-checking results. The system further comprises a man-machine interactive terminal connected with the control device and performing information communication and data transmission through the CAN bus, wherein the man-machine interactive terminal adopts a modularized multi-interface split screen structure, comprises a main display screen and a column instrument, is installed in a cab of the cotton picking machine, and is used for key working parameter display and parameter setting. The sensing device, the control device and the man-machine interactive terminal jointly realize the static self-checking of the cotton picking machine to accurately locate fault positions and troubleshoot the faults; the working devices, the sensing device, the control device and the man-machine interactive terminal jointly realize the dynamic self-checking of the cotton picking machine and send the dynamic self-checking results.

2. The autonomous operation dynamic and static self-checking device of a cotton picker according to claim 1, characterized in that, ​ 3. The autonomous operation dynamic and static self-checking device of the cotton picker according to claim 2, characterized in that, ​ 4. The autonomous operation dynamic and static self-checking device of a cotton picker according to claim 1, characterized in that, The engine speed sensor is installed at the top end of the engine flywheel of the cotton picker for detecting engine speed; the header speed sensor is installed at the rear end of the header transfer case of the cotton picker for detecting header speed; the fan speed sensor is installed on the fan support frame of the cotton picker for detecting fan speed; the baling speed sensor is installed on the baling motor connecting plate of the cotton picker for detecting baling roller speed; the feeding speed sensor is installed on the feeding motor connecting plate of the cotton picker for detecting feeding roller speed; the header high position sensor is installed at the top end of the header lifting frame of the cotton picker for detecting header high position; The header profiling sensor is installed at the header profiling shoe connecting rod of the cotton picker for detecting the position change of the header profiling shoe; the upper tank high position sensor is installed at the upper corner of the upper cotton tank of the cotton picker for detecting upper tank high position; the upper tank low position sensor is installed at the lower corner of the upper cotton tank for detecting upper tank low position; the water pressure sensor is installed on the water line of the cotton picker for detecting water line pressure; the baling pressure sensor is installed on the baling device rocker arm lifting cylinder of the cotton picker for detecting baling rocker arm cylinder rod cavity pressure; The bin door closing sensor is installed above the rear bin locking hook of the baling device for detecting the closing of the rear bin of the baling device; the unloading angle sensor is installed on the rear beam coaxial with the front two hinged points of the unloading frame for detecting the position of the unloading frame.

5. The autonomous operation dynamic and static self-checking device of a cotton picker according to claim 1, characterized in that, The electro-hydraulic automatic control device controls the lifting and lowering of the cotton picker header and upper cotton tank, and the start and stop of the cotton picker fan and water line through on-off solenoid valves; and controls the speed of the cotton picker header and baling device, feeding mechanism, cotton breaking roller and cotton discharging roller through proportional solenoid valves.

6. An autonomous operation dynamic and static self-checking method of a cotton picker, characterized in that, The autonomous operation dynamic and static self-checking device one-key automatic detection of the problems and faults of each component of the cotton picker comprises the following steps: S100, static self-checking, automatically detecting the sensing devices respectively installed on the cotton picker header, fan, water line, upper cotton tank, baling device and engine through the control device, and judging whether the sensor signals and lines of the sensing devices are normal; If the static self-checking is normal, the human-machine interaction terminal displays normal; If the static self-checking is abnormal, the human-machine interaction terminal displays abnormal, alarms and outputs fault codes; S200, dynamic self-checking, automatically controlling the start and stop of the engine, lifting and lowering of the header and upper tank, fan combination, steady speed start, header combination, water pressure adjustment and automatic baling action through the control device, and sensing whether the actions are in place through the sensing devices installed on each component and sending dynamic self-checking results; If the dynamic self-checking results are normal, the human-machine interaction terminal displays that the autonomous operation is ready; If the dynamic self-checking results are abnormal, the human-machine interaction terminal displays that the autonomous operation fails, and outputs fault codes; S300, according to the fault type and degree of the fault codes, timely manual intervention to eliminate faults. ​ 7. The autonomous operation dynamic and static self-checking method of a cotton picker as claimed in claim 6, characterized in that, In step S200, the opening and closing of the electromagnetic valve controls the lifting and lowering of the cotton picking head and the upper cotton box, and the starting and stopping of the fan and the water path; the proportional electromagnetic valve controls the rotating speed of the cotton picking head, the packaging device, the cotton feeding mechanism, the cotton breaking roller and the cotton discharging roller.

8. A cotton harvester characterized by, The autonomous working dynamic and static self-checking device of any one of claims 1-5 is included.

Images