Control method and device for peeling apparatus, peeling apparatus, and storage medium

Abstract

The application discloses a control method and device for a peeling device, the peeling device and a storage medium. The peeling roller device comprises a fixed roller mechanism and a movable roller mechanism. The control method comprises the following steps: based on a plurality of adjustment matrices, the peeling device finds a target adjustment matrix matched with the grain moisture content and the average size according to the peeling rate, the grain drop weight, the grain moisture content and the average size of the target crop, and finds a target calibration adjustment distance matched with the grain drop weight and the peeling rate in the target adjustment matrix; and when the adjustment time point is reached, the movable roller mechanism is adjusted, so that the adjustment distance between the fixed roller mechanism and the movable roller mechanism is the target calibration adjustment distance. According to the above scheme, the interval distance between the fixed roller and the movable roller of the peeling machine is dynamically adjusted according to the operation effect and the crop condition, the peeling rate and the operation efficiency can be improved, and the grain loss is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent agricultural equipment, in particular to a control method and device for a peeling device, the peeling device and a storage medium. BACKGROUND

[0002] At present, the peeling cleanliness of corn machines on the market is contradictory to the kernel cracking of corn machines, that is, adjusting the mechanical structure makes it easy to crack the kernel but not easy to peel the kernel. In the prior art, the peeling rate and kernel loss of corn are adjusted by manually adjusting the peeling roller or star wheel. The current disadvantage of this adjustment mode is that the mode adjustment is inconvenient and time-consuming, and needs to be adjusted during shutdown. Moreover, the manual adjustment mode makes the experience of the adjustment personnel directly affect the adjustment effect, and has poor adaptability. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a control method and device for a peeling device, the peeling device and a storage medium, to solve the technical problems of poor manual adjustment effect and long time consumption in the prior art.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for a peeling device, the peeling device comprising a peeling roller device, the peeling roller device comprising a fixed roller mechanism and a movable roller mechanism, the peeling roller device being used for peeling operation on crops, the control method comprising:

[0005] determining the peeling rate of the peeling device for the target crop and the average size of the target crop in a preset historical time period before the adjustment time point;

[0006] obtaining the kernel drop weight of the peeling device and the kernel moisture content of the target crop in the preset historical time period;

[0007] obtaining a plurality of adjustment matrices, wherein each set of preset kernel moisture content and preset average size determines an adjustment matrix, and each set of preset peeling rate and preset kernel drop weight in each adjustment matrix determines a target calibration adjustment distance;

[0008] finding a target adjustment matrix matching the kernel moisture content and the average size from the plurality of adjustment matrices;

[0009] finding a target calibration adjustment distance matching the kernel drop weight and the peeling rate in the target adjustment matrix;

[0010] adjusting the movable roller mechanism when the adjustment time point is reached, so that the adjustment distance between the fixed roller mechanism and the movable roller mechanism is the target calibration adjustment distance.

[0011] In the embodiments of the present application, the control method further comprises a step of determining each adjustment matrix, which comprises: obtaining a plurality of preset grain moisture contents, a plurality of preset average sizes, a plurality of preset peeling rates, and a plurality of preset grain drop weights; grouping each preset grain moisture content and each preset average size into a first data group, and grouping each preset peeling rate and each preset grain drop weight into a second data group; determining a target peeling rate and a target grain drop weight of the peeling device; for each first data group, performing a test on a target crop corresponding to the first data group according to the target peeling rate and the target grain drop weight, to determine a calibration adjustment distance between the fixed roller mechanism and the movable roller mechanism corresponding to each second data group; and for each first data group, determining a corresponding adjustment matrix according to all the calibration adjustment distances corresponding to the first data group.

[0012] In the embodiments of the present application, the determination of the peeling rate of the peeling device for the target crop and the average size of the target crop within the preset historical time period before the adjustment time point comprises: obtaining crop images of the peeling device within the preset historical time period; and identifying the crop images to determine the peeling rate and the average size.

[0013] In the embodiments of the present application, the peeling roller device further comprises an electric push rod mechanism connected with the movable roller mechanism, and the adjustment of the movable roller mechanism to make the adjustment distance between the fixed roller mechanism and the movable roller mechanism be the target calibration adjustment distance at the adjustment time point comprises: determining the extension length of the electric push rod mechanism according to the target calibration adjustment distance; and adjusting the electric push rod mechanism to make the adjustment distance be the target calibration adjustment distance at the adjustment time point.

[0014] In the embodiments of the present application, the peeling roller device further comprises a first support mechanism and a second support mechanism, the movable roller mechanism is fixedly arranged on the first support mechanism, the fixed roller mechanism is fixedly arranged on the second support mechanism, the second support mechanism is provided with a first lifting cavity, the electric push rod mechanism passes through the first lifting cavity and is connected with the first support mechanism, the electric push rod mechanism is used to drive the first support mechanism to make the movable roller mechanism perform lifting operation to adjust the distance between the fixed roller mechanism and the movable roller mechanism, and the first lifting cavity is used to limit the lifting range of the first support mechanism.

[0015] In the embodiments of the present application, the first support mechanism comprises a plurality of push plate assemblies connected in head-to-tail mode, each push plate assembly is provided with a second lifting cavity, and each second lifting cavity is provided with a limiting assembly for limiting the lifting range of each push plate assembly.

[0016] In the embodiments of the present application, the first support mechanism is a quadrangular structure, and the electric push rod mechanism is placed at opposite corners of the quadrangular structure.

[0017] The second aspect of the present application provides a control device for a peeling device, comprising:

[0018] The memory is configured to store instructions;

[0019] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the control method for the peeling device described above.

[0020] A third aspect of this application provides a peeling device, comprising:

[0021] The peeling roller device includes a fixed roller mechanism and a moving roller mechanism. The peeling roller device is used to peel crops, and the moving roller mechanism is used to adjust the distance between the fixed roller mechanism and the moving roller mechanism.

[0022] A weight detection device is used to detect the weight of grains dropped by the peeling equipment; a moisture content detection device is used to detect the moisture content of the target crop's grains; and

[0023] According to the control device for the peeling equipment described above.

[0024] In the embodiments of this application, the peeling roller device further includes a first support mechanism, a second support mechanism, and an electric push rod mechanism. The moving roller mechanism is fixedly disposed on the first support mechanism, the fixed roller mechanism is fixedly disposed on the second support mechanism, and the electric push rod mechanism is connected to the moving roller mechanism. The second support mechanism is provided with a lifting cavity, and the electric push rod mechanism passes through the lifting cavity and is connected to the first support mechanism. The electric push rod mechanism is used to drive the first support mechanism so that the moving roller mechanism performs lifting operations to adjust the distance between the fixed roller mechanism and the moving roller mechanism. The lifting cavity is used to limit the lifting range of the first support mechanism.

[0025] In the embodiments of this application, the first support mechanism includes a plurality of push plate assemblies connected end to end, each push plate assembly having a second lifting cavity, and each lifting cavity having a limiting component for limiting the lifting range of each push plate assembly.

[0026] In the embodiments of this application, the first support mechanism is a square structure, and the electric push rod mechanism is placed diagonally on the square structure.

[0027] In embodiments of this application, the electric push rod mechanism includes a position sensor for detecting the position of the electric push rod, and the peeling device also includes an image acquisition device for acquiring crop images of the peeling device.

[0028] A fourth aspect of this application provides a machine-readable storage medium, characterized in that the machine-readable storage medium stores instructions for causing a machine to execute the control method for a peeling device described above.

[0029] The peeling equipment described above includes a peeling roller device, which comprises a fixed roller mechanism and a moving roller mechanism. This device is used to peel crops. The peeling equipment targets the target crop's peeling rate, grain loss weight, grain moisture content, and average size. Based on multiple adjustment matrices, it finds a target adjustment matrix that matches the grain moisture content and average size. Within this target adjustment matrix, it finds a target calibration adjustment distance that matches the grain loss weight and peeling rate. When the adjustment time point is reached, the moving roller mechanism is adjusted so that the adjustment distance between the fixed roller mechanism and the moving roller mechanism is the target calibration adjustment distance. Specifically, each set of preset grain moisture content and preset average size determines an adjustment matrix, and each set of preset peeling rate and preset grain loss weight within each adjustment matrix determines a calibration adjustment distance. This solution dynamically adjusts the height difference between the fixed and moving rollers of the peeling machine according to the operational effect and crop conditions, which can improve the peeling rate and operational efficiency while reducing grain loss.

[0030] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0031] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0032] Figure 1 This illustration schematically shows an application environment diagram of a control method for a peeling device according to an embodiment of this application;

[0033] Figure 2 The illustration shows a schematic flowchart of a control method for a peeling device according to an embodiment of this application;

[0034] Figure 3 The schematic diagram illustrates a structural schematic of a peeling device according to an embodiment of this application;

[0035] Figure 4 The schematic diagram illustrates a structural schematic of a peeling device according to yet another embodiment of this application;

[0036] Figures 5a to 5d The schematic diagram illustrates a peeling device according to an embodiment of this application;

[0037] Figure 6 This schematic diagram illustrates a structural block diagram of a control device for a peeling apparatus according to an embodiment of this application;

[0038] Figure 7 The illustration shows a schematic diagram of the structure of a computer device according to an embodiment of the present application.

[0039] Explanation of reference numerals in the attached figures

[0040] Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0042] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0043] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0044] The control method for peeling equipment provided in this application can be applied to, for example... Figure 1 In the application environment shown, the peeling equipment includes a peeling roller assembly, which comprises a fixed roller mechanism 110 and a moving roller mechanism 120. The peeling roller assembly is used to peel crops. These crops include, but are not limited to, corn, rice, barley, and wheat. The fixed roller mechanism is stationary, while the moving roller mechanism is movable to adjust the gap between the fixed and moving rollers, thereby increasing or decreasing the contact between the crop and the peeling roller.

[0045] Figure 2 The illustration schematically shows a flow chart of a control method for a peeling device according to an embodiment of this application. For example... Figure 2 As shown in the figure, this application provides a control method for a peeling device, which may include the following steps.

[0046] S202, determine the peeling rate and average size of the target crop by the peeling equipment within a preset historical time period prior to the adjustment time point.

[0047] It is understandable that the target crop can be any of the following: corn, rice, barley, wheat, etc. When the peeling equipment peels the target crop, the crop is typically fed continuously into the peeling roller device. During peeling, insufficient friction can lead to incomplete peeling, while excessive friction can result in more grains being broken off. This is because even for the same crop, individual plants vary in size, length, moisture content, etc., depending on the growing location. Therefore, when adjusting the gap between the fixed roller mechanism and the moving roller mechanism, the peeling efficiency and average size of the target crop can be determined within a preset historical time period before the adjustment time. Specifically, the peeling efficiency P refers to the ratio between the number of cleanly peeled crop individuals n and the total number N of crops entering the peeling roller device for peeling. The average size refers to the size of individual crops per unit time, including average diameter and average length. Therefore, it can be understood that the adjustment time point refers to the time point at which the moving roller mechanism of the peeling roller device is adjusted, and the preset historical time period refers to the crop time period of the peeling equipment before the adjustment time point.

[0048] In embodiments of this application, determining the peeling rate and average size of the target crop by the peeling device within a preset historical time period prior to the adjustment time point includes: acquiring crop images of the peeling device within the preset historical time period; and identifying the crop images to determine the peeling rate and average size.

[0049] Crop images refer to images taken by the peeling rollers of a peeling device during the peeling operation on a target crop. Deep learning-trained models can be used to recognize crop images, determine whether the crop has been completely peeled, and thus determine the peeling rate and average size of the target crop over a preset historical time period. Visual recognition methods allow for a more convenient and rapid identification of the peeling quality of the peeling rollers and the condition of the target crop.

[0050] S204, obtain the weight of grains dropped by the peeling equipment and the moisture content of the target crop grains within a preset historical time period.

[0051] Grain drop weight refers to the weight of crop grains that fall off after the peeling equipment has peeled the target crop; that is, the weight of grain loss. Grain moisture content refers to the moisture content of the target crop grains. Based on actual operating conditions, the smaller the gap between the peeling rollers, the greater the probability of kernel breakage in corn. Therefore, grain drop weight is one of the important indicators for evaluating the operating performance of the peeling rollers. Specifically, the grain drop weight within the preset historical time period can be obtained by subtracting the weight at the beginning of the preset historical time period from the weight in the grain recovery bin at the end of the preset historical time period. In one embodiment, the grain loss rate can also be used as a reference indicator instead of the grain drop weight. Grain loss sampling can be performed using a sampling plate of a certain area to collect sample weights or sample images at intervals t within the grain recovery channel. The sample images can be analyzed using visual analysis to determine the percentage of the grain area on the sampling plate.

[0052] S206, obtain multiple adjustment matrices, wherein each set of preset grain moisture content and preset average size determines an adjustment matrix, and each set of preset peeling rate and preset grain drop weight in each adjustment matrix determines a calibration adjustment distance.

[0053] The adjustment matrix is ​​a mathematical matrix used as a reference when adjusting the peeling roller device. The calibrated adjustment distance refers to the adjustment distance of the peeling roller device calibrated through the technical experience of technicians or experiments. The preset grain moisture content, preset average size, preset peeling rate, and preset grain drop weight are all preset by technicians. Each set of preset grain moisture content and preset average size defines an adjustment matrix. That is, for different combinations of preset grain moisture content and preset average size, the corresponding adjustment matrix provides different reference values ​​for adjusting the peeling roller device. Furthermore, each set of preset peeling rate and preset grain drop weight within each adjustment matrix defines a calibrated adjustment distance. That is, for different preset peeling rates and preset grain drop weights, the corresponding calibrated adjustment distance can be found in the adjustment matrix corresponding to the combination of preset grain moisture content and preset average size. It can be understood that multiple adjustment matrices can be combined into a matrix A. First, the corresponding adjustment matrix is ​​found in matrix A based on the preset grain moisture content and preset average size; then, the calibrated adjustment distance is found in the adjustment matrix based on the preset peeling rate and preset grain drop weight.

[0054] In embodiments of this application, the control method further includes the step of determining each adjustment matrix. The steps include: acquiring multiple preset grain moisture contents, multiple preset average sizes, multiple preset peeling rates, and multiple preset grain drop weights; forming a first data group from each preset grain moisture content and each preset average size, and forming a second data group from each preset peeling rate and each preset grain drop weight; determining the target peeling rate and target grain drop weight of the peeling device; for each first data group, conducting experiments on the target crop corresponding to the first data group based on the target peeling rate and target grain drop weight to determine the calibration adjustment distance between the fixed roller mechanism and the moving roller mechanism corresponding to each second data group; and for each first data group, determining the corresponding adjustment matrix based on all calibration adjustment distances corresponding to the first data group.

[0055] It is understandable that the target peeling rate and target grain weight are expected values, which technicians can set based on their technical experience and actual conditions. That is, for each first data group including preset grain moisture content and preset average size, the target crop corresponding to the first data group is tested using peeling equipment. Then, for peeling equipment in each second data group including preset peeling rate and preset grain weight, the distance between the fixed roller mechanism and the moving roller mechanism can be adjusted. The adjustment distance that meets the target peeling rate and target grain weight is used as the corresponding calibration adjustment distance. Therefore, for each first data group, a corresponding adjustment matrix can be formed based on all the calibration adjustment distances corresponding to the first data group. All the adjustment matrices can also be combined into a matrix for reference.

[0056] S208, find the target adjustment matrix that matches the grain moisture content and average size among multiple adjustment matrices.

[0057] S210, find the target calibration adjustment distance in the target adjustment matrix that matches the grain drop weight and peeling rate.

[0058] According to the above scheme, each adjustment matrix corresponds one-to-one with each set of preset grain moisture content and preset average size. Therefore, a matching target adjustment matrix can be found based on the grain moisture content and average size. Further, the target calibration adjustment distance is searched within the target adjustment matrix based on the grain drop weight and peeling rate. In a specific implementation, if no target adjustment matrix with the same grain moisture content and average size is found, the preset average size closest to the average size and the preset grain moisture content closest to the grain moisture content can be used as references to find a matching target adjustment matrix. Similarly, the grain drop weight and peeling rate can also be searched for their corresponding nearest values ​​to match the corresponding target calibration adjustment distance. In this way, the peeling roller device can quickly adjust to the most suitable interval distance to adapt to different operating environments.

[0059] S212, when the adjustment time point is reached, adjust the moving roller mechanism so that the adjustment distance between the fixed roller mechanism and the moving roller mechanism is the target calibrated adjustment distance.

[0060] In embodiments of this application, the peeling roller device further includes an electric push rod mechanism connected to the moving roller mechanism. Adjusting the moving roller mechanism at the adjustment time point so that the adjustment distance between the fixed roller mechanism and the moving roller mechanism is the target calibration adjustment distance includes: determining the extension length of the electric push rod mechanism according to the target calibration adjustment distance; and adjusting the electric push rod mechanism at the adjustment time point so that the adjustment distance is the target calibration adjustment distance.

[0061] The electric push rod mechanism is connected to the moving roller mechanism. It can be driven by a drive device to extend and retract, thereby moving the moving roller mechanism and achieving automated adjustment of the peeling roller device. The electric push rod can also be replaced by a hydraulic cylinder, pneumatic cylinder, or motor. The extension / retraction length of the electric push rod mechanism can be calculated based on the adjustment distance between the fixed roller mechanism and the moving roller mechanism. Therefore, the target calibration adjustment distance in the adjustment matrix can be based on the calibration extension / retraction amount of the electric push rod. By determining the target calibration extension / retraction amount of the electric push rod, the target calibration adjustment distance can be adjusted.

[0062] In one specific embodiment, visual recognition is used to analyze the peeling rate and grain weight within a preset historical time period. Based on these data, the moving roller mechanism of the peeling roller device is automatically adjusted. The peeling roller device uses an electric push rod mechanism to adjust the distance between the fixed roller mechanism and the moving roller mechanism. Simultaneously, the extension and retraction of the electric push rod mechanism can be measured and fed back to the controller, achieving closed-loop regulation. Specifically, the peeling rate and grain weight can be used as influencing factors and correlated with the extension and retraction of the electric push rod. For example, taking corn as the target crop, it is recommended to use control model matrices with different preset average size L and preset grain moisture content Φ. That is, when the preset average size of corn is... The preset moisture content is In this case, the control target value is reached recursively. The resulting matrix is ​​shown in Table 1 below.

[0063]

[0064] Table 1. Adjustment matrix composed of different preset average size and preset grain moisture content

[0065] Similarly, with the target value of the shelling rate P as p and the target value of the grain loss weight G as g, the deviation of p is divided into a parts and the deviation of g is divided into b parts. After calibration through experiments, the extension and retraction of the electric push rod is adjusted. (1≤x≤a,1≤y≤b) Fill in the table below to obtain each adjustment matrix as shown in Table 2.

[0066]

[0067] Table 2. Multiple adjustment matrices for different preset peeling rates and preset grain loss weights.

[0068] The control program invokes an adjustment matrix, which in turn locates the corresponding extension / retraction amount, enabling real-time adjustment of the electric actuator. It can achieve real-time control of the target value of peeling rate P and the target value of kernel weight G, thereby improving the peeling rate of corn harvesting and reducing kernel loss.

[0069] The peeling equipment described above includes a peeling roller device, which comprises a fixed roller mechanism and a moving roller mechanism. This device is used to peel crops. The peeling equipment targets the target crop's peeling rate, grain loss weight, grain moisture content, and average size. Based on multiple adjustment matrices, it finds a target adjustment matrix that matches the grain moisture content and average size. Within this target adjustment matrix, it finds a target calibration adjustment distance that matches the grain loss weight and peeling rate. When the adjustment time point is reached, the moving roller mechanism is adjusted so that the adjustment distance between the fixed roller mechanism and the moving roller mechanism is the target calibration adjustment distance. Specifically, each set of preset grain moisture content and preset average size determines an adjustment matrix, and each set of preset peeling rate and preset grain loss weight within each adjustment matrix determines a calibration adjustment distance. This solution, by adaptively and dynamically adjusting the height difference between the fixed and moving rollers of the peeling machine according to the operational effect and crop conditions, can improve the peeling rate and operational efficiency during corn harvesting and reduce grain loss.

[0070] Figure 3 A schematic diagram of a peeling device according to an embodiment of this application is shown. Figure 3 As shown, this application embodiment provides a peeling device including:

[0071] The peeling roller device 310 includes a fixed roller mechanism 311 and a moving roller mechanism 312. The peeling roller device 310 is used to peel crops, and the moving roller mechanism 312 is used to adjust the distance between the fixed roller mechanism 311 and the moving roller mechanism 312.

[0072] Weight detection device 320 is used to detect the weight of the kernels falling from the peeling equipment;

[0073] Moisture content detection device 330, used to detect the grain moisture content of a target crop; and

[0074] According to the control device 340 for the peeling equipment described above.

[0075] A moisture content detection device can be installed inside the grain recovery bin to monitor the moisture content of the grains or peels after peeling by the peeling roller device in real time. A weight detection device can monitor the weight of the crop grains in the grain recovery bin in real time. Therefore, for any given time period, the weight of the grains dropped can be calculated by subtracting the weight at the start of the grain recovery bin from the weight at the end of the time period. Both the moisture content and the weight of the dropped grains detected by the moisture content detection device can be fed back to the control device used in the peeling equipment. Specifically, the control device can be a VCU (Vehicle Control Unit). The moving roller mechanism is an adjustable peeling roller unit, while the fixed roller mechanism is a fixed, non-adjustable peeling roller unit. The control device can control the moving roller mechanism to adjust the distance between the moving roller mechanism and the fixed roller mechanism based on the received data such as the weight of fallen kernels, kernel moisture content, peeling rate, and average size. This changes the friction of the peeling roller device on the target crop, thereby improving the peeling rate of corn harvesting, reducing kernel loss, and improving the operation quality of the peeling equipment.

[0076] In one embodiment, the peeling device further includes an image acquisition device for acquiring crop images of the peeling device; the electric push rod mechanism includes a position sensor for detecting the position of the electric push rod.

[0077] Specifically, refer to Figure 4 The peeling equipment includes a weighing sensor 410, a moisture content sensor 420, a position sensor 430, a camera 440, a VCU 450, a motor 460, and an HMI 470 (Human Machine Interface). The camera, which can be equipped with a logic algorithm for inference, acquires crop images and uses a deep learning model to visually identify whether the crop is cleanly peeled and the individual size of the target crop, thereby determining the peeling rate and average size of the target crop for a preset historical time period. Based on the peeling rate, average size, grain moisture content, and grain weight, a corresponding adjustment matrix is ​​found to determine the corresponding calibration adjustment distance. The proportional valve of the motor is adjusted to drive the electric push rod mechanism to adjust the corresponding extension and retraction. Simultaneously, the position sensor detects the position of the electric push rod and feeds it back to the VCU, achieving closed-loop regulation. The HMI displays the camera image, and the user can input set peeling rate thresholds, grain weight thresholds, and other data on the interface.

[0078] refer to Figure 1 , Figures 5a to 5dIn one embodiment, a peeling roller device is provided. The peeling roller device further includes a first support mechanism 510, a second support mechanism 520, and an electric push rod mechanism 530. A movable roller mechanism 541 is fixedly disposed on the first support mechanism 510, and a fixed roller mechanism 541 is fixedly disposed on the second support mechanism 520. The electric push rod mechanism 530 is connected to the movable roller mechanism 541. The second support mechanism 520 has a first lifting cavity. The electric push rod mechanism 530 passes through the first lifting cavity and is connected to the first support mechanism 510. The electric push rod mechanism 530 drives the first support mechanism 510, causing the movable roller mechanism 541 to perform lifting operations to adjust the distance between the fixed roller mechanism 542 and the movable roller mechanism 541. The first lifting cavity limits the lifting range of the first support mechanism 510. The electric push rod mechanism can push the movable roller to create a height difference with the fixed roller, thereby achieving height adjustment of the peeling roller. Specifically, the second support mechanism can be a channel steel for fixing. As shown in the figure, a hole is opened in the channel steel to form a first lifting cavity. The electric push rod mechanism is connected to the first support mechanism to drive the first support mechanism to rise or fall. The first lifting cavity can accommodate the range of motion (lifting range) of the connection between the electric push rod mechanism and the first support mechanism. It can be understood that the part passing through the first lifting cavity can also be fixed to a part of the first support mechanism or fixed to a part of the electric push rod mechanism. The first support mechanism can be inside or outside the space where the second support mechanism is located, as long as the spatial movement of the first support mechanism can be restricted by the first lifting cavity, which is within the scope of the concept of the embodiments of this application.

[0079] refer to Figures 5a to 5d In one embodiment, the first support mechanism 510 includes multiple push plate assemblies 511 connected end-to-end. Each push plate assembly 511 has a second lifting cavity, and each lifting cavity has a limiting component 512 to limit the lifting range of each push plate assembly 511. Specifically, the first support mechanism can be a square structure composed of multiple push plate assemblies connected end-to-end. The second support mechanism can also be composed of multiple channel steels connected end-to-end. Each push plate assembly can have multiple holes to form corresponding second lifting cavities. A limiting component is provided in the second lifting cavity. The limiting component can be connected to the first support mechanism or to a fixed roller mechanism. The function of the second lifting cavity is similar to that of the first lifting cavity. The difference is that the second lifting cavity is located in the movable first support mechanism, while the fixed limiting component is located in the fixed second support mechanism, while the movable first support mechanism is the one that moves. The above solution increases the contact between the first support mechanism and the second support mechanism. When the first support mechanism is driven to raise and lower the moving roller mechanism, it improves the protection of the space movement of the first support mechanism, thereby increasing the peeling rate of corn harvesting and reducing grain loss.

[0080] refer toFigures 5a to 5d In one embodiment, the first support mechanism 510 has a square structure, and the electric push rod mechanism 530 is placed diagonally across the square structure. The electric push rod mechanism may be equipped with a position sensor to detect the extension and retraction of the electric push rod in real time, thereby detecting the gap distance between the fixed roller mechanism and the moving roller mechanism. The two electric push rod mechanisms can be placed diagonally across the square first support mechanism, which can stably and uniformly push the first support mechanism, pushing the moving roller to create a height difference with the fixed roller, thereby realizing the height adjustment of the peeling roller.

[0081] The above technical solution utilizes a four-sided first support mechanism to support the moving roller mechanism. Diagonally placed electric push rods drive the first support mechanism, automatically adjusting the distance between the moving roller mechanisms and creating a height difference between them and the stationary roller. This achieves stable and adjustable height for the peeling roller. Lifting cavities are created in the first and second support mechanisms to limit the lifting range of the first support mechanism, improving its spatial control and thus increasing the peeling efficiency and reducing kernel loss during corn harvesting.

[0082] Figure 6 This schematically illustrates a structural block diagram of a control device for a peeling apparatus according to an embodiment of this application. Figure 6 As shown, this application embodiment provides a control device for a peeling device, which may include:

[0083] Memory 610 is configured to store instructions; and

[0084] The processor 620 is configured to retrieve instructions from the memory 610 and, when executing the instructions, to implement the aforementioned method for controlling the boom.

[0085] Specifically, in this embodiment of the application, the processor 620 can be configured to:

[0086] Determine the peeling rate and average size of the target crop for the peeling equipment within a preset historical time period prior to the adjustment time point;

[0087] Obtain the weight of grains dropped by the peeling equipment and the moisture content of the target crop grains within a preset historical time period;

[0088] Multiple adjustment matrices are obtained, wherein each set of preset grain moisture content and preset average size determines an adjustment matrix, and each set of preset peeling rate and preset grain drop weight in each adjustment matrix determines a calibration adjustment distance;

[0089] Find a target adjustment matrix that matches the grain moisture content and average size among multiple adjustment matrices;

[0090] Find the target calibration adjustment distance in the target adjustment matrix that matches the grain drop weight and peeling rate;

[0091] When the adjustment time point is reached, adjust the moving roller mechanism so that the adjustment distance between the fixed roller mechanism and the moving roller mechanism is the target calibration adjustment distance.

[0092] In this embodiment of the application, the processor 620 can be configured to:

[0093] The steps for determining each adjustment matrix include: acquiring multiple preset grain moisture contents, multiple preset average sizes, multiple preset peeling rates, and multiple preset grain drop weights; grouping each preset grain moisture content and each preset average size into a first data group, and grouping each preset peeling rate and each preset grain drop weight into a second data group; determining the target peeling rate and target grain drop weight of the peeling equipment; for each first data group, conducting experiments on the target crop corresponding to the first data group based on the target peeling rate and target grain drop weight to determine the calibration adjustment distance between the fixed roller mechanism and the moving roller mechanism corresponding to each second data group; and for each first data group, determining the corresponding adjustment matrix based on all calibration adjustment distances corresponding to the first data group.

[0094] In this embodiment of the application, the processor 620 can be configured to:

[0095] Determining the peeling rate and average size of the target crop by the peeling equipment within a preset historical time period prior to the adjustment time point includes: acquiring crop images of the peeling equipment within the preset historical time period; and identifying the crop images to determine the peeling rate and average size.

[0096] In this embodiment of the application, the processor 620 can be configured to:

[0097] The peeling roller device also includes an electric push rod mechanism connected to the moving roller mechanism. When the adjustment time point is reached, the moving roller mechanism is adjusted so that the adjustment distance between the fixed roller mechanism and the moving roller mechanism is the target calibration adjustment distance. This includes: determining the extension length of the electric push rod mechanism according to the target calibration adjustment distance; and adjusting the electric push rod mechanism when the adjustment time point is reached so that the adjustment distance is the target calibration adjustment distance.

[0098] Through the above technical solution, the stretching amount is experimentally calibrated based on different preset peeling rates, grain drop weight, grain moisture content, and average size, resulting in multiple adjustment matrices. Multiple sensors combined with deep learning visual analysis are used to obtain the operational effect of the peeling equipment and the specific conditions of the crop. Combining these multiple adjustment matrices, a target adjustment matrix matching the grain moisture content and average size is found. Within this target adjustment matrix, a target calibration adjustment distance matching the grain drop weight and peeling rate is located. At the adjustment time point, the electric push rod is adjusted, thereby adjusting the moving roller mechanism so that the adjustment distance between the fixed roller mechanism and the moving roller mechanism is the target calibration adjustment distance. This solution adaptively and dynamically adjusts the height difference between the fixed and moving rollers of the peeling machine according to the operational effect and crop conditions. This improves the adaptability and self-adjustment of the main unit, and is more precise and stable than manual adjustment based on experience. It can improve the peeling rate of corn harvesting and reduce grain loss.

[0099] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the aforementioned control method for a peeling device.

[0100] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data for a control method for the peeling device. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for the peeling device.

[0101] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0102] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0104] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0106] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0107] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0108] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0109] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0110] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a peeling device, characterized in that, The peeling equipment includes a peeling roller assembly, which comprises a fixed roller mechanism and a moving roller mechanism. The peeling roller assembly is used for peeling crops. The control method includes: Determine the peeling rate of the peeling equipment for the target crop and the average size of the target crop within a preset historical time period prior to the adjustment time point; The weight of the grains dropped by the peeling device and the moisture content of the grains of the target crop are obtained within the preset historical time period. Multiple adjustment matrices are obtained, wherein each set of preset grain moisture content and preset average size determines an adjustment matrix, and each set of preset peeling rate and preset grain drop weight in each adjustment matrix determines a calibration adjustment distance; Find a target adjustment matrix among the plurality of adjustment matrices that matches the grain moisture content and the average size; Find the target calibration adjustment distance in the target adjustment matrix that matches the grain drop weight and the peeling rate; When the adjustment time point is reached, the moving roller mechanism is adjusted so that the adjustment distance between the fixed roller mechanism and the moving roller mechanism is the target calibrated adjustment distance.

2. The control method for a peeling device according to claim 1, characterized in that, The control method further includes the step of determining each adjustment matrix, the step comprising: Obtain multiple preset grain moisture content, multiple preset average size, multiple preset peeling rate, and multiple preset grain drop weight; The first data group consists of the moisture content of each preset grain and the average size of each preset grain, and the second data group consists of the peeling rate of each preset grain and the weight of each preset grain that falls. Determine the target peeling rate and target grain loss weight of the peeling equipment; For each first data group, the target crop corresponding to the first data group is tested according to the target stripping rate and the target grain falling weight to determine the calibration adjustment distance between the fixed roller mechanism and the moving roller mechanism corresponding to each second data group; For each first data group, the corresponding adjustment matrix is ​​determined based on all calibration adjustment distances corresponding to the first data group.

3. The control method for peeling equipment according to claim 1, characterized in that, The determination of the peeling rate of the target crop and the average size of the target crop within a preset historical time period prior to the adjustment time point includes: Obtain crop images of the peeling equipment within the preset historical time period; The crop image is identified to determine the stripping rate and the average size.

4. The control method for a peeling device according to claim 1, characterized in that, The peeling roller device further includes an electric push rod mechanism connected to the moving roller mechanism. Adjusting the moving roller mechanism at the adjustment time point, such that the adjustment distance between the fixed roller mechanism and the moving roller mechanism is the target calibration adjustment distance, includes: The extension length of the electric push rod mechanism is determined based on the target calibration adjustment distance; When the adjustment time point is reached, the electric push rod mechanism is adjusted so that the adjustment distance is the target calibrated adjustment distance.

5. The control method for a peeling device according to claim 4, characterized in that, The peeling roller device further includes a first support mechanism and a second support mechanism. The moving roller mechanism is fixedly disposed on the first support mechanism, and the fixed roller mechanism is fixedly disposed on the second support mechanism. The second support mechanism is provided with a first lifting cavity. The electric push rod mechanism passes through the first lifting cavity and is connected to the first support mechanism. The electric push rod mechanism is used to drive the first support mechanism so that the moving roller mechanism performs lifting operations to adjust the distance between the fixed roller mechanism and the moving roller mechanism. The first lifting cavity is used to limit the lifting range of the first support mechanism.

6. The control method for a peeling device according to claim 5, characterized in that, The first support mechanism includes multiple push plate assemblies connected end to end. Each push plate assembly has a second lifting cavity and each second lifting cavity is equipped with a limiting component to limit the lifting range of each push plate assembly.

7. The control method for a peeling device according to claim 5, characterized in that, The first support mechanism is a square structure, and the electric push rod mechanism is placed diagonally across the square structure.

8. A control device for a peeling machine, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for a peeling device according to any one of claims 1 to 7.

9. A peeling device, characterized in that, include: A peeling roller device includes a fixed roller mechanism and a moving roller mechanism. The peeling roller device is used to peel crops, and the moving roller mechanism is used to adjust the distance between the fixed roller mechanism and the moving roller mechanism. A weight detection device is used to detect the weight of the seeds dropped by the peeling equipment; A moisture content detection device is used to detect the moisture content of grains in a target crop. as well as The control device for peeling equipment according to claim 8.

10. The peeling device according to claim 9, characterized in that, The peeling roller device further includes a first support mechanism, a second support mechanism, and an electric push rod mechanism. The moving roller mechanism is fixedly mounted on the first support mechanism, and the fixed roller mechanism is fixedly mounted on the second support mechanism. The electric push rod mechanism is connected to the moving roller mechanism. The second support mechanism has a first lifting cavity. The electric push rod mechanism passes through the first lifting cavity and is connected to the first support mechanism. The electric push rod mechanism is used to drive the first support mechanism so that the moving roller mechanism can perform lifting operations to adjust the distance between the fixed roller mechanism and the moving roller mechanism. The first lifting cavity is used to limit the lifting range of the first support mechanism.

11. The peeling device according to claim 10, characterized in that, The first support mechanism includes multiple push plate assemblies connected end to end. Each push plate assembly has a second lifting cavity and each second lifting cavity is equipped with a limiting component to limit the lifting range of each push plate assembly.

12. The peeling device according to claim 10, characterized in that, The first support mechanism is a square structure, and the electric push rod mechanism is placed diagonally across the square structure.

13. The peeling device according to claim 10, characterized in that, The electric push rod mechanism includes a position sensor for detecting the position of the electric push rod, and the peeling device also includes an image acquisition device for acquiring crop images of the peeling device.

14. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for a peeling device according to any one of claims 1 to 7.

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