Header height calibration device, method, electronic device and storage medium

Abstract

The application provides a cutting platform height calibration device, method, electronic equipment and storage medium. The device comprises an intelligent display terminal, which is configured to send a cutting platform height calibration instruction to a vehicle-mounted control module in response to a user's cutting platform height calibration instruction, and save a plurality of calibration height values of the cutting platform received; the vehicle-mounted control module is configured to control the cutting platform to move to a calibration position after receiving the cutting platform height calibration instruction, perform height calibration processing on the cutting platform based on a voltage signal sent by a cutting platform height sensor and a reference voltage calibration range corresponding to the calibration position, determine a plurality of calibration height values of the cutting platform, and send the calibration height values of the cutting platform to the intelligent display terminal; and the cutting platform height sensor is configured to determine a voltage signal of the cutting platform at the calibration position based on a change in the magnetic field strength of a Hall element when the cutting platform moves to the calibration position and the magnetic field strength changes, thereby helping to improve the harvesting efficiency and improve the harvesting quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a header height calibration device and method, an electronic device and a storage medium. BACKGROUND

[0002] The header height refers to the distance between the bottom of the header of the harvester and the ground (or the root of the crops). A reasonable header height can ensure that the crops are effectively harvested, while reducing missed harvesting and damage to the roots of the crops, improving harvesting quality and efficiency. Different crops have different heights and densities, so the optimal height of the header will also vary. In actual operation, the header height needs to be adjusted according to the growth of the specific crops. Header height calibration is an important and delicate adjustment process in the operation of the harvester, which is usually combined with other parameters of the harvester (such as forward speed, cutter speed, etc.), and directly affects the harvesting efficiency, crop loss rate and stubble height, etc. Through a reasonable header height calibration method, the smooth progress of the harvesting operation and the expected harvesting effect can be ensured. In the prior art, the driver manually adjusts the header height by observing the height and density of the crops. However, this greatly increases the labor intensity of the driver, making him unable to focus more on other operations and controls. Therefore, how to calibrate the height of the header has become a technical problem that cannot be underestimated. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a header height calibration device and method, an electronic device and a storage medium. Through the header height sensor equipped on the harvester, the distance between the header and the ground (or crops) can be monitored in real time, and the header height can be automatically adjusted to achieve the best harvesting effect. By calibrating the header height, the header can maintain an optimal distance from the ground or crops, thereby avoiding the header being too low to cause the cutter to penetrate into the soil or being too high to cause increased grain loss, which helps to improve harvesting efficiency and enhance harvesting quality.

[0004] The present application provides a header height calibration device, which comprises an intelligent display terminal, a vehicle-mounted control module and a header height sensor. The header height sensor comprises a magnet and a Hall element. The magnet is installed on the header, and the Hall element is installed on the rack. The header height sensor is in communication connection with the vehicle-mounted control module. The vehicle-mounted control module is connected with the intelligent display terminal through a CAN bus. Wherein,

[0005] The intelligent display terminal is used for sending the header height calibration instruction to the vehicle-mounted control module in response to the header height calibration instruction of the user, and saving the received multiple calibration height values of the header.

[0006] The vehicle-mounted control module is configured to receive the header height calibration instruction, control the header to move to a calibration position, calibrate the height of the header based on the voltage signal sent by the header height sensor and a reference voltage calibration range corresponding to the calibration position, determine a plurality of calibration height values of the header, and send the calibration height values of the header to the intelligent display terminal.

[0007] The header height sensor is configured to determine the voltage signal of the header at the calibration position based on a change in the magnetic field strength of the Hall element when the header moves to the calibration position.

[0008] In a possible implementation, when the header height sensor is configured to determine the voltage signal of the header at the calibration position based on the change in the magnetic field strength of the Hall element when the header moves to the calibration position, the header height sensor is specifically configured to:

[0009] determine a first voltage signal of the header at a first calibration position and a second voltage signal of the header at a second calibration position based on a change in the magnetic field strength of the Hall element when the header moves to the first calibration position and the second calibration position, wherein the first calibration position is a highest point position, and the second calibration position is a lowest point position.

[0010] In a possible implementation, when the header height sensor is configured to determine the voltage signal of the header at the calibration position based on the change in the magnetic field strength of the Hall element, for the first voltage signal, the header height sensor is specifically configured to:

[0011] determine a current change value of the magnetic field strength when the header moves to the first calibration position;

[0012] determine a Hall voltage signal of the Hall element under the current change value of the magnetic field strength based on the current change value of the magnetic field strength;

[0013] amplify, filter, and convert the Hall voltage signal to determine the first voltage signal of the header at the first calibration position.

[0014] In a possible implementation, when the vehicle-mounted control module is configured to calibrate the height of the header based on the voltage signal sent by the header height sensor and the reference voltage calibration range corresponding to the calibration position, and determine a plurality of calibration height values of the header, the vehicle-mounted control module is specifically configured to:

[0015] For the first to be calibrated position, it is detected whether the first voltage signal is within a first reference voltage calibration range, if yes, the first to be calibrated position is calibrated successfully and the first voltage signal is processed, if not, the first to be calibrated position is calibrated unsuccessfully;

[0016] For the second to be calibrated position, it is detected whether the second voltage signal is within a second reference voltage calibration range, if yes, the second to be calibrated position is calibrated successfully and the second voltage signal is processed, if not, the second to be calibrated position is calibrated unsuccessfully;

[0017] The first voltage signal and the second voltage signal are calculated by linear interpolation method, and a plurality of calibration height values of the header between the first voltage signal and the second voltage signal are determined.

[0018] In a possible implementation, when the vehicle-mounted control module is used for calibrating the second to be calibrated position successfully and processing the second voltage signal, the vehicle-mounted control module is specifically used for:

[0019] The second voltage signal is processed by height conversion, and a calibration lowest point height value corresponding to the second voltage signal is determined;

[0020] It is detected whether the calibration lowest point height value is consistent with an actual height value corresponding to the second to be calibrated position, if yes, the calibration lowest point height value is sent to the intelligent display terminal for storage, if not, the second to be calibrated position is re-calibrated by height.

[0021] In a possible implementation, when the vehicle-mounted control module is used for calculating the first voltage signal and the second voltage signal by linear interpolation method, and determining a plurality of calibration height values of the header between the first voltage signal and the second voltage signal, the vehicle-mounted control module is specifically used for:

[0022] For any height value, a proportional factor of the height value relative to the first to be calibrated position and the second to be calibrated position is determined, the first voltage signal and the second voltage signal are calculated by linear interpolation based on the proportional factor, and a calibration height value corresponding to the height value is determined.

[0023] In a possible implementation, the intelligent display terminal is further used for:

[0024] After the header is calibrated, in response to a user setting of a header height upper limit value and a header height lower limit value for different crops, the header height upper limit value and the header height lower limit value are sent to the vehicle-mounted control module, so that the crops are completed.

[0025] The embodiment of the present application further provides a cutting platform height calibration method, which comprises the following steps:

[0026] controlling the cutting platform to move to a to-be-calibrated position in response to a user's cutting platform height calibration instruction;

[0027] when detecting that the magnetic field intensity in which the Hall element is located changes when the cutting platform moves to the to-be-calibrated position, determining the voltage signal of the cutting platform at the to-be-calibrated position based on the change of the magnetic field intensity;

[0028] performing height calibration processing on the cutting platform based on the voltage signal and a reference voltage calibration range corresponding to the to-be-calibrated position, and determining a plurality of calibration height values of the cutting platform.

[0029] The embodiment of the present application further provides an electronic device, which comprises a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, the processor and the memory communicate through the bus when the electronic device is running, and the machine readable instructions are executed by the processor to perform the steps of the cutting platform height calibration method as described above.

[0030] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by the processor to perform the steps of the cutting platform height calibration method as described above.

[0031] The embodiment of the application provides a cutting platform height calibration device, a cutting platform height calibration method, an electronic device and a storage medium, the cutting platform height calibration device comprises an intelligent display terminal, a vehicle-mounted control module and a cutting platform height sensor, the cutting platform height sensor comprises a magnet and a Hall element, the magnet is installed on a cutting platform, the Hall element is installed on a rack, the cutting platform height sensor is in communication connection with the vehicle-mounted control module, and the vehicle-mounted control module is connected with the intelligent display terminal through a CAN bus; wherein the intelligent display terminal is used for sending a cutting platform height calibration instruction to the vehicle-mounted control module in response to a cutting platform height calibration instruction of a user, and saving a plurality of calibration height values of the cutting platform received; the vehicle-mounted control module is used for controlling the cutting platform to move to a to-be-calibrated position after receiving the cutting platform height calibration instruction, performing height calibration processing on the cutting platform based on a voltage signal sent by the cutting platform height sensor and a reference voltage calibration range corresponding to the to-be-calibrated position, determining a plurality of calibration height values of the cutting platform, and sending the calibration height values of the cutting platform to the intelligent display terminal; and the cutting platform height sensor is used for determining a voltage signal of the cutting platform at the to-be-calibrated position based on a change of a magnetic field strength of the Hall element when the cutting platform moves to the to-be-calibrated position. Through the cutting platform height sensor equipped on the harvester, the distance between the cutting platform and the ground (or crops) can be monitored in real time, and the cutting platform height is automatically adjusted, so that the best harvesting effect is realized, the cutting platform height is calibrated, the distance between the cutting platform and the ground or crops can be ensured to be optimal, so that the cutting knife is prevented from being stuck into the soil due to too low cutting platform height or the grain loss is prevented from being increased due to too high cutting platform height, and the harvesting efficiency and the harvesting quality are improved.

[0032] In order to make the above objectives, characteristics and advantages of the application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0034] Figure 1 A structural schematic diagram of a cutting platform height calibration device provided by the embodiment of the application;

[0035] Figure 2 A schematic diagram of the cutting platform in a first to-be-calibrated position provided by the embodiment of the application;

[0036] Figure 3A schematic view of a cutting platform in a second calibration position according to an embodiment of the present application;

[0037] Figure 4 A calibration flowchart of a cutting platform according to an embodiment of the present application;

[0038] Figure 5 A flowchart of a cutting platform height calibration method according to an embodiment of the present application;

[0039] Figure 6 A structural schematic diagram of an electronic device according to an embodiment of the present application.

[0040] Icon: 100 - cutting platform height calibration device; 110 - intelligent display terminal; 120 - vehicle-mounted control module; 130 - cutting platform height sensor; 600 - electronic device; 610 - processor; 620 - memory; 630 - bus. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by a person skilled in the art without creative work belongs to the scope of protection of the present application.

[0042] First, the application scenarios applicable to the present application are introduced. The present application can be applied to the field of agricultural machinery technology.

[0043] Research has found that header height refers to the distance between the bottom of the harvester's header and the ground (or the root zone of the crop). A reasonable header height ensures effective crop harvesting, reduces missed harvests and root damage, and improves harvesting quality and efficiency. Different crops have different heights and densities, so the optimal header height also varies. In practice, header height needs to be adjusted based on the specific crop growth conditions. Header height calibration is a critical and delicate adjustment process in harvester operation. It is often combined with other harvester parameters (such as forward speed and cutter speed). It directly affects multiple factors, including harvesting efficiency, crop loss rate, and stubble height. A reasonable header height calibration method can ensure smooth harvesting operations and achieve the desired harvesting results. In existing technologies, the operator manually adjusts the header height by observing the height and density of the crop. However, this significantly increases the operator's workload, distracting them from other aspects of operation and control. Therefore, how to calibrate the header height has become a significant technical challenge.

[0044] Based on this, an embodiment of the present application provides a header height calibration device. Through the header height sensor equipped on the harvester, the distance between the header and the ground (or crops) can be monitored in real time, and the header height can be automatically adjusted to achieve the best harvesting effect. By calibrating the header height, it can be ensured that an optimal distance is maintained between the header and the ground or crops, thereby avoiding the header being too low, causing the cutter to penetrate into the soil, or too high, causing increased grain loss, which helps to improve harvesting efficiency and improve harvesting quality.

[0045] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of a header height calibration device provided in an embodiment of the present application. Figure 1 As shown in , an embodiment of the present application provides a cutting platform height calibration device 100, which includes an intelligent display terminal 110, a vehicle-mounted control module 120 and a cutting platform height sensor 130. The cutting platform height sensor 130 includes a magnet and a Hall element, the magnet is installed on the cutting platform, and the Hall element is installed on the frame. The cutting platform height sensor 130 is communicatively connected to the vehicle-mounted control module 120, and the vehicle-mounted control module 120 is connected to the intelligent display terminal 110 via a CAN bus.

[0046] Specifically, the intelligent display terminal 110 is configured to send the header height calibration instruction to the vehicle-mounted control module 120 in response to a header height calibration instruction of a user, save a plurality of calibration height values of the header received; the vehicle-mounted control module 120 is configured to control the header to move to a calibration position after receiving the header height calibration instruction, perform height calibration processing on the header based on a voltage signal sent by the header height sensor 130 and a reference voltage calibration range corresponding to the calibration position, determine a plurality of calibration height values of the header, and send the calibration height values of the header to the intelligent display terminal 110; and the header height sensor 130 is configured to determine the voltage signal of the header at the calibration position based on a change in the magnetic field strength of the Hall element when detecting that the header moves to the calibration position.

[0047] Here, the intelligent display terminal 110 sends the header height calibration instruction to the vehicle-mounted control module 120 in response to a header height calibration instruction of a user, the vehicle-mounted control module 120 controls the header to move to a calibration position after receiving the header height calibration instruction, the header height sensor 130 determines the voltage signal of the header at the calibration position based on a change in the magnetic field strength of the Hall element when detecting that the header moves to the calibration position, and the vehicle-mounted control module 120 performs height calibration processing on the header based on the voltage signal sent by the header height sensor 130 and the reference voltage calibration range corresponding to the calibration position, determines a plurality of calibration height values of the header, and sends the calibration height values of the header to the intelligent display terminal 110.

[0048] Here, the header height sensor 130 is an angle sensor, mainly composed of a sensor body, a bracket, a ferromagnetic object, a large magnetic wheel and other parts. These components work together to accurately perceive and adjust the height of the header. The header height sensor 130 is usually installed near the bridge of the harvester to accurately detect the height of the crops and the ground. The selection of the installation position should ensure that the sensor can work stably and reliably, and minimize external interference. The header height sensor 130 detects the height of the crops and the ground in real time and converts the detected data into an electrical signal output. This signal is usually an analog signal (voltage) that can be directly read and processed by the control unit for subsequent height adjustment or display.

[0049] Here, the vehicle-mounted control module 120 adjusts the height of the header by adjusting the hydraulic device or motor actuator, the intelligent display terminal 110 is a parameter display and parameter setting unit, communicates with the control unit through the CAN bus, the header height is displayed through the intelligent display terminal 110, and the crop type, crop height, sensitivity and other parameters are set through the parameter setting unit.

[0050] A magnet (or magnetic component) that changes with the height of the header is mounted on the header or a related component. A Hall effect sensor is mounted in a fixed location (such as a frame) to sense changes in the magnetic field generated by the magnet. As the header height changes, the distance between the magnet and the Hall effect sensor also changes, causing the magnetic field strength within the Hall effect sensor to vary.

[0051] In one possible implementation, the header height sensor 130 is used to detect that the magnetic field strength of the Hall element changes when the header moves to the position to be calibrated, and to determine the voltage signal of the header at the position to be calibrated based on the change in the magnetic field strength. The header height sensor 130 is specifically used to:

[0052] When it is detected that the cutting platform moves to the first position to be calibrated and the second position to be calibrated, the magnetic field strength of the Hall element changes. Based on the change in the magnetic field strength, the first voltage signal of the cutting platform at the first position to be calibrated and the second voltage signal at the second position to be calibrated are determined; wherein, the first position to be calibrated is the highest point position and the second position to be calibrated is the lowest point position.

[0053] Here, when the cutting platform height sensor 130 detects that the magnetic field strength of the Hall element changes when the cutting platform moves to the first position to be calibrated and the second position to be calibrated, the first voltage signal of the cutting platform at the first position to be calibrated and the second voltage signal at the second position to be calibrated are determined according to the change in magnetic field strength.

[0054] For further information, see Figure 2 、 Figure 3 , Figure 2 A schematic diagram of a header provided in an embodiment of the present application in a first position to be calibrated; Figure 3 Schematic diagram of the header provided in the embodiment of the present application in the second position to be calibrated. Figure 2 、 3 As shown, the first position to be calibrated is the highest point of the header, and the second position to be calibrated is the lowest point of the header.

[0055] In one possible implementation, with respect to the first voltage signal, when the header height sensor 130 is used to determine the voltage signal of the header at the to-be-calibrated position based on the change in the magnetic field strength, the header height sensor 130 is specifically configured to:

[0056] A: When the header moves to the first position to be calibrated, the change value of the current magnetic field strength is determined.

[0057] Here, when the header moves to the first position to be calibrated, the current change value of the magnetic field strength is determined.

[0058] B: determining the Hall voltage signal of the Hall element under the current change of the magnetic field intensity based on the current change value of the magnetic field intensity.

[0059] Here, the Hall voltage signal of the Hall element under the current change of the magnetic field intensity is determined according to the current change value of the magnetic field intensity.

[0060] C: amplifying, filtering and converting the Hall voltage signal to determine the first voltage signal of the header at the first calibration position.

[0061] Here, the Hall voltage signal is amplified, filtered and converted to determine the first voltage signal of the header at the first calibration position.

[0062] Here, the determination process of the second voltage signal is consistent with the determination process of the first voltage signal, which will not be described again.

[0063] According to the Hall effect principle, the change of the magnetic field intensity will cause a potential difference (Hall voltage signal) on both sides of the Hall element, which is proportional to the magnetic field intensity. By measuring the change of the Hall voltage, the change of the distance between the magnet and the Hall element, i.e. the change of the header height, can be indirectly obtained. The signal processing circuit amplifies, filters and converts the Hall voltage signal, and finally outputs an electrical signal or a digital signal corresponding to the header height.

[0064] In one possible implementation, when the vehicle-mounted control module 120 determines the plurality of calibration height values of the header by calibrating the height of the header based on the voltage signal sent by the header height sensor 130 and the reference voltage calibration range corresponding to the calibration position, the vehicle-mounted control module 120 is specifically configured to:

[0065] a: for the first calibration position, detecting whether the first voltage signal is within the first reference voltage calibration range, if yes, calibrating the first calibration position successfully and processing the first voltage signal, if not, calibrating the first calibration position unsuccessfully.

[0066] Here, for the first calibration position, it is detected whether the first voltage signal is within the first reference voltage calibration range, if yes, the first calibration position is calibrated successfully and the first voltage signal is processed, if not, the first calibration position is calibrated unsuccessfully.

[0067] b: detecting whether the second voltage signal is in a second reference voltage calibration range for the second to-be-calibrated position, if yes, then the second to-be-calibrated position is successfully calibrated and the second voltage signal is processed, if not, then the second to-be-calibrated position fails to be calibrated.

[0068] Here, for the second to-be-calibrated position, it is detected whether the second voltage signal is in the second reference voltage calibration range, if yes, then the second to-be-calibrated position is successfully calibrated and the second voltage signal is processed, if not, then the second to-be-calibrated position fails to be calibrated.

[0069] The first reference voltage calibration range and the second reference voltage calibration range are determined according to expert experience, and the first reference voltage calibration range is a voltage range corresponding to the actual highest point position.

[0070] In a possible implementation, when the vehicle-mounted control module 120 is used to successfully calibrate the second to-be-calibrated position and process the second voltage signal, the vehicle-mounted control module 120 is specifically used for:

[0071] (1) performing height conversion processing on the second voltage signal to determine a calibration lowest point height value corresponding to the second voltage signal.

[0072] Here, the second voltage signal is converted into a calibration lowest point height value.

[0073] (2) detecting whether the calibration lowest point height value is consistent with an actual height value corresponding to the second to-be-calibrated position, if yes, then the calibration lowest point height value is sent to the intelligent display terminal 110 for storage, if not, then height calibration processing is performed again on the second to-be-calibrated position.

[0074] Here, it is detected whether the calibration lowest point height value is consistent with an actual height value corresponding to the second to-be-calibrated position, if yes, then the calibration lowest point height value is sent to the intelligent display terminal 110 for storage, if not, then height calibration processing is performed again on the second to-be-calibrated position.

[0075] (3) performing linear interpolation calculation on the first voltage signal and the second voltage signal to determine a plurality of calibration height values of the cutting table between the first voltage signal and the second voltage signal.

[0076] Here, the first voltage signal and the second voltage signal are calculated by linear interpolation method to determine a plurality of calibration height values of the cutting table between the first voltage signal and the second voltage signal. Thus, according to the height values and voltage values of the highest point and the lowest point, the intelligent display terminal 110 can display the calibration height value of any point in this interval.

[0077] In a possible implementation, when the vehicle-mounted control module 120 is configured to perform linear interpolation calculation on the first voltage signal and the second voltage signal to determine the calibration height values of the header at different heights between the first voltage signal and the second voltage signal, the vehicle-mounted control module 120 is specifically configured to:

[0078] For any height value, a proportional factor of the height value relative to the first calibration position and the second calibration position is determined, and linear interpolation calculation is performed on the first voltage signal and the second voltage signal based on the proportional factor to determine the calibration height value corresponding to the height value.

[0079] Here, the calibration maximum height value of the header at the maximum position is x1, the corresponding first voltage signal is y1, the calibration minimum height value of the header at the minimum position is x2, and the corresponding second voltage signal is y2. The proportional factor of the height value x relative to the first calibration position and the second calibration position is t=(x-x1) / (x2-x1). Then, linear interpolation calculation is performed on y1 and y2 using the proportional factor t: y=y1 / (y2-y1)*t, where y is the calibration height value corresponding to the height value x.

[0080] In a possible implementation, the intelligent display terminal 110 is further configured to:

[0081] After the calibration of the header is completed, in response to the header height upper limit value and the header height lower limit value set by the user for different crops, the header height upper limit value and the header height lower limit value are sent to the vehicle-mounted control module 120, so that the harvesting of the crops is completed.

[0082] Here, after the calibration of the header is completed, the header height is displayed in real time on the intelligent display terminal 110. By selecting different crops on the intelligent display terminal 110, the header upper limit value and the header lower limit value under different crops can be set to adapt to the harvesting requirements of crops with different heights and densities.

[0083] In specific embodiments, please refer to Figure 4 , Figure 4 the flowchart for calibrating the header provided in the embodiments of the present application. As shown in Figure 4As shown, the to-be-calibrated positions are determined, including the highest point position and the lowest point position of the header; according to the to-be-calibrated positions, a preset analog signal voltage calibration range is set; the header is moved to the highest point position, the height value x1 of the highest point is measured, and the analog signal voltage value y1 output by the header height sensor when the header is at the highest point position is detected; the header is moved to the lowest point position, the height value x2 of the lowest point is measured, and the analog signal voltage value y2 output by the header height sensor when the header is at the lowest point position is detected; if the analog signal voltage value is within the preset analog signal voltage calibration range, the analog signal voltage value is output and recorded.

[0084] In the present application, by calibrating the header height, it can be ensured that the header maintains an optimal distance from the ground or crops, thereby avoiding the header being too low to cause the cutter to penetrate into the soil or being too high to cause increased grain loss. Such precise control helps to improve the harvesting efficiency. The header height can be automatically adjusted according to the changes in ground undulations and crop height, ensuring continuous operation unaffected by terrain and reducing downtime for adjustment. Header height calibration helps to maintain uniform stubble and improve post-harvest field neatness, facilitating subsequent field management. By precisely controlling the header height, mechanical damage to crops can be reduced, and crop quality can be protected. By adjusting the header height calibration parameters, the harvesting requirements of crops of different heights and densities can be met, and the versatility and adaptability of the combine harvester can be improved.

[0085] The embodiment of the application provides a cutting platform height calibration device, the cutting platform height calibration device comprises an intelligent display terminal, a vehicle-mounted control module and a cutting platform height sensor, the cutting platform height sensor comprises a magnet and a Hall element, the magnet is installed on a cutting platform, the Hall element is installed on a rack, the cutting platform height sensor is in communication connection with the vehicle-mounted control module, and the vehicle-mounted control module is connected with the intelligent display terminal through a CAN bus; wherein the intelligent display terminal is used for sending a cutting platform height calibration instruction to the vehicle-mounted control module in response to the cutting platform height calibration instruction of a user, and saving a plurality of calibration height values of the cutting platform received; the vehicle-mounted control module is used for controlling the cutting platform to move to a calibration position after receiving the cutting platform height calibration instruction, performing height calibration processing on the cutting platform based on a voltage signal sent by the cutting platform height sensor and a reference voltage calibration range corresponding to the calibration position, determining a plurality of calibration height values of the cutting platform, and sending the calibration height values of the cutting platform to the intelligent display terminal; and the cutting platform height sensor is used for determining the voltage signal of the cutting platform at the calibration position based on the change of the magnetic field strength when the Hall element is changed when the cutting platform moves to the calibration position. Through the cutting platform height sensor equipped on the harvester, the distance between the cutting platform and the ground (or crops) can be monitored in real time, and the cutting platform height is automatically adjusted, so that the best harvesting effect is realized, the cutting platform height is calibrated, the optimal distance between the cutting platform and the ground or crops is ensured, the cutting knife is prevented from being inserted into the soil due to the too low cutting platform, the grain loss is prevented from being increased due to the too high cutting platform, the harvesting efficiency is improved, and the harvesting quality is improved.

[0086] Please refer to Figure 5 , Figure 5 The flow chart of a cutting platform height calibration method provided by the embodiment of the application is shown in FIG. 1. Figure 5 The cutting platform height calibration method provided by the embodiment of the application comprises the following steps.

[0087] S501: controlling the cutting platform to move to a calibration position in response to a cutting platform height calibration instruction of a user.

[0088] In this step, the cutting platform is controlled to move to a calibration position in response to a cutting platform height calibration instruction of a user.

[0089] S502: when the magnetic field strength of the Hall element changes when the cutting platform moves to the calibration position, determining the voltage signal of the cutting platform at the calibration position based on the change of the magnetic field strength.

[0090] In this step, when the magnetic field strength of the Hall element changes when the cutting platform moves to the calibration position, the voltage signal of the cutting platform at the calibration position is determined according to the change of the magnetic field strength.

[0091] S503: performing height calibration processing on the header based on the voltage signal and a reference voltage calibration range corresponding to the to-be-calibrated position, to determine a plurality of calibration height values of the header.

[0092] In this step, the header is subjected to height calibration processing based on the voltage signal and a reference voltage calibration range corresponding to the to-be-calibrated position, to determine a plurality of calibration height values of the header.

[0093] In one possible implementation, when the change in the magnetic field strength in which the Hall element is located is detected when the header moves to the to-be-calibrated position, the voltage signal of the header at the to-be-calibrated position is determined based on the change in the magnetic field strength, including:

[0094] When the change in the magnetic field strength in which the Hall element is located is detected when the header moves to the first to-be-calibrated position and the second to-be-calibrated position, the first voltage signal of the header at the first to-be-calibrated position and the second voltage signal of the header at the second to-be-calibrated position are determined based on the change in the magnetic field strength; wherein the first to-be-calibrated position is the highest point position, and the second to-be-calibrated position is the lowest point position.

[0095] In one possible implementation, for the first voltage signal, the voltage signal of the header at the to-be-calibrated position is determined based on the change in the magnetic field strength, including:

[0096] When the header moves to the first to-be-calibrated position, a current change value of the magnetic field strength is determined;

[0097] Based on the current change value of the magnetic field strength, a Hall voltage signal of the Hall element under the current change of the magnetic field strength is determined;

[0098] The Hall voltage signal is subjected to amplification processing, filtering processing, and conversion processing, to determine the first voltage signal of the header at the first to-be-calibrated position.

[0099] In one possible implementation, the header is subjected to height calibration processing based on the voltage signal and a reference voltage calibration range corresponding to the to-be-calibrated position, to determine a plurality of calibration height values of the header, including:

[0100] For the first to-be-calibrated position, it is detected whether the first voltage signal is within a first reference voltage calibration range, if yes, the first to-be-calibrated position is successfully calibrated and the first voltage signal is processed, and if not, the first to-be-calibrated position fails to be calibrated;

[0101] If yes, the second to-be-calibrated position is calibrated successfully and the second voltage signal is processed; if no, the second to-be-calibrated position is calibrated unsuccessfully.

[0102] The first voltage signal and the second voltage signal are calculated by linear interpolation method to determine multiple calibration height values of the cutting platform between the first voltage signal and the second voltage signal.

[0103] In a possible implementation, the second to-be-calibrated position is calibrated successfully and the second voltage signal is processed, including:

[0104] The second voltage signal is processed by height conversion to determine a calibration lowest point height value corresponding to the second voltage signal.

[0105] It is detected whether the calibration lowest point height value is consistent with an actual height value corresponding to the second to-be-calibrated position, if yes, the calibration lowest point height value is sent to the intelligent display terminal for storage, if no, the second to-be-calibrated position is recalibrated.

[0106] In a possible implementation, the first voltage signal and the second voltage signal are calculated by linear interpolation method to determine multiple calibration heights of the cutting platform between the first voltage signal and the second voltage signal, including:

[0107] For any height value, a proportional factor of the height value relative to the first to-be-calibrated position and the second to-be-calibrated position is determined, the first voltage signal and the second voltage signal are calculated by linear interpolation based on the proportional factor, and a calibration height value corresponding to the height value is determined.

[0108] In a possible implementation, the cutting platform height calibration method further includes:

[0109] After the cutting platform is calibrated, in response to a cutting platform height upper limit value and a cutting platform height lower limit value set by a user for different crops, the cutting platform height upper limit value and the cutting platform height lower limit value are sent to a vehicle-mounted control module to complete harvesting of the crops.

[0110] An embodiment of the present application provides a header height calibration method, comprising: controlling the header to move to a to-be-calibrated position in response to a header height calibration command from a user; determining a voltage signal of the header at the to-be-calibrated position based on a change in magnetic field strength detected when the header moves to the to-be-calibrated position; and performing a header height calibration process based on the voltage signal and a reference voltage calibration range corresponding to the to-be-calibrated position to determine a plurality of calibrated header height values. A header height sensor equipped on a harvester can monitor the distance between the header and the ground (or crop) in real time and automatically adjust the header height to achieve optimal harvesting results. Calibration of the header height ensures an optimal distance between the header and the ground or crop, thereby preventing the header from being too low, causing the cutter blade to pierce the soil, or from being too high, causing increased grain loss, thereby improving harvesting efficiency and quality.

[0111] See also Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 6 As shown in FIG, the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .

[0112] The memory 620 stores machine-readable instructions executable by the processor 610. When the electronic device 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, the above-mentioned Figure 5 The specific implementation of the steps of the header height calibration method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0113] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 5 The specific implementation of the steps of the header height calibration method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0114] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0115] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. The described device embodiments are merely schematic, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0116] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0117] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit.

[0118] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the parts of the technical solutions that make essential contributions to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0119] Finally, it should be noted that the above-described embodiments are merely specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit the same. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any skilled person in the art can still modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features, within the technical scope disclosed by the present application. The modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A header height calibration device, characterized in that: The header height calibration device includes an intelligent display terminal, a vehicle-mounted control module and a header height sensor, the header height sensor includes a magnet and a Hall element, the magnet is mounted on the header, the Hall element is mounted on the frame, the header height sensor is communicatively connected to the vehicle-mounted control module, and the vehicle-mounted control module is connected to the intelligent display terminal via a CAN bus; wherein, The intelligent display terminal is used to respond to the user's header height calibration instruction, send the header height calibration instruction to the vehicle-mounted control module, and save the received multiple header height calibration values; The vehicle-mounted control module is configured to control the cutting platform to move to a position to be calibrated after receiving a cutting platform height calibration instruction, perform height calibration on the cutting platform based on a voltage signal sent by the cutting platform height sensor and a reference voltage calibration range corresponding to the position to be calibrated, determine a plurality of calibrated height values ​​of the cutting platform, and send the calibrated height values ​​of the cutting platform to the intelligent display terminal; The header height sensor is used to determine the voltage signal of the header at the position to be calibrated based on the change in magnetic field strength when detecting that the magnetic field strength of the Hall element changes when the header moves to the position to be calibrated.

2. The header height calibration device according to claim 1, characterized in that: The header height sensor is used to detect a change in the magnetic field strength of the Hall element when the header moves to the position to be calibrated, and to determine a voltage signal of the header at the position to be calibrated based on the change in the magnetic field strength. The header height sensor is specifically used to: When it is detected that the magnetic field strength of the Hall element changes when the cutting platform moves to the first position to be calibrated and the second position to be calibrated, the first voltage signal of the cutting platform at the first position to be calibrated and the second voltage signal at the second position to be calibrated are determined based on the change in the magnetic field strength; wherein the first position to be calibrated is the highest point position and the second position to be calibrated is the lowest point position.

3. The header height calibration device according to claim 2, characterized in that: With respect to the first voltage signal, when the header height sensor is used to determine the voltage signal of the header at the to-be-calibrated position based on the change in the magnetic field strength, the header height sensor is specifically used to: When the header moves to the first position to be calibrated, determining a change value of the current magnetic field strength; Determining, based on a change in the current magnetic field strength, a Hall voltage signal of the Hall element under the change in the current magnetic field strength; The Hall voltage signal is amplified, filtered, and converted to determine a first voltage signal when the header is at the first position to be calibrated.

4. The header height calibration device according to claim 2, characterized in that: When the on-board control module is used to perform a height calibration process on the header based on the voltage signal sent by the header height sensor and the reference voltage calibration range corresponding to the position to be calibrated, and to determine multiple calibrated height values ​​of the header, the on-board control module is specifically used to: For the first position to be calibrated, detecting whether the first voltage signal is within a first reference voltage calibration range; if so, calibrating the first position to be calibrated successfully and processing the first voltage signal; if not, calibrating the first position to be calibrated failed; For the second position to be calibrated, detecting whether the second voltage signal is within a second reference voltage calibration range; if so, calibrating the second position to be calibrated successfully and processing the second voltage signal; if not, calibrating the second position to be calibrated failed; A linear interpolation method is performed on the first voltage signal and the second voltage signal to determine a plurality of calibrated height values ​​of the header between the first voltage signal and the second voltage signal.

5. The header height calibration device according to claim 4, characterized in that: When the vehicle-mounted control module is used to successfully calibrate the second position to be calibrated and process the second voltage signal, the vehicle-mounted control module is specifically used to: Performing height conversion processing on the second voltage signal to determine a calibration lowest point height value corresponding to the second voltage signal; Detect whether the calibrated lowest point height value is consistent with the actual height value corresponding to the second to-be-calibrated position. If so, send the calibrated lowest point height value to the smart display terminal for storage. If not, re-calibrate the height of the second to-be-calibrated position.

6. The header height calibration device according to claim 4, characterized in that: When the on-board control module is configured to perform linear interpolation calculation on the first voltage signal and the second voltage signal to determine a plurality of calibrated height values ​​of the header between the first voltage signal and the second voltage signal, the on-board control module is specifically configured to: For any height value, determine the proportional factor of the height value relative to the first position to be calibrated and the second position to be calibrated, perform linear interpolation calculation on the first voltage signal and the second voltage signal based on the proportional factor, and determine the calibrated height value corresponding to the height value.

7. The header height calibration device according to claim 1, characterized in that: The intelligent display terminal is also used for: After the header is calibrated, in response to the upper and lower header height limits set by the user for different crops, the upper and lower header height limits are sent to the on-board control module to complete the harvesting of the crops.

8. A method for calibrating the height of a header, characterized in that: The header height calibration method is applied to the header height calibration device according to any one of claims 1 to 7, and the header height calibration method includes: In response to a user's header height calibration instruction, the header is controlled to move to a position to be calibrated; When detecting that the magnetic field strength of the Hall element changes when the header moves to the position to be calibrated, determining the voltage signal of the header at the position to be calibrated based on the change in the magnetic field strength; The header is height-calibrated based on the voltage signal and a reference voltage calibration range corresponding to the position to be calibrated, and a plurality of calibrated height values ​​of the header are determined.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. When the machine-readable instructions are run by the processor, the steps of the header height calibration method as described in claim 8 are executed.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the header height calibration method according to claim 8 are executed.

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