Adjusting method and device of harvester, harvester and storage medium

Abstract

The invention discloses an adjusting method and device of a harvester, the harvester and a storage medium. The adjusting method comprises the steps of collecting image data of target equipment of the harvester; determining the opening degree of the target equipment according to the image data; based on the opening degree of the target equipment, determining the current position of a motor corresponding to the target equipment; based on the current position and a preset target position, determining a deviation between the current position and the target position; and adjusting a motor corresponding to the target equipment to the target position based on the deviation and a preset first mapping table. By the adoption of the technical scheme, the operation difficulty is lowered, the operation efficiency is improved, and accurate control over the gap between the concave plates, the opening degree of the upper screen, the opening degree of the lower screen and the opening degree of the tail screen is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of harvester adjustment, and in particular to a harvester adjustment method, a harvester and a storage medium. Background Art

[0002] my country's agricultural equipment modernization has achieved remarkable results and is entering a new era of innovation and breakthroughs. The vast grain planting area provides an important opportunity for the development of agricultural automation and intelligence. At present, the operation of harvesters in my country relies on the driver's subjective judgment of the grain status and manual control of working devices such as concave plates and screens to complete the harvesting operation.

[0003] However, the current harvester operation is too dependent on the subjective judgment of the driver, the operation process is cumbersome, and the control mainly relies on experience and training, resulting in a low level of automation and intelligence. This situation not only significantly reduces the operating efficiency of the harvester, but also restricts the further development of the combine harvester. Summary of the invention

[0004] In view of this, the purpose of this application is to provide a harvester adjustment method, device, harvester and storage medium. The technical solution provided by this application is adopted, and the setting and control process of the concave plate gap, upper screen opening, lower screen opening and tail screen opening are simplified through an integrated operation interface and automatic adjustment system, which significantly reduces the difficulty of operation and improves the operation efficiency. At the same time, by using advanced closed-loop control mathematical models and fuzzy PID control strategies, accurate adjustment of these parameters is achieved to adapt to the needs of different crops, and further improve the control accuracy and operation performance.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a method for adjusting a harvester, the method comprising:

[0007] Collecting image data of target equipment of the harvester;

[0008] determining the opening and closing degree of the target device according to the image data;

[0009] Based on the opening and closing degree, determining a current position of a motor corresponding to the target device;

[0010] Based on the current position and a preset target position, determining a deviation between the current position and the target position;

[0011] Based on the deviation and a preset first mapping table, a motor corresponding to the target device is adjusted to the target position.

[0012] Preferably, determining the current position of the motor corresponding to the target device based on the opening and closing degree includes:

[0013] Obtain voltage data corresponding to the current position of the motor of the target device;

[0014] Based on the voltage data, the opening and closing degree of the target device and a preset second mapping table, a current position of the motor corresponding to the target device is determined.

[0015] Preferably, before determining the deviation between the current position and the target position based on the current position and the preset target position, the adjustment method further includes:

[0016] Obtaining an adjustment instruction of the target device, wherein the target device includes at least one of the following items: a concave plate, an upper screen, a lower screen, and a tail screen;

[0017] Based on the adjustment instruction, determining whether the adjustment instruction is a one-touch manipulation instruction;

[0018] When the adjustment instruction is not a one-touch manipulation instruction, determining whether the adjustment instruction is an instruction to increase the opening and closing degree of the target device;

[0019] When the adjustment instruction is an instruction to increase the opening and closing degree of the target device, adjusting the motor corresponding to the target device to a target increase position;

[0020] When the adjustment instruction is not an instruction to increase the opening and closing degree of the target device, determining whether the adjustment instruction is an instruction to decrease the opening and closing degree of the target device;

[0021] When the adjustment instruction is an instruction to reduce the opening and closing degree of the target device, the motor corresponding to the target device is adjusted to a target reduced position.

[0022] Preferably, adjusting the motor corresponding to the target device to the target position based on the deviation and a preset first mapping table includes:

[0023] Based on the deviation, determining a deviation change rate between the current position and the target position;

[0024] Determining a PID fuzzy coefficient for adjusting the opening and closing degree of the target device based on the deviation, the deviation change rate and a preset first mapping table;

[0025] According to the PID fuzzy coefficient, the motor corresponding to the target device is adjusted to the target position.

[0026] In a second aspect, an embodiment of the present application further provides an adjustment device for a harvester, the adjustment device comprising:

[0027] A collection module collects image data of target equipment of the harvester;

[0028] an opening and closing degree determination module, for determining the opening and closing degree of the target device according to the image data;

[0029] A position determination module, which determines the current position of the motor corresponding to the target device based on the opening and closing degree;

[0030] A deviation determination module, which determines a deviation between the current position and the target position based on the current position and a preset target position;

[0031] The adjustment module adjusts the motor corresponding to the target device to the target position based on the deviation and a preset first mapping table.

[0032] Preferably, the location determination module is specifically used for:

[0033] Obtain voltage data corresponding to the current position of the motor of the target device;

[0034] Based on the voltage data, the opening and closing degree of the target device and a preset second mapping table, a current position of the motor corresponding to the target device is determined.

[0035] Preferably, the adjusting device further comprises:

[0036] An acquisition module is used to acquire an adjustment instruction of the target device, wherein the target device includes at least one of the following items: a concave plate, an upper screen, a lower screen, and a tail screen;

[0037] A one-touch determination module, based on the adjustment instruction, determines whether the adjustment instruction is a one-touch manipulation instruction;

[0038] Adding a determination module, when the adjustment instruction is not a one-touch operation instruction, determining whether the adjustment instruction is an instruction to increase the opening and closing degree of the target device;

[0039] An adjustment module is added, which adjusts the motor corresponding to the target device to a target increase position when the adjustment instruction is an instruction to increase the opening and closing degree of the target device;

[0040] a reduction determination module, which, when the adjustment instruction is not an instruction to increase the opening and closing degree of the target device, determines whether the adjustment instruction is an instruction to decrease the opening and closing degree of the target device;

[0041] The reduction adjustment module adjusts the motor corresponding to the target device to a target reduction position when the adjustment instruction is an instruction to reduce the opening and closing degree of the target device.

[0042] Preferably, the adjustment module is specifically used for:

[0043] Based on the deviation, determining a deviation change rate between the current position and the target position;

[0044] Determining a PID fuzzy coefficient for adjusting the opening and closing degree of the target device based on the deviation, the deviation change rate and a preset first mapping table;

[0045] According to the PID fuzzy coefficient, the motor corresponding to the target device is adjusted to the target position.

[0046] In a third aspect, an embodiment of the present application provides a harvester, comprising a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and when the computer program is executed by the processor, the adjustment method as described in any one of the above items is implemented.

[0047] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned adjustment methods are executed.

[0048] The embodiments of the present application provide a method, device, harvester and storage medium for adjusting a harvester. First, image data of a target device is collected. The data is then analyzed to determine the degree of opening and closing of the device. Next, the current position of the motor of the target device is determined based on the degree of opening and closing, and the deviation is calculated by comparing the current position of the motor with the preset target position. Finally, the motor is adjusted using a preset mapping table so that the motor of the device reaches the predetermined target position. In this way, the technical solution provided by the present application not only reduces the difficulty of operation and improves the operation efficiency, but also realizes the precise control of the concave plate gap, the upper screen opening, the lower screen opening and the tail screen opening.

[0049] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 One of the flow charts of a method for adjusting a harvester provided in an embodiment of the present application is shown;

[0052] Figure 2 A structural block diagram of an adjustment device for a harvester provided in an embodiment of the present application is shown;

[0053] Figure 3 A second flow chart of a method for adjusting a harvester provided in an embodiment of the present application is shown;

[0054] Figure 4 A third flowchart of a method for adjusting a harvester provided in an embodiment of the present application is shown;

[0055] Figure 5 One of the structural schematic diagrams of an adjustment device for a harvester provided in an embodiment of the present application is shown;

[0056] Figure 6 A second structural schematic diagram of an adjustment device for a harvester provided in an embodiment of the present application is shown;

[0057] Figure 7 A structural schematic diagram of a harvester provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0058] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0059] In addition, the described embodiments are only a 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 drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0060] The following methods, devices, harvesters or computer-readable storage media in the embodiments of the present application can be applied to any scenario requiring harvester working mode control. The embodiments of the present application are not limited to specific application scenarios. Any scheme of adjusting the harvester, device, harvester and storage medium provided by the embodiments of the present application is within the protection scope of the present application.

[0061] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0062] my country's agricultural equipment modernization has achieved remarkable results and is entering a new era of innovation and breakthroughs. The vast grain planting area provides an important opportunity for the development of agricultural automation and intelligence. At present, the operation of harvesters in my country relies on the driver's subjective judgment of the grain status and manually controls the concave plate, screen and other working devices to complete the harvesting operation. However, the current harvester operation is too dependent on the driver's subjective judgment, the operation process is cumbersome, and it mainly relies on experience and training to achieve regulation, resulting in a low level of automation and intelligence. This situation not only significantly reduces the operating efficiency of the harvester, but also restricts the further development of the combine harvester.

[0063] Based on this, the embodiment of the present application provides a method, device, harvester and storage medium for adjusting a harvester, which simplifies the setting and control process of the concave plate gap, upper screen opening, lower screen opening and tail screen opening through an integrated operation interface and automatic adjustment system, significantly reduces the difficulty of operation and improves the operation efficiency. At the same time, by using advanced closed-loop control mathematical models and fuzzy PID control strategies, accurate adjustment of these parameters is achieved to meet the needs of different crops, further improving the control accuracy and operation performance.

[0064] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.

[0065] See also Figure 1 , Figure 1 One of the flow charts of a harvester adjustment method provided in an embodiment of the present application.

[0066] like Figure 1 As shown in , the adjustment method includes:

[0067] Step S101, collecting image data of the target device of the harvester.

[0068] In an embodiment of the present application, the target equipment includes at least one of the following items: a concave plate, an upper screen, a lower screen, and a tail screen.

[0069] Specifically, a binocular camera is installed on the front side wall of the concave plate and the side wall of the screen box, and image information of the target device is collected through the binocular camera.

[0070] Step S102: determining the opening and closing degree of the target device according to the image data.

[0071] In the embodiment of the present application, the binocular camera collects image data of the target device and transmits it to the core computing unit. The unit uses the built-in preset opening and closing degree algorithm to process the image data, thereby accurately calculating the actual opening and closing degree of the target device and transmitting the data to the vehicle control unit and the intelligent display terminal.

[0072] See also Figure 2 , Figure 2 A structural block diagram of an adjustment device for a harvester provided in an embodiment of the present application.

[0073] like Figure 2 As shown in , the binocular camera is connected to the core computing unit through a feeder, the core computing unit is connected to the vehicle control unit through a CAN bus, and the data is efficiently transmitted to the vehicle control unit through the CAN bus.

[0074] Step S103: determining a current position of a motor corresponding to the target device based on the opening and closing degree.

[0075] In the embodiment of the present application, the opening and closing degree of the target equipment includes: concave plate gap, upper screen opening, lower screen opening and tail screen opening.

[0076] See also Figure 3 , Figure 3 The second flowchart of the adjustment device of a harvester provided in an embodiment of the present application.

[0077] like Figure 3 As shown in , regarding step S103, the following steps are also included before the specific implementation:

[0078] First, the adjustment instruction of the target device is obtained to determine whether the adjustment instruction is a one-touch operation instruction. In the embodiment of the present application, the vehicle-mounted control unit receives the adjustment instruction and identifies it to confirm whether it is a one-touch operation instruction; wherein the one-touch operation button is integrated in the intelligent display terminal, and when the user needs to adjust the concave plate gap, the upper screen opening, the lower screen opening and the tail screen opening, he only needs to press the button, and the system can automatically perform the corresponding position adjustment operation.

[0079] Then, based on the adjustment instruction, it is determined whether the adjustment instruction is a one-touch operation instruction. When the adjustment instruction is a one-touch operation instruction, based on the current position and a preset target position, a deviation between the current position and the target position is determined.

[0080] When the adjustment instruction is not a one-touch operation instruction, it is determined whether the adjustment instruction is an instruction to increase the opening and closing degree of the target device. In the embodiment of the present application, the instruction to increase the opening and closing degree is a manual operation instruction, and the user can manually adjust the concave plate gap, the upper screen opening, the lower screen opening and the tail screen opening position accurately through the multi-function handle and the bus panel.

[0081] like Figure 2 As shown in , the multi-function handle is connected to the bus panel and the on-board control unit through buses respectively.

[0082] When the adjustment instruction is an instruction to increase the opening and closing degree of the target device, the motor corresponding to the target device is adjusted to the target position. In an embodiment of the present application, when the adjustment instruction is an instruction to increase the opening and closing degree of the target device, the motor corresponding to the target device is adjusted to rotate forward to the target increase position.

[0083] When the adjustment instruction is not an instruction to increase the opening and closing degree of the target device, it is determined whether the adjustment instruction is an instruction to decrease the opening and closing degree of the target device. In the embodiment of the present application, the instruction to decrease the opening and closing degree is a manual operation instruction.

[0084] When the adjustment instruction is a target device opening degree reduction instruction, the motor corresponding to the target device is adjusted to the target position. In the embodiment of the present application, when the adjustment instruction is a target device opening degree increase instruction, the motor corresponding to the target device is adjusted to reverse to the target reduction position.

[0085] When the adjustment instruction is not an instruction to reduce the opening and closing degree of the target device, the adjustment of the motor corresponding to the target device is stopped.

[0086] Regarding step S103, the specific implementation includes the following steps:

[0087] First, obtain the voltage data corresponding to the current position of the motor. In an embodiment of the present application, a position sensor is integrated inside the motor to obtain the voltage data corresponding to the current position of the motor. As an example, the present application uses a potentiometer sensor, which obtains the voltage data corresponding to the current position of the motor and transmits the real-time voltage signal to the vehicle control unit. Specifically, the power supply of the potentiometer sensor is supplied by the 5V DC power provided by the vehicle control unit, ensuring the stable and reliable operation of the sensor. At the same time, the voltage signal range output by the potentiometer sensor is set to 0.5V to 4.5V.

[0088] like Figure 2 As shown in , the on-board control unit is connected to the motor of the target device through a hard wire, and the motor position sensor is respectively connected to the motor of the target device and the on-board control unit through hard wires, wherein the motor of the target device includes: a concave plate gap adjustment motor, an upper screen opening adjustment motor, a lower screen opening adjustment motor and a tail screen opening adjustment motor.

[0089] Then, based on the voltage data, the opening and closing degree of the target device and the preset first mapping table, the current position of the motor corresponding to the target device is determined and the current position is displayed. In an embodiment of the present application, the vehicle control unit converts the voltage data and the opening and closing degree of the target device output by the camera into an actual position through a preset second mapping table and displays the actual position through the intelligent display terminal.

[0090] Step S104: determining a deviation between the current position and the target position based on the current position and the preset target position.

[0091] In the embodiment of the present application, the preset target position is determined by the following two methods:

[0092] In the first method, the user pre-sets the motor position on the intelligent display terminal according to the type of crop to be harvested, and saves these setting values ​​to the on-board control unit.

[0093] The second method is to manually adjust the concave plate, upper screen, lower screen and tail screen to the desired positions, and then click Save on the intelligent display terminal to save these manually adjusted positions to the on-board control unit.

[0094] See also Figure 4 , Figure 4 This is a third flow chart of an adjustment device for a harvester provided in an embodiment of the present application.

[0095] Step S105: adjusting the motor corresponding to the target device to the target position based on the deviation and a preset first mapping table.

[0096] like Figure 4 As shown in , regarding step S105, the specific implementation includes the following steps:

[0097] First, based on the deviation, a deviation change rate between the current position and the target position is determined.

[0098] Then, based on the deviation, the deviation change rate and a preset first mapping table, a PID fuzzy coefficient is determined, wherein the PID fuzzy coefficient includes at least one of the following items: a proportional coefficient, an integral coefficient, and a differential coefficient.

[0099] Here, determining the PID fuzzy coefficient based on the deviation, the deviation change rate and the preset first mapping table includes the following steps in specific implementation:

[0100] First, after the vehicle-mounted control unit calculates the deviation and the deviation change rate, it determines whether the deviation and the deviation change rate exceed the set limit value.

[0101] Secondly, if the deviation and the deviation change rate exceed the corresponding set limit values ​​respectively, the deviation and the deviation change rate are set to the corresponding set limit values ​​and fuzzy processed; if the deviation and the deviation change rate do not exceed the corresponding set limit values ​​respectively, the deviation and the deviation change rate are fuzzy processed.

[0102] Then, the proportional coefficient, the integral coefficient and the differential coefficient are calculated by looking up the first mapping table, and the adjustment amount required for adjusting the target motor is calculated by linearly combining the calculated proportional coefficient, integral coefficient and differential coefficient.

[0103] Next, it is determined whether the adjustment amount exceeds a set adjustment amount limit value.

[0104] Finally, if the adjustment amount exceeds the set limit value, the adjustment amount is set to the set adjustment amount limit value. If the adjustment amount does not exceed the set limit value, the current position of the motor is adjusted to the target position according to the adjustment amount.

[0105] In the embodiment of the present application, the vehicle control unit continuously obtains the deviation and the rate of change of the deviation, and the fuzzy PID control uses the deviation and the rate of change of the deviation as the input of the fuzzy PID controller. Based on the fuzzy control rules established by the fuzzy PID controller, the system can dynamically generate the corresponding fuzzy PID coefficients. The vehicle control unit formulates the first mapping table through the following four fuzzy control rules:

[0106] The first fuzzy control rule is that when the deviation between the target position of the motor and the current position of the motor is greater than the set deviation range, a larger proportional coefficient is selected to reduce the deviation rapidly. However, if the proportional coefficient is too large, the deviation change rate will increase. At this time, a smaller differential coefficient needs to be selected to suppress the increase in the deviation change rate. In order to avoid overshoot, a smaller integral coefficient is required.

[0107] The second fuzzy control rule is that when the deviation between the target position of the motor and the current position of the motor is less than the set deviation range, in order to improve stability and reduce steady-state error, a larger proportional coefficient and integral coefficient are selected. For the differential coefficient, if the deviation is greater than the middle value of the set range, a smaller differential coefficient is selected. If the deviation is less than or equal to the middle value of the set range, a larger differential coefficient is selected.

[0108] The third fuzzy control rule is that when the deviation between the target position of the motor and the current position of the motor is within the set deviation range and the deviation change rate is within the set deviation change rate range, a smaller proportional coefficient and integral coefficient are selected. To avoid overshoot, a moderate differential coefficient is selected to improve the system response speed.

[0109] The fourth fuzzy control rule selects a smaller proportional coefficient and a larger differential coefficient when the deviation change rate is greater than the set deviation change rate range.

[0110] See again Figure 4 ,like Figure 4 As shown in , finally, the motor corresponding to the target device is adjusted to the target position according to the PID fuzzy coefficient.

[0111] In an embodiment of the present application, after the motor corresponding to the target device is adjusted to the target position, the motor position sensor sends the real-time position information to the on-board control unit, and the on-board control unit displays the real-time position on a display screen.

[0112] The embodiment of the present application provides a method for adjusting a harvester, through which the setting and control process of the concave plate gap, the upper screen opening, the lower screen opening and the tail screen opening are simplified, the operation difficulty is significantly reduced and the operation efficiency is improved. At the same time, by using advanced closed-loop control mathematical models and fuzzy PID control strategies, accurate adjustment of these parameters is achieved to adapt to the needs of different crops, and the control accuracy and operation performance are further improved.

[0113] Based on the same application concept, the embodiment of the present application also provides a harvester adjustment device corresponding to the harvester adjustment method provided in the above embodiment. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the harvester adjustment method in the above embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0114] See also Figure 5 , Figure 5 This is one of the structural schematic diagrams of an adjustment device for a harvester provided in an embodiment of the present application.

[0115] like Figure 5 As shown in , the adjustment device 510 includes:

[0116] The acquisition module 511 acquires image data of the target device of the harvester.

[0117] The opening and closing degree determination module 512 determines the opening and closing degree of the target device according to the image data.

[0118] The position determination module 513 determines the current position of the motor corresponding to the target device based on the opening and closing degree.

[0119] The deviation determination module 514 determines the deviation between the current position and the target position based on the current position and the preset target position.

[0120] The adjustment module 515 adjusts the motor corresponding to the target device to the target position based on the deviation and a preset first mapping table.

[0121] Preferably, the location determination module 513 is specifically used for:

[0122] First, voltage data corresponding to the current position of the motor of the target device is obtained.

[0123] Then, based on the voltage data, the opening and closing degree of the target device and a preset second mapping table, the current position of the motor corresponding to the target device is determined.

[0124] See also Figure 6 , Figure 6 This is a second structural schematic diagram of an adjustment device for a harvester provided in an embodiment of the present application.

[0125] Preferably, if Figure 6 As shown in , the adjustment device 510 also includes:

[0126] The acquisition module 516 acquires the adjustment instruction of the target device, wherein the target device includes at least one of the following items: a concave plate, an upper screen, a lower screen, and a tail screen.

[0127] The one-touch determination module 517 determines whether the adjustment instruction is a one-touch manipulation instruction based on the adjustment instruction.

[0128] The adding determination module 518 determines whether the adjustment instruction is an instruction to increase the opening and closing degree of the target device when the adjustment instruction is not a one-touch operation instruction.

[0129] The increasing adjustment module 519 adjusts the motor corresponding to the target device to a target increasing position when the adjustment instruction is an instruction to increase the opening and closing degree of the target device.

[0130] The reduction determination module 520 determines whether the adjustment instruction is a target device opening / closing degree reduction instruction when the adjustment instruction is not a target device opening / closing degree increase instruction.

[0131] The reduction adjustment module 521 adjusts the motor corresponding to the target device to a target reduction position when the adjustment instruction is an instruction to reduce the opening and closing degree of the target device.

[0132] Preferably, the adjustment module 515 is specifically used for:

[0133] First, based on the deviation, a deviation change rate between the current position and the target position is determined.

[0134] Then, based on the deviation, the deviation change rate and a preset second mapping table, a PID fuzzy coefficient for adjusting the opening and closing degree of the target device is determined.

[0135] Finally, according to the PID fuzzy coefficient, the motor corresponding to the target device is adjusted to the target position.

[0136] The energy management method for hybrid vehicles provided in the embodiment of the present application simplifies the setting and control process of the concave plate gap, the upper screen opening, the lower screen opening and the tail screen opening through the device, significantly reduces the difficulty of operation and improves the work efficiency. At the same time, by using advanced closed-loop control mathematical models and fuzzy PID control strategies, accurate adjustment of these parameters is achieved to adapt to the needs of different crops, further improving the control accuracy and work performance.

[0137] See also Figure 7 , Figure 7 A schematic diagram of the structure of a harvester provided in an embodiment of the present application.

[0138] like Figure 7 As shown in FIG. 7 , the harvester 700 includes a processor 710 , a memory 720 and a bus 730 .

[0139] The memory 720 stores machine-readable instructions executable by the processor 710. When the harvester 700 is running, the processor 710 communicates with the memory 720 via the bus 730. When the machine-readable instructions are executed by the processor 710, the above-mentioned Figure 1 , Figure 3 and Figure 4 The steps of the method for adjusting the harvester in the method embodiment shown, and the specific implementation method can be found in the method embodiment, which will not be repeated here.

[0140] 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 1 , Figure 3 and Figure 4 The steps of the method for adjusting the harvester in the method embodiment shown, and the specific implementation method can be found in the method embodiment, which will not be repeated here.

[0141] Those skilled in the art can 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.

[0142] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0143] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0144] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0145] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0146] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for adjusting a harvester, characterized in that: The adjustment method comprises: Collecting image data of target equipment of the harvester; determining the opening and closing degree of the target device according to the image data; Based on the opening and closing degree, determining a current position of a motor corresponding to the target device; Based on the current position and a preset target position, determining a deviation between the current position and the target position; Based on the deviation and a preset first mapping table, a motor corresponding to the target device is adjusted to the target position.

2. The adjustment method according to claim 1, characterized in that: Determining the current position of the motor corresponding to the target device based on the opening and closing degree includes: Obtain voltage data corresponding to the current position of the motor of the target device; Based on the voltage data, the opening and closing degree of the target device and a preset second mapping table, a current position of the motor corresponding to the target device is determined.

3. The adjustment method according to claim 1, characterized in that: Before determining the deviation between the current position and the target position based on the current position and the preset target position, the adjustment method further includes: Obtaining an adjustment instruction of the target device, wherein the target device includes at least one of the following items: a concave plate, an upper screen, a lower screen, and a tail screen; Based on the adjustment instruction, determining whether the adjustment instruction is a one-touch manipulation instruction; When the adjustment instruction is not a one-touch manipulation instruction, determining whether the adjustment instruction is an instruction to increase the opening and closing degree of the target device; When the adjustment instruction is an instruction to increase the opening and closing degree of the target device, adjusting the motor corresponding to the target device to a target increase position; When the adjustment instruction is not an instruction to increase the opening and closing degree of the target device, determining whether the adjustment instruction is an instruction to decrease the opening and closing degree of the target device; When the adjustment instruction is an instruction to reduce the opening and closing degree of the target device, the motor corresponding to the target device is adjusted to a target reduced position.

4. The adjustment method according to claim 1, characterized in that: The step of adjusting the motor corresponding to the target device to the target position based on the deviation and a preset first mapping table includes: Based on the deviation, determining a deviation change rate between the current position and the target position; Determining a PID fuzzy coefficient for adjusting the opening and closing degree of the target device based on the deviation, the deviation change rate and a preset first mapping table; According to the PID fuzzy coefficient, the motor corresponding to the target device is adjusted to the target position.

5. An adjustment device for a harvester, characterized in that: The regulating device comprises: A collection module collects image data of target equipment of the harvester; an opening and closing degree determination module, for determining the opening and closing degree of the target device according to the image data; A position determination module, which determines the current position of the motor corresponding to the target device based on the opening and closing degree; A deviation determination module, which determines a deviation between the current position and the target position based on the current position and a preset target position; The adjustment module adjusts the motor corresponding to the target device to the target position based on the deviation and a preset first mapping table.

6. The adjusting device according to claim 5, characterized in that The location determination module is specifically used for: Obtain voltage data corresponding to the current position of the motor of the target device; Based on the voltage data, the opening and closing degree of the target device and a preset second mapping table, a current position of the motor corresponding to the target device is determined.

7. The adjusting device according to claim 5, characterized in that The adjusting device also includes: An acquisition module is used to acquire an adjustment instruction of the target device, wherein the target device includes at least one of the following items: a concave plate, an upper screen, a lower screen, and a tail screen; A one-touch determination module, based on the adjustment instruction, determines whether the adjustment instruction is a one-touch manipulation instruction; Adding a determination module, when the adjustment instruction is not a one-touch operation instruction, determining whether the adjustment instruction is an instruction to increase the opening and closing degree of the target device; An adjustment module is added, which adjusts the motor corresponding to the target device to a target increase position when the adjustment instruction is an instruction to increase the opening and closing degree of the target device; a reduction determination module, which, when the adjustment instruction is not an instruction to increase the opening and closing degree of the target device, determines whether the adjustment instruction is an instruction to decrease the opening and closing degree of the target device; The reduction adjustment module adjusts the motor corresponding to the target device to a target reduction position when the adjustment instruction is an instruction to reduce the opening and closing degree of the target device.

8. The adjusting device according to claim 5, characterized in that The adjustment module is specifically used for: Based on the deviation, determining a deviation change rate between the current position and the target position; Determining a PID fuzzy coefficient for adjusting the opening and closing degree of the target device based on the deviation, the deviation change rate and a preset first mapping table; According to the PID fuzzy coefficient, the motor corresponding to the target device is adjusted to the target position.

9. A harvester, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the computer program is executed by the processor, the adjustment method according to any one of claims 1 to 4 is implemented.

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 adjustment method according to any one of claims 1 to 4 are executed.

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