A method and apparatus for adjusting a harvester, a harvester and a storage medium

Abstract

The application discloses a kind of adjusting method, device, harvester and storage medium of harvester, the adjusting method includes: the image data of target equipment of harvesting machine is collected;According to image data, the opening degree of target equipment is determined;Based on the opening degree of the target equipment, the current position of the motor corresponding to the target equipment is determined;Based on the current position and the preset target position, the deviation of the current position and the target position is determined;Based on the deviation and the preset first mapping table, the motor corresponding to the target equipment is adjusted to the target position.The technical scheme provided in the present application not only reduces the difficulty of operation, improves the efficiency of operation, but also realizes the accurate control of the gap between the concave plate, the opening degree of the upper sieve, the opening degree of the lower sieve and the tail sieve.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harvester adjustment, and in particular to a harvester adjustment method and device, a harvester and a storage medium. BACKGROUND

[0002] China's agricultural equipment modernization construction has achieved remarkable results, and is entering a new period of innovation breakthrough. The vast area of grain planting provides an important opportunity for the development of agricultural automation and intelligence. At present, the operation of the harvester in China depends on the subjective judgment of the driver on the grain condition, and the manual control of the concave plate, sieve piece and other working devices is used to complete the harvesting operation.

[0003] However, the current operation of the harvester relies too much on the subjective judgment of the driver, the operation process is complicated, and mainly relies on experience and training to realize regulation and control, resulting in a low level of automation and intelligence. This condition not only significantly reduces the operation efficiency of the harvester, but also restricts the further development of the combine harvester. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a harvester adjustment method and device, a harvester and a storage medium. By using the integrated operation interface and the automatic adjustment system, the setting and control process of the concave plate gap, the upper sieve opening, the lower sieve opening and the tail sieve 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 model and fuzzy PID control strategy, the precise adjustment of these parameters is realized, different crop requirements are adapted, and the control accuracy and operation performance are further improved.

[0005] The present application mainly includes the following aspects:

[0006] In a first aspect, the present application provides a harvester adjustment method, which comprises:

[0007] collecting image data of a target device of the harvester;

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

[0009] determining the current position of the motor corresponding to the target device based on the opening degree;

[0010] determining the deviation between the current position and the target position based on the current position and the preset target position;

[0011] adjusting the motor corresponding to the target device to the target position based on the deviation and the preset first mapping table.

[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 for 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 operation 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] determining a rate of change of a deviation between the current position and the target position based on the deviation;

[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] An acquisition module, which collects image data of a target device of the harvester;

[0028] an opening / closing degree determining module, for determining the opening / closing degree of the target device based on the image data;

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

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

[0031] An 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 to:

[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 configured 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, which determines, based on the adjustment instruction, 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 decrease 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 to:

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

[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 a 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 operation efficiency, but also achieves precise control of the concave plate gap, upper screen opening, lower screen opening, and 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 given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without 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 Fig. 2 shows a flow chart of a method for adjusting a harvester according to an embodiment of the present application;

[0054] Figure 4 Fig. 3 shows a flow chart of a method for adjusting a harvester according to an embodiment of the present application;

[0055] Figure 5 Fig. 4 shows a structural schematic diagram of an adjusting device for a harvester according to an embodiment of the present application;

[0056] Figure 6 Fig. 5 shows a structural schematic diagram of an adjusting device for a harvester according to an embodiment of the present application;

[0057] Figure 7 Fig. 6 shows a structural schematic diagram of a harvester according to an embodiment of the present application. DETAILED DESCRIPTION

[0058] 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 clearly and completely below with reference to 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 the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein 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 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 falls within 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 of the present application. The components of the embodiments of the present application described and shown in the drawings herein 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 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 falls within the scope of protection of the present application.

[0060] The method, device, harvester or computer readable storage medium according to the embodiments of the present application can be applied to any scenario requiring control of the working mode of the harvester, and the embodiments of the present application do not limit the specific application scenario. Any solution using the method, device, harvester and storage medium for adjusting a harvester according to the embodiments of the present application falls within the scope of protection 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 has achieved remarkable results in modernizing its agricultural equipment and is entering a new era of innovation and breakthroughs. The vast area of ​​grain cultivation provides a significant opportunity for the development of agricultural automation and intelligent systems. Currently, harvester operation in my country relies on the driver's subjective judgment of grain conditions, manually controlling working devices such as the concave plate and screen to complete the harvesting operation. However, current harvester operation is overly dependent on the driver's subjective judgment, the operation process is cumbersome, and control relies primarily on experience and training, resulting in a low level of automation and intelligent systems. This situation not only significantly reduces harvester efficiency but also poses a constraint on the further development of combine harvesters.

[0063] Based on this, the embodiments of the present application provide a harvester adjustment method, device, harvester, and storage medium. Through an integrated user interface and automatic adjustment system, the setting and control process of the concave plate gap, upper screen opening, lower screen opening, and tail screen opening are simplified, significantly reducing operational difficulty and improving operational efficiency. Furthermore, by utilizing advanced closed-loop control mathematical models and fuzzy PID control strategies, these parameters can be precisely adjusted to suit the needs of different crops, further improving control accuracy and operational performance.

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

[0065] See also Figure 1 , Figure 1 This is 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 a target device of a 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, binocular cameras are 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 cameras.

[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 captures image data of the target device and transmits it to the core computing unit. This unit processes the image data using a built-in preset degree of opening and closing algorithm to accurately calculate the actual degree of opening and closing of the target device and transmits the data to the vehicle control unit and intelligent display terminal.

[0072] See also Figure 2 , Figure 2 This is 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 the 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 This is the second flow chart of an adjustment device for 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 specific implementation:

[0078] First, an adjustment instruction for 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 determine whether it is a one-touch operation instruction. The one-touch operation button is integrated into the intelligent display terminal. When the user needs to adjust the concave plate gap, upper screen opening, lower screen opening, and tail screen opening, he only needs to press the button, and the system will 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 use the multi-function handle and bus panel to accurately manually adjust the concave plate gap, upper screen opening, lower screen opening, and tail screen opening position.

[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.

[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 an instruction to reduce the opening and closing degree of the target device, 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 an instruction to increase the opening and closing degree of the target device, the motor corresponding to the target device is reversed 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 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 connected to the motor of the target device and the on-board control unit through hard wires, respectively, 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 / closing degree of the target device, and a 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 / closing degree of the target device output by the camera into an actual position using a preset second mapping table, and displays the actual position on 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 embodiments of the present application, the preset target position is determined in the following two ways:

[0092] Firstly, the user sets the motor position on the intelligent display terminal according to the type of the harvested crops, and saves these setting values into the vehicle control unit.

[0093] Secondly, the user manually adjusts the concave plate, upper sieve, lower sieve and tail sieve to the desired position, and then clicks save on the intelligent display terminal to save these manually adjusted positions into the vehicle control unit.

[0094] Please refer to Figure 4 , Figure 4 for the flowchart of the adjusting device of the harvester provided in the embodiments of the present application.

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

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

[0097] Firstly, determining a deviation change rate of the deviation between the current position and the target position based on the deviation.

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

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

[0100] Firstly, when the vehicle control unit calculates the deviation and the deviation change rate, it is determined whether the deviation and the deviation change rate exceed the set limit value.

[0101] Secondly, if the deviation and the deviation change rate respectively exceed the corresponding set limit value, the deviation and the deviation change rate are set to the corresponding set limit value and are subjected to fuzzy processing; if the deviation and the deviation change rate do not respectively exceed the corresponding set limit value, the deviation and the deviation change rate are subjected to fuzzy processing.

[0102] Then, the proportional coefficient, integral coefficient and 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 quickly reduce the deviation. However, if the proportional coefficient is too large, the rate of change of the deviation will increase. At this time, a smaller differential coefficient needs to be selected to suppress the increase in the rate of change of the deviation. 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. In order 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 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 present invention provides a harvester adjustment method that simplifies the setting and control of the concave plate gap, upper screen opening, lower screen opening, and tail screen opening, significantly reducing operational difficulty and improving operational efficiency. Furthermore, by utilizing advanced closed-loop control mathematical models and fuzzy PID control strategies, these parameters can be precisely adjusted to meet the needs of different crops, further improving control accuracy and operational performance.

[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 regulating device 510 includes:

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

[0117] The opening / closing degree determining module 512 determines the opening / 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 determining module 514 determines a 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 configured to:

[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 regulating device 510 further includes:

[0126] The acquisition module 516 acquires 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.

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

[0128] The increase 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 decrease determination module 520 determines whether the adjustment instruction is a target device opening / closing degree decrease 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 configured to:

[0133] First, based on the deviation, a rate of change of the deviation 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, the motor corresponding to the target device is adjusted to the target position according to the PID fuzzy coefficient.

[0136] The energy management method for hybrid vehicles provided in the embodiments of this application simplifies the setting and control process of the concave plate gap, upper screen opening, lower screen opening, and tail screen opening, significantly reducing operational difficulty and improving operational efficiency. Furthermore, by utilizing advanced closed-loop control mathematical models and fuzzy PID control strategies, these parameters can be precisely adjusted to meet the needs of different crops, further improving control accuracy and operational performance.

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

[0138] like Figure 7 As shown in FIG, 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 specific implementation of the steps of the harvester adjustment method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

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

[0141] 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.

[0142] In the several embodiments provided in this 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 merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

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

[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, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling 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 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 scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for adjusting a harvester, characterized in that: The adjustment method comprises: Collecting image data of a target device of the harvester; 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; determining an opening and closing degree of the target device according to the image data; Determining a current position of a motor corresponding to the target device based on the opening and closing degree; Determining a deviation between the current position and the target position based on the current position and a preset target position; Based on the deviation and a preset first mapping table, adjusting the motor corresponding to the target device to the target position; Wherein, 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; Determining a current position of a motor corresponding to the target device based on the voltage data, the opening and closing degree of the target device, and a preset second mapping table; The adjusting the motor corresponding to the target device to the target position based on the deviation and a preset first mapping table includes: determining a rate of change of a deviation between the current position and the target position based on the deviation; 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.

2. The adjustment method according to claim 1, wherein: 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 for the target device; Based on the adjustment instruction, determining whether the adjustment instruction is a one-touch operation 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.

3. A harvester adjustment device, characterized in that: The regulating device comprises: An acquisition module for acquiring image data of a target device of the harvester; 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; an opening / closing degree determining module, for determining the opening / closing degree of the target device based on the image data; a position determination module, which determines a current position of a motor corresponding to the target device based on the opening and closing degree; a deviation determining module, which determines a deviation between the current position and the target position based on the current position and a preset target position; an adjustment module, configured to adjust the motor corresponding to the target device to the target position based on the deviation and a preset first mapping table; The location determination module is specifically configured to: Obtain voltage data corresponding to the current position of the motor of the target device; Determining a current position of a motor corresponding to the target device based on the voltage data, the opening and closing degree of the target device, and a preset second mapping table; The adjustment module is specifically used for: determining a rate of change of a deviation between the current position and the target position based on the deviation; 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.

4. The adjustment device according to claim 3, characterized in that The regulating device further comprises: An acquisition module, which acquires an adjustment instruction of the target device; a one-touch determination module, which determines, based on the adjustment instruction, 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 decrease 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.

5. A harvester, characterized in that: The apparatus comprises 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 according to any one of claims 1 to 2 is implemented.

6. 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 2 are executed.

Images