A cleaning system and a control method thereof

Abstract

The application provides a cleaning system and a control method thereof. A controller adjusts a screen box in the following manner: according to a vehicle state of a target vehicle, a screen box horizontal adjustment mode is determined, the screen box horizontal adjustment mode including a manual mode and an automatic mode; when the screen box horizontal adjustment mode is the manual mode, a first control signal is generated and sent to a lifting motor controller of a lifting mechanism in response to a received screen box angle adjustment instruction, so as to control a working angle of the screen box; when the screen box horizontal adjustment mode is the automatic mode, a corresponding preset adjustment angle is determined according to angle data collected by an angle sensor arranged on the screen box, a second control signal is generated and sent to a lifting motor of the lifting mechanism, so as to control the working angle of the screen box. The horizontal working angle adjustment and closed-loop control of the screen box are realized, and the loss of crop cleaning is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to a cleaning system and a control method thereof. BACKGROUND

[0002] Rice harvesting machinery improves the harvesting efficiency to a certain extent, reduces the labor intensity, and is widely recognized by users. The rice harvesting machine realizes the harvesting, threshing and separation, cleaning and grain collection of crops. Each link in the rice harvesting process directly affects the output of the harvested crops, and improving the performance of each link has a great influence on the output of the crops.

[0003] The threshing, separation and cleaning of the harvesting machine are the core components of the harvesting machine. The cleaning is a very important link. The harvesting machine tilts during work in different terrains, resulting in uneven distribution of harvested crops in the sieve box. The crops may accumulate on one side, and there is no crop on the other side. In this case, the cleaning loss is high during cleaning, causing unnecessary loss and affecting the yield of the harvested crops. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a cleaning system and a control method thereof, so as to realize the horizontal working angle adjustment and closed-loop control of the sieve box, and reduce the loss of crop cleaning.

[0005] In a first aspect, the present application provides a control method of a cleaning system, the cleaning system comprising a controller, a cleaning chamber, a sieve box, left and right lifting mechanisms and an angle sensor, the left and right lifting mechanisms being respectively arranged on the opposite inner side walls of the cleaning chamber, the sieve box being connected between the left and right lifting mechanisms, the angle sensor being installed on the sieve box, and the controller adjusting the sieve box in the following manner:

[0006] According to the vehicle state of the target vehicle, a horizontal adjustment mode of the sieve box is determined, the horizontal adjustment mode of the sieve box comprising a manual mode and an automatic mode; when the horizontal adjustment mode of the sieve box is the manual mode, a first control signal is generated and sent to the lifting motor controller of the lifting mechanism in response to the received sieve box angle adjustment instruction, so as to control the working angle of the sieve box; when the horizontal adjustment mode of the sieve box is the automatic mode, a corresponding preset adjustment angle is determined according to the angle data collected by the angle sensor arranged on the sieve box, and a second control signal is generated and sent to the lifting motor of the lifting mechanism, so as to control the working angle of the sieve box.

[0007] In an optional embodiment, the cleaning system further comprises a touch screen, and the step of generating the first control signal and sending it to the lifting motor controller of the lifting mechanism to control the working angle of the sieve box in response to the received sieve box angle adjustment instruction specifically comprises:

[0008] In response to a first touch operation of the user on the left control through the touch screen, a first lifting control signal is generated according to the first touch operation, and the first lifting control signal is sent to the lifting motor controller of the left lifting mechanism; in response to a second touch operation of the user on the right control through the touch screen, a second lifting control signal is generated according to the second touch operation, and the second lifting control signal is sent to the lifting motor controller of the right lifting mechanism.

[0009] In an optional embodiment, the step of acquiring the angle data collected by the angle sensor arranged on the screen box specifically includes:

[0010] The angle time sequence data collected by the angle sensor within a preset time length is acquired; and a preset number of angle data is sampled and extracted at a preset time interval in the angle time sequence data.

[0011] For each angle data, a target angle interval corresponding to the angle data is determined; and a preset adjustment angle is matched according to a preset mapping relationship based on all the determined target angle intervals.

[0012] In an optional embodiment, the step of determining the screen box horizontal adjustment mode according to the vehicle state of the target vehicle specifically includes:

[0013] It is determined whether the target vehicle is in a starting state; if so, it is determined whether the clutch of the target vehicle is in a combined state; if so, it is determined whether an automatic mode instruction is received; if not, the screen box horizontal adjustment mode is determined as a manual mode; if so, the screen box horizontal adjustment mode is determined as an automatic mode.

[0014] In an optional embodiment, it further includes generating an automatic mode instruction in response to a third touch operation of the user on the automatic adjustment control through the touch screen.

[0015] In an optional embodiment, it further includes determining whether the working angle of the screen box is located in a preset working angle interval; if not, the adjustment of the working angle of the screen box is stopped, and a warning information is generated and displayed through the touch screen.

[0016] In a second aspect, the present application provides a cleaning system, a cleaning system controller, a cleaning chamber, a screen box, left and right lifting mechanisms and an angle sensor, the left and right lifting mechanisms are arranged on the opposite inner side walls of the cleaning chamber respectively, the screen box is connected between the left and right lifting mechanisms, the angle sensor is installed on the screen box, and the controller adjusts the screen box in the following manner:

[0017] According to the vehicle state of the target vehicle, a screen box horizontal adjustment mode is determined, the screen box horizontal adjustment mode including a manual mode and an automatic mode; when the screen box horizontal adjustment mode is the manual mode, a first control signal is generated and sent to a lifting motor controller of the lifting mechanism in response to a received screen box angle adjustment instruction, so as to control the working angle of the screen box; when the screen box horizontal adjustment mode is the automatic mode, a corresponding preset adjustment angle is determined according to angle data collected by an angle sensor arranged on the screen box, and a second control signal is generated and sent to a lifting motor of the lifting mechanism, so as to control the working angle of the screen box.

[0018] In an optional embodiment, the cleaning system further includes a touch screen, and the step of generating the first control signal and sending the first control signal to the lifting motor controller of the lifting mechanism to control the working angle of the screen box in response to the received screen box angle adjustment instruction specifically includes:

[0019] In response to a first touch operation of the user on the left control through the touch screen, a first lifting control signal is generated according to the first touch operation and sent to the lifting motor controller of the left lifting mechanism; in response to a second touch operation of the user on the right control through the touch screen, a second lifting control signal is generated according to the second touch operation and sent to the lifting motor controller of the right lifting mechanism.

[0020] In an optional embodiment, the cleaning system further includes a vibration sensor, which is installed on the tail screen plate of the screen box and used to detect the loss state of the cleaning.

[0021] The cleaning system and the control method thereof provided in the application, wherein the cleaning system includes a controller and a screen box, the screen box at least includes lifting mechanisms arranged on left and right side walls, a screen box installed between the lifting mechanisms, and an angle sensor installed on the screen box, the controller adjusts the screen box in the following manner: according to the vehicle state of the target vehicle, a screen box horizontal adjustment mode is determined, the screen box horizontal adjustment mode including a manual mode and an automatic mode; when the screen box horizontal adjustment mode is the manual mode, a first control signal is generated and sent to a lifting motor controller of the lifting mechanism in response to a received screen box angle adjustment instruction, so as to control the working angle of the screen box; when the screen box horizontal adjustment mode is the automatic mode, a corresponding preset adjustment angle is determined according to angle data collected by an angle sensor arranged on the screen box, and a second control signal is generated and sent to a lifting motor of the lifting mechanism, so as to control the working angle of the screen box. The horizontal working angle adjustment and closed-loop control of the screen box are realized, and the loss of crop cleaning is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0023] Figure 1 A flow chart of a screening box adjusting method provided by an embodiment of the present application;

[0024] Figure 2 A flow chart of another screening box adjusting method provided by an embodiment of the present application;

[0025] Figure 3 A flow chart of a data acquisition and processing step provided by an embodiment of the present application;

[0026] Figure 4 A schematic diagram of a mapping relationship in an automatic mode provided by an embodiment of the present application;

[0027] Figure 5 A structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0028] Firstly, the application scenario of the present application is described. The technical solution of the present application is suitable for the control of a cleaning system of an agricultural harvester.

[0029] The technical solutions in the embodiments of the present application will be described in combination with the drawings in the embodiments of the present application.

[0030] Embodiment one

[0031] In an embodiment of the present application, a cleaning system suitable for a rice harvester is provided, which at least includes a controller, a cleaning chamber, a touch screen, a screening box, left and right lifting mechanisms, a fan, a guide vane, a shaking plate, a screening box drive, an angle sensor and a vibration sensor.

[0032] The cleaning chamber at least includes a cleaning chamber upper shell and a cleaning chamber lower shell. The screening box at least includes a screening box main body, an upper cleaning screen plate, a lower cleaning screen plate and a tail screen plate. The left and right lifting mechanisms are respectively arranged on the left and right inner walls of the cleaning chamber. The screening box is installed between the left and right lifting mechanisms. The lifting mechanism at least includes a lifting screw rod, a lifting motor controller and a lifting motor. By lifting the lifting screw rod on each side, the angle between the plane where the cleaning screen plate of the screening box is located and the horizontal plane can be changed.

[0033] Specifically, the grain, chaff, stems, and other dislodged objects separated from the cylinder fall onto the sieve box in turn. The crops jump on the forward and backward shaking cleaning sieve plate, and the material is layered, the grain sinks, and the chaff and broken stems float. After separation, they are blown out under the action of the fan airflow.

[0034] The angle sensor is installed on the sieve box to detect the working angle of the sieve box.

[0035] The controller is used to control the lifting mechanism to adjust the working angle of the sieve box.

[0036] Further, the adjustment of the sieve box can be performed in automatic and manual modes. The controller can determine the sieve box horizontal adjustment mode in the following way:

[0037] Determine whether the target vehicle is in a starting state. If it is in a starting state, determine whether the clutch of the target vehicle is in a combined state. If the clutch is in a combined state, determine whether an automatic mode instruction is received. If not, determine that the sieve box horizontal adjustment mode is a manual mode. If yes, determine that the sieve box horizontal adjustment mode is an automatic mode.

[0038] Specifically, the controller can determine whether the target vehicle (such as a harvester or a harvester) is in a starting state by the engine speed or battery voltage. When the engine speed is greater than 400 rpm or the battery voltage is greater than 27 V, it is determined that the target vehicle is in a starting state.

[0039] The controller can determine the clutch state by the cylinder speed. When the cylinder speed is greater than 100 rpm, it can be determined that the clutch is in a combined state.

[0040] When the target vehicle is in a starting state, the clutch is in a combined state, and no automatic mode instruction is received, the sieve box is adjusted in a manual adjustment mode. Here, the touch screen can display a manual adjustment control, including a left adjustment control and a right adjustment control.

[0041] Figure 1 A flowchart of a sieve box adjustment method provided by the embodiment of the application is shown in FIG. 1. Figure 1 As shown in FIG. 1, when the sieve box horizontal adjustment mode is a manual mode, the controller can adjust the sieve box in the following way:

[0042] S10, according to the vehicle state of the target vehicle, determine that the sieve box horizontal adjustment mode is a manual mode.

[0043] S11, in response to the received sieve box angle adjustment instruction, generate a first control signal and send it to the lifting motor controller of the lifting mechanism to control the working angle of the sieve box.

[0044] In step S11, specifically, in response to a first touch operation of a user on the left control through the touch screen, a first lifting control signal is generated according to the first touch operation, and the first lifting control signal is sent to a lifting motor controller of the left lifting mechanism. Or in response to a second touch operation of a user on the right control through the touch screen, a second lifting control signal is generated according to the second touch operation, and the second lifting control signal is sent to a lifting motor controller of the right lifting mechanism.

[0045] The left control is used to adjust the left side of the screen box to rise or fall, and the right control is used to adjust the right side of the screen box to rise or fall, and the driver can manually adjust as needed. The left control here can include a left lifting control and a left lowering control. The right control here can include a right lifting control and a right lowering control.

[0046] The horizontal angle of the screen box before adjustment is set to 0°, the angle left low right high is positive, and the angle left high right low is negative.

[0047] Clicking the left lifting control can realize the action of the left side of the screen box rising, adjusting the left high right low of the screen cylinder, and the maximum adjustment working angle is-5°. The working angle can be displayed in real time on the touch screen. Clicking the left lowering control can realize the action of the left side of the screen box falling, adjusting the left low right high of the screen cylinder, and the maximum adjustment working angle is 5°. Clicking the right lifting control can realize the action of the right side of the screen box rising, adjusting the left low right high of the screen cylinder, and the maximum adjustment angle is 5°. Clicking the right lowering control can realize the action of the right side of the screen box falling, adjusting the left high right low of the screen cylinder. The maximum adjustment angle is-5°, and the angle can be displayed in real time on the touch screen.

[0048] Simultaneously clicking the left control and the right control can realize larger angle adjustment, and the screen box can be adjusted to approximately ±10°.

[0049] In another embodiment of the present application, the control interface displayed by the touch screen can further include an automatic adjustment control, specifically including an automatic mode on control and an automatic mode off control. The automatic mode instruction can be generated in the following manner:

[0050] In response to a third touch operation of a user on the automatic adjustment control through the touch screen, an automatic mode instruction is generated.

[0051] Specifically, clicking the automatic mode on control, the controller generates an automatic mode instruction. Figure 2 Another flowchart of a screen box adjustment method provided by the embodiment of the present application is shown in FIG. 8. Figure 2 As shown in the figure, it is determined that the screen box horizontal adjustment mode is in the automatic mode, and the controller can adjust the screen box in the following manner:

[0052] S20, determining that the screen box level adjustment mode is an automatic mode according to the vehicle state of the target vehicle.

[0053] S21, determining the corresponding preset adjustment angle according to the angle data collected by the angle sensor arranged on the screen box, and generating a second control signal to send to the lifting motor of the lifting mechanism to control the working angle of the screen box.

[0054] It should be noted that when the automatic mode is started, the screen box needs to be self-checked first and restored to the 0° state. When the self-checking determines that the adjustment function is normal, the controller starts to collect data periodically to realize automatic closed-loop control.

[0055] Figure 3 A flowchart of the steps of data collection and processing provided by the embodiment of the application. As shown in Figure 3 The step of collecting angle data by the angle sensor arranged on the screen box in step S21 specifically includes:

[0056] S210, obtaining angle time series data collected by the angle sensor within a preset time length.

[0057] A preset number of angle data is sampled and extracted in the angle time series data according to a preset time interval.

[0058] Specifically, the corresponding preset adjustment angle can be determined in the following way:

[0059] S211, for each angle data, determining the target angle interval corresponding to the angle data.

[0060] S212, based on all the determined target angle intervals, matching the preset adjustment angle according to a preset mapping relationship.

[0061] In a specific embodiment, during harvesting operation, the controller collects data at a period of 100ms, and considering the vehicle speed and working condition environment, 20 data and 2s time average filtering processing are adopted. We divide -15° to 15° into 5 interval parts, which are interval 1 (-15°, -10°), interval 2 (-10°, -5°), interval 3 (-5°, +5°), interval 4 (+5°, 10°), and interval 5 (10°, 15°).

[0062] According to the target angle interval into which the 20 angle data falls, the corresponding preset adjustment angle is determined. The mapping relationship between the preset adjustment angle and the target angle interval here can be pre-calibrated.

[0063] Exemplarily, as shown in Figure 4 The closed-loop control logic can be:

[0064] a. From section 3 to section 2, when the real-time angle between the vehicle body and the horizontal is detected to be -6°, the left lifting mechanism is lowered by 5°, and the right lifting mechanism is at 0°. At this time, the angle between the screen surface and the vehicle body is +5°.

[0065] b. From section 2 to section 1, when the real-time angle between the vehicle body and the horizontal is detected to be -11°, the left lifting mechanism is lowered by 5°, and the right lifting mechanism is raised by 5°. At this time, the angle between the screen surface and the vehicle body is +10°.

[0066] c. When the actual horizontal angle is greater than -15°, the screen prompts that the vehicle inclination angle is too large, and the lifting mechanism adjusts the angle to the maximum and no longer adjusts to maintain the current angle.

[0067] d. From section 1 to section 2, when the real-time angle between the vehicle body and the horizontal is detected to be -9°, the left lifting mechanism is lowered by 5°, and the right lifting mechanism is at 0°. At this time, the angle between the screen surface and the vehicle body is +5°.

[0068] e. From section 2 to section 3, when the real-time angle between the vehicle body and the horizontal is detected to be -4°, the left lifting mechanism is at 0°, and the right lifting mechanism is at 0°. At this time, the angle between the screen surface and the vehicle body is 0°.

[0069] f. From section 3 to section 4, when the real-time angle between the vehicle body and the horizontal is detected to be 6°, the left lifting mechanism is raised by 5°, and the right lifting mechanism is at 0°. At this time, the angle between the screen surface and the vehicle body is -5°.

[0070] g. From section 4 to section 5, when the real-time angle between the vehicle body and the horizontal is detected to be 11°, the left lifting mechanism is raised by 5°, and the right lifting mechanism is lowered by 5°. At this time, the angle between the screen surface and the vehicle body is -10°.

[0071] h. When the actual horizontal angle is greater than 15°, the screen prompts that the vehicle inclination angle is too large, and the lifting mechanism adjusts the angle to the maximum and no longer adjusts to maintain the current angle.

[0072] i. From section 5 to section 4, when the real-time angle between the vehicle body and the horizontal is detected to be 9°, the left lifting mechanism is raised by 5°, and the right lifting mechanism is at 0°. At this time, the angle between the screen surface and the vehicle body is -5°.

[0073] j. From section 4 to section 3, when the real-time angle between the vehicle body and the horizontal is detected to be 4°, the left lifting mechanism is at 0°, and the right lifting mechanism is at 0°. At this time, the angle between the screen surface and the vehicle body is 5°.

[0074] The control method of the cleaning system provided by the embodiments of the present application realizes the horizontal working angle adjustment and closed-loop control of the sieve box, provides two control modes, i.e., manual and automatic, reduces the loss of crops during cleaning, and displays the state of the sieve box on the touch screen, so that the user can know the working condition in time.

[0075] Embodiment two

[0076] In an embodiment of the present application, in order to ensure the cleaning effect, the adjustment angle of the sieve box needs to be limited, and the user can configure a preset working angle range, or the target vehicle can be preconfigured before leaving the factory.

[0077] In the manual mode or the automatic mode, it is necessary to determine whether the working angle of the sieve box is in the preset working angle range. If not, the adjustment of the working angle of the sieve box is stopped, and a warning information is generated and displayed through the touch screen.

[0078] In this way, the loss of the cleaned crops during the harvesting operation can be avoided.

[0079] Embodiment three

[0080] In an embodiment of the present application, the cleaning system further comprises a vibration sensor, which is installed on the tail sieve plate of the sieve box and is used to detect the loss state of the cleaning.

[0081] The vibration sensor herein can include a left vibration sensor and a right vibration sensor, which are arranged on the left and right sides of the tail sieve plate, respectively. The vibration sensor can generate pressure data through the knocking and vibration of the crops on the tail sieve plate and send the pressure data to the controller, and the controller can further determine how many crops are lost in the cleaned impurities, and further determine the loss degree of the crops on the left and right sides of the cleaning system of the target vehicle. The loss degree can also be compared with a preset loss degree threshold, for example, 10%. When the loss degree exceeds 10%, an alarm is generated. The loss degree can also be displayed through the touch screen, so that the user can know the working condition of the cleaning system in time.

[0082] Further, the controller can also generate a third lifting control signal through the difference between the loss degrees on the left and right sides, and send the third lifting control signal to the corresponding lifting motor controller to control the angle of the sieve box. The difference between the loss degrees on the left and right sides can also be compared with a preset difference, for example, when the difference exceeds 2%, an information such as "the cleaning loss detection difference between the left and right sides is large, please check the vehicle and the cleaning state" is prompted on the touch screen.

[0083] The cleaning system provided in the application detects the state of the screen box inclination during harvesting operation through the screen box inclination sensor, and the controller obtains whether the screen cylinder needs to be adjusted by analyzing the sensor signal, thereby adjusting the screen box. The closed-loop adjustment of the screen box adjustment is completed by comparing the screen box angle sensor value after adjustment with the expected angle value. At the same time, the tail cleaning loss partition detection, the current cleaning state, ensures the cleaning effect and state feedback.

[0084] Please refer to Figure 5 , Figure 5 A structural schematic diagram of an electronic device provided by an embodiment of the application is shown in FIG. 5. Figure 5 As shown in FIG. 5, the electronic device 500 includes a processor 510, a memory 520 and a bus 530.

[0085] The memory 520 stores machine readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate through the bus 530. The machine readable instructions can perform the steps of the control method of the cleaning system according to one of the above method embodiments when executed by the processor 510. For details, refer to the method embodiments, which will not be described here.

[0086] The embodiment of the application further provides a computer readable storage medium, which stores a computer program. The computer program can perform the steps of the control method of the cleaning system according to the above method embodiments when executed by the processor. For details, refer to the method embodiments, which will not be described here.

[0087] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0088] In the embodiments provided in the application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and actual implementation can have another division manner. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, which can be electrical, mechanical or other forms.

[0089] In addition, the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0090] Furthermore, the functional modules in various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0091] It should be noted that if the function is realized in the form of a software function module and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various program code storage media.

[0092] In this paper, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations.

[0093] The above is only an embodiment of the present application and does not limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a harvester cleaning system, characterized in that: The harvester's cleaning system includes a controller, a cleaning chamber, a screen box, left and right lifting mechanisms, and an angle sensor. The left and right lifting mechanisms are respectively arranged on opposite inner walls of the cleaning chamber. A screen box is connected between the left and right lifting mechanisms. The screen box angle sensor is installed on the screen box. The controller adjusts the screen box in the following manner: Determining a screen box level adjustment mode according to the vehicle state of the target vehicle, wherein the screen box level adjustment mode includes a manual mode and an automatic mode; When the screen box horizontal adjustment mode is the manual mode, in response to the received screen box angle adjustment instruction, a first control signal is generated and sent to the lifting motor controller of the lifting mechanism to control the working angle of the screen box; When the screen box horizontal adjustment mode is automatic mode, the corresponding preset adjustment angle is determined by the angle data collected by the angle sensor provided on the screen box, and a second control signal is generated and sent to the lifting motor of the lifting mechanism to control the working angle of the screen box; The step of collecting angle data by an angle sensor provided on the screen box specifically includes: Acquiring angle time series data within a preset time period collected by the angle sensor; Sampling and extracting a preset amount of angle data from the angle time series data at a preset time interval; And, the corresponding preset adjustment angle is determined by the following method: For each angle data, determine the target angle interval corresponding to the angle data; Based on all the determined target angle intervals, the preset adjustment angle is matched according to the preset mapping relationship.

2. The method according to claim 1, characterized in that The cleaning system further includes a touch screen, and the step of generating a first control signal in response to the received screen box angle adjustment instruction and sending it to the lifting motor controller of the lifting mechanism to control the working angle of the screen box specifically includes: In response to a first touch operation initiated by a user on a left adjustment control via the touch screen, generating a first lifting control signal according to the first touch operation, and sending the first lifting control signal to a lifting motor controller of a left lifting mechanism; In response to a second touch operation issued by the user on the right adjustment control through the touch screen, a second lifting control signal is generated according to the second touch operation, and the second lifting control signal is sent to the lifting motor controller of the right lifting mechanism.

3. The method according to claim 2, characterized in that The step of determining the screen box level adjustment mode according to the vehicle state of the target vehicle specifically includes: Determine whether the target vehicle is in a start state; If it is in the start state, determining whether the clutch of the target vehicle is in the engaged state; If the clutch is in the engaged state, determining whether an automatic mode command has been received; If not, determining that the screen box level adjustment mode is manual mode; If so, it is determined that the screen box level adjustment mode is the automatic mode.

4. The method according to claim 3, characterized in that Also includes: In response to a third touch operation issued by the user on the automatic adjustment control through the touch screen, an automatic mode instruction is generated.

5. The method according to claim 2, characterized in that Also includes: Determining whether the working angle of the screen box is within a preset working angle range; If not, the adjustment of the working angle of the screen box is stopped, and a warning message is generated and displayed through the touch screen.

6. A harvester cleaning system, characterized in that: The cleaning system includes a controller, a cleaning chamber, a screen box, left and right lifting mechanisms, and an angle sensor. The left and right lifting mechanisms are respectively arranged on opposite inner walls of the cleaning chamber. A screen box is connected between the left and right lifting mechanisms. The screen box angle sensor is installed on the screen box. The controller adjusts the screen box in the following manner: Determining a screen box level adjustment mode according to the vehicle state of the target vehicle, wherein the screen box level adjustment mode includes a manual mode and an automatic mode; When the screen box horizontal adjustment mode is the manual mode, in response to the received screen box angle adjustment instruction, a first control signal is generated and sent to the lifting motor controller of the lifting mechanism to control the working angle of the screen box; When the screen box horizontal adjustment mode is automatic mode, the corresponding preset adjustment angle is determined by the angle data collected by the angle sensor provided on the screen box, and a second control signal is generated and sent to the lifting motor of the lifting mechanism to control the working angle of the screen box; The step of collecting angle data by an angle sensor provided on the screen box specifically includes: Acquiring angle time series data within a preset time period collected by the angle sensor; Sampling and extracting a preset amount of angle data from the angle time series data at a preset time interval; And, the corresponding preset adjustment angle is determined by the following method: For each angle data, determine the target angle interval corresponding to the angle data; Based on all the determined target angle intervals, the preset adjustment angle is matched according to the preset mapping relationship.

7. The system according to claim 6, characterized in that The harvester's cleaning system also includes a touch screen, and the steps of generating a first control signal in response to the received screen box angle adjustment instruction and sending it to the lifting motor controller of the lifting mechanism to control the working angle of the screen box specifically include: In response to a first touch operation initiated by a user on a left adjustment control via the touch screen, generating a first lifting control signal according to the first touch operation, and sending the first lifting control signal to a lifting motor controller of a left lifting mechanism; In response to a second touch operation issued by the user on the right adjustment control through the touch screen, a second lifting control signal is generated according to the second touch operation, and the second lifting control signal is sent to the lifting motor controller of the right lifting mechanism.

8. The system according to claim 6, wherein: The cleaning system of the harvester further comprises a vibration sensor, which is mounted on the tail screen plate of the screen box and is used to detect a loss state of cleaning.

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