Control method, system and equipment for small mountain pepper harvester

Abstract

The present invention relates to the technical field of pepper harvester control, and specifically discloses a control method, system and equipment based on a mountain small pepper harvester. The method can automatically adjust the performance characteristic parameters of the mountain small pepper harvester by capturing the performance characteristic parameters of the mountain small pepper harvester and quantifying the terrain adaptability of the mountain small pepper harvester. By continuously monitoring the operation process performance parameters of the ready mountain small pepper harvester, intuitive feedback is provided for the operation efficiency of the ready mountain small pepper harvester, which is convenient for subsequent data analysis, thereby controlling the operation process performance parameters of the ready mountain small pepper harvester, and finally obtaining the pepper harvesting quality parameters of the calibrated mountain small pepper harvester, and determining the harvesting completion quality index of the calibrated mountain small pepper harvester, thereby forming a closed-loop feedback system for the calibrated mountain small pepper harvester, thereby ensuring the stability and efficiency of the mountain small pepper harvester in long-term use.

Description

Technical Field

[0001] The invention relates to the technical field of pepper harvester control, and in particular to a control method, system and equipment for a small mountain pepper harvester. Background Art

[0002] With the continuous advancement of China's agricultural modernization, agricultural mechanization has become a key means to improve agricultural production efficiency. As one of the important economic crops, the planting area and output of peppers continue to grow. Therefore, the demand for efficient and reliable pepper harvesters is increasing. However, faced with the complex and changeable mountain working environment, there are still many problems that need to be solved.

[0003] For example, the invention patent with announcement number CN107258211B announces a real-time dynamic detection device and measurement method for the quality of harvested grains in the field; a grain unloading device unit is connected to the outlet of the grain tank of the combine harvester, a spectrometer acquisition trigger unit is embedded on the top of the grain unloading device unit, and a spectrometer detection unit is installed on the bottom of the grain unloading device unit; the harvested grain flows into the grain unloading device unit from the outlet of the grain tank, and when the grain flow thickness reaches the set height threshold, the spectrometer acquisition trigger unit generates a trigger signal, and the trigger signal is transmitted to the spectrometer detection unit for spectral detection of the harvested grain, and the detected spectral data information is transmitted to the control system, and the control system completes the analysis and processing of the spectral data information to obtain the quality information of the harvested grain.

[0004] For example, the invention patent with announcement number CN104255181B is a working status monitoring system for operating parts of a corn combine harvester, which belongs to the field of agricultural machinery testing technology. The main controller and power supply are fixedly connected in the harvester cab, the operating speed sensor is fixedly connected to the outside of the front wheel of the harvester, the ear picking roller speed sensor is fixedly connected to the ear picking roller transmission gear of the ear picking roller, the ground clearance height sensor of the grain divider is fixedly connected to the bottom of the grain divider, the peeling roller speed sensor is fixedly connected to the outside of the peeling roller auxiliary speed measuring gear of the peeling roller, the elevator speed sensor is fixedly connected to the side of the elevator of the harvester, and the GPS receiver is fixedly connected to the top of the corn harvester; the operating speed sensor, ear picking roller speed sensor, grain divider ground clearance height sensor, peeling roller speed sensor, elevator speed sensor, alarm system, display module and GPS receiver are controlled by the main controller; it can timely detect faults of key components of the harvester, provide the prerequisite for fast and convenient troubleshooting, and provide an effective reference basis for agricultural machinery management and scheduling.

[0005] However, in the process of implementing the embodiments of the present application, it was found that the above-mentioned technology has at least the following technical problems: in the existing technology, the analysis of the harvesting device only stays at the analysis of the parameters of the harvesting device itself, and the harvesting device may not be able to effectively cope with the diversity and complexity of the working environment, resulting in the interaction between the influencing factors of the harvesting device being ignored, thereby resulting in insufficient evaluation of the adaptability of the harvesting device and limited optimization direction. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a control method, system and device for a small mountain pepper harvester, which can effectively solve the problems involved in the above-mentioned background technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: The first aspect of the present invention provides a control method based on a mountain small pepper harvester, including: S1. Based on the harvesting preparation of mountain peppers, the performance characteristic parameters of the mountain small pepper harvester are collected, and the terrain adaptability evaluation value of the mountain small pepper harvester is evaluated, thereby controlling the performance characteristic parameters of the mountain small pepper harvester, and marking the mountain small pepper harvester that has completed the control as a ready mountain small pepper harvester; S2. Based on the harvesting process of mountain peppers, the operating process performance parameters of the ready mountain small pepper harvester are collected, and the operating efficiency index of the ready mountain small pepper harvester is analyzed, thereby controlling the operating process performance parameters of the ready mountain small pepper harvester, and marking the ready mountain small pepper harvester that has completed the control as a calibrated mountain small pepper harvester; S3. Based on the harvesting results of mountain peppers, the pepper harvesting quality parameters of the calibrated mountain small pepper harvester are obtained, and the harvesting completion quality index of the calibrated mountain small pepper harvester is determined, thereby providing feedback on the control of the calibrated mountain small pepper harvester.

[0008] As a further method, the performance characteristic parameters of the small mountain pepper harvester are controlled, and the specific analysis process is: matching the terrain adaptability evaluation value of the small mountain pepper harvester with the performance characteristic control set corresponding to each terrain adaptability evaluation value interval stored in the harvester parameter library to obtain the performance characteristic control set of the small mountain pepper harvester, thereby the harvester control system controls the performance characteristic parameters of the small mountain pepper harvester through the performance characteristic control set.

[0009] As a further method, the operating process performance parameters of the ready mountain small pepper harvester are controlled, and the specific analysis process is: matching the operating efficiency index of the ready mountain small pepper harvester with the operating performance control set corresponding to each operating efficiency index interval stored in the harvester parameter library to obtain the operating performance control set of the ready mountain small pepper harvester, thereby the harvester control system controls the operating process performance parameters of the ready mountain small pepper harvester through the operating performance control set.

[0010] As a further method, the control of the calibrated mountain small pepper harvester is fed back, and the specific analysis process is: the harvest completion quality index of the calibrated mountain small pepper harvester is compared with the harvest completion quality threshold. If the harvest completion quality index of the calibrated mountain small pepper harvester is less than the harvest completion quality threshold, the harvester control system will provide feedback on the control of the calibrated mountain small pepper harvester.

[0011] The second aspect of the present invention provides a control system based on a mountain small pepper harvester, including: a performance characteristic control module, which is used to collect performance characteristic parameters of the mountain small pepper harvester based on the harvesting preparation of the mountain pepper, and evaluate the terrain adaptability evaluation value of the mountain small pepper harvester, thereby controlling the performance characteristic parameters of the mountain small pepper harvester, and marking the mountain small pepper harvester that has completed the control as a ready mountain small pepper harvester; an operation performance control module, which is used to collect the operation process performance parameters of the ready mountain small pepper harvester based on the harvesting process of the mountain pepper, analyze the operation efficiency index of the ready mountain small pepper harvester, thereby controlling the operation process performance parameters of the ready mountain small pepper harvester, and marking the ready mountain small pepper harvester that has completed the control as a calibrated mountain small pepper harvester; a harvest completion feedback module, which is used to obtain the pepper harvesting quality parameters of the calibrated mountain small pepper harvester based on the harvesting results of the mountain pepper, determine the harvest completion quality index of the calibrated mountain small pepper harvester, and thereby provide feedback on the control of the calibrated mountain small pepper harvester.

[0012] The third aspect of the present invention provides a device for applying a control method for a small mountain pepper harvester, characterized in that it includes: an engine, a gearbox, a harvesting device, and a storage hopper; the engine and the gearbox work together through a meshing linkage, and the gear assembly (6) of the gearbox is driven to operate by inputting power from the engine (5), and the transmission power of the gearbox is converted; the gearbox and the receiving device are synchronously connected by a chain, and the gearbox adjusts the transmission power so that the harvesting device performs corresponding picking operations; the harvesting device is directly connected to the storage hopper, and the harvesting device directly transports the picked peppers to the storage hopper through the picking operation.

[0013] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0014] (1) The present invention provides a control method, system and device based on a mountain small pepper harvester. By capturing the performance characteristic parameters of the mountain small pepper harvester, the terrain adaptability of the mountain small pepper harvester is quantified, thereby automatically adjusting the performance characteristic parameters of the mountain small pepper harvester. By continuously monitoring the operation process performance parameters of the ready mountain small pepper harvester, intuitive feedback is provided for the operation efficiency of the ready mountain small pepper harvester, which is convenient for subsequent data analysis and improving the overall operation efficiency. The operation process performance parameters of the ready mountain small pepper harvester are controlled to ensure the maximization of the operation efficiency. Finally, the pepper harvesting quality parameters of the calibrated mountain small pepper harvester are obtained, and the harvesting completion quality index of the calibrated mountain small pepper harvester is determined. Thus, a closed-loop feedback system is formed for the calibrated mountain small pepper harvester. The feedback mechanism ensures the stability and efficiency of the mountain small pepper harvester in long-term use.

[0015] (2) By comprehensively analyzing the minimum operating radius, center of gravity distribution coefficient and ground contact pressure ratio of the small mountain pepper harvester, the present invention can more comprehensively and accurately evaluate the adaptability and stability of the small mountain pepper harvester in mountain operations. Therefore, the design of the small mountain pepper harvester can be optimized in a targeted manner, thereby improving the operating efficiency of the small mountain pepper harvester and helping to promote the development of mechanization of mountain pepper harvesting.

[0016] (3) The present invention obtains the harvest completion quality index of the calibrated mountain small pepper harvester accurately by comprehensively analyzing the harvest cleanliness, harvest damage and harvest omission rate of the calibrated mountain small pepper harvester. It not only comprehensively reflects the comprehensive quality level of the harvesting operation of the calibrated mountain small pepper harvester, but also provides a key final result for the subsequent adjustment of the calibrated mountain small pepper harvester, which can guide the continuous improvement and research and development of the calibrated mountain small pepper harvester. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0018] Figure 1 The figure is a schematic flow chart of the method steps of the present invention.

[0019] Figure 2 It is a schematic diagram of system module connection of the present invention.

[0020] Figure 3It is a schematic diagram of the small mountain pepper harvester involved in the present invention at the harvest preparation landmark points.

[0021] Figure 4 This is a schematic diagram of the engine and gearbox involved in the present invention working in coordination through gear linkage.

[0022] Figure symbols: 1. Gravity direction; 2. Vertical direction of center of gravity; 3. Vertical distance between the center of gravity position point and the highest position point of the small mountain pepper harvester at the harvest preparation landmark point; 4. Vertical distance between the center of gravity position point and the lowest position point of the small mountain pepper harvester at the harvest preparation landmark point; 5. Engine; 6. Gear assembly of the gearbox. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] Reference Figure 1 As shown, the first aspect of the present invention provides a control method for a small mountain pepper harvester, including: S1. Based on the harvest preparation of mountain peppers, the performance characteristic parameters of the small mountain pepper harvester are collected, and the terrain adaptability evaluation value of the small mountain pepper harvester is evaluated, thereby controlling the performance characteristic parameters of the small mountain pepper harvester, and marking the small mountain pepper harvester that has completed the control as a ready mountain small pepper harvester; the above-mentioned harvest preparation based on mountain peppers refers to the parameter analysis preparation work carried out to ensure that the peppers can be harvested smoothly, efficiently and safely by the small mountain pepper harvester.

[0025] In a specific embodiment, the present invention can more comprehensively and accurately evaluate the adaptability and stability of the small mountain pepper harvester in mountain operations by comprehensively analyzing the minimum operating radius, center of gravity distribution coefficient and ground contact pressure ratio of the small mountain pepper harvester. Therefore, the design of the small mountain pepper harvester can be optimized in a targeted manner, thereby improving the operating efficiency of the small mountain pepper harvester and helping to promote the development of mechanization of mountain pepper harvesting.

[0026] Specifically, the performance characteristic parameters of the mountain small pepper harvester are controlled, and the specific analysis process is: matching the terrain adaptability evaluation value of the mountain small pepper harvester with the performance characteristic control set corresponding to each terrain adaptability evaluation value interval stored in the harvester parameter library to obtain the performance characteristic control set of the mountain small pepper harvester. The specific corresponding rules of the performance characteristic control set corresponding to each terrain adaptability evaluation value interval are formulated by the harvester supervision specialist based on historical management experience and stored in the harvester parameter library; the performance characteristic control set of the above-mentioned mountain small pepper harvester has a specific matching process: each terrain adaptability evaluation value interval corresponds to the performance characteristic control set, and the terrain adaptability evaluation value interval corresponding to the terrain adaptability evaluation value of the mountain small pepper harvester is queried. The performance characteristic control set corresponding to the terrain adaptability evaluation value interval is the performance characteristic control set of the mountain small pepper harvester; the above-mentioned performance characteristic control set specifically includes but is not limited to adjusting the weight distribution of the mountain small pepper harvester, adjusting the tire size, etc.

[0027] Therefore, the harvester control system controls the performance characteristic parameters of the small mountain pepper harvester through the performance characteristic control set; the specific control process is: the harvester control system receives the parameter information in the performance characteristic control set, and for the parameters that can be adjusted by the harvester control system instructions, such as detaching from the additional protective cover, the harvester control system adjusts the parameters through instructions; for the parameters that cannot be adjusted by the harvester control system instructions, such as changing the tire size, the harvester control system generates a corresponding performance characteristic control set log, and the harvester supervision specialist adjusts the parameters according to the information in the performance characteristic control set log.

[0028] It needs to be explained that the harvester control system is a system used to receive information from the harvester parameter library and perform parameter control on the small mountain pepper harvester.

[0029] Specifically, the terrain adaptability evaluation value of the mountain small pepper harvester, in this embodiment, is obtained by comprehensive analysis of the minimum operating radius, center of gravity distribution coefficient and ground pressure ratio of the mountain small pepper harvester, and is used to evaluate the adaptability of the mountain small pepper harvester to the working terrain. The specific expression is:

[0030] ;

[0031] in, is the terrain adaptability evaluation value of the mountain small pepper harvester. When the minimum operating radius of the mountain small pepper harvester deviates from the ideal conditions, it is difficult for it to operate flexibly in complex terrain, making the operation of the mountain small pepper harvester relatively unstable, resulting in uneven distribution of pressure on the ground by the mountain small pepper harvester, that is, increasing the ground pressure ratio. At the same time, the uneven distribution of pressure on the ground by the mountain small pepper harvester also causes the change of the center of gravity position of the mountain small pepper harvester, which may cause the center of gravity distribution coefficient to decrease. The closer the minimum operating radius is to the ideal conditions, the more flexible the mountain small pepper harvester can turn and adjust in complex terrains such as mountains. Direction, the larger the center of gravity distribution coefficient, the more conducive it is to improve the stability and passability of the mountain small pepper harvester, reduce the operational difficulties and safety hazards caused by terrain changes, and the lower ground pressure ratio helps to reduce the damage and depression to the mountain surface, and improve the passability and traveling ability of the mountain small pepper harvester on muddy, soft and other poor ground, thereby jointly improving the adaptability of the mountain small pepper harvester to the terrain. Therefore, through quantitative analysis of the three parameters, targeted adjustment directions can be formulated to improve the operating efficiency of the mountain small pepper harvester and enhance its operating flexibility, stability and passability in complex terrain.

[0032] It is the minimum operating radius of the small mountain pepper harvester. In complex terrains such as mountains, due to the changeable terrain and narrow space, the closer the minimum operating radius of the small mountain pepper harvester is to ideal conditions, the better its flexibility and passability will be, and it can better adapt to terrain changes and improve the operating efficiency of the small mountain pepper harvester.

[0033] It is the center of gravity distribution coefficient of the small mountain pepper harvester. A larger center of gravity distribution coefficient can improve the stability of the small mountain pepper harvester in complex terrain, reduce the large shaking and tilting of the small mountain pepper harvester caused by terrain changes, and improve the operation safety of the small mountain pepper harvester.

[0034] It is the ground pressure ratio of the small mountain pepper harvester. A lower ground pressure ratio can reduce the damage and depression of the mountain ground by the small mountain pepper harvester, and improve the passability and travel ability of the small mountain pepper harvester on muddy, soft and other poor mountain ground.

[0035] It is the minimum reference operating radius, which represents the reference value for analyzing the minimum operating radius of the small mountain pepper harvester, and is formulated by the harvester supervision specialist based on the actual situation of the small mountain pepper harvester.

[0036] e is a natural constant, It is the correction value corresponding to the minimum operating radius preset in the harvester parameter library, which represents the degree of correction for the change in the minimum operating radius. The fitting curve corresponding to the minimum operating radius is obtained by fitting the relationship between the historical operating speed, the historical failure rate and the minimum operating radius, and the fitting curve corresponding to the minimum operating radius is brought into play according to the real-time operating speed and failure rate, thereby obtaining the correction value corresponding to the minimum operating radius in this example. The value range of this value in this example is 0 to 1.

[0037] It is the influence factor corresponding to the unit value of the center of gravity distribution coefficient preset in the harvester parameter library, which represents the influence degree of the unit value of the center of gravity distribution coefficient on the terrain adaptability evaluation value of the mountain small pepper harvester. The fitting curve corresponding to the center of gravity distribution coefficient is obtained by fitting the relationship between the historical operating load, the historical ground slope and the center of gravity distribution coefficient, and the fitting curve corresponding to the center of gravity distribution coefficient is brought into the fitting curve according to the real-time operating load and the ground slope, thereby obtaining the influence factor corresponding to the unit value of the center of gravity distribution coefficient in this example. The value range of this value in this example is 0 to 1.

[0038] It is the influence factor corresponding to the unit value of the ground pressure ratio preset in the harvester parameter library, which represents the influence degree of the unit value of the ground pressure ratio on the terrain adaptability evaluation value of the mountain small pepper harvester. The fitting curve corresponding to the ground pressure ratio is obtained by fitting the relationship between the historical mountain slope, the historical soil compaction and the ground pressure ratio, and the fitting curve corresponding to the ground pressure ratio is brought into the fitting curve according to the real-time mountain slope and soil compaction, thereby obtaining the influence factor corresponding to the unit value of the ground pressure ratio in this example. The value range of this value in this example is 0 to 1.

[0039] In this exemplary embodiment, the terrain adaptability evaluation value of the above-mentioned mountain small pepper harvester and its corresponding parameter change table are shown in Table 1:

[0040] Table 1 Terrain adaptability evaluation values ​​of mountain small pepper harvesters and changes in their corresponding parameters

[0041] Minimum operating radius / m Center of gravity distribution coefficient / percentage Ground pressure / Pascal Terrain adaptability assessment value / percentage 0.4 185 15000 2247 0.36 167 14800 2232 0.43 160 15600 2291 0.35 190 15300 2269

[0042] In this example embodiment, the minimum reference operating radius is set to 0.38 meters, the correction value corresponding to the minimum operating radius is set to 0.45, the influence factor corresponding to the unit value of the center of gravity distribution coefficient is set to 0.50, and the influence factor corresponding to the unit value of the ground contact pressure is set to 0.48. It can be seen from Table 1 that the overall terrain adaptability evaluation values ​​are not much different, but some key parameters (such as minimum operating radius, ground contact pressure, etc.) have slight differences. Therefore, it is necessary to refine and adjust these parameters to optimize the terrain adaptability of the small mountain pepper harvester.

[0043] Furthermore, the terrain adaptability evaluation value of the small mountain pepper harvester is evaluated, and the specific evaluation process is: extracting the radius of each tire of the small mountain pepper harvester from the performance characteristic parameters of the small mountain pepper harvester, sorting the radius of each tire in order from small to large, extracting the radius of the tire ranked first, and marking it as the minimum operating radius of the small mountain pepper harvester; the radius of each tire of the above-mentioned small mountain pepper harvester can be obtained by referring to the design specification manual of each tire of the small mountain pepper harvester.

[0044] The center of gravity position point, highest position point and lowest position point of the mountain small pepper harvester at the harvest preparation landmark point are extracted from the performance characteristic parameters of the mountain small pepper harvester. The above-mentioned harvest preparation landmark point refers to the position point where the performance of the mountain small pepper harvester is tested before the harvesting operation. This point is located at the edge of the mountain pepper harvesting operation area and is determined by the harvester supervision specialist based on actual conditions; the center of gravity position point of the above-mentioned mountain small pepper harvester at the harvest preparation landmark point can be measured by weighing equipment such as electronic scales to measure the weight of each component of the mountain small pepper harvester, and the center of gravity position point of the mountain small pepper harvester at the harvest preparation landmark point can be obtained by using the center of mass calculation formula based on the detailed design drawings extracted from the design specification manual of the mountain small pepper harvester; the above-mentioned highest position point and lowest position point are obtained by visual inspection by the harvester supervision specialist.

[0045] The vertical distance between the center of gravity position point and the highest position point of the mountain small pepper harvester at the harvest preparation landmark point, and the vertical distance between the center of gravity position point and the lowest position point of the mountain small pepper harvester at the harvest preparation landmark point are obtained through distance analysis. The center of gravity distribution coefficient of the mountain small pepper harvester is obtained by ratio processing; the vertical distance between the center of gravity position point and the highest position point of the above-mentioned mountain small pepper harvester at the harvest preparation landmark point is as follows: Figure 3 As shown in 3 in the schematic diagram of the mountain small pepper harvester at the harvest preparation landmark point, it is measured by the harvester supervision specialist using a tape measure; the vertical distance between the center of gravity position point and the lowest position point of the above-mentioned mountain small pepper harvester at the harvest preparation landmark point is as follows Figure 3 As shown in 4, it is measured by the harvester supervision specialist with a tape measure. The center of gravity distribution coefficient of the above-mentioned small mountain pepper harvester refers to the vertical distance between the center of gravity position point of the small mountain pepper harvester at the harvest preparation landmark point and the highest position point divided by the vertical distance between the center of gravity position point of the small mountain pepper harvester at the harvest preparation landmark point and the lowest position point. The larger the value, the closer the center of gravity position point of the small mountain pepper harvester at the harvest preparation landmark point is to the lowest position point, indicating that the center of gravity of the small mountain pepper harvester is lower, which helps the small mountain pepper harvester to operate efficiently on complex terrains such as mountains.

[0046] Based on the harvest preparation of mountain peppers, the gravity of the mountain small pepper harvester at the harvest preparation landmark point is extracted from the performance characteristic parameters of the mountain small pepper harvester, and the ground contact area of ​​the mountain small pepper harvester at the harvest preparation landmark point and the offset angle between the gravity direction and the vertical direction of the center of gravity are extracted from the performance characteristic parameters of the mountain small pepper harvester. The ground contact pressure ratio of the mountain small pepper harvester is obtained through data analysis, and the terrain adaptability evaluation value of the mountain small pepper harvester is comprehensively evaluated. The gravity of the above-mentioned mountain small pepper harvester at the harvest preparation landmark point is obtained by multiplying the weight of each component of the mountain small pepper harvester obtained by measurement by the acceleration of gravity and then accumulating them, which is marked as ; The deviation angle between the above gravity direction and the vertical direction of the center of gravity, such as Figure 3 As shown, 1 represents the gravity direction, 2 represents the vertical direction of the center of gravity, which is perpendicular to the ground where the harvest preparation landmark point belongs. The angle between 1 and 2 is the offset angle, marked as The ground contact area of ​​the above-mentioned mountain small pepper harvester at the harvest preparation landmark point was directly measured by the harvester supervision specialist and marked as , then the ground pressure ratio of the mountain small pepper harvester is obtained by the following formula: .

[0047] S2. Based on the harvesting process of mountain peppers, the operating process performance parameters of the ready mountain small pepper harvester are collected, and the operating efficiency index of the ready mountain small pepper harvester is analyzed, thereby controlling the operating process performance parameters of the ready mountain small pepper harvester, and marking the ready mountain small pepper harvester that has completed the control as a calibrated mountain small pepper harvester; the above-mentioned harvesting process based on mountain peppers refers to the process of harvesting mountain peppers by the ready mountain small pepper harvester.

[0048] Specifically, the control of the operating process performance parameters of the ready mountain small pepper harvester is carried out, and the specific analysis process is: matching the operating efficiency index of the ready mountain small pepper harvester with the operating performance control set corresponding to each operating efficiency index interval stored in the harvester parameter library to obtain the operating performance control set of the ready mountain small pepper harvester; the operating performance control set corresponding to the above-mentioned each operating efficiency index interval, the specific corresponding rules are formulated by the harvester supervision specialist based on historical management experience and stored in the harvester parameter library; the operating performance control set of the above-mentioned ready mountain small pepper harvester, the specific matching process is: each operating efficiency index interval corresponds to the operating performance control set, query the operating efficiency index interval corresponding to the operating efficiency index of the ready mountain small pepper harvester, then the operating performance control set corresponding to the operating efficiency index interval is the operating performance control set of the ready mountain small pepper harvester; the above-mentioned operating performance control set specifically includes but is not limited to adjusting the engine speed and adjusting the driving speed.

[0049] Therefore, the harvester control system controls the operating process performance parameters of the ready mountain small pepper harvester through the operating performance control set. The specific control process is: the harvester control system receives the parameter information in the operating performance control set, and adjusts and controls the parameters of the ready mountain small pepper harvester during the operation through instructions.

[0050] Furthermore, the analysis of the operational efficiency index of the ready mountain small pepper harvester is specifically conducted as follows: the average power and average rotational angular velocity of the engine of the ready mountain small pepper harvester during the harvesting operation cycle are extracted from the operation process performance parameters of the ready mountain small pepper harvester, and the average torque of the engine of the ready mountain small pepper harvester during the harvesting operation cycle is obtained through data processing; the above-mentioned harvesting operation cycle refers to the cycle for analyzing the performance of the ready mountain small pepper harvester during operation, and its specific duration is determined by the harvester supervision specialist based on historical conditions; the average power and average rotational angular velocity of the engine of the ready mountain small pepper harvester during the harvesting operation cycle; wherein the average power is obtained by measuring the real-time frequency of the engine during the harvesting operation cycle with a dynamometer, and the average power is obtained by mean processing, and the average rotational angular velocity is obtained by converting the data recorded by the tachometer; the above-mentioned average torque is specifically processed as follows: ,in is the average power, is the average rotation angular velocity.

[0051] The average input power and average output power of the gearbox of the ready mountain small pepper harvester during the harvesting operation cycle are extracted from the operating process performance parameters of the ready mountain small pepper harvester, and the transmission efficiency of the gearbox of the ready mountain small pepper harvester during the harvesting operation cycle is obtained by ratio processing; the average input power and average output power of the gearbox of the ready mountain small pepper harvester during the harvesting operation cycle are measured by a dynamometer to measure the real-time input power and real-time output power of the gearbox during the harvesting operation cycle, and the average input power and average output power of the gearbox of the ready mountain small pepper harvester during the harvesting operation cycle are obtained by mean processing.

[0052] The number of failures of the harvesting device of the ready mountain small pepper harvester during the harvesting operation cycle is extracted from the performance parameters of the ready mountain small pepper harvester during the operation process. The above-mentioned number of failures can be obtained by counting the number of maintenance times by the harvester supervision specialist.

[0053] Thus, the operation efficiency index of the ready mountain small pepper harvester is comprehensively analyzed. In this embodiment, the operation efficiency index of the ready mountain small pepper harvester is obtained by comprehensively analyzing the average torque, transmission efficiency and number of failures of the engine of the ready mountain small pepper harvester during the harvesting operation cycle. The numerical value used to analyze the operation efficiency of the ready mountain small pepper harvester is specifically expressed as follows:

[0054] ;

[0055] in, is the operating efficiency index of the Ready Mountain Small Pepper Harvester. The average torque of the engine is the power source of the gearbox input end. The average torque of the engine directly affects the power output of the Ready Mountain Small Pepper Harvester. At the same time, if the engine torque is insufficient and the transmission efficiency of the gearbox is low, the picking power of the Ready Mountain Small Pepper Harvester will be reduced, which may easily lead to the weak cutting and separation effect of the harvesting device of the Ready Mountain Small Pepper Harvester, which will increase the number of failures. The greater the torque of the engine, the greater the traction and cutting force that the Ready Mountain Small Pepper Harvester can provide during operation, so that the harvesting task can be completed more efficiently. The transmission efficiency of the gearbox determines the degree of loss when the engine power is transmitted to the working parts of the ready mountain small pepper harvester. The higher the transmission efficiency, the better the overall working performance of the harvester. The fewer failures of the picking mechanism indicate that the ready mountain small pepper harvester has high continuous operation ability and operating efficiency. Therefore, by quantitatively analyzing the three parameters and the errors of the efficiency-reducing parameters, the deficiencies of the ready mountain small pepper harvester during operation can be accurately located, so as to formulate targeted optimization plans to improve the operating efficiency and quality of the ready mountain small pepper harvester, thereby improving the stability and reliability of the ready mountain small pepper harvester.

[0056] It is the average torque of the engine of the Ready Mountain Small Pepper Harvester during the harvesting cycle. High average torque means that the engine can provide stronger power output during operation, thereby improving the traction and cutting efficiency of the Ready Mountain Small Pepper Harvester.

[0057] To improve the transmission efficiency of the gearbox of the Ready Mountain Small Pepper Harvester during the harvesting cycle, high transmission efficiency means that more power is effectively utilized, which helps to reduce the fuel consumption of the Ready Mountain Small Pepper Harvester, improve the economy of the Ready Mountain Small Pepper Harvester, and extend the service life of the Ready Mountain Small Pepper Harvester.

[0058] It is the number of failures of the harvesting device of the Ready Mountain Small Pepper Harvester during the harvesting operation cycle. A low number of failures means that the Ready Mountain Small Pepper Harvester can operate stably for a long time, reducing the time loss and pepper harvest loss caused by downtime for maintenance.

[0059] e is a natural constant, It is the influence factor corresponding to the average torque unit value preset in the harvester parameter library, which represents the influence degree of the average torque unit value on the operating efficiency index of the ready mountain small pepper harvester. The fitting curve corresponding to the average torque is obtained by fitting the relationship between the historical engine power, the historical workload and the average torque, and the fitting curve corresponding to the average torque is brought into the fitting curve according to the real-time engine power and workload, thereby obtaining the influence factor corresponding to the average torque unit value in this example. The value range of this value in this example is 0 to 1.

[0060] It is the influencing factor corresponding to the transmission efficiency unit value preset in the harvester parameter library, which represents the degree of influence of the transmission efficiency unit value on the operating efficiency index of the ready mountain small pepper harvester. The fitting curve corresponding to the transmission efficiency is obtained by fitting the relationship between the historical working temperature, the historical parts wear and the transmission efficiency, and the fitting curve corresponding to the transmission efficiency is brought into the real-time working temperature and the parts wear, thereby obtaining the influencing factor corresponding to the transmission efficiency unit value in this example. The value range of this value in this example is 0 to 1.

[0061] It is the impact factor corresponding to the unit value of the number of failures preset in the harvester parameter library, which represents the degree of influence of the unit value of the number of failures on the operating efficiency index of the ready mountain small pepper harvester. The fitting curve corresponding to the number of failures is obtained by fitting the relationship between the historical working environment humidity, the historical working environment soil softness and the number of failures, and the fitting curve corresponding to the number of failures is brought into the fitting curve according to the real-time working environment humidity and the working environment soil softness, thereby obtaining the impact factor corresponding to the unit value of the number of failures in this example. The value range of this value in this example is 0 to 1.

[0062] S3. Based on the harvesting results of mountain peppers, the pepper harvesting quality parameters of the calibrated mountain small pepper harvester are obtained, and the harvesting completion quality index of the calibrated mountain small pepper harvester is determined, thereby providing feedback to the control of the calibrated mountain small pepper harvester; the above-mentioned harvesting results based on mountain peppers refer to the completion of the pepper harvesting operation by the calibrated mountain small pepper harvester, thereby analyzing the harvesting completion results.

[0063] In a specific embodiment, the present invention accurately obtains the harvest completion quality index of the calibrated mountain small pepper harvester by comprehensively analyzing the harvest cleanliness, harvest damage and harvest omission rate of the calibrated mountain small pepper harvester. It not only comprehensively reflects the comprehensive quality level of the harvesting operation of the calibrated mountain small pepper harvester, but also provides a key final result for the subsequent adjustment of the calibrated mountain small pepper harvester, which can guide the continuous improvement and research and development of the calibrated mountain small pepper harvester.

[0064] Specifically, the control of the calibrated mountain small pepper harvester is fed back, and the specific analysis process is: the harvest completion quality index of the calibrated mountain small pepper harvester is compared with the harvest completion quality threshold. If the harvest completion quality index of the calibrated mountain small pepper harvester is less than the harvest completion quality threshold, the harvester control system will give feedback to the control of the calibrated mountain small pepper harvester; the above-mentioned harvest completion quality threshold represents the minimum value of the reasonable range of the harvest completion quality index, which is formulated by the harvester supervision specialist according to actual conditions; if the harvest completion quality index of the calibrated mountain small pepper harvester is less than the harvest completion quality threshold, it indicates that the quality of the peppers harvested by the calibrated mountain small pepper harvester does not meet the expected standard. It is inaccurate, which means that the parameter control adjustment of the small mountain pepper harvester cannot meet the current operating conditions well. Therefore, the harvester control system provides feedback on the control of the calibrated small mountain pepper harvester. The specific feedback process is: the harvester control system generates a feedback log, which contains the adjusted parameters. The harvester supervision specialist checks the hardware corresponding to the adjusted parameters, formulates an optimization plan, and synchronously updates the corresponding optimization plan to the performance characteristic control set and the operating performance control set stored in the harvester parameter library; if the harvest completion quality index of the calibrated small mountain pepper harvester is greater than or equal to the harvest completion quality threshold, it indicates that the quality of the harvested peppers by the calibrated small mountain pepper harvester meets the expected standard and no feedback is needed.

[0065] Furthermore, the harvest completion quality index of the calibrated mountain small pepper harvester is determined, and the specific analysis process is as follows: extracting the top view of the storage hopper belonging to the calibrated mountain small pepper harvester at the end time of the harvesting operation cycle from the pepper harvesting quality parameters of the calibrated mountain small pepper harvester, identifying and analyzing the area of ​​the pepper region, and performing ratio analysis with the area of ​​the top view to obtain the harvesting cleanliness of the calibrated mountain small pepper harvester; the top view of the storage hopper belonging to the calibrated mountain small pepper harvester at the end time of the harvesting operation cycle refers to the top view obtained by taking a photo with an industrial camera; the specific process of identifying and analyzing the area of ​​the pepper region is as follows: peppers usually have distinct color characteristics (such as red), and the color information in the color space (such as RGB) is used for segmentation. By setting a color threshold, the pepper region is separated from the top view, and the number of pixels is calculated, and a ratio analysis is performed with the total number of pixels of the top view to obtain the harvesting cleanliness of the calibrated mountain small pepper harvester. The area of ​​the pepper region and the area of ​​the top view can both be compared with the number of pixels.

[0066] The total number of scratches is located from the top view of the storage hopper of the calibrated mountain small pepper harvester at the end of the harvesting operation cycle, and matched with the harvest damage degree corresponding to each scratch total number interval stored in the harvester parameter library, thereby obtaining the harvest damage degree of the calibrated mountain small pepper harvester; the above total number of scratches, the specific analysis process is: scratches usually appear as continuous, linear dark or light areas in the image, and there are significant differences in color and texture from the surrounding areas, so the edge detection algorithm (such as Canny edge detector) is used to extract the calibrated mountain small pepper harvester. The scratch information in the top view of the storage hopper of the machine at the end time of the harvesting operation cycle is collected to calculate the total number of scratches; the harvest damage degree corresponding to the above-mentioned each scratch total number interval, the specific corresponding rules are formulated by the harvester supervision specialist based on historical management experience and stored in the harvester parameter library; the harvest damage degree of the above-mentioned calibration of the small mountain pepper harvester, the specific matching rule is: each scratch total number interval corresponds to the harvest damage degree, query the scratch total number interval corresponding to the total number of scratches, then the harvest damage degree corresponding to the scratch total number interval is the harvest damage degree of the calibrated small mountain pepper harvester.

[0067] The initial state image of the working pepper field of the calibrated mountain small pepper harvester is obtained, and the initial pepper area of ​​the working pepper field of the calibrated mountain small pepper harvester is identified and analyzed. At the same time, the end state image of the working pepper field of the calibrated mountain small pepper harvester at the end time of the harvesting operation cycle is extracted from the pepper harvesting quality parameters of the calibrated mountain small pepper harvester, and the end pepper area of ​​the working pepper field of the calibrated mountain small pepper harvester is identified and analyzed. The end pepper area is analyzed with the initial pepper area of ​​the working pepper field of the calibrated mountain small pepper harvester to obtain the harvesting omission rate of the calibrated mountain small pepper harvester. The initial state image of the working pepper field of the calibrated mountain small pepper harvester and the end state image of the working pepper field of the calibrated mountain small pepper harvester at the end time of the harvesting operation cycle are both obtained by taking pictures with an industrial camera; the initial pepper area of ​​the working pepper field of the calibrated mountain small pepper harvester and the end pepper area of ​​the working pepper field of the calibrated mountain small pepper harvester are the same as the area analysis process of the pepper region.

[0068] Thus, the harvest completion quality index of the calibrated mountain small pepper harvester is comprehensively determined. In this embodiment, the harvest completion quality index of the calibrated mountain small pepper harvester is obtained by comprehensive analysis of the harvest cleanliness, harvest damage and harvest omission rate of the calibrated mountain small pepper harvester. It is used to determine the value of the harvest completion quality of the calibrated mountain small pepper harvester. The specific expression is:

[0069] ;

[0070] in, In order to calibrate the harvest completion quality index of the small mountain pepper harvester, the greater the harvest cleanliness, the stricter the harvest screening steps of the calibrated small mountain pepper harvester, which may increase the scratch damage of the pepper, resulting in an increase in the harvest damage. If the harvest cleanliness is low, it means that the calibrated small mountain pepper harvester is relatively loose in screening peppers during the harvesting process, resulting in an increase in the harvest omission rate. High cleanliness indicates that the subsequent processing of the harvested peppers is simpler, which is conducive to improving the quality of pepper harvesting and reducing subsequent processing costs. Low breakage can maintain the integrity and quality of peppers, and low omission rate can improve the harvest efficiency of peppers, thereby jointly improving the harvest completion quality. Therefore, by quantifying and expanding the relationship between the three parameters, we strive to minimize the breakage and omission rate while maintaining a high cleanliness to achieve the best harvest completion quality index, continuously optimize the operating parameters of the calibrated small mountain pepper harvester, adjust the operation strategy, and take targeted measures to optimize the performance of the calibrated small mountain pepper harvester.

[0071] To calibrate the harvest cleanliness of the small mountain pepper harvester, it refers to the proportion of peppers to all peppers and impurities (such as branches, leaves, soil, stones, etc.) in the pepper harvesting process. It is an important indicator to measure and calibrate the screening and cleaning capabilities of the small mountain pepper harvester.

[0072] To calibrate the harvest damage degree of small mountain pepper harvesters, it refers to the degree of damage of peppers due to mechanical damage during the harvesting process.

[0073] To calibrate the harvest omission rate of small mountain pepper harvesters, it refers to the proportion of peppers that are not picked and left on the pepper plants or fall on the ground.

[0074] e is a natural constant, It is the influencing factor corresponding to the preset unit value of harvest cleanliness in the harvester parameter library, which represents the influence degree of the unit value of harvest cleanliness on the harvest completion quality index of the calibrated mountain small pepper harvester. The fitting curve corresponding to the harvest cleanliness is obtained by fitting the relationship between historical soil moisture, historical harvester vibration frequency and harvest cleanliness, and the fitting curve corresponding to the harvest cleanliness is brought into the fitting curve according to the real-time soil moisture and harvester vibration frequency, thereby obtaining the influencing factor corresponding to the unit value of harvest cleanliness in this example. The value range of this value in this example is 0 to 1.

[0075] It is the influencing factor corresponding to the unit value of the harvest damage degree preset in the harvester parameter library, which represents the influence degree of the unit value of the harvest damage degree on the harvest completion quality index of the calibrated mountain small pepper harvester. The fitting curve corresponding to the harvest damage degree is obtained by fitting the relationship between the historical conveying speed, the historical conveyor belt wear and the harvest damage degree, and the fitting curve corresponding to the harvest damage degree is brought into the fitting curve according to the real-time conveying speed and the conveyor belt wear, thereby obtaining the influencing factor corresponding to the unit value of the harvest damage degree in this example. The value range of this value in this example is 0 to 1.

[0076] It is the influencing factor corresponding to the unit value of the harvest omission rate preset in the harvester parameter library, which represents the degree of influence of the unit value of the harvest omission rate on the harvest completion quality index of the calibrated mountain small pepper harvester. The fitting curve corresponding to the harvest omission rate is obtained by fitting the relationship between the historical pepper planting density, the historical harvester travel speed and the harvest omission rate, and the fitting curve corresponding to the harvest omission rate is brought into the fitting curve according to the real-time pepper planting density and the harvester travel speed, thereby obtaining the influencing factor corresponding to the unit value of the harvest omission rate in this example. The value range of this value in this example is 0 to 1.

[0077] In this example embodiment, the change table of the harvest completion quality index and its corresponding parameters of the above-mentioned calibrated mountain small pepper harvester is shown in Table 2:

[0078] Table 2 Changes in the harvesting quality index and its corresponding parameters of the calibration of the mountain small pepper harvester

[0079] Harvest cleanliness / percentage Harvest damage degree / degree Harvest omission rate / percentage Harvest completion quality index / percentage 96 5 5 166 90 3 8 220 93 4 6 187

[0080] In this example embodiment, the value of the impact factor corresponding to the unit value of harvest cleanliness is set to 0.25, the value of the impact factor corresponding to the unit value of harvest damage is set to 0.23, and the value of the impact factor corresponding to the unit value of harvest omission rate is set to 0.24. It can be seen from Table 2 that although the harvest cleanliness has reached the highest level in the given data set, that is, the maximum value recorded in the table, the harvest completion quality index has not reached its maximum value. This phenomenon shows that the evaluation system of the harvest completion quality index is complex and diverse. It does not rely solely on a single parameter, but requires a comprehensive consideration of the combined impact of various relevant factors.

[0081] In a specific embodiment, the present invention provides a control method, system and equipment based on a mountain small pepper harvester. By capturing the performance characteristic parameters of the mountain small pepper harvester and quantifying the terrain adaptability of the mountain small pepper harvester, the performance characteristic parameters of the mountain small pepper harvester can be automatically adjusted. By continuously monitoring the operation process performance parameters of the ready mountain small pepper harvester, intuitive feedback is provided for the operation efficiency of the ready mountain small pepper harvester, which is convenient for subsequent data analysis and improving the overall operation efficiency. The operation process performance parameters of the ready mountain small pepper harvester are controlled to ensure the maximization of the operation efficiency. Finally, the pepper harvesting quality parameters of the calibrated mountain small pepper harvester are obtained, and the harvesting completion quality index of the calibrated mountain small pepper harvester is determined, thereby forming a closed-loop feedback system for the calibrated mountain small pepper harvester. The feedback mechanism ensures the stability and efficiency of the mountain small pepper harvester in long-term use.

[0082] Reference Figure 2 As shown, the second aspect of the present invention provides a control system based on a small mountain pepper harvester, including: a performance characteristic control module, an operation performance control module, a harvest completion feedback module and a harvester parameter library.

[0083] The second aspect of the present invention provides a control system for a small mountain pepper harvester, which also includes a harvester parameter library, wherein the harvester parameter library is used to store the correction value corresponding to the minimum operating radius, the influencing factor corresponding to the unit value of the center of gravity distribution coefficient, the influencing factor corresponding to the unit value of the ground contact pressure, the performance characteristic control set corresponding to each terrain adaptability evaluation value interval, the influencing factor corresponding to the unit value of the average torque, the influencing factor corresponding to the unit value of the transmission efficiency, the influencing factor corresponding to the unit value of the number of failures, the operating performance control set corresponding to each operating efficiency index interval, the harvest damage degree corresponding to each total scratch interval, the influencing factor corresponding to the unit value of the harvest cleanliness, the influencing factor corresponding to the unit value of the harvest damage degree, and the influencing factor corresponding to the unit value of the harvest omission rate.

[0084] The performance characteristic control module is connected to the operation performance control module and the harvester parameter library respectively, the operation performance control module is connected to the harvest completion feedback module and the harvester parameter library respectively, and the harvest completion feedback module is connected to the harvester parameter library.

[0085] The performance characteristic control module is used to collect the performance characteristic parameters of the small mountain pepper harvester based on the harvest preparation of mountain peppers, evaluate the terrain adaptability evaluation value of the small mountain pepper harvester, thereby controlling the performance characteristic parameters of the small mountain pepper harvester, and marking the small mountain pepper harvester that has completed control as a ready mountain small pepper harvester.

[0086] The operation performance control module is used to collect the operation process performance parameters of the ready mountain small pepper harvester based on the mountain pepper harvesting process, analyze the operation efficiency index of the ready mountain small pepper harvester, thereby controlling the operation process performance parameters of the ready mountain small pepper harvester, and marking the ready mountain small pepper harvester that has completed control as a calibrated mountain small pepper harvester.

[0087] The harvest completion feedback module is used to obtain the pepper harvesting quality parameters of the calibrated mountain small pepper harvester based on the harvesting results of mountain peppers, determine the harvest completion quality index of the calibrated mountain small pepper harvester, and thereby provide feedback on the control of the calibrated mountain small pepper harvester.

[0088] The third aspect of the present invention provides a device for applying the control method of a small mountain pepper harvester, characterized in that it includes: an engine, a gearbox, a harvesting device, and a storage hopper; the engine and the gearbox work together through a gear linkage, such as Figure 4As shown, the gear assembly (6) of the gearbox is driven by inputting power from the engine (5) to operate, and the transmission power of the gearbox is converted; the gearbox is synchronously connected to the receiving device by a chain, and the gearbox adjusts the transmission power so that the harvesting device performs corresponding picking operations; the harvesting device is directly connected to the storage hopper, and the harvesting device directly transports the picked peppers to the storage hopper through the picking operation.

[0089] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A control method for a small mountain pepper harvester, characterized in that: include: S1. Based on the preparation for harvesting mountain peppers, the performance characteristic parameters of the mountain small pepper harvester are collected, and the terrain adaptability evaluation value of the mountain small pepper harvester is evaluated, thereby controlling the performance characteristic parameters of the mountain small pepper harvester, and marking the mountain small pepper harvester that has completed the control as a ready mountain small pepper harvester; S2. Based on the harvesting process of mountain peppers, the performance parameters of the operation process of the ready mountain small pepper harvester are collected, and the operation efficiency index of the ready mountain small pepper harvester is analyzed, thereby controlling the performance parameters of the operation process of the ready mountain small pepper harvester, and marking the ready mountain small pepper harvester that has completed the control as a calibrated mountain small pepper harvester; S3. Based on the harvest results of mountain peppers, obtain the quality parameters of the pepper harvest of the mountain small pepper harvester, determine the quality index of the harvest completion of the mountain small pepper harvester, and thus provide feedback on the control of the mountain small pepper harvester; The terrain adaptability evaluation value of the mountain small pepper harvester is obtained by comprehensive analysis of the minimum operating radius, center of gravity distribution coefficient and ground pressure ratio of the mountain small pepper harvester, and is used to evaluate the adaptability of the mountain small pepper harvester to the working terrain. The specific expression is: ； in, is the terrain adaptability evaluation value of the small pepper harvester in mountainous areas, is the minimum operating radius of a small mountain pepper harvester. is the center of gravity distribution coefficient of the small mountain pepper harvester, is the ground pressure ratio of the small mountain pepper harvester, is the minimum reference operating radius, It is the correction value corresponding to the minimum operating radius preset in the harvester parameter library. It is the influencing factor corresponding to the unit value of the center of gravity distribution coefficient preset in the harvester parameter library. It is the influencing factor corresponding to the unit value of ground pressure ratio preset in the harvester parameter library, and e is a natural constant.

2. The control method of a small-scale pepper harvester based on mountainous areas according to claim 1 is characterized in that: The terrain adaptability evaluation value of the small mountain pepper harvester is evaluated in the following specific evaluation process: Extract the tire radius of the small mountain pepper harvester from the performance characteristic parameters of the small mountain pepper harvester, sort the tire radius in order from small to large, extract the tire radius ranked first, and mark it as the minimum operating radius of the small mountain pepper harvester; The center of gravity position point, the highest position point and the lowest position point of the mountain small pepper harvester at the harvest preparation landmark point are extracted from the performance characteristic parameters of the mountain small pepper harvester. The vertical distance between the center of gravity position point and the highest position point of the mountain small pepper harvester at the harvest preparation landmark point, and the vertical distance between the center of gravity position point and the lowest position point of the mountain small pepper harvester at the harvest preparation landmark point are obtained through distance analysis. The center of gravity distribution coefficient of the mountain small pepper harvester is obtained by ratio processing. Based on the harvest preparation of mountain peppers, the gravity of the small mountain pepper harvester at the harvest preparation landmark point is extracted from the performance characteristic parameters of the small mountain pepper harvester, and the ground contact area of ​​the small mountain pepper harvester at the harvest preparation landmark point and the offset angle between the gravity direction and the vertical direction of the center of gravity are extracted from the performance characteristic parameters of the small mountain pepper harvester. The ground contact pressure ratio of the small mountain pepper harvester is obtained through data analysis, and the terrain adaptability evaluation value of the small mountain pepper harvester is comprehensively evaluated.

3. The control method of a small-scale pepper harvester based on mountainous areas according to claim 1 is characterized in that: The performance characteristic parameters of the mountain small pepper harvester are controlled, and the specific analysis process is as follows: The terrain adaptability evaluation value of the small mountain pepper harvester is matched with the performance characteristic control set corresponding to each terrain adaptability evaluation value interval stored in the harvester parameter library to obtain the performance characteristic control set of the small mountain pepper harvester. The harvester control system controls the performance characteristic parameters of the small mountain pepper harvester through the performance characteristic control set.

4. The control method of a small-scale pepper harvester based on mountainous areas according to claim 1 is characterized in that: The analysis is ready for the operation efficiency index of the small mountain pepper harvester, and the specific analysis process is as follows: The average power and average rotational angular velocity of the engine of the ready mountain small pepper harvester during the harvesting operation cycle are extracted from the operating process performance parameters of the ready mountain small pepper harvester, and the average torque of the engine of the ready mountain small pepper harvester during the harvesting operation cycle is obtained through data processing; The average input power and average output power of the gearbox of the ready small mountain pepper harvester during the harvesting operation cycle are extracted from the performance parameters of the ready small mountain pepper harvester during the operation cycle, and the transmission efficiency of the gearbox of the ready small mountain pepper harvester during the harvesting operation cycle is obtained by ratio processing; The number of failures of the harvesting device of the ready mountain small pepper harvester during the harvesting operation cycle is extracted from the performance parameters of the ready mountain small pepper harvester during its operation process, and the operation efficiency index of the ready mountain small pepper harvester is comprehensively analyzed.

5. The control method of a small-scale mountain pepper harvester according to claim 1 is characterized in that: The performance parameters of the operation process of the ready-to-use small-scale pepper harvester are controlled, and the specific analysis process is as follows: The operating efficiency index of the ready mountain small pepper harvester is matched with the operating performance control set corresponding to each operating efficiency index interval stored in the harvester parameter library to obtain the operating performance control set of the ready mountain small pepper harvester. The harvester control system controls the operating process performance parameters of the ready mountain small pepper harvester through the operating performance control set.

6. The control method of a small-scale mountain pepper harvester according to claim 5 is characterized in that: The specific analysis process of determining and calibrating the harvesting completion quality index of the mountain small pepper harvester is as follows: The top view of the storage hopper of the calibrated mountain small pepper harvester at the end of the harvesting operation cycle is extracted from the pepper harvesting quality parameters of the calibrated mountain small pepper harvester, the area of ​​the pepper region is identified and analyzed, and the ratio analysis is performed with the top view area to obtain the harvesting cleanliness of the calibrated mountain small pepper harvester; The total number of scratches is located from the top view of the storage hopper of the calibrated mountain small pepper harvester at the end time of the harvesting operation cycle, and matched with the harvesting damage degree corresponding to each total number of scratches interval stored in the harvester parameter library, thereby obtaining the harvesting damage degree of the calibrated mountain small pepper harvester; The initial state image of the working pepper field of the calibrated mountain small pepper harvester is obtained, and the initial pepper area of ​​the working pepper field of the calibrated mountain small pepper harvester is identified and analyzed. At the same time, the ending state image of the working pepper field of the calibrated mountain small pepper harvester at the end time of the harvesting operation cycle is extracted from the pepper harvesting quality parameters of the calibrated mountain small pepper harvester, and the ending pepper area of ​​the working pepper field of the calibrated mountain small pepper harvester is identified and analyzed. The ending pepper area of ​​the working pepper field of the calibrated mountain small pepper harvester is analyzed by ratio analysis with the initial pepper area of ​​the working pepper field of the calibrated mountain small pepper harvester to obtain the harvesting omission rate of the calibrated mountain small pepper harvester, thereby comprehensively determining the harvesting completion quality index of the calibrated mountain small pepper harvester.

7. The control method of a small-scale mountain pepper harvester according to claim 6 is characterized in that: The feedback of the control of the calibration mountain small pepper harvester is analyzed in detail as follows: The harvest completion quality index of the calibrated mountain small pepper harvester is compared with the harvest completion quality threshold. If the harvest completion quality index of the calibrated mountain small pepper harvester is less than the harvest completion quality threshold, the harvester control system will provide feedback to the control of the calibrated mountain small pepper harvester.

8. Based on the control system of mountain small pepper harvester, it is characterized by: include: A performance characteristic control module is used to collect performance characteristic parameters of the small mountain pepper harvester based on the harvesting preparation of the mountain pepper, evaluate the terrain adaptability evaluation value of the small mountain pepper harvester, thereby controlling the performance characteristic parameters of the small mountain pepper harvester, and marking the small mountain pepper harvester that has completed the control as a ready small mountain pepper harvester; An operation performance control module is used to collect the operation process performance parameters of the ready mountain small pepper harvester based on the mountain pepper harvesting process, analyze the operation efficiency index of the ready mountain small pepper harvester, thereby controlling the operation process performance parameters of the ready mountain small pepper harvester, and marking the ready mountain small pepper harvester that has completed the control as a calibrated mountain small pepper harvester; A harvest completion feedback module is used to obtain the pepper harvest quality parameters of the calibrated mountain small pepper harvester based on the harvest results of mountain peppers, determine the harvest completion quality index of the calibrated mountain small pepper harvester, and thereby provide feedback on the control of the calibrated mountain small pepper harvester; The terrain adaptability evaluation value of the mountain small pepper harvester is obtained by comprehensive analysis of the minimum operating radius, center of gravity distribution coefficient and ground pressure ratio of the mountain small pepper harvester, and is used to evaluate the adaptability of the mountain small pepper harvester to the working terrain. The specific expression is: ； in, is the terrain adaptability evaluation value of the small pepper harvester in mountainous areas, is the minimum operating radius of a small mountain pepper harvester. is the center of gravity distribution coefficient of the small mountain pepper harvester, is the ground pressure ratio of the small mountain pepper harvester, is the minimum reference operating radius, It is the correction value corresponding to the minimum operating radius preset in the harvester parameter library. It is the influencing factor corresponding to the unit value of the center of gravity distribution coefficient preset in the harvester parameter library. It is the influencing factor corresponding to the unit value of ground pressure ratio preset in the harvester parameter library, and e is a natural constant.

9. A device using any one of claims 1 to 7 as a control method for a small mountain pepper harvester, characterized in that: include: Engine, gearbox, harvesting device, storage hopper; The engine and the gearbox work together through gear linkage, and the power of the engine (5) is input to drive the gear assembly (6) of the gearbox to operate, thereby converting the power of the gearbox into transmission power; The gearbox is synchronously connected to the receiving device by a chain, and the gearbox adjusts the transmission power so that the harvesting device performs corresponding picking operations; The harvesting device is directly connected to the storage hopper, and the harvesting device directly transports the harvested peppers to the storage hopper through a picking operation.

Images