Harvester control system and method, electronic equipment and storage medium

Abstract

The invention provides a harvester control system and method, electronic equipment and a storage medium, and the system comprises a visual controller which is used for obtaining a farmland information distribution diagram of a to-be-operated area in real time, and transmitting the farmland information distribution diagram to a vehicle control unit; the whole vehicle controller is used for analyzing the crop density degree, the crop growth vigor and the crop yield of each operation unit block in the farmland information distribution diagram, and determining the grade information of each operation unit block; adjusting the current execution parameter of the execution module based on the target execution parameter corresponding to the grade information of the current operation unit block where the harvester is located, sending the adjusted execution parameter to the execution module, and adjusting the fan positive blowing angle and the header amplitude of the harvester in the harvesting process; and the execution module is used for controlling the harvester to harvest the current operation unit block based on the adjusted execution parameters after receiving the adjusted execution parameters. The harvesting efficiency of an operation area is improved, and oil consumption is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to a harvester control system, method, electronic equipment and storage medium. Background Art

[0002] When using a large harvester to harvest crops, the vehicle speed and cutting height should be adjusted to an appropriate range to maintain the best operating intensity and reduce fuel consumption. On the other hand, the driving route is also a factor that affects the fuel consumption of the harvester. During driving, try to avoid shuttling back and forth, and minimize turning and sharp turns to maintain the best operating efficiency and reduce vehicle fuel consumption. At present, the operation control of the harvester mainly relies on the driver to adjust the vehicle parameters in real time according to the working conditions. Not only can it not maintain the best operating intensity, but it can also not guarantee the maximum cutting width of the harvester, which can easily reduce the operating efficiency and waste fuel. Therefore, how to control the harvester and reduce the fuel consumption of the harvester has become a technical issue that cannot be underestimated. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a harvester control system, method, electronic device and storage medium, which analyzes the working area before the harvester harvests, matches the corresponding level information for each working unit block, adjusts the corresponding vehicle speed, engine power and harvesting platform height, ensures full-width harvesting and adaptively adjusts the fan positive blowing angle during the harvesting process, improves the harvesting efficiency of the working area, and reduces fuel consumption.

[0004] The embodiment of the present application provides a harvester control system, which includes a visual controller, a vehicle controller and an execution module, wherein the visual controller and the execution module are both connected to the vehicle controller in communication; wherein:

[0005] The visual controller is used to obtain a farmland information distribution map of the area to be operated in real time, and send the farmland information distribution map to the vehicle controller;

[0006] The vehicle controller is used to analyze the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map, determine the level information of each operation unit block, adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, send the adjusted execution parameters to the execution module, and adjust the fan positive blowing angle and cutting table amplitude of the harvester during the harvesting process; wherein the target execution parameters include target cutting table height, target engine power and target vehicle speed;

[0007] The execution module is used to control the harvester to harvest the current operation unit block based on the adjusted execution parameters after receiving the adjusted execution parameters.

[0008] In a possible implementation manner, the execution module is a harvesting platform, and when the vehicle controller is used to adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, and sends the adjusted execution parameters to the execution module, the vehicle controller is specifically used to:

[0009] The current cutting table height of the harvester sent by the angle sensor on the cutting table is obtained in real time, and the current cutting table height is adjusted based on the target cutting table height and a preset cutting table height tolerance range, so that the cutting table can perform crop stubble processing on the current operation unit block based on the adjusted cutting table height.

[0010] In a possible implementation manner, the execution module is a travel pump, and the vehicle controller is used to adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, and when the adjusted execution parameters are sent to the execution module, the vehicle controller is specifically used to:

[0011] determining a target current value of the travel pump at the target vehicle speed based on the target vehicle speed;

[0012] The current value of the travel pump is adjusted based on the target current value so that the travel pump adjusts the speed of the harvester based on the adjusted current value.

[0013] In a possible implementation manner, the execution module is an electronic control unit, and the vehicle controller is used to adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, and send the adjusted execution parameters to the execution module. The vehicle controller is specifically used to:

[0014] A speed control signal is sent to the electronic control unit so that the electronic control unit adjusts the current engine power of the harvester to the target engine power based on the speed control signal.

[0015] In a possible implementation manner, the execution module is a steering handle, and when the vehicle controller is used to adjust the fan blowing angle and the header amplitude of the harvester during the harvesting process, the vehicle controller is specifically used to:

[0016] The current cutting table width of the harvester is acquired in real time. If the current cutting table width does not meet the target cutting table width, a steering command is sent to the steering handle so that the steering handle changes the travel direction of the harvester after receiving the steering command to complete the adjustment of the cutting table width.

[0017] In a possible implementation manner, the execution module is a hydraulic reversing valve, and when the vehicle controller is used to adjust the transmitter temperature of the harvester during the harvesting process, the vehicle controller is specifically used to:

[0018] The engine temperature is collected in real time via the CAN line, the fan positive blowing angle of the hydraulic reversing valve is determined based on the engine temperature, and the hydraulic reversing valve is controlled to adjust the fan positive blowing angle.

[0019] In a possible implementation manner, the vehicle controller is further used for:

[0020] The current operating status information of the harvester is fed back to the information platform in real time, so that the information platform can determine whether the harvester is in an abnormal state based on the current operating status information.

[0021] The present application also provides a harvester control method, the harvester control method comprising:

[0022] Obtain farmland information distribution map of the area to be operated in real time;

[0023] Analyze the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map to determine the grade information of each operation unit block;

[0024] Adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, send the adjusted execution parameters to the execution module, and adjust the fan positive blowing angle and the header amplitude of the harvester during the harvesting process;

[0025] The execution module is controlled to control the harvester to operate the current operation unit block based on the adjusted execution parameters.

[0026] An embodiment of the present application also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the harvester control method as described above are performed.

[0027] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the harvester control method as described above are executed.

[0028] The embodiment of the present application provides a harvester control system, method, electronic device and storage medium, the harvester control system includes a visual controller, a vehicle controller and an execution module, the visual controller and the execution module are both communicatively connected to the vehicle controller; wherein the visual controller is used to obtain a farmland information distribution map of the area to be operated in real time, and send the farmland information distribution map to the vehicle controller; the vehicle controller is used to analyze the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map, determine the level information of each operation unit block, adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, send the adjusted execution parameters to the execution module, and adjust the fan positive blowing angle and header amplitude of the harvester during the harvesting process; wherein the target execution parameters include a target header height, a target engine power and a target vehicle speed; the execution module is used to control the harvester to harvest the current operation unit block based on the adjusted execution parameters after receiving the adjusted execution parameters. By analyzing the working area before the harvester starts harvesting, the corresponding level information is matched to each working unit block, and the corresponding vehicle speed, engine power and header height are adjusted. During the harvesting process, full harvesting is ensured and the fan positive blowing angle is adaptively adjusted to improve the harvesting efficiency of the working area and reduce fuel consumption.

[0029] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 One of the structural schematic diagrams of a harvester control system provided in an embodiment of the present application;

[0032] Figure 2 The second structural diagram of a harvester control system provided in an embodiment of the present application;

[0033] Figure 3 A flow chart of a harvester control method provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a harvester control method provided in an embodiment of the present application;

[0035] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0036] Icons: 100-harvester control system; 110-vision controller; 120-vehicle controller; 130-execution module; 131-cutting table; 132-travel pump; 133-electronic control unit; 134-steering handle; 135-hydraulic reversing valve; 500-electronic equipment; 510-processor; 520-memory; 530-bus. DETAILED DESCRIPTION

[0037] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0038] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied in the field of agricultural machinery technology.

[0039] Research has found that when using large harvesters to harvest crops, the vehicle speed and cutting height should be adjusted to an appropriate range to maintain the best operating intensity and reduce fuel consumption. On the other hand, the driving route is also a factor that affects the fuel consumption of the harvester. During driving, try to avoid shuttling back and forth, and minimize turning and sharp turns to maintain the best operating efficiency and reduce vehicle fuel consumption. At present, the operation control of harvesters mainly relies on the driver to adjust the vehicle parameters in real time according to the working conditions. Not only can it not maintain the best operating intensity, but it can also not guarantee the maximum cutting width of the harvester, which can easily reduce the operating efficiency and waste fuel. Therefore, how to control the harvester and reduce the fuel consumption of the harvester has become a technical issue that cannot be underestimated.

[0040] Based on this, an embodiment of the present application provides a harvester control system, which analyzes the working area before the harvester harvests, matches the corresponding level information for each working unit block, adjusts the corresponding vehicle speed, engine power and harvesting table height, ensures full-width harvesting and adaptively adjusts the fan positive blowing angle during the harvesting process, thereby improving the harvesting efficiency of the working area and reducing fuel consumption.

[0041] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of a harvester control system provided in the embodiment of the present application. Figure 1 As shown in , the harvester control system 100 provided in the embodiment of the present application includes a visual controller 110 , a vehicle controller 120 and an execution module 130 , and the visual controller 110 and the execution module 130 are both communicatively connected to the vehicle controller 120 .

[0042] Specifically, the visual controller 110 is used to obtain the farmland information distribution map of the area to be operated in real time, and send the farmland information distribution map to the vehicle controller 120; the vehicle controller 120 is used to analyze the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map, determine the level information of each operation unit block, and adjust the current execution parameters of the execution module 130 based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, send the adjusted execution parameters to the execution module 130, and adjust the fan positive blowing angle and cutting table amplitude of the harvester during the harvesting process; wherein the target execution parameters include target cutting table height, target engine power and target vehicle speed; the execution module 130 is used to control the harvester to harvest the current operation unit block based on the adjusted execution parameters after receiving the adjusted execution parameters.

[0043] Here, the farmland information distribution map of the area to be operated is obtained in real time by carrying the visual controller 110, and the farmland information distribution map containing information such as crop density, crop growth, lodging and crop yield generated in real time is imported into the vehicle controller 120. The vehicle controller 120 uses image processing to analyze the crop lodging, crop density, crop growth and crop yield of each operation unit block to obtain the level information corresponding to each operation unit block. Different level information corresponds to different execution parameters.

[0044] The harvester can be connected to the remote sensing drone in real time through its Bluetooth module, receive the farmland information distribution map of the area to be operated from the drone in real time, and cooperate with the visual controller 110 to guide the vehicle operation, thereby improving the accuracy of the harvester's operation parameters.

[0045] Here, the drone is equipped with a visible light camera or a hyperspectral camera, and the flight route is reasonably planned before shooting images, which matches the planned operation route of the unmanned harvester to improve the accuracy of the operation area. Among them, the visual controller 110 is a controller that integrates the CPU processor and the camera, which reduces the volume occupied by the installation in the cab. The visual controller 110 communicates with the vehicle controller 120 through the CAN bus, and the vehicle controller 120 responds to the instructions issued by the visual controller 110 in a timely manner, so that the delay is low.

[0046] In a specific embodiment, the input pins of the vehicle controller 120 are initialized before the harvester operates; during operation, the vehicle controller 120 receives the current position information, and according to the corresponding matching level information of the unit block currently operating calculated by the upper computer, adjusts in advance to the set appropriate current size of the travel pump 132, thereby realizing intelligent vehicle speed adjustment, controlling the harvester to operate with an appropriate feed amount, improving operating efficiency, and realizing intelligent variable operation.

[0047] For further information, see Figure 2 , Figure 2 This is a second structural diagram of a harvester control system 100 provided in an embodiment of the present application. Figure 2 As shown, the execution module 130 includes a header 131 , a travel pump 132 , an electronic control unit 133 , a steering handle 134 and a hydraulic reversing valve 135 .

[0048] In a possible implementation manner, the execution module 130 is a harvesting platform 131, and the vehicle controller 120 is used to adjust the current execution parameters of the execution module 130 based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, and send the adjusted execution parameters to the execution module 130. The vehicle controller 120 is specifically used to:

[0049] The current cutting table height of the harvester sent by the angle sensor on the cutting table 131 is obtained in real time, and the current cutting table height is adjusted based on the target cutting table height and a preset cutting table height tolerance range, so that the cutting table can perform crop stubble processing on the current operation unit block based on the adjusted cutting table height.

[0050] Here, the current cutting table height of the harvester is obtained in real time through the angle sensor installed on the cutting table of the harvester, and the current cutting table height is controlled to reach the tolerance range of the cutting table height threshold set in the operation mode of stubble cutting by controlling the solenoid valve connected to the cutting table.

[0051] In a possible implementation manner, the execution module 130 is a travel pump 132, and the vehicle controller 120 is used to adjust the current execution parameters of the execution module 130 based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, and when the adjusted execution parameters are sent to the execution module 130, the vehicle controller 120 is specifically used to:

[0052] Based on the target vehicle speed, the target current value of the travel pump 132 at the target vehicle speed is determined; based on the target current value, the current value of the travel pump 132 is adjusted so that the travel pump 132 adjusts the vehicle speed of the harvester based on the adjusted current value.

[0053] Here, the target current value of the travel pump 132 at the target vehicle speed is determined according to the target vehicle speed, and the current current value of the travel pump 132 is adjusted according to the target current value, so that the travel pump 132 adjusts the speed of the harvester according to the adjusted current value.

[0054] Among them, the travel pump 132 is connected to the vehicle controller 120. The vehicle controller 120 controls the current of the travel pump 132 to control the speed of the travel motor, thereby controlling the speed of the harvester drive wheel and adjusting the harvester speed to control the feeding amount of the harvester per unit time.

[0055] In a possible implementation manner, the execution module 130 is an electronic control unit 133, and the vehicle controller 120 is used to adjust the current execution parameters of the execution module 130 based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, and send the adjusted execution parameters to the execution module 130. The vehicle controller 120 is specifically used to:

[0056] A speed control signal is sent to the electronic control unit 133, so that the electronic control unit 133 adjusts the current engine power of the harvester to the target engine power based on the speed control signal.

[0057] Here, the electronic control unit 133 is connected to the vehicle controller 120 through a bus. The vehicle controller 120 sends a speed control signal to the ECU (electronic control unit 133) through a bus message to change the engine power output. When the harvester is running idle or turning, the feed amount is reduced and the engine power is reduced, thereby saving fuel consumption.

[0058] In a possible implementation manner, the execution module 130 is a steering handle 134, and when the vehicle controller 120 is used to adjust the fan blowing angle and the header amplitude of the harvester during the harvesting process, the vehicle controller 120 is specifically used to:

[0059] The current cutting table width of the harvester is obtained in real time. If the current cutting table width does not meet the target cutting table width, a steering command is sent to the steering handle 134, so that the steering handle 134 changes the travel direction of the harvester after receiving the steering command to complete the adjustment of the cutting table width.

[0060] Here, the current cutting table width of the harvester is obtained in real time. If the current cutting table width does not meet the target cutting table width, a steering command is sent to the steering handle 134 so that the steering handle 134 changes the direction of travel of the harvester after receiving the steering command to complete the adjustment of the cutting table width.

[0061] Among them, the steering handle 134 is connected to the vehicle controller 120. After receiving the steering signal, the vehicle controller 120 cuts off the power of the steering valve on the steering side, thereby changing the direction of travel and adjusting the cutting width of the harvester to ensure that the harvesting width is the largest and full-width harvesting is carried out.

[0062] In a specific embodiment, during the operation, the visual controller 110 determines the cutting width of the harvester in real time, changes the travel direction by changing the driving speed on the left and right sides of the harvester, and then adjusts the cutting width of the harvester to ensure that the cutting width of the harvester is the largest and full harvesting is performed.

[0063] In a possible implementation manner, the execution module 130 is a hydraulic reversing valve 135, and when the vehicle controller 120 is used to adjust the transmitter temperature of the harvester during the harvesting process, the vehicle controller 120 is specifically used to:

[0064] The engine temperature is collected in real time through the CAN line, the fan positive blowing angle of the hydraulic reversing valve 135 is determined based on the engine temperature, and the hydraulic reversing valve 135 is controlled to adjust the fan positive blowing angle.

[0065] Here, the hydraulic reversing valve 135 is connected to the vehicle controller 120, and the positive blowing angle of the engine hydraulic reversing fan is adjusted by controlling the hydraulic reversing valve 135 connected to the fan hydraulic reversing valve 135. When harvesting, the harvester selects the positive blowing angle of the fan according to different engine temperatures.

[0066] In a possible implementation manner, the vehicle controller 120 is further used for:

[0067] The current operating status information of the harvester is fed back to the information platform in real time, so that the information platform can determine whether the harvester is in an abnormal state based on the current operating status information.

[0068] In this application, intelligent variable operation is performed according to the set value during the operation process, and the speed and other parameters of the harvester working parts are adjusted in real time, and the engine power is adjusted in real time according to the engine load. At the same time, the current operation status information is fed back to the information platform in real time to optimize the data of the information platform.

[0069] An embodiment of the present application provides a harvester control system, which includes a visual controller, a vehicle controller and an execution module, wherein the visual controller and the execution module are both communicatively connected to the vehicle controller; wherein the visual controller is used to obtain a farmland information distribution map of a to-be-operated area in real time, and send the farmland information distribution map to the vehicle controller; the vehicle controller is used to analyze the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map, determine the level information of each operation unit block, adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, send the adjusted execution parameters to the execution module, and adjust the fan blowing angle and header amplitude of the harvester during the harvesting process; wherein the target execution parameters include a target header height, a target engine power and a target vehicle speed; the execution module is used to control the harvester to harvest the current operation unit block based on the adjusted execution parameters after receiving the adjusted execution parameters. By analyzing the working area before the harvester starts harvesting, the corresponding level information is matched to each working unit block, and the corresponding vehicle speed, engine power and header height are adjusted. During the harvesting process, full harvesting is ensured and the fan positive blowing angle is adaptively adjusted to improve the harvesting efficiency of the working area and reduce fuel consumption.

[0070] See also Figure 3 , Figure 3 This is a flow chart of a harvester control method provided in an embodiment of the present application. Figure 3 As shown in , the harvester control method provided by the embodiment of the present application includes:

[0071] S301: Obtaining a farmland information distribution map of the area to be operated in real time.

[0072] In this step, the visual controller is used to obtain the farmland information distribution map of the area to be operated in real time.

[0073] S302: Analyze the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map to determine the level information of each operation unit block.

[0074] In this step, the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map are analyzed to determine the level information of each operation unit block.

[0075] S303: Adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, send the adjusted execution parameters to the execution module, and adjust the fan blowing angle and the cutting table amplitude of the harvester during the harvesting process.

[0076] In this step, the current execution parameters of the execution module are adjusted according to the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, the adjusted execution parameters are sent to the execution module, and the fan positive blowing angle and the cutting table amplitude of the harvester during the harvesting process are adjusted.

[0077] S304: Control the execution module to control the harvester to operate the current operation unit block based on the adjusted execution parameters.

[0078] In this step, the control execution module controls the harvester to operate the current operation unit block according to the adjusted execution parameters.

[0079] For further information, see Figure 4 , Figure 4 This is a schematic diagram of a harvester control method provided in an embodiment of the present application. Figure 4 As shown in the figure, the drone takes a picture of the distribution map of farmland information with the operation area, and generates an operation prescription map by image processing; the prescription map is imported into the host computer, and the vehicle controller receives and processes the operation information sent by the host computer; the current height of the header is judged by the angle sensor, and the height of the header is changed by changing the on-off of the solenoid valve to adjust the stubble height; the cutting width of the header is adjusted by changing the driving speed on the left and right sides of the harvester, changing the direction of travel, and then adjusting the cutting width of the harvester to ensure the maximum cutting width of the harvester and then full harvesting; the engine water temperature is collected in real time through the CAN line, and the positive blowing angle of the fan is adjusted by changing the hydraulic reversing valve; the current of the travel pump is changed to change the speed of the travel motor, and then the speed of the harvester is adjusted to control the feeding amount of the harvester; the engine speed is changed through the bus message, and the feeding amount is reduced when running empty or turning around; the operation status of the harvester is monitored in real time, so that the information platform can determine whether the harvester is in an abnormal state based on the operation status information.

[0080] In a possible implementation manner, the target execution parameter corresponding to the level information of the current operation unit block where the harvester is located is used to adjust the current execution parameter of the execution module, and the adjusted execution parameter is sent to the execution module, including:

[0081] The current cutting table height of the harvester sent by the angle sensor on the cutting table is obtained in real time, and the current cutting table height is adjusted based on the target cutting table height and a preset cutting table height tolerance range, so that the cutting table can perform crop stubble processing on the current operation unit block based on the adjusted cutting table height.

[0082] In a possible implementation manner, the target execution parameter corresponding to the level information of the current operation unit block where the harvester is located is used to adjust the current execution parameter of the execution module, and the adjusted execution parameter is sent to the execution module, including:

[0083] determining a target current value of the travel pump at the target vehicle speed based on the target vehicle speed;

[0084] The current value of the travel pump is adjusted based on the target current value so that the travel pump adjusts the speed of the harvester based on the adjusted current value.

[0085] In a possible implementation manner, the target execution parameter corresponding to the level information of the current operation unit block where the harvester is located is used to adjust the current execution parameter of the execution module, and the adjusted execution parameter is sent to the execution module, including:

[0086] A speed control signal is sent to the electronic control unit so that the electronic control unit adjusts the current engine power of the harvester to the target engine power based on the speed control signal.

[0087] In a possible implementation manner, during the harvesting process, the fan forward blowing angle and the harvesting table amplitude of the harvester are adjusted, including:

[0088] The current cutting table width of the harvester is acquired in real time. If the current cutting table width does not meet the target cutting table width, a steering command is sent to the steering handle so that the steering handle changes the travel direction of the harvester after receiving the steering command to complete the adjustment of the cutting table width.

[0089] In a possible implementation manner, during the harvesting process, the fan forward blowing angle and the harvesting table amplitude of the harvester are adjusted, including:

[0090] The engine temperature is collected in real time via the CAN line, the fan positive blowing angle of the hydraulic reversing valve is determined based on the engine temperature, and the hydraulic reversing valve is controlled to adjust the fan positive blowing angle.

[0091] In a possible implementation manner, the harvester control method further includes:

[0092] The current operating status information of the harvester is fed back to the information platform in real time, so that the information platform can determine whether the harvester is in an abnormal state based on the current operating status information.

[0093] The embodiment of the present application provides a harvester control method, which includes: obtaining a farmland information distribution map of the area to be operated in real time; analyzing the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map to determine the level information of each operation unit block; adjusting the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, sending the adjusted execution parameters to the execution module, and adjusting the fan blowing angle and header amplitude of the harvester during the harvesting process; controlling the execution module to control the harvester to operate the current operation unit block based on the adjusted execution parameters. By analyzing the operation area before the harvester harvests, the corresponding level information is matched for each operation unit block, the corresponding vehicle speed, engine power and header height are adjusted, and full-width harvesting is ensured during the harvesting process, and the fan blowing angle is adaptively adjusted, thereby improving the harvesting efficiency of the operation area and reducing fuel consumption.

[0094] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in , the electronic device 500 includes a processor 510 , a memory 520 and a bus 530 .

[0095] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 3 as well as Figure 4 The specific implementation of the steps of the harvester control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0096] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 3 as well as Figure 4 The specific implementation of the steps of the harvester control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0097] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0098] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0101] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0102] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A harvester control system, characterized in that: The harvester control system includes a visual controller, a vehicle controller and an execution module, and the visual controller and the execution module are both connected to the vehicle controller in communication; wherein, The visual controller is used to obtain a farmland information distribution map of the area to be operated in real time, and send the farmland information distribution map to the vehicle controller; The vehicle controller is used to analyze the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map, determine the level information of each operation unit block, adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, send the adjusted execution parameters to the execution module, and adjust the fan positive blowing angle and cutting table amplitude of the harvester during the harvesting process; wherein the target execution parameters include target cutting table height, target engine power and target vehicle speed; The execution module is used to control the harvester to harvest the current operation unit block based on the adjusted execution parameters after receiving the adjusted execution parameters.

2. The harvester control system according to claim 1, characterized in that: The execution module is a harvesting platform. When the vehicle controller is used to adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located and sends the adjusted execution parameters to the execution module, the vehicle controller is specifically used to: The current cutting table height of the harvester sent by the angle sensor on the cutting table is obtained in real time, and the current cutting table height is adjusted based on the target cutting table height and a preset cutting table height tolerance range, so that the cutting table can perform crop stubble processing on the current operation unit block based on the adjusted cutting table height.

3. The harvester control system according to claim 1, characterized in that: The execution module is a travel pump. When the vehicle controller is used to adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located and sends the adjusted execution parameters to the execution module, the vehicle controller is specifically used to: determining a target current value of the travel pump at the target vehicle speed based on the target vehicle speed; The current value of the travel pump is adjusted based on the target current value so that the travel pump adjusts the speed of the harvester based on the adjusted current value.

4. The harvester control system according to claim 1, characterized in that: The execution module is an electronic control unit. When the vehicle controller is used to adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located and sends the adjusted execution parameters to the execution module, the vehicle controller is specifically used to: A speed control signal is sent to the electronic control unit so that the electronic control unit adjusts the current engine power of the harvester to the target engine power based on the speed control signal.

5. The harvester control system according to claim 1, characterized in that: The execution module is a steering handle. When the vehicle controller is used to adjust the fan blowing angle and the cutting platform amplitude of the harvester during the harvesting process, the vehicle controller is specifically used to: The current cutting table width of the harvester is obtained in real time. If the current cutting table width does not meet the cutting table width, a steering command is sent to the steering handle so that the steering handle changes the travel direction of the harvester after receiving the steering command to complete the adjustment of the cutting table width.

6. The harvester control system according to claim 1, characterized in that: The execution module is a hydraulic reversing valve. When the vehicle controller is used to adjust the temperature of the transmitter of the harvester during the harvesting process, the vehicle controller is specifically used to: The engine temperature is collected in real time via the CAN line, the fan positive blowing angle of the hydraulic reversing valve is determined based on the engine temperature, and the hydraulic reversing valve is controlled to adjust the fan positive blowing angle.

7. The harvester control system according to claim 1, characterized in that: The vehicle controller is also used for: The current operating status information of the harvester is fed back to the information platform in real time, so that the information platform can determine whether the harvester is in an abnormal state based on the current operating status information.

8. A harvester control method, characterized in that: The harvester control method is applied to the harvester control system according to any one of claims 1 to 7, and the harvester control method comprises: Obtain farmland information distribution map of the area to be operated in real time; Analyze the crop density, crop growth and crop yield of each operation unit block in the farmland information distribution map to determine the grade information of each operation unit block; Adjust the current execution parameters of the execution module based on the target execution parameters corresponding to the level information of the current operation unit block where the harvester is located, send the adjusted execution parameters to the execution module, and adjust the fan positive blowing angle and the header amplitude of the harvester during the harvesting process; The execution module is controlled to control the harvester to operate the current operation unit block based on the adjusted execution parameters.

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

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the harvester control method as described in claim 8 are executed.

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