Method and device for controlling threshing feeding depth of harvester

Abstract

The invention provides a method and device for controlling the threshing feeding depth of a harvester, and the method comprises the steps: obtaining switching signals of a stem side switch and a spike side switch of the harvester when the harvester meets a preset condition; and adjusting the position of a crop conveying chain of the current harvester based on the switching signal. According to the technical scheme, self-adaptive control over the threshing feeding depth of the harvester is achieved, the working efficiency and the threshing quality are remarkably improved, the operation safety is enhanced, the workload of a driver is greatly relieved, and it is ensured that the harvester stably and efficiently runs in the complex working environment.

Description

Technical Field

[0001] The present application relates to the technical field of threshing depth control, and in particular to a method and device for controlling the threshing feeding depth of a harvester. Background Art

[0002] The development of harvesters has improved significantly in recent years, and their threshing and feeding performance is crucial to operating efficiency and harvesting quality. The depth of crop threshing feeding is a key factor affecting harvesting efficiency and quality. Too deep or too shallow will cause problems. Therefore, it is of practical significance to improve harvesting efficiency and quality by detecting and identifying the process of crop feeding into the threshing barrel, and adaptively adjusting the feeding depth to maintain the optimal position. One existing method for adjusting the threshing feeding depth is to manually adjust the threshing feeding depth. The driver controls the on and off of the threshing feeding depth motor through a simple manual button, and manually adjusts the threshing depth; another method is to automatically adjust the threshing feeding depth, set two depth switches, and realize the start and stop of the motor through the preset switch state, thereby adjusting the threshing depth.

[0003] However, the existing manual and automatic adjustment of threshing feeding depth has a rough adjustment function and lacks detailed control and early warning mechanisms, resulting in frequent poor feeding conditions or reduced threshing quality during operation, requiring frequent parking for inspection or maintenance, which takes up a lot of operation time, seriously affecting harvesting efficiency and quality, while increasing the operator's workload and lacking effective judgment ability and emergency response mechanism. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a method and device for controlling the threshing feeding depth of a harvester, which realizes comprehensive adaptive control of the threshing feeding depth of the harvester, significantly improves operating efficiency and threshing quality, enhances operational safety, greatly reduces the driver's workload, and ensures that the harvester operates stably and efficiently in a complex operating environment.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling the threshing feeding depth of a harvester, the control method comprising:

[0007] When the harvester meets the preset conditions, the switch signals of the stem side switch and the ear side switch of the harvester are obtained;

[0008] Based on the switch signal, the position of the crop conveying chain of the current harvester is adjusted.

[0009] Preferably, when the harvester meets the preset conditions, before obtaining the switch signals of the stem side switch and the ear side switch of the harvester, the control method further includes:

[0010] Based on the conditions of the stalks and ears of the target crop, the positions of the stalk-side switch and the ear-side switch of the current harvester on the supply side of the crop conveying chain of the harvester are adjusted.

[0011] Preferably, when the harvester meets the preset conditions, the switch signals of the stem side switch and the ear side switch of the harvester are obtained, including:

[0012] When the harvester satisfies the switch signal of the harvester's feeding depth automatic switch is an open signal, the switch signal of the crops on the left and / or right side of the harvester's cutting table is an open signal, the harvester's cutting clutch is in the closed position, the harvester is in the forward state and the harvester's cutting table is in the running state, the switch signals of the stem side switch and the ear side switch of the harvester are obtained.

[0013] Preferably, adjusting the position of the crop conveying chain of the current harvester based on the switch signal comprises:

[0014] When the switch signal of the stem side switch is an off signal and the switch signal of the ear side switch is an off signal, adjusting the position of the crop conveying chain of the current harvester to a first target crop conveying chain position;

[0015] When the switch signal of the stem side switch is an on signal and the switch signal of the ear side switch is an off signal, the position of the crop conveying chain of the current harvester is maintained;

[0016] When the switch signal of the stem side switch is a closed signal and the switch signal of the ear side switch is an open signal, the position of the crop conveying chain of the current harvester is maintained and an alarm is sounded;

[0017] When the switch signal of the stem side switch is an on signal and the switch signal of the ear side switch is an on signal, adjusting the position of the crop conveying chain of the current harvester to a second target crop conveying chain position;

[0018] When the switch signal of the stem side switch is an open signal time exceeding the first preset time, the switch signal of the ear side switch is an open signal time exceeding the second preset time and the position of the crop conveying chain of the current harvester is within the preset position range, the position of the crop conveying chain of the current harvester is maintained and an alarm is sounded.

[0019] Preferably, the control method further includes:

[0020] The harvester adjusts the position of the crop conveying chain of the current harvester in response to the manual adjustment instruction of the crop conveying chain.

[0021] In a second aspect, an embodiment of the present application further provides a control device for the threshing feeding depth of a harvester, the control device comprising:

[0022] An acquisition module, when the harvester meets the preset conditions, acquires the switch signals of the stem side switch and the ear side switch of the harvester;

[0023] The automatic adjustment module adjusts the position of the crop conveying chain of the current harvester based on the switch signal.

[0024] Preferably, the control device further comprises:

[0025] The switch adjustment module adjusts the supply side position of the stem side switch and the ear side switch of the current harvester on the crop conveying chain of the harvester based on the stem and ear conditions of the target crop.

[0026] Preferably, the acquisition module is specifically used for:

[0027] When the harvester satisfies the switch signal of the harvester's feeding depth automatic switch is an open signal, the switch signal of the crops on the left and / or right side of the harvester's cutting table is an open signal, the harvester's cutting clutch is in the closed position, the harvester is in the forward state and the harvester's cutting table is in the running state, the switch signals of the stem side switch and the ear side switch of the harvester are obtained.

[0028] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: 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 the machine-readable instructions are executed by the processor to execute the steps of controlling the threshing feeding depth of the harvester as described in the first aspect or any possible implementation manner of the first aspect.

[0029] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method for controlling the threshing feeding depth of the harvester described in the first aspect or any possible embodiment of the first aspect are executed.

[0030] The control method and device for the threshing feeding depth of the harvester provided in the embodiment of the present application, when the preset conditions are met, the harvester adjusts the position of the crop conveying chain by obtaining the signal status of the stem side switch and the ear side switch. In this way, the comprehensive adaptive control of the threshing feeding depth of the harvester is realized, which significantly improves the working efficiency and threshing quality, enhances the operating safety, greatly reduces the workload of the driver, and ensures that the harvester operates stably and efficiently in a complex working environment.

[0031] 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

[0032] 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.

[0033] Figure 1 A flow chart showing a method for controlling the threshing feeding depth of a harvester provided in an embodiment of the present application is shown;

[0034] Figure 2 One of the structural schematic diagrams of a device for controlling the threshing feeding depth of a harvester provided in an embodiment of the present application is shown;

[0035] Figure 3 A second structural schematic diagram of a device for controlling the threshing feeding depth of a harvester provided in an embodiment of the present application is shown;

[0036] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. 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. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0038] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0039] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario where the threshing feeding depth of a harvester needs to be controlled. The embodiments of the present application are not limited to specific application scenarios. Any scheme using the method and device for controlling the threshing feeding depth of a harvester provided by the embodiments of the present application is within the protection scope of the present application.

[0040] The development of harvesters has improved significantly in recent years, and their threshing and feeding performance is crucial to operating efficiency and harvesting quality. The depth of crop threshing feeding is a key factor affecting harvesting efficiency and quality. Too deep or too shallow will cause problems. Therefore, it is of practical significance to improve harvesting efficiency and quality by detecting and identifying the process of crop feeding into the threshing barrel, and adaptively adjusting the feeding depth to maintain the optimal position. One existing method for adjusting the threshing feeding depth is to manually adjust the threshing feeding depth. The driver controls the on and off of the threshing feeding depth motor through a simple manual button, and manually adjusts the threshing depth; another method is to automatically adjust the threshing feeding depth, set two depth switches, and realize the start and stop of the motor through the preset switch state, thereby adjusting the threshing depth. However, the existing manual and automatic adjustment of threshing feeding depth has a rough adjustment function and lacks detailed control and early warning mechanisms, resulting in frequent poor feeding conditions or reduced threshing quality during operation, requiring frequent parking for inspection or maintenance, which takes up a lot of operation time, seriously affecting harvesting efficiency and quality, while increasing the operator's workload and lacking effective judgment ability and emergency response mechanism.

[0041] In response to the above problems, the embodiments of the present application provide a method and device for controlling the threshing and feeding depth of a harvester, which realizes comprehensive adaptive control of the threshing and feeding depth of the harvester, significantly improves operating efficiency and threshing quality, enhances operational safety, greatly reduces the driver's workload, and ensures that the harvester operates stably and efficiently in a complex operating environment.

[0042] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.

[0043] See also Figure 1 , Figure 1 A flow chart of a method for controlling the threshing feeding depth of a harvester provided in an embodiment of the present application.

[0044] There are many factors that affect the efficiency and quality of harvesters, among which the depth of crop threshing feeding has the most direct impact on harvesting efficiency and operation quality. When feeding too deep, the threshing load will increase and a large amount of straw residue will be produced; when feeding too shallow, not only will the crop loss rate increase, bringing adverse consequences, but in serious cases, it will also cause blockage at the grass cutting place, thereby damaging the mechanical structure of the harvester.

[0045] like Figure 1 As shown in , a method for controlling the threshing feeding depth of a harvester provided in an embodiment of the present application comprises the following steps:

[0046] Step S101, when the harvester meets the preset conditions, the switch signals of the stem side switch and the ear side switch of the harvester are obtained.

[0047] In the present application, the stem side switch and the ear side switch adopt Hall sensor type inductive switch, and the lever of the Hall sensor type inductive switch has three main positions: Position 1 is the initial position of the lever, and Position 1 forms an angle of 45° with the mounting surface of the switch; Position 2 is the middle position of the lever, and the angle between Position 2 and Position 1 is 10°; Position 3 is the end position of the lever, and the angle between Position 3 and Position 2 is 80°. When the lever is between Position 1 and Position 2, the switch signal output is OFF, that is, the closing signal; and when the lever is between Position 2 and Position 3, the switch signal output is ON, that is, the opening signal. The difference between the stem side switch and the ear side switch is that the lever length of the stem side switch is longer than the lever length of the ear side switch.

[0048] Specifically, when the harvester satisfies the switch signal of the harvester's feeding depth automatic switch is an open signal, the switch signal of the crops on the left and / or right side of the harvester's cutting table is an open signal, the harvester's cutting clutch is in the closed position, the harvester is in the forward state and the harvester's cutting table is in the running state, the switch signals of the stem side switch and the ear side switch of the harvester are obtained.

[0049] Before step S101, the control method further includes: adjusting the positions of the stem side switch and the ear side switch of the current harvester on the supply side of the crop conveying chain of the harvester based on the conditions of the stems and ears of the target crop.

[0050] Here, in the present application, a switch adjustment lever is provided. The switch adjustment lever adjusts the current position of the stem side switch and the ear side switch based on the stem and ear conditions of the target crop, changes the detection position of the target crop during the transportation process of being fed into the harvester threshing cylinder, and realizes the change of the threshing feeding depth of the target crop, so as to better adapt to the complex harvesting environment and improve the threshing quality. As an example, different regions have different effects on rice growth. The rice stems planted in some regions are long, while the rice stems planted in other regions are short. When the rice stems are long, the extension range of the stems is wide and occupies a large space during the transportation process. In this case, the position of the stem side switch and the ear side switch is adjusted by the switch adjustment lever to increase the threshing feeding depth; when the rice ear is full, the grain is full, the overall weight of the ear is large and the structure is compact, and the full ear needs more space when entering the threshing cylinder. In this case, the position of the stem side switch and the ear side switch is adjusted by the switch adjustment lever to increase the threshing feeding depth.

[0051] Step S102: adjusting the position of the crop conveying chain of the current harvester based on the switch signal.

[0052] Here, crops may include but are not limited to: rice, wheat, corn and sorghum.

[0053] In the embodiment of the present application, the crop conveying chain of the harvester is located between the harvester's header and the harvester's threshing cylinder. The stem side switch and the ear side switch are installed on the supply side of the crop conveying chain. The stem side switch detects whether the stem of the target crop passes through the stem side switch, and the ear side switch detects whether the ear of the target crop passes through the ear side switch, so as to determine the depth of the target crop being fed. There is a preset distance between the stem side switch and the ear side switch.

[0054] In the present application, an angle sensor is installed on the transmission box of the crop conveyor chain to detect the change in the position of the crop conveyor chain in real time. The angle sensor can reversely infer the real-time position of the motor movement by detecting the position change of the crop conveyor chain to prevent the motor from overshooting. The angle sensor is equipped with a rotating rocker arm, which is combined with the rotating rocker arm on the transmission box. When the motor that controls the threshing feeding depth starts to work, it will drive the transmission box to rotate, so that the rocker arm of the angle sensor rotates between the initial position and the end position of the transmission box, wherein the angle range between the initial position and the end position of the transmission box is 0 degrees-120 degrees.

[0055] Regarding step S102, in specific implementation, as an example, the following steps may be included:

[0056] When the switch signal of the stem side switch is a closed signal and the switch signal of the ear side switch is a closed signal, the position of the crop conveying chain of the current harvester is adjusted to the first target crop conveying chain position. Here, when the switch signal of the stem side switch is a closed signal and the switch signal of the ear side switch is a closed signal, the target crop fed into the harvester is located outside the crop conveying chain. At this time, the motor controller of the harvester needs to control the motor to rotate so that the feeding direction of the target crop is close to the direction of the threshing barrel of the harvester, and the crop conveying chain moves upward as a whole through the transmission box of the harvester. Specifically, when the whole vehicle controller of the harvester receives no signal from the stem side switch and no signal from the ear side switch, it obtains the crop conveying chain position of the current harvester detected by the angle sensor, and outputs a PWM signal to the motor controller, so that the crop conveying chain position of the current harvester is at the first target conveying chain position, wherein the PWM signal is achieved by adjusting the duty cycle of the pulse, thereby controlling the average level of the output signal, and finally achieving the motor speed regulation function. Here, during the entire process of motor rotation, the duty cycle of the PWM signal corresponding to the motor speed is in the range of 20%-80%, and the effective range of the angle sensor corresponding to the motor speed is Vmin -V max , then the specific calculation formula for the duty cycle of the PWM signal output by the vehicle controller is shown in (1).

[0057]

[0058] Among them, y is the duty cycle of the PWM signal output by the vehicle controller, V is the voltage value fed back by the angle sensor, α 1 For every 1 volt increase in V, the duty cycle of the PWM signal output by the controller increases, α 0 It is the basic value of the duty cycle of the PWM signal. 1 The specific calculation formula is shown in (2). 0 The specific calculation formula is shown in (3).

[0059] α 1 =(80%-20%) / (V max -V min ) (2)

[0060] α 0 =V min ×(80%-20%) / (V max -V min ) (3)

[0061] As an example, assume that the voltage value V fed back by the angle sensor is 3 volts, V min =0.5 volts, V max =4.5 volts, the duty cycle of the PWM signal output by the vehicle controller needs to be 57.5%.

[0062] When the switch signal of the stem side switch is an on signal and the switch signal of the ear side switch is an off signal, the position of the crop conveying chain of the current harvester is maintained. Here, when the switch signal of the stem side switch is an on signal and the switch signal of the ear side switch is an off signal, the target crop fed into the harvester is located at the preset appropriate position of the crop conveying chain of the harvester, and the target crop fed into the harvester is of appropriate depth, and there is no need to use the motor to adjust the position of the crop conveying chain. The vehicle controller will control the motor to stop rotating and keep the crop conveying chain at the current position through the transmission box.

[0063] When the switch signal of the stem side switch is a closed signal and the switch signal of the ear side switch is an open signal, the position of the crop conveyor chain of the current harvester is maintained and an alarm is sounded. Here, when the switch signal of the stem side switch is a closed signal and the switch signal of the ear side switch is an open signal, the vehicle controller will control the motor to stop rotating and keep the crop conveyor chain at the current position through the transmission box. In this case, the vehicle controller will determine that the target crop feeding is abnormal and the crop conveyor chain may be blocked. At this time, the early warning mechanism is activated, the loose grass alarm is triggered, and the alarm buzzer sounds. At the same time, the harvester's human-machine interface will display "There may be loose grass accumulation around the stem side switch and the ear side switch, please check the stem side switch and the ear side switch". At this time, on the premise of ensuring safety, manual inspection and removal of accumulated obstructions are required. After the cleaning is completed, wait for the stem side and ear side switch signals to return to normal.

[0064] When the switch signal of the stem side switch is an on signal and the switch signal of the ear side switch is an on signal, the position of the crop conveying chain of the current harvester is adjusted to the second target crop conveying chain position. Here, when there is no signal from the stem side switch and there is no signal from the ear side switch, the target crop fed into the harvester is fed too deep. At this time, the motor controller of the harvester needs to control the motor rotation so that the feeding direction of the target crop approaches the direction of the harvester's header, and the crop conveying chain moves downward as a whole through the transmission box of the harvester, and the position of the crop conveying chain of the current harvester is adjusted to the second target crop conveying chain position.

[0065] When the switch signal of the stem side switch is the open signal time exceeding the first preset time, the switch signal of the ear side switch is the open signal time exceeding the second preset time and the position of the crop conveying chain of the current harvester is within the preset position range, the position of the crop conveying chain of the current harvester is maintained and an alarm is sounded. Here, the upper and lower activity ranges of the crop input chain are defined as deep-shallow areas. Assume that the voltage signal range output by the angle sensor is between 0-5 volts, and the effective voltage range for controlling the rotation of the motor is 0.5 volts-4.5 volts. According to the installation accuracy of the actual conveying chain, the deep-shallow area of ​​the chain is defined within the range of 0.64 volts-4.45 volts. When it is detected that it is outside the deep-shallow area of ​​more than one-third from the shallowest to the deepest (that is, the feedback value of the angle sensor detection voltage is ≥1.91 volts), and the state of both the stem side switch and the ear side switch having signals lasts for 5 seconds, the vehicle controller will determine it as a target crop falling alarm, and the crop conveying chain may be blocked. At this time, the early warning mechanism is activated, triggering the straw accumulation alarm. The alarm buzzer sounds, and the harvester's human-machine interface displays "Straw has fallen and accumulated around the stem side switch and ear side switch. Please check the stem side switch and ear side switch and remove the fallen straw."

[0066] Furthermore, the control method also includes: the harvester adjusts the position of the crop conveying chain of the current harvester in response to the manual adjustment instruction of the crop conveying chain.

[0067] In the present application, a deep side threshing feeding manual switch and a shallow side threshing feeding manual switch are provided on the walking handle of the harvester, which can manually adjust the position of the crop conveying chain, and then manually intervene in the depth of the target crop feeding into the threshing cylinder. When the deep side threshing manual switch is pressed, the vehicle controller will output a signal to rotate the motor in the deep threshing feeding direction, and drive the crop conveying chain as a whole to move upward through the transmission box; when the shallow side threshing manual switch is pressed, the vehicle controller will output a signal to rotate the motor in the shallow threshing feeding direction, and drive the crop conveying chain as a whole to move downward through the transmission box.

[0068] During the harvesting operation, when the driver manually adjusts the threshing feeding depth, the traditional method is to visually observe the depth of the target crop fed into the crop conveyor chain on the side of the harvester in the cab, and then manually adjust it. In addition, it is also necessary to always pay attention to other operating conditions of the harvester, requiring the driver to maintain a highly concentrated mental state. In this application, the position of the crop conveyor chain collected by the angle sensor is presented on the human-machine interface of the harvester. As an example, if the overall upward movement of the crop conveyor chain is manually adjusted, the bar graph on the human-machine interface of the harvester will gradually increase, and the color will change from white to black, where the bar graph shows the position of the crop conveyor chain.

[0069] In the present application, even if the harvester is in the automatic control state of threshing feeding depth, the manual adjustment instruction for manually adjusting the position of the crop conveying chain has priority.

[0070] An embodiment of the present application provides a method for controlling the threshing feeding depth of a harvester. Through the method, comprehensive adaptive control of the threshing feeding depth of the harvester is achieved, which significantly improves the operating efficiency and threshing quality, enhances operational safety, greatly reduces the driver's workload, and ensures that the harvester operates stably and efficiently in a complex operating environment.

[0071] Based on the same application concept, the embodiment of the present application also provides a control device for the threshing feeding depth of the harvester corresponding to the control method for the threshing feeding depth of the harvester provided in the above embodiment. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the control method for the threshing feeding depth of the harvester in the above embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0072] like Figures 2 to 3 As shown, Figure 2 This is one of the structural schematic diagrams of a device for controlling the threshing feeding depth of a harvester provided in an embodiment of the present application. Figure 3A schematic diagram of a control device for the depth of threshing feeding of a harvester provided in an embodiment of the present application Figure 2 .

[0073] like Figure 2 As shown in , the control device 210 includes:

[0074] An acquisition module 211, when the harvester meets a preset condition, acquires switch signals of a stem side switch and an ear side switch of the harvester;

[0075] The automatic adjustment module 212 adjusts the position of the crop conveying chain of the current harvester based on the switch signal.

[0076] like Figure 3 As shown in , preferably, the control device 210 also includes:

[0077] The switch adjustment module 213 adjusts the positions of the stem-side switch and the ear-side switch of the current harvester on the supply side of the crop conveying chain of the harvester based on the conditions of the stems and ears of the target crop.

[0078] Preferably, the acquisition module 211 is specifically used for:

[0079] When the harvester satisfies the switch signal of the harvester's feeding depth automatic switch is an open signal, the switch signal of the crops on the left and / or right side of the harvester's cutting table is an open signal, the harvester's cutting clutch is in the closed position, the harvester is in the forward state and the harvester's cutting table is in the running state, the switch signals of the stem side switch and the ear side switch of the harvester are obtained.

[0080] Preferably, the automatic adjustment module 212 is specifically used for:

[0081] When the switch signal of the stem side switch is an off signal and the switch signal of the ear side switch is an off signal, adjusting the position of the crop conveying chain of the current harvester to a first target crop conveying chain position;

[0082] When the switch signal of the stem side switch is an on signal and the switch signal of the ear side switch is an off signal, the position of the crop conveying chain of the current harvester is maintained;

[0083] When the switch signal of the stem side switch is a closed signal and the switch signal of the ear side switch is an open signal, the position of the crop conveying chain of the current harvester is maintained and an alarm is sounded;

[0084] When the switch signal of the stem side switch is an on signal and the switch signal of the ear side switch is an on signal, adjusting the position of the crop conveying chain of the current harvester to a second target crop conveying chain position;

[0085] When the switch signal of the stem side switch is an open signal time exceeding the first preset time, the switch signal of the ear side switch is an open signal time exceeding the second preset time and the position of the crop conveying chain of the current harvester is within the preset position range, the position of the crop conveying chain of the current harvester is maintained and an alarm is sounded.

[0086] like Figure 3 As shown in , preferably, the control device 210 also includes:

[0087] The manual adjustment module 214 is used for the harvester to adjust the position of the crop conveying chain of the current harvester in response to the manual adjustment instruction of the crop conveying chain.

[0088] See also Figure 4 , Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0089] like Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0090] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The steps of the method for controlling the transplanting depth of the rice transplanter in the method embodiment shown, and the specific implementation method can be found in the method embodiment, which will not be repeated here.

[0091] The present application also provides a computer-readable storage medium on which a computer program is stored. The computer program can be executed as described above when the processor runs it. Figure 1 The steps of the method for controlling the transplanting depth of the rice transplanter in the method embodiment shown, and the specific implementation method can be found in the method embodiment, which will not be repeated here.

[0092] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method 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, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0093] 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.

[0094] 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.

[0095] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable 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: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0096] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling the threshing feeding depth of a harvester, characterized in that: The control method comprises: When the harvester meets the preset conditions, the switch signals of the stem side switch and the ear side switch of the harvester are obtained; Based on the switch signal, the position of the crop conveying chain of the current harvester is adjusted.

2. The control method according to claim 1, characterized in that: When the harvester meets the preset conditions, before obtaining the switch signals of the stem side switch and the ear side switch of the harvester, the control method further includes: Based on the conditions of the stalks and ears of the target crop, the positions of the stalk-side switch and the ear-side switch of the current harvester on the supply side of the crop conveying chain of the harvester are adjusted.

3. The control method according to claim 1, characterized in that: When the harvester meets the preset conditions, the switch signals of the stem side switch and the ear side switch of the harvester are obtained, including: When the harvester satisfies the switch signal of the harvester's feeding depth automatic switch is an open signal, the switch signal of the crops on the left and / or right side of the harvester's cutting table is an open signal, the harvester's cutting clutch is in the closed position, the harvester is in the forward state and the harvester's cutting table is in the running state, the switch signals of the stem side switch and the ear side switch of the harvester are obtained.

4. The control method according to claim 1, characterized in that: The step of adjusting the position of the crop conveying chain of the current harvester based on the switch signal comprises: When the switch signal of the stem side switch is an off signal and the switch signal of the ear side switch is an off signal, adjusting the position of the crop conveying chain of the current harvester to a first target crop conveying chain position; When the switch signal of the stem side switch is an on signal and the switch signal of the ear side switch is an off signal, the position of the crop conveying chain of the current harvester is maintained; When the switch signal of the stem side switch is a closed signal and the switch signal of the ear side switch is an open signal, the position of the crop conveying chain of the current harvester is maintained and an alarm is sounded; When the switch signal of the stem side switch is an on signal and the switch signal of the ear side switch is an on signal, adjusting the position of the crop conveying chain of the current harvester to a second target crop conveying chain position; When the switch signal of the stem side switch is an open signal time exceeding the first preset time, the switch signal of the ear side switch is an open signal time exceeding the second preset time and the position of the crop conveying chain of the current harvester is within the preset position range, the position of the crop conveying chain of the current harvester is maintained and an alarm is sounded.

5. The control method according to claim 1, characterized in that: The control method further comprises: The harvester adjusts the position of the crop conveying chain of the current harvester in response to the manual adjustment instruction of the crop conveying chain.

6. A control device for the threshing feeding depth of a harvester, characterized in that: The control device comprises: An acquisition module, when the harvester meets the preset conditions, acquires the switch signals of the stem side switch and the ear side switch of the harvester; The automatic adjustment module adjusts the position of the crop conveying chain of the current harvester based on the switch signal.

7. The control device according to claim 6, characterized in that: The control device also includes: The switch adjustment module adjusts the supply side position of the stem side switch and the ear side switch of the current harvester on the crop conveying chain of the harvester based on the stem and ear conditions of the target crop.

8. The control device according to claim 6, characterized in that: The acquisition module is specifically used for: When the harvester satisfies the switch signal of the harvester's feeding depth automatic switch is an open signal, the switch signal of the crops on the left and / or right side of the harvester's cutting table is an open signal, the harvester's cutting clutch is in the closed position, the harvester is in the forward state and the harvester's cutting table is in the running state, the switch signals of the stem side switch and the ear side switch of the harvester are obtained.

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, and 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 control method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 5 are executed.

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