Automatic cleaning method and system for picking head and picking spindle, cotton picker, electronic equipment and storage medium

Abstract

The invention discloses an automatic cleaning method and system for a picking head and a picking spindle, a cotton picker, electronic equipment and a storage medium, the method considers that the environment temperature is the most important influence factor of water pressure adjustment, the higher the temperature is, the more dry the cotton is, the cotton is easier to wind the picking head and the picking spindle, and meanwhile, the higher the running speed of the cotton picker is, the poorer the cleaning effect is considered. Therefore, after the environment temperature and the vehicle speed are collected, the water pressure set threshold value is preliminarily determined according to the environment temperature, then the set water pressure is automatically calculated according to the environment temperature, the vehicle speed and the water pressure set threshold value, finally the water pressure is automatically adjusted according to the set water pressure, the whole cleaning process is fully automatically adjusted, and the working water pressure does not need to be manually set; the requirement for a driver is lowered, a green driver can master the vehicle more easily, the set water pressure is obtained through automatic calculation according to the environment temperature and the vehicle speed, setting of the working water pressure is more accurate and more reasonable, and therefore the cleaning effect is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic cleaning of picking heads and spindles, and in particular, to an automatic cleaning method and system for picking heads and spindles, a cotton picker, an electronic device, and a computer-readable storage medium. Background Art

[0002] Cotton is a common field cash crop in China. With the development of agricultural mechanization, the cotton picking method has gradually changed from manual picking to machine picking. The high efficiency and long working time of cotton pickers have greatly improved the picking efficiency. In recent years, the number of cotton pickers has continued to increase, and with the development of science and technology, the intelligence of cotton pickers has become higher and higher. Among them, the automatic cleaning system of the picking spindles can not only reduce the difficulty of the driver to get started, but also improve the cleaning rate of the cotton picker. The picking head and picking spindle cleaning system used in the cotton pickers on the market currently uses a mechanical water pump or an electronic water pump. The working water pressure is set manually, and the pressure of the cleaning system is detected in real time by a pressure sensor for feedback adjustment. Specifically, the pressure regulating valve or the water pump motor adjusts the cleaning system pressure so that the cleaning system pressure matches the set pressure, thereby realizing automatic cleaning of the picking head and picking spindles. For example, patent CN208991332U discloses a cotton picker cleaning device, which presets the working water pressure according to work experience, and then adjusts the valve opening according to the detection value of the pressure sensor, so that the water pressure inside the distributor and outflowing from the water spray pipe is stabilized at a certain value, so that the cleaning device can more stably wet and cool the picking head and picking spindles. However, the existing automatic cleaning system for picking head and picking spindles requires the driver to manually preset the working water pressure according to his own work experience, which has high requirements on the driver's experience and skills, and is not suitable for novice drivers. In addition, it does not consider the impact of the external environment and vehicle status on the working water pressure. The working water pressure set according to manual experience is unreasonable, resulting in poor cleaning effect. Summary of the invention

[0003] The present invention provides a method and system for automatically cleaning a picking head and spindle, a cotton picker, an electronic device, and a computer-readable storage medium. The working water pressure does not need to be set manually, which reduces the requirements for the driver and makes it easier for novice drivers to get started. The set water pressure is automatically calculated based on the ambient temperature and vehicle speed, and the setting of the working water pressure is more accurate and reasonable, thereby greatly improving the cleaning effect.

[0004] According to one aspect of the present invention, there is provided a method for automatically cleaning a picking head and picking ingots, comprising the following contents:

[0005] Collect the current ambient temperature and vehicle speed;

[0006] Determine the water pressure setting threshold value according to the preset ambient temperature interval corresponding to the current ambient temperature, wherein different preset ambient temperature intervals correspond to different water pressure setting threshold values;

[0007] The set water pressure is calculated based on the current ambient temperature, the current vehicle speed and the water pressure setting threshold;

[0008] The actual water pressure of the wetting system is collected and compared with the set water pressure, and the actual water pressure is adjusted according to the comparison result to keep the actual water pressure consistent with the set water pressure.

[0009] Furthermore, the set water pressure is calculated based on the following formula:

[0010]

[0011] Among them, P t Indicates the set water pressure, P H represents the water pressure setting threshold, T represents the ambient temperature, T max Indicates the upper limit of the preset ambient temperature range in which the current ambient temperature is located, V indicates the current vehicle speed, and V max It indicates the maximum speed of the cotton picker, and V0 indicates the compensation speed.

[0012] Furthermore, after the set water pressure is calculated according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold, the following contents are also included:

[0013] The working pressure of the mining head is collected and a correction coefficient is calculated based on the working pressure of the mining head, and the set water pressure is corrected using the correction coefficient.

[0014] Furthermore, after the set water pressure is calculated according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold, the following contents are also included:

[0015] The humidity of the cotton is collected and compared with the preset humidity range, and the set water pressure is dynamically adjusted according to the comparison result so that the humidity of the cotton is within the preset humidity range.

[0016] Furthermore, after the set water pressure is calculated according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold, the following contents are also included:

[0017] Acquire images of cotton fields after harvest, and use image recognition algorithms to calculate the cotton picking rate based on the cotton field images, compare the calculated cotton picking rate with a preset cotton picking rate threshold, and dynamically adjust the set water pressure according to the comparison result so that the cotton picking rate is greater than or equal to the preset cotton picking rate threshold.

[0018] Furthermore, the following contents are also included:

[0019] The rear axle angle of the cotton picker is collected. If the rear axle angle is greater than the preset angle, the actual water pressure is adjusted to the maximum value.

[0020] In addition, the present invention also provides an automatic cleaning system for picking ingots and picking heads, which adopts the automatic cleaning method for picking ingots and picking heads as described above, and comprises:

[0021] Parameter collection module, used to collect current ambient temperature and current vehicle speed;

[0022] A water pressure setting threshold determination module, used to determine the water pressure setting threshold according to a preset ambient temperature interval corresponding to the current ambient temperature, wherein different preset ambient temperature intervals correspond to different water pressure setting thresholds;

[0023] A set water pressure calculation module is used to calculate the set water pressure according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold;

[0024] The water pressure automatic adjustment module is used to collect the actual water pressure of the wetting system and compare it with the set water pressure, and adjust the actual water pressure according to the comparison result to make the actual water pressure consistent with the set water pressure.

[0025] In addition, the present invention also provides a cotton picker, which adopts the automatic cleaning system for picking spindles as described above.

[0026] In addition, the present invention also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0027] In addition, the present invention also provides a computer-readable storage medium for storing a computer program for automatic cleaning of the picking head and ingot picking, and the computer program executes the steps of the method described above when running on a computer.

[0028] The present invention has the following beneficial effects:

[0029] The automatic cleaning method for picking heads and spindles of the present invention takes into account that the ambient temperature is the most important influencing factor for water pressure regulation. The higher the temperature and the drier the cotton, the easier it is for the cotton to wrap around the picking heads and spindles. At the same time, it is taken into account that the faster the driving speed of the cotton picker, the worse the cleaning effect. Therefore, after collecting the ambient temperature and the vehicle speed, the water pressure setting threshold is first preliminarily determined according to the ambient temperature, and then the set water pressure is automatically calculated according to the ambient temperature, the vehicle speed and the water pressure setting threshold. Finally, the water pressure is automatically adjusted according to the set water pressure. The entire cleaning process is fully automatically adjusted, and there is no need to manually set the working water pressure, which reduces the requirements for the driver and makes it easier for novice drivers to get started. In addition, the set water pressure is automatically calculated according to the ambient temperature and the vehicle speed, and the setting of the working water pressure is more accurate and reasonable, thereby greatly improving the cleaning effect.

[0030] In addition, the automatic cleaning system for picking heads and spindles and the cotton picking machine of the present invention also have the above advantages.

[0031] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 It is a first flow chart of the automatic cleaning method of the picking head and ingot picking according to the preferred embodiment of the present application.

[0034] Figure 2 It is a second flow chart of the automatic cleaning method of the picking head and ingot picking according to the preferred embodiment of the present application.

[0035] Figure 3 It is the third flow chart of the automatic cleaning method for picking heads and ingots in the preferred embodiment of the present application.

[0036] Figure 4 It is the fourth process diagram of the automatic cleaning method for picking heads and ingots in the preferred embodiment of the present application.

[0037] Figure 5 It is the fifth flow chart of the automatic cleaning method for picking heads and ingots in the preferred embodiment of the present application.

[0038] Figure 6 It is a schematic diagram of the module structure of the automatic cleaning system for picking heads and ingots of the preferred embodiment of the present application. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] Reference Figure 1 As shown, the preferred embodiment of the present application provides an automatic cleaning method for picking ingots, comprising the following contents:

[0041] Step S1: collecting the current ambient temperature and the current vehicle speed;

[0042] Step S2: determining a water pressure setting threshold value according to a preset ambient temperature interval corresponding to the current ambient temperature, wherein different preset ambient temperature intervals correspond to different water pressure setting threshold values;

[0043] Step S3: Calculate the set water pressure according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold;

[0044] Step S4: collecting the actual water pressure of the wetting system and comparing it with the set water pressure, and adjusting the actual water pressure according to the comparison result so that the actual water pressure is consistent with the set water pressure.

[0045] It can be understood that the automatic cleaning method for the picking heads and spindles of this embodiment takes into account that the ambient temperature is the most important influencing factor for water pressure regulation. The higher the temperature and the drier the cotton, the easier it is for the cotton to wrap around the picking heads and spindles. At the same time, it is considered that the faster the cotton picker travels, the worse the cleaning effect. Therefore, after collecting the ambient temperature and vehicle speed, the water pressure setting threshold is first preliminarily determined according to the ambient temperature, and then the set water pressure is automatically calculated according to the ambient temperature, vehicle speed and water pressure setting threshold. Finally, the water pressure is automatically adjusted according to the set water pressure. The entire cleaning process is fully automated, and there is no need to manually set the working water pressure, which reduces the requirements for the driver and makes it easier for novice drivers to get started. In addition, the set water pressure is automatically calculated according to the ambient temperature and vehicle speed, and the setting of the working water pressure is more accurate and reasonable, thereby greatly improving the cleaning effect.

[0046] It can be understood that in step S1, after the system is powered on and initialized, the current ambient temperature is collected through the temperature sensor, and the current speed of the cotton picker is collected through the speed sensor. Considering that the ambient temperature is the most important influencing factor for water pressure regulation, the cotton picker does not harvest in rainy weather, and in a dry environment, the higher the temperature and the drier the cotton, the easier it is for the cotton to wrap around the picking head and picking spindles. If the picking head and picking spindles are not cleaned in time, the cotton will not be harvested cleanly, and the clean cotton rate will decrease. At the same time, the faster the speed of the cotton picker, the worse the cleaning effect. Therefore, the present invention uses ambient temperature and speed as the two most important influencing factors for water pressure setting, and then automatically calculates and sets the water pressure based on the collected current ambient temperature and speed, and automatically adjusts the water pressure.

[0047] It can be understood that in the step S2, the ambient temperature is used as the first influencing factor of the water pressure setting, and different water pressures need to be set at different ambient temperatures. Therefore, the present invention determines the water pressure setting threshold according to the preset ambient temperature interval corresponding to the current ambient temperature, that is, determines the adjustment range of the set water pressure, wherein different preset ambient temperature intervals correspond to different water pressure setting thresholds. Specifically, if the current ambient temperature is greater than 0°C and less than T1, the water pressure setting threshold is P1, that is, the adjustment range of the water pressure is set to 0~P1; if the current ambient temperature is greater than or equal to T1 and less than T2, the water pressure setting threshold is P2, that is, the adjustment range of the water pressure is set to 0~P2; if the current ambient temperature is greater than or equal to T2 and less than T3, the water pressure setting threshold is P3, that is, the adjustment range of the water pressure is set to 0~P3; if the current ambient temperature is greater than or equal to T3 and less than T4, the water pressure setting threshold is P4, that is, the adjustment range of the water pressure is set to 0~P4; if the current ambient temperature is greater than T4 (for example, greater than 35°C), the water pressure setting threshold is set to the maximum water pressure that the wetting system can provide, generally 3bar. Among them, the specific values ​​of T1, T2, T3, T4, P1, P2, P3, and P4 can be set according to actual needs and are not specifically limited here.

[0048] It can be understood that in the above step S2, the adjustment range of the set water pressure has been preliminarily determined. In the step S3, considering that under the same washing water pressure, the faster the vehicle speed, the worse the washing effect, so different vehicle speeds need to correspond to different set water pressures. Therefore, the vehicle speed is used as the second influencing factor of the water pressure setting, and the set water pressure is calculated in combination with the current ambient temperature, the current vehicle speed and the water pressure setting threshold. Specifically, the set water pressure is calculated based on the following formula:

[0049]

[0050] Among them, P t Indicates the set water pressure, P H represents the water pressure setting threshold, T represents the ambient temperature, T max Indicates the upper limit of the preset ambient temperature range in which the current ambient temperature is located, V indicates the current vehicle speed, and V max It represents the maximum speed of the cotton picker, which is generally 6.8km / h. V0 represents the compensation speed, which sets different compensation values ​​according to the different preset temperatures of the current ambient temperature. For example, if the current ambient temperature is greater than 0℃ and less than T1, the compensation speed V0 is 0; if the current ambient temperature is greater than or equal to T1 and less than T2, the compensation speed V0 is 0.6; if the current ambient temperature is greater than or equal to T2 and less than T3, the compensation speed V0 is 1.2; if the current ambient temperature is greater than or equal to T3 and less than T4, the compensation speed V0 is 1.8; wherein, the specific value of the compensation speed can be limited according to actual needs, which is only used as an example here without specific limitation.

[0051] It can be understood that the present invention first preliminarily determines the water pressure setting threshold value according to the preset ambient temperature range corresponding to the current ambient temperature, and then automatically calculates the set water pressure in combination with the current ambient temperature, the current vehicle speed and the water pressure setting threshold value, thereby realizing automatic calculation of the set water pressure, eliminating the need for manual setting by the driver, reducing the requirements for the driver, making it easier for novice drivers to get started, and the working water pressure setting is more accurate and reasonable, greatly improving the cleaning effect.

[0052] It can be understood that in step S4, the actual water pressure of the wetting system is collected in real time by the pressure sensor, and compared with the set water pressure calculated in step S3. If the actual water pressure is greater than the set water pressure, the motor speed of the wetting system water pump is controlled to decrease. If the actual water pressure is less than the set water pressure, the motor speed of the water pump is controlled to increase, so that the actual water pressure is consistent with the set water pressure, thereby ensuring the stability of the cleaning effect. For example, in the process of automatic water pressure adjustment, the motor speed is adjusted every 200ms. Each time the motor speed is increased or decreased, when |P r -P t | / 10≤0.1bar, the speed adjustment is stopped, and the actual water pressure P r and set water pressure P t The unit is 0.1 bar.

[0053] Alternatively, if Figure 2 As shown, after the set water pressure is calculated according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold, the following contents are also included:

[0054] Step S31: Collect the mining head working pressure and calculate the correction coefficient according to the mining head working pressure, and use the correction coefficient to correct the set water pressure.

[0055] It can be understood that under the same cleaning water pressure, the higher the working pressure of the mining head, the worse the cleaning effect. Therefore, the working pressure of the mining head is collected in real time by the pressure sensor, and the correction coefficient is calculated based on the working pressure of the mining head to correct the set water pressure. Specifically, the correction coefficient is calculated based on the following formula: Among them, P0 represents the working pressure of the mining head, the unit is bar, P1 and P2 represent the lower limit and upper limit of the working pressure of the mining head under normal circumstances, respectively. Under normal circumstances, the working pressure of the mining head is between 100 bar and 300 bar. k represents the correction coefficient, k∈[0,1]. After calculating the correction coefficient k, k is compared with the set water pressure P t Multiply them together to get the corrected set water pressure.

[0056] It can be understood that the present invention also takes into account the influence of the mining head working pressure on the cleaning effect. After collecting the mining head working pressure, the correction coefficient is calculated and the set water pressure is corrected, which further improves the accuracy of the water pressure setting and further improves the cleaning effect.

[0057] Alternatively, if Figure 3 As shown, after the set water pressure is calculated according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold, the following contents are also included:

[0058] Step S32: Collect the humidity of the cotton and compare it with the preset humidity range, and dynamically adjust the set water pressure according to the comparison result so that the humidity of the cotton is within the preset humidity range.

[0059] It can be understood that the humidity of the cotton in the cotton collection box is detected in real time by the humidity sensor. If the actual cotton humidity is greater than the preset humidity range, the set water pressure is reduced. If the actual cotton humidity is less than the preset humidity range, the set water pressure is increased until the actual cotton humidity is within the preset humidity range. Thus, the set water pressure is dynamically adjusted according to the cotton humidity, thereby improving the cleaning effect and ensuring the cotton quality. Among them, the specific preset humidity range can be set according to actual needs and is not specifically limited here.

[0060] Optionally, step S32 may also be performed after step S31, that is, dynamically adjusting the corrected set water pressure according to the actual cotton moisture.

[0061] Alternatively, if Figure 4 As shown, after the set water pressure is calculated according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold, the following contents are also included:

[0062] Step S33: Acquire an image of the cotton field after harvest, and use an image recognition algorithm to calculate the cotton picking rate based on the cotton field image, compare the calculated cotton picking rate with a preset cotton picking rate threshold, and dynamically adjust the set water pressure according to the comparison result so that the cotton picking rate is greater than or equal to the preset cotton picking rate threshold.

[0063] It can be understood that the cotton field image after harvesting is captured by a camera, and then the cotton clean rate is calculated based on the cotton field image using an image recognition algorithm, wherein the specific image recognition calculation process belongs to the prior art and will not be repeated here. If the calculated clean rate is less than the preset clean rate threshold, the set water pressure is increased until the clean rate is greater than or equal to the preset clean rate threshold. The specific clean rate threshold can be set as needed, for example, set to 95%. Therefore, the present invention also dynamically adjusts the set water pressure by calculating the clean rate, and optimizes and adjusts the set water pressure from the perspective of harvesting effect, thereby further improving the accuracy of the water pressure setting and ensuring the harvesting effect.

[0064] Optionally, step S33 may also be executed after step S31 or step S32, and may also be executed synchronously with step S32, that is, the corrected set water pressure is dynamically adjusted according to the actual picking rate, or the corrected set water pressure is dynamically adjusted according to the actual cotton moisture and then dynamically adjusted according to the actual picking rate, or the corrected set water pressure is dynamically adjusted according to the actual cotton moisture and the actual picking rate at the same time. In addition, when the two dynamic adjustments are performed simultaneously, if the set water pressure needs to be increased based on the picking rate requirement, but the cotton moisture is already at the maximum value of the preset humidity range at this time, the set water pressure will no longer be increased to ensure the cotton harvesting quality.

[0065] Alternatively, if Figure 5 As shown, after step S4, the following contents are also included:

[0066] Step S5: collecting the rear axle angle of the cotton picker, if the rear axle angle is greater than a preset angle, adjusting the actual water pressure to a maximum value.

[0067] It can be understood that, in the process of the cotton picker performing the harvesting task, the angle of the rear axle of the cotton picker is detected in real time by the angle sensor. If it is detected that the angle of the rear axle is greater than the preset angle, it is determined that the cotton picker is in a line-changing state. At this time, the actual water pressure is directly adjusted to the maximum value, that is, the maximum pressure that the wetting system can provide. At this time, the water pressure is no longer automatically adjusted. The present invention determines whether the cotton picker is in a line-changing state by detecting the angle of the rear axle of the cotton picker. If the cotton picker is in a line-changing state, the actual water pressure is controlled to be directly adjusted to the maximum value, so that the maximum cleaning force can be used to clean the picking head spindles during the line-changing process, which greatly improves the cleaning effect and does not affect the harvesting task. In addition, the above step S5 can also be performed before step S3.

[0068] It can be understood that after the system is powered on, the input and output ports of the controller and the communication CAN bus will be initialized, and then the controller will collect the speed, ambient temperature, working pressure of the picking head, actual water pressure of the wetting system, cotton humidity, picking rate, rear axle angle and other data of the cotton picker in real time through speed sensors, temperature sensors, pressure sensors, humidity sensors, cameras, angle sensors and other equipment. After 1.5s of power-on, the current value of each sensor is detected in real time (unit is 0.01ma). If the current value is greater than the first threshold value (for example, 2100), the sensor is judged to be short-circuited. If the current value is less than the second threshold value (for example, 250), the sensor is judged to be open-circuited. If a short circuit or open circuit occurs, an alarm reminder is issued. In addition, after detecting that the current value of the sensor is normal, the picking head cleaning mode can also be selected, which specifically includes manual mode and automatic mode. If the driver selects the automatic mode, the program of the above-mentioned automatic cleaning method is executed. If the driver selects the manual mode, the driver needs to manually set the working water pressure.

[0069] In addition, if Figure 6 As shown, another embodiment of the present invention further provides an automatic cleaning system for picking ingots and picking heads, preferably using the automatic cleaning method for picking ingots and picking heads as described above, comprising:

[0070] Parameter collection module, used to collect current ambient temperature and current vehicle speed;

[0071] A water pressure setting threshold determination module, used to determine the water pressure setting threshold according to a preset ambient temperature interval corresponding to the current ambient temperature, wherein different preset ambient temperature intervals correspond to different water pressure setting thresholds;

[0072] A set water pressure calculation module is used to calculate the set water pressure according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold;

[0073] The water pressure automatic adjustment module is used to collect the actual water pressure of the wetting system and compare it with the set water pressure, and adjust the actual water pressure according to the comparison result to make the actual water pressure consistent with the set water pressure.

[0074] It can be understood that the automatic cleaning system for the picking heads and spindles of this embodiment takes into account that the ambient temperature is the most important influencing factor for water pressure regulation. The higher the temperature and the drier the cotton, the easier it is for the cotton to wrap around the picking heads and spindles. At the same time, it is considered that the faster the cotton picker travels, the worse the cleaning effect. Therefore, after collecting the ambient temperature and vehicle speed, the water pressure setting threshold is first preliminarily determined according to the ambient temperature, and then the set water pressure is automatically calculated according to the ambient temperature, vehicle speed and water pressure setting threshold. Finally, the water pressure is automatically adjusted according to the set water pressure. The entire cleaning process is fully automated, and there is no need to manually set the working water pressure, which reduces the requirements for the driver and makes it easier for novice drivers to get started. In addition, the set water pressure is automatically calculated according to the ambient temperature and vehicle speed, and the setting of the working water pressure is more accurate and reasonable, thereby greatly improving the cleaning effect.

[0075] In addition, another embodiment of the present invention further provides a cotton picker, which preferably adopts the automatic cleaning system for the picking head and spindles as described above.

[0076] In addition, another embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0077] In addition, another embodiment of the present invention further provides a computer-readable storage medium for storing a computer program for automatic cleaning of a picking head and ingot picking, wherein the computer program executes the steps of the method described above when running on a computer.

[0078] The general form of computer readable storage media includes: floppy disk, flexible disk, hard disk, magnetic tape, any other magnetic medium, CD-ROM, any other optical medium, punch cards, paper tape, any other physical medium with a pattern of holes, random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), flash erasable programmable read-only memory (FLASH-EPROM), any other memory chip or cartridge, or any other medium that can be read by a computer. The instructions can further be transmitted or received by a transmission medium. The term transmission medium can include any tangible or intangible medium that can be used to store, encode or carry instructions for execution by a machine, and includes digital or analog communication signals or other intangible media that facilitate the communication of the above instructions. Transmission media include coaxial cables, copper wires and optical fibers, which include the wires of a bus used to transmit a computer data signal.

[0079] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0080] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0081] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0082] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0083] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0084] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for automatically cleaning a picking head and picking ingots, characterized in that: Includes the following: Collect the current ambient temperature and vehicle speed; Determine the water pressure setting threshold value according to the preset ambient temperature interval corresponding to the current ambient temperature, wherein different preset ambient temperature intervals correspond to different water pressure setting threshold values; The set water pressure is calculated based on the current ambient temperature, the current vehicle speed and the water pressure setting threshold; The actual water pressure of the wetting system is collected and compared with the set water pressure, and the actual water pressure is adjusted according to the comparison result to keep the actual water pressure consistent with the set water pressure.

2. The automatic cleaning method for picking ingots as claimed in claim 1, characterized in that: The set water pressure is calculated based on the following formula: Among them, P t Indicates the set water pressure, P H represents the water pressure setting threshold, T represents the ambient temperature, T max Indicates the upper limit of the preset ambient temperature range in which the current ambient temperature is located, V indicates the current vehicle speed, and V max It indicates the maximum speed of the cotton picker, and V0 indicates the compensation speed.

3. The automatic cleaning method for picking ingots as claimed in claim 1, characterized in that: After the set water pressure is calculated based on the current ambient temperature, the current vehicle speed and the water pressure setting threshold, the following contents are also included: The working pressure of the mining head is collected and a correction coefficient is calculated based on the working pressure of the mining head, and the set water pressure is corrected using the correction coefficient.

4. The automatic cleaning method for picking ingots as claimed in claim 1, characterized in that: After the set water pressure is calculated based on the current ambient temperature, the current vehicle speed and the water pressure setting threshold, the following contents are also included: The humidity of the cotton is collected and compared with the preset humidity range, and the set water pressure is dynamically adjusted according to the comparison result so that the humidity of the cotton is within the preset humidity range.

5. The automatic cleaning method for picking ingots as claimed in claim 1, characterized in that: After the set water pressure is calculated based on the current ambient temperature, the current vehicle speed and the water pressure setting threshold, the following contents are also included: Acquire images of cotton fields after harvest, and use image recognition algorithms to calculate the cotton picking rate based on the cotton field images, compare the calculated cotton picking rate with a preset cotton picking rate threshold, and dynamically adjust the set water pressure according to the comparison result so that the cotton picking rate is greater than or equal to the preset cotton picking rate threshold.

6. The automatic cleaning method for picking ingots as claimed in claim 1, characterized in that: Also included are the following: The rear axle angle of the cotton picker is collected. If the rear axle angle is greater than the preset angle, the actual water pressure is adjusted to the maximum value.

7. An automatic cleaning system for picking ingots, using the automatic cleaning method for picking ingots as claimed in any one of claims 1 to 6, characterized in that: include: Parameter collection module, used to collect current ambient temperature and current vehicle speed; A water pressure setting threshold determination module, used to determine the water pressure setting threshold according to a preset ambient temperature interval corresponding to the current ambient temperature, wherein different preset ambient temperature intervals correspond to different water pressure setting thresholds; A set water pressure calculation module is used to calculate the set water pressure according to the current ambient temperature, the current vehicle speed and the water pressure setting threshold; The water pressure automatic adjustment module is used to collect the actual water pressure of the wetting system and compare it with the set water pressure, and adjust the actual water pressure according to the comparison result to make the actual water pressure consistent with the set water pressure.

8. A cotton picker, characterized in that: An automatic cleaning system for picking heads and spindles as described in claim 7 is adopted.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the method according to any one of claims 1 to 6 by calling the computer program stored in the memory.

10. A computer-readable storage medium for storing a computer program for automatic cleaning of a picking head and ingot picking, characterized in that: When the computer program is run on a computer, the steps of the method according to any one of claims 1 to 6 are executed.

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