Automatic cleaning method and system for picking heads and spindles, cotton picker, electronic equipment, and storage medium

Abstract

The application discloses a kind of head picking spindle automatic cleaning method and system, cotton picker, electronic equipment, storage medium, the method considers that environmental temperature is the most important influence factor of water pressure regulation, the higher temperature, cotton is drier, then cotton is more easily wound head picking spindle, simultaneously consider that the faster the driving speed of cotton picker, the worse the cleaning effect is.Therefore, after collecting environmental temperature and vehicle speed, first, the water pressure setting threshold is preliminarily determined according to the environmental temperature, then the set water pressure is automatically calculated according to the environmental temperature, vehicle speed and water pressure setting threshold, and finally, the water pressure is automatically adjusted according to the set water pressure.The whole cleaning process is automatically adjusted, without manually setting the working water pressure, reducing the requirements for the driver, making it easier for novice drivers to get started, and the set water pressure is automatically calculated according to the environmental temperature and vehicle speed, so the setting of working water pressure is more accurate and reasonable, thereby greatly improving the cleaning effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic cleaning of picking head picking spindle, in particular, relates to a kind of automatic cleaning method and system of picking head picking spindle, cotton picker, electronic equipment, computer readable storage medium. BACKGROUND

[0002] Cotton is a common field economic 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 picker greatly improve the picking efficiency. In recent years, the number of cotton pickers has been increasing, and with the development of technology, the intelligence level of cotton pickers is getting higher and higher. The automatic cleaning system of picking spindle not only reduces the difficulty of the driver, but also improves the picking rate of the cotton picker. The current market uses mechanical water pump or electronic water pump for the cleaning system of picking head picking spindle. The working water pressure is set artificially, and the pressure of the cleaning system is adjusted in real time by the feedback of the pressure sensor. The pressure of the cleaning system is adjusted by the pressure regulating valve or water pump motor to match the set pressure, so as to realize the automatic cleaning of picking head picking spindle. For example, patent CN208991332U discloses a cleaning device for cotton picker. According to the working experience, the working water pressure is preset, and then the opening of the valve is adjusted according to the detection value of the pressure sensor, so that the water pressure in the distributor and the outflow of the water spray pipe is stabilized at a certain value, so that the cleaning device can more stably wet and cool the picking head picking spindle. However, the existing automatic cleaning system of picking head picking spindle needs the driver to manually set the working water pressure according to his own working experience, which requires high experience and technical requirements for the driver, and is not suitable for novice drivers. Moreover, the influence of external environment and vehicle state on working water pressure is not considered, and the working water pressure set according to artificial experience is unreasonable, resulting in poor cleaning effect. SUMMARY

[0003] The present application provides an automatic cleaning method and system of picking head picking spindle, cotton picker, electronic equipment, computer readable storage medium, which can set the working water pressure without manual setting, reduce the requirements for the driver, make it easier for novice drivers to get started, and set the water pressure according to the environmental temperature and vehicle speed, so that the working water pressure is more accurate and reasonable, thus greatly improving the cleaning effect.

[0004] According to one aspect of the present application, an automatic cleaning method of picking head picking spindle is provided, comprising the following contents:

[0005] Collecting the current environmental temperature and the current vehicle speed;

[0006] Determining the water pressure setting threshold according to the preset environmental temperature interval corresponding to the current environmental temperature, wherein different preset environmental temperature intervals correspond to different water pressure setting thresholds;

[0007] The set water pressure is calculated according to the current environment temperature, the current vehicle speed and the water pressure set threshold value;

[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, so that the actual water pressure is consistent with the set water pressure.

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

[0010]

[0011] Wherein, P t represents the set water pressure, P H represents the water pressure set threshold value, T represents the environment temperature, T max represents the upper limit value of the preset environment temperature interval where the current environment temperature is located, V represents the current vehicle speed, V max represents the maximum vehicle speed of the cotton picker, V0 represents the compensation vehicle speed.

[0012] Further, after the set water pressure is calculated according to the current environment temperature, the current vehicle speed and the water pressure set threshold value, the following contents are further included:

[0013] The working pressure of the pickup head is collected, and the correction coefficient is calculated according to the working pressure of the pickup head, and the set water pressure is corrected by using the correction coefficient.

[0014] Further, after the set water pressure is calculated according to the current environment temperature, the current vehicle speed and the water pressure set threshold value, the following contents are further 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] Further, after the set water pressure is calculated according to the current environment temperature, the current vehicle speed and the water pressure set threshold value, the following contents are further included:

[0017] The image of the cotton field after harvesting is obtained, and the image recognition algorithm is used to calculate the net picking rate of the cotton based on the cotton field image, and the calculated net picking rate is compared with the preset net picking rate threshold value, and the set water pressure is dynamically adjusted according to the comparison result, so that the net picking rate is greater than or equal to the preset net picking rate threshold value.

[0018] Further, the following contents are further included:

[0019] The rear axle angle of the cotton picker is collected, and 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 a picking head and ingot picking, which adopts the automatic cleaning method for a picking head and ingot picking as described above, comprising:

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

[0022] A water pressure setting threshold determination module is 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 based on 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 keep the actual water pressure consistent with the set water pressure.

[0025] In addition, the present invention also provides a cotton picker that adopts the automatic cleaning system for picking heads and 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 is configured to execute 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 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.

[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 objects, features and advantages, the present application has other objects, features and advantages. The present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, illustrate embodiments of the application and assist in

[0033] Figure 1 is a first flowchart of the automatic cleaning method of the bit puller spindle according to the preferred embodiment of the present application.

[0034] Figure 2 is a second flowchart of the automatic cleaning method of the bit puller spindle according to the preferred embodiment of the present application.

[0035] Figure 3 is a third flowchart of the automatic cleaning method of the bit puller spindle according to the preferred embodiment of the present application.

[0036] Figure 4 is a fourth flowchart of the automatic cleaning method of the bit puller spindle according to the preferred embodiment of the present application.

[0037] Figure 5 is a fifth flowchart of the automatic cleaning method of the bit puller spindle according to the preferred embodiment of the present application.

[0038] Figure 6 is a schematic diagram of the module structure of the automatic cleaning system of the bit puller spindle according to the preferred embodiment of the present application. DETAILED DESCRIPTION

[0039] It should be noted that the embodiments and features of the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0040] Referring to Figure 1 The preferred embodiment of the present application provides an automatic cleaning method of a bit puller spindle, which includes the following contents:

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

[0042] Step S2: determining a 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;

[0043] Step S3: calculating a 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 will not harvest in rainy weather, while in a dry environment, the higher the temperature and the drier the cotton, the more likely the cotton will be entangled in the picking heads and spindles. If the picking heads and spindles are not cleaned in time, the cotton will not be harvested cleanly, which will in turn lead to a decrease in the clean cotton picking rate. 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 subsequently 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 step S2, the ambient temperature is used as the first influencing factor for setting the water pressure. Different water pressures need to be set at different ambient temperatures. Therefore, the present invention determines the water pressure setting threshold value 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 threshold values. Specifically, if the current ambient temperature is greater than 0°C and less than T1, the water pressure setting threshold value is P1, that is, the adjustment range of the set water pressure is 0 to P1; if the current ambient temperature is greater than or equal to T1 and less than T2, the water pressure setting threshold value is P2, that is, the adjustment range of the set water pressure is 0 to P2; if the current ambient temperature is greater than or equal to T2 and less than T3, the water pressure setting threshold value is P3, that is, the adjustment range of the set water pressure is 0 to P3; if the current ambient temperature is greater than or equal to T3 and less than T4, the water pressure setting threshold value is P4, that is, the adjustment range of the set water pressure is 0 to P4; if the current ambient temperature is greater than T4 (for example, greater than 35°C), the water pressure setting threshold value is set to the maximum water pressure that the wetting system can provide, generally 3 bar. 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, different vehicle speeds need to correspond to different set water pressures. Therefore, the vehicle speed is used as the second influencing factor for the water pressure setting. 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, V max It represents the maximum speed of the cotton picker, which is generally 6.8 km / 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; among them, the specific value of the compensation speed can be limited according to actual needs. It is only used as an example here and is not specifically limited.

[0051] It can be understood that the present invention first preliminarily determines the water pressure setting threshold based on 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, thereby realizing the automatic calculation of the set water pressure. There is no need for manual setting by the driver, which reduces the requirements for the driver and makes it easier for novice drivers to get started. In addition, the working water pressure setting is more accurate and reasonable, which greatly improves 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. This keeps the actual water pressure consistent with the set water pressure, thereby ensuring the stability of the cleaning effect. For example, during the automatic water pressure adjustment process, 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, as Figure 2 As shown, 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:

[0054] Step S31: collecting the mining head working pressure and calculating a correction coefficient based on the mining head working pressure, and using the correction coefficient to correct the set water pressure.

[0055] It is understandable 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 thus further improves the cleaning effect.

[0057] Alternatively, as Figure 3 As shown, 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:

[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 sensor detects the humidity of the cotton in the cotton collection box in real time. If the actual humidity of the cotton is greater than the preset humidity range, the set water pressure is reduced. If the actual humidity of the cotton is less than the preset humidity range, the set water pressure is increased until the actual humidity of the cotton is within the preset humidity range. In this way, the set water pressure is dynamically adjusted according to the humidity of the cotton, thereby improving the cleaning effect while ensuring the quality of the cotton. 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, as Figure 4 As shown, 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:

[0062] Step S33: Obtain 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 picking rate with a preset picking rate threshold, and dynamically adjust the set water pressure according to the comparison result so that the picking rate is greater than or equal to the preset picking rate threshold.

[0063] It can be understood that the image of the cotton field after harvesting is captured by a camera, and then the cotton picking rate is calculated based on the cotton field image using an image recognition algorithm. The specific image recognition calculation process belongs to the prior art and will not be repeated here. If the calculated picking rate is less than the preset picking rate threshold, the set water pressure is increased until the picking rate is greater than or equal to the preset picking rate threshold. The specific picking 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 picking 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 can also be executed after step S31 or step S32, and can also be executed synchronously with step S32, that is, the set water pressure after correction is dynamically adjusted according to the actual picking purity, or the set water pressure after correction is dynamically adjusted according to the actual cotton humidity and then dynamically adjusted according to the actual picking purity, or the set water pressure after correction is dynamically adjusted according to the actual cotton humidity and the actual picking purity at the same time, and in addition, when the two dynamic adjustments are performed at the same time, if the set water pressure needs to be increased based on the requirement of the picking purity, but at this time the cotton humidity has reached the maximum value in the preset humidity range, the set water pressure will not be continuously increased to ensure the picking quality of the cotton.

[0065] Optionally, as shown in step S4, the following contents are further included: Figure 5

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

[0067] It can be understood that in the process of the cotton picker performing the picking task, the rear axle angle of the cotton picker is detected in real time by the angle sensor, and if it is detected that the rear axle angle is greater than a preset angle, it is determined that the cotton picker is in a row 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 automatic water pressure adjustment is not performed. The present application detects the rear axle angle of the cotton picker to determine whether the cotton picker is in a row changing state, and if the cotton picker is in a row changing state, the actual water pressure is directly adjusted to the maximum value, so that the maximum cleaning force is used to clean the picking head during the row changing process, which greatly improves the cleaning effect and does not affect the picking task. In addition, the above step S5 can also be executed 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 vehicle speed, environmental temperature, picking head working pressure, actual water pressure of the wetting system, cotton humidity, picking purity, rear axle angle and other data of the cotton picker in real time through the speed sensor, temperature sensor, pressure sensor, humidity sensor, camera, angle sensor and other devices. After being powered on for 1.5s, the current value (unit: 0.01ma) of each type of sensor is detected in real time, if the current value is greater than a first threshold value (for example, 2100), it is determined that the sensor is short-circuited, if the current value is less than a second threshold value (for example, 250), it is determined that the sensor is open-circuited, and if short-circuiting or open-circuiting occurs, an alarm 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 a manual mode and an automatic mode, wherein if the driver selects the automatic mode, the program of the above-mentioned automatic cleaning method is executed, and 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 a picking head and ingot picking, preferably using the automatic cleaning method for a picking head and ingot picking as described above, comprising:

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

[0071] A water pressure setting threshold determination module is 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 based on 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 keep 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 the picking head and ingot picking, wherein the computer program executes the steps of the method described above when running on a computer.

[0078] Generally, computer readable storage media includes any media that can be accessed by a computer. By way of example, and not limitation, computer readable storage media can comprise storage media such as RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other storage medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, or twisted pair, then the coaxial cable, fiber optic cable, or twisted pair are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, Blu-ray® disc, and floppy disk used to store software.

[0079] Those skilled in the art will appreciate that embodiments of the present application can be devised for a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code thereon for use by or in connection with an instruction execution system. Program code embodied on one or more computer readable storage media can be transmitted using any

[0080] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. Figure 1 The flowchart and / or block diagram in the figure illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart and / or block diagram Figure 1 Means for carrying out each one or more of the functions specified in the flowchart and / or block diagram block or blocks.

[0081] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0083] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional 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 that fall within the scope of the present application.

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

[0085] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for automatically cleaning a picking head and ingot, characterized in that: Includes the following: Collect current ambient temperature and current vehicle speed; Determining a water pressure setting threshold value according to a preset ambient temperature range corresponding to the current ambient temperature, wherein different preset ambient temperature ranges 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 spindles according to 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, V max It indicates the maximum speed of the cotton picker, and V0 indicates the compensation speed.

3. The automatic cleaning method for picking spindles according to 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 spindles according to 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. The water pressure is dynamically adjusted according to the comparison result to ensure that the humidity of the cotton is within the preset humidity range.

5. The automatic cleaning method for picking spindles according to 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: Obtain images of cotton fields after harvest, and use image recognition algorithms to calculate the cotton picking rate based on the cotton field images. The calculated picking rate is compared with a preset picking rate threshold, and the water pressure is dynamically adjusted according to the comparison result so that the picking rate is greater than or equal to the preset picking rate threshold.

6. The automatic cleaning method for picking spindles according to claim 1, characterized in that: Also included: 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 spindles, using the automatic cleaning method for picking spindles according to any one of claims 1 to 6, characterized in that: include: Parameter acquisition module, used to collect current ambient temperature and current vehicle speed; A water pressure setting threshold determination module is 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 based on 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 keep 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 used.

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 is configured to execute 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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