Corn harvester control method and device and corn harvester
By automatically adjusting the heading and field return height of the corn harvester, the problems of many operating steps, relying on experience and low accuracy in the existing technology are solved, and more efficient and accurate corn harvester operations are achieved.
Patent Information
- Application Number
- CN202411994313.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-04-15
AI Technical Summary
The existing corn harvester has many operating steps, which relies on driver experience and is low in accuracy, which can easily lead to equipment damage and increased fuel consumption.
A corn harvester control method is provided, which automatically adjusts the initial height of the header and the return machine by receiving the start signal, and automatically adjusts the height of the header and the return machine based on the preset crop residue state within the return field and the object detection model of the binocular vision system.
The operation steps are simplified, the operation efficiency is improved, the manual dependence is reduced, the adjustment accuracy is improved, and the effectiveness of corn harvester operation is improved.
Smart Images
Figure CN119828736A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of engineering machinery, and in particular to a corn harvester control method and device, and a corn harvester. Background Art
[0002] A corn harvester is an agricultural machine used to complete multiple operations such as picking ears, stacking, and returning the stalks to the field at one time when the corn is ripe. The corn harvester can complete the production links such as cutting, picking ears, peeling, straw processing, and rotary tillage of the land after harvesting according to the planting method and agronomic requirements. Before starting field operations each time, the corn harvester needs to engage the main clutch, then lower the header, lower the field return machine, and adjust the engine to the appropriate speed during the harvesting process. At present, the relevant operation control of the corn harvester during operation is mainly achieved by the driver based on the operating experience. However, the operation steps of the corn harvester are many and the operation times are frequent, which requires a high level of experience from the driver, and the manual control method has low precision, which can easily lead to equipment damage and increased fuel consumption of the corn harvester. Summary of the invention
[0003] In view of the above-mentioned deficiencies in the prior art, the purpose of the embodiments of the present application is to provide a corn harvester control method, device and corn harvester.
[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a corn harvester control method, comprising: When receiving a start signal, controlling the header of the corn harvester to descend to a first initial height and controlling the field return machine of the corn harvester to descend to a second initial height; Determine the current reference value of returning to the field based on the crop residue status within the preset returning to the field range; Determine whether the height of the field return machine needs to be adjusted based on the current field return reference value and the target field return reference value; When it is determined that the height of the field returning machine needs to be adjusted, the height of the field returning machine is adjusted based on the current field returning reference value, the target field returning reference value and the preset adjustment value; Determining whether the height of the header needs to be adjusted based on the first initial height, the preset ear-head height correspondence relationship, and the acquired ear height; When it is determined that the height of the header needs to be adjusted, the height of the header is adjusted based on the preset corresponding relationship between the ear and the header height and the ear height.
[0005] In the embodiment of the present application, the crop residue state includes the straw length, and the current returning to the field reference value is determined based on the crop residue state within the preset returning to the field range, including: Obtaining a first quantity of target straw within a preset field returning range, wherein the target straw is straw having a straw length exceeding a first preset length; A current field returning reference value is determined based on a ratio of the first quantity to a preset field returning range.
[0006] In the embodiment of the present application, after the step of controlling the corn harvester's field return machine to descend to the second initial height, the step further includes: Determine the stubble height within a preset field return range based on a binocular vision system and a preset target detection model, wherein the binocular vision system includes a first image collector and a second image collector, the first image collector and the second image collector are installed on an operating machine, the first image collector and the second image collector are separated by a preset interval distance and are located on the same horizontal plane, and the preset target detection model is constructed based on a YOLOv8 model, a preset number of standard convolution modules in the Neck part of the YOLOv8 model are replaced with multi-scale convolution modules, and a CPCA attention module is added after the SPPF module in the Backbone part of the YOLOv8 model to obtain a preset target detection model; Determine whether the difference between the stubble height and the preset maximum stubble height is within a preset difference range; When the difference exceeds the preset difference range and the stubble height is higher than the preset maximum stubble height, the height of the field return machine is adjusted downward until the difference is within the preset difference range.
[0007] In the embodiment of the present application, the stubble height within the preset field return range is determined based on the binocular vision system and the preset target detection model, including: Acquire a first image to be identified and a second image to be identified within a preset field return range based on a binocular vision system; Based on a preset target detection model, stubble in the first image to be identified and the second image to be identified are respectively identified and labeled to obtain a first stubble labeled image and a second stubble labeled image; Based on the image matching algorithm, feature points in the first stubble labeled image and the second stubble labeled image are respectively identified and matched to obtain a plurality of feature matching groups, wherein the feature matching group includes two feature points, which are feature points in the first stubble labeled image and feature points in the second stubble labeled image; Based on the pinhole imaging principle and the parallax ranging principle, the initial stubble height corresponding to each feature matching group is determined; The stubble height within the preset field return range is determined based on the initial stubble heights corresponding to all feature matching groups.
[0008] In the embodiment of the present application, when it is determined that the height of the field return machine needs to be adjusted, the height of the field return machine is adjusted based on the current field return reference value, the target field return reference value and the preset adjustment value, including: In the case where it is determined that the height of the field return machine needs to be adjusted, if the current field return reference value is less than or equal to the target field return reference value, the height of the field return machine is controlled to remain unchanged; If the current field return reference value is greater than the target field return reference value, the height of the field return machine is controlled to decrease based on the preset adjustment value until the current field return reference value is less than or equal to the target field return reference value; If the field return machine descends to the preset minimum field return height, and the current field return reference value is greater than the target field return reference value during the descent process, the height of the field return machine is controlled to return to the second initial height.
[0009] In the embodiment of the present application, the corn harvester control method further includes: Get ground height change information; The height of the field return machine and the harvesting platform are adjusted based on the ground height change information.
[0010] In the embodiment of the present application, the corn harvester control method further includes: Acquiring historical operation information, wherein the historical operation information includes a plurality of historical ear heights, a plurality of historical header heights, and a plurality of corresponding corn residue quantities in a harvested area; For each historical ear height, the corn loss rate corresponding to each historical header height is determined based on the corresponding corn remaining quantity; The historical header height with the minimum corn loss rate is used as the target header height for the historical ear height; A preset ear-header height correspondence is constructed based on all historical ear heights and the corresponding target header heights.
[0011] In the embodiment of the present application, the corn harvester control method further includes: When receiving the start signal, the main clutch of the corn harvester is connected to connect the engine of the corn harvester to the transmission system; Controlling the engine speed to a preset speed; Monitor engine speed information; When the speed information differs from the preset speed, the speed of the engine is adjusted to the preset speed.
[0012] A second aspect of the present application provides a corn harvester control device, comprising: a memory configured to store instructions; The processor is configured to call instructions from the memory and implement the corn harvester control method as described in the above embodiment when executing the instructions.
[0013] A third aspect of the present application provides a corn harvester, comprising: The corn harvester control device as described in the above embodiment; Cutting table; Field return machine; The corn harvester control device is connected to the cutting table and the field return machine respectively, and the corn harvester control device is used to send control signals to the cutting table and / or the field return machine to make the cutting table and / or the field return machine move.
[0014] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the corn harvester control method as described in the above-mentioned embodiment.
[0015] Through the above technical scheme, when receiving the start signal, the cutting table of the corn harvester is controlled to drop to the first initial height and the field return machine of the corn harvester is controlled to drop to the second initial height; the current field return reference value is determined based on the crop residue state within the preset field return range; whether the height of the field return machine needs to be adjusted is determined based on the current field return reference value and the target field return reference value; when it is determined that the height of the field return machine needs to be adjusted, the height of the field return machine is adjusted based on the current field return reference value, the target field return reference value and the preset adjustment value; whether the height of the cutting table needs to be adjusted is determined based on the first initial height, the preset ear-cutting table height correspondence and the acquired ear height; when it is determined that the height of the cutting table needs to be adjusted, the height of the cutting table is adjusted based on the preset ear-cutting table height correspondence and the ear height. The start signal can realize one-key triggering of the initial height adjustment of the cutting table and the field return machine, simplifying the operation steps and improving the operation efficiency. And realize the automatic adjustment of the cutting table height and the field return machine height, reduce manual dependence, and improve the adjustment accuracy, thereby further improving the effectiveness of the corn harvester operation.
[0016] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings: Figure 1 A schematic diagram of a flow chart of a corn harvester control method according to an embodiment of the present application is schematically shown; Figure 2 A system structure block diagram of a corn harvester control method according to an embodiment of the present application is schematically shown; Figure 3 The schematic diagram of the height adjustment process of the field return machine according to the embodiment of the present application is shown schematically; Figure 4 The structural block diagram of a corn harvester control device according to an embodiment of the present application is schematically shown.
[0018] Description of Reference Numerals 100, one-button start switch; 200, cutting platform; 210, cutting platform position sensor; 300, field return machine; 310, field return machine position sensor; 400, host machine; 410, camera; 420, display screen; 500, VCU; 510, multi-way valve; 600, engine ECU; 700, main clutch. DETAILED DESCRIPTION
[0019] In order 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 specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.
[0020] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.
[0021] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.
[0022] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.
[0023] Figure 1 The following schematically shows a flow chart of a corn harvester control method according to an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides a corn harvester control method, which may include the following steps: Step 100, when receiving a start signal, controlling the header of the corn harvester to descend to a first initial height and controlling the field return machine of the corn harvester to descend to a second initial height; In the present embodiment, it should be noted that each time the corn harvester starts field operation, the driver usually implements relevant operational control of the corn harvester based on the driver's operating experience. For example, the main clutch is first controlled to be connected by operating the main clutch switch, and then the header is lowered by the header lowering switch, and the field returner is lowered by the field returner lowering switch, and the engine is adjusted to a suitable speed based on operating experience during the harvesting process. This operation control method has many operation steps and frequent operation, which requires a high level of driver experience, and the manual control method has low accuracy, which can easily lead to equipment damage and increased fuel consumption of the corn harvester. In the present embodiment, the corn harvester is automatically controlled by the corn harvester control method, which simplifies the operation steps and improves the operating efficiency. Specifically, refer to Figure 2In one embodiment, the main clutch action of the corn harvester, the height adjustment of the header and the height adjustment of the field return machine can be integrated in one position for triggering, for example, a one-button start switch 100 can be added to the cab. This simplifies the operation steps of controlling the corn harvester and improves the control efficiency. In order to obtain the height of the header 200 and the field return machine 300 in real time, a header position sensor 210 can be added to the header 200, and a field return machine position sensor 310 can be added to the field return machine 300. A camera 410 can be added to the top of the cab of the corn harvester to obtain the crop situation in front of the corn harvester, and a camera 410 can be added behind the granary of the corn harvester to obtain the ground state after the corn harvester is operated, wherein the host 400 is connected to the camera 410, which can be used to identify and process the image of the camera 410 to obtain specific numerical information to be displayed on the display screen 420. The host 400 and the display screen 420 communicate with the VCU (Vehicle Control Unit) 500 via the CAN bus (Controller Area Network, serial communication protocol bus). The VCU500 controls the on and off of the multi-way valve 510 by outputting a voltage signal to control the extension and retraction of the oil cylinder to adjust the height of the field return machine 300 and the height of the header 200. In one embodiment, the VCU500 also adjusts the height of the field return machine 300 and the height of the header 200 by controlling the operation of the motor. The header position sensor 210 detects the height of the header 200 from the ground in real time, and the field return machine position sensor 310 detects the height of the field return machine 300 from the ground in real time, and feeds back to the VCU500 through an electrical signal. The VCU500 accurately adjusts the descending height of the header 200 and the field return machine 300 based on the signal sent by the header position sensor 210 and / or the field return machine position sensor 310. It is understandable that, in one embodiment, the header position sensor 210 and the field return machine position sensor 310 can be position sensors such as laser rangefinders, radar sensors, and ultrasonic sensors. The position sensors can be inductive, capacitive, Hall, and photoelectric sensors. The engine ECU (Electronic Control Unit) 600 can also feed back the speed information to the VCU500 through the CAN line so that the VCU500 can adjust the engine speed. Thereby, the automatic adjustment of the header height, the field return machine height, and the engine speed is realized, the manual dependence is reduced, and the adjustment accuracy is improved, thereby further improving the effectiveness of the corn harvester operation.
[0024] It should be noted that the start signal includes a trigger for the corn harvester to start the harvesting operation, and the start signal is associated with the start control of the corn harvester header and the start control of the field return machine. The start signal can be used to trigger the initial height adjustment of the header and the field return machine with one button. When the start signal is received, the system will control the corn harvester header to drop to a preset first initial height, and at the same time control the field return machine to drop to a preset second initial height. The first initial height and the second initial height can be based on experience or preliminary tests, and are intended to ensure that the machine will not damage the crop or the machine itself due to improper height when it is started in the current operating scenario.
[0025] In one embodiment, after the step of controlling the field return machine of the corn harvester to descend to the second initial height, the method further includes: Determine the stubble height within a preset field return range based on a binocular vision system and a preset target detection model, wherein the binocular vision system includes a first image collector and a second image collector, the first image collector and the second image collector are installed on an operating machine, the first image collector and the second image collector are separated by a preset interval distance and are located on the same horizontal plane, and the preset target detection model is constructed based on a YOLOv8 model, a preset number of standard convolution modules in the Neck part of the YOLOv8 model are replaced with multi-scale convolution modules, and a CPCA attention module is added after the SPPF module in the Backbone part of the YOLOv8 model to obtain a preset target detection model; Determine whether the difference between the stubble height and the preset maximum stubble height is within a preset difference range; When the difference exceeds the preset difference range and the stubble height is higher than the preset maximum stubble height, the height of the field return machine is adjusted downward until the difference is within the preset difference range.
[0026] In this embodiment, it should be noted that the binocular vision system may include a first image collector and a second image collector. The first image collector and the second image collector select image collectors suitable for the task requirements to ensure that they have sufficient resolution, field of view, dynamic range and stability to adapt to different lighting conditions and working environments, such as area array cameras. In this embodiment, the first image collector and the second image collector are respectively installed on the working machine and ensure that they are located on the same horizontal plane and maintain a preset interval distance. Since the two image collectors are installed at different positions, the two image collectors can capture images of the target area from different angles, thereby providing a stereoscopic perspective or a more comprehensive view. And the first image collector and the second image collector have the same camera parameters, including focal length, optical axis position, etc., so that they can capture consistent image information.
[0027] After the corn harvester's field return machine is controlled to descend to the preset second initial height, the binocular vision system installed at both ends of the tail of the field return machine is used to collect images within the preset field return range. These images are input into the preset target detection model built based on the YOLOv8 model. The preset target detection model is based on the YOLOv8 model and has undergone specific modifications, including replacing the preset number of standard convolution modules in the Neck part with multi-scale convolution modules, and adding a CPCA attention module after the SPPF module in the Backbone part to improve the accuracy and robustness of target detection. The preset target detection model processes the image data and outputs the stubble height within the preset field return range. The difference between the stubble height and the preset maximum stubble height is calculated to determine whether the difference is within the preset difference range. If the difference exceeds the preset difference range, it means that the current height of the field return machine exceeds the maximum value of the expected stubble height. In this case, the height of the field return machine is adjusted downward according to the size and direction of the difference. And the adjustment process will continue until the difference between the stubble height and the preset maximum stubble height is within the preset difference range. When the difference does not exceed the preset difference range, there is no need to adjust the height of the field return machine.
[0028] Specifically, in one embodiment, determining the stubble height within a preset field return range based on a binocular vision system and a preset target detection model includes: Acquire a first image to be identified and a second image to be identified within a preset field return range based on a binocular vision system; Based on a preset target detection model, stubble in the first image to be identified and the second image to be identified are respectively identified and labeled to obtain a first stubble labeled image and a second stubble labeled image; Based on the image matching algorithm, feature points in the first stubble labeled image and the second stubble labeled image are respectively identified and matched to obtain a plurality of feature matching groups, wherein the feature matching group includes two feature points, which are feature points in the first stubble labeled image and feature points in the second stubble labeled image; Based on the pinhole imaging principle and the parallax ranging principle, the initial stubble height corresponding to each feature matching group is determined; The stubble height within the preset field return range is determined based on the initial stubble heights corresponding to all feature matching groups.
[0029] In this embodiment, it should be noted that a binocular vision system installed at the rear of the field return machine is used to obtain the first image to be identified and the second image to be identified within a preset field return range. The binocular vision system includes two image collectors, which are located at both ends of the rear of the field return machine at a preset interval and on the same horizontal plane. The first image to be identified and the second image to be identified capture the stubble conditions of the same area from different angles. It is understandable that in order to accurately compare and analyze the first image to be identified and the second image to be identified later, it is necessary to ensure that the first image to be identified and the second image to be identified are collected at the same time point or a similar time point.
[0030] It should be noted that stubble refers to leaves that have not been trimmed and tiller buds that have not yet stretched to form leaves. In the field of agricultural production, many crops can be cultivated with stubble. Through stubble cultivation, the surface roughness can be increased, the surface runoff velocity can be reduced, the soil can be fixed and intercepted, the loss of black soil can be prevented, and the soil organic matter can be increased. Through stubble cultivation, the surface roughness can be increased, the surface runoff velocity can be reduced, the soil can be fixed and intercepted, the loss of black soil can be prevented, and the soil organic matter can be increased. The first image to be identified and the second image to be identified are processed using a preset target detection model to identify the stubble in the first image to be identified and the second image to be identified, so that the stubble can be marked. After processing by the preset target detection model, two images marked with stubble can be obtained, namely the first stubble labeled image and the second stubble labeled image.
[0031] Feature points include those points in the image that have unique properties and can remain stable under different viewing angles, such as corner points, edge points or spots. After the stubble in the first image to be identified and the second image to be identified are identified and annotated respectively, and the first stubble annotated image and the second stubble annotated image are obtained, it is necessary to detect the feature points in the first stubble annotated image and the second stubble annotated image respectively. In this embodiment, the feature points are identified and matched by an image matching algorithm, and the image matching algorithm can include a feature point detection and recognition algorithm and a feature point matching algorithm respectively, or an algorithm can be used to simultaneously realize the identification and matching of feature points. The identification of feature points can be detected and identified by algorithms such as SIFT (Scale-invariant feature transform), SURF (Speeded Up Robust Features), and ORB (Oriented FAST and Rotated BRIEF). For each detected feature point, it is necessary to calculate the feature point feature descriptor. The feature descriptor is a vector used to describe the image information around the feature point so as to identify the same feature point in different images.
[0032] Furthermore, the feature descriptors in the first stubble labeled image are matched with the feature descriptors in the second stubble labeled image. The matching process usually involves calculating the similarity or distance between the descriptors, and selecting the feature point pair with the highest similarity or the smallest distance as the matching pair. The feature point matching algorithm may include Brute-ForceMatcher, FLANN (Fast Library for Approximate Nearest Neighbors, fast nearest neighbor search library), etc. The correctly matched pairs selected form a feature matching group. Each feature matching group includes two feature points: one is a feature point in the first stubble labeled image, and the other is a feature point in the second stubble labeled image.
[0033] It should be noted that the pinhole imaging principle shows that when light passes through a pinhole, an inverted real image will be formed on the screen behind the pinhole. The shape of this real image is the same as that of the object but in the opposite direction, and the size is related to the object distance and the image distance, wherein the object distance is the distance from the object to the pinhole, and the image distance is the distance from the screen to the pinhole. In this embodiment, the first image collector and the second image collector are both area array cameras. When the initial stubble height corresponding to each feature matching group is determined by using the pinhole imaging principle, the focal length, shooting angle, and image resolution of the first image collector and the second image collector can be combined at the same time. Since the size of the image in the pinhole imaging principle is related to the object distance and the image distance, a proportional relationship can be established in the image. This proportional relationship can be a known size object in the image, for example, the ratio between the projection height and the actual size of the corn stubble. Then, based on the proportional relationship, the actual size of the corn stubble is obtained, that is, the initial stubble height corresponding to the feature matching group.
[0034] The parallax distance measurement principle is to calculate the depth value of the actual object corresponding to these feature points from the optical center plane of the array camera of the image acquisition device according to the position difference of the matched feature points in the left and right images, that is, the parallax, wherein the actual object corresponding to the feature points here refers to the top and bottom of the corn stubble. For each feature matching group, the depth values of the top and bottom of the corresponding corn stubble are compared to determine whether there is a depth difference. The depth difference reflects whether the corn stubble is tilted or has a height change in three-dimensional space. The presence of a depth difference means that the depth values of the top and bottom of the corn stubble are different, indicating that the corn stubble is tilted. At this time, it is necessary to use the projection height and depth difference to more accurately calculate the stubble height. It can be solved by considering factors such as the tilt angle and three-dimensional shape of the corn stubble through geometric transformation or three-dimensional reconstruction.
[0035] It should be noted that after collecting the initial stubble heights corresponding to all feature matching groups, in order to ensure the accuracy and consistency of the data, all initial stubble heights can be preprocessed, including denoising, filtering, calibration and other steps. Since the feature matching group may involve multiple images and multiple points, it is necessary to fuse these data into a unified data set. This can be achieved through methods such as averaging, weighted averaging, median, mode, etc., so as to obtain the stubble height of the preset return range.
[0036] It can be understood that, in one embodiment, the corn harvester control method further includes: When receiving the start signal, the main clutch of the corn harvester is connected to connect the engine of the corn harvester to the transmission system; Controlling the engine speed to a preset speed; Monitor engine speed information; When the speed information differs from the preset speed, the speed of the engine is adjusted to the preset speed.
[0037] refer to Figure 2 It should be noted that, in the present embodiment, the start signal also includes the triggering of the main clutch action of the corn harvester, and the start signal is associated with the start control of the main clutch 700 of the corn harvester. The start signal can be used to trigger the main clutch action, the initial height of the header, and the initial height adjustment of the field return machine. The start signal can be triggered by pressing the one-button start switch 100, or by selecting a pop-up option on the display screen 420, or by triggering the start signal by a remote controller or the like. When the start signal is received, the main clutch 700 of the corn harvester is first connected to connect the engine of the corn harvester to the transmission system, and the power of the engine can be transmitted to the gearbox, thereby driving the various working parts of the corn harvester.
[0038] It should be noted that after the corn harvester is started, the engine speed of the corn harvester will be controlled to the preset speed. The preset speed is determined according to the design requirements and operation requirements of the corn harvester, and is intended to ensure that the corn harvester can provide sufficient power and efficiency during operation. The engine speed information will be continuously monitored to ensure that the actual engine speed is consistent with the preset speed. The monitoring of the engine speed can be achieved through a speed sensor installed on the engine. The speed may fluctuate due to load changes, engine aging or environmental factors. Therefore, if the engine speed is detected to be different from the preset speed, the engine speed will be automatically adjusted to restore it to the preset speed. Through the automatic adjustment and control of the engine speed, the complexity and error rate of manual operation are reduced, ensuring that the corn harvester maintains stable performance and efficiency during operation.
[0039] Step 200, determining a current reference value for returning to the field based on the crop residue state within a preset returning to the field range; Step 300, determining whether the height of the field returning machine needs to be adjusted based on the current field returning reference value and the target field returning reference value; Step 400, when it is determined that the height of the field returning machine needs to be adjusted, the height of the field returning machine is adjusted based on the current field returning reference value, the target field returning reference value and the preset adjustment value; It should be noted that during the operation of the corn harvester, the effect of returning the corn harvester to the field will also be monitored in real time. Sensors or visual recognition technology can be used to monitor the crop residue status within the preset field return range in real time to evaluate the current field return effect. The crop residue status may include straw length, stubble height, etc. The current field return reference value is compared with the target field return reference value to determine whether the height of the field return machine needs to be adjusted. Among them, the target field return reference value can be an expected value preset based on factors such as crop type, soil conditions, crop density, etc., or it can be an empirical value input by the operator based on professional and rich experience. If the height of the field return machine needs to be adjusted, the height of the field return machine is automatically adjusted according to the current field return reference value, the target field return reference value, and the preset adjustment value to achieve a better field return effect. Among them, the preset adjustment value represents the amplitude of a single adjustment, for example, 1cm.
[0040] Step 500, determining whether the height of the header needs to be adjusted based on the first initial height, the preset corresponding relationship between the ear and the header height, and the acquired ear height; Step 600: When it is determined that the height of the header needs to be adjusted, the height of the header is adjusted based on a preset corresponding relationship between the ear and the header height and the ear height.
[0041] It should be noted that during the operation of the corn harvester, the height of the corn ears in the working environment of the corn harvester will also be monitored in real time. The ear height refers to the position height of the ear on the corn plant. The height information of the corn ear is obtained by using a laser ranging sensor installed at the header. Based on the initial height of the header, the preset ear-header height correspondence, and the actual ear height obtained, it is determined whether the height of the header needs to be adjusted. Among them, the initial height of the header is also the first initial height. If adjustment is required, the header height corresponding to the actual obtained ear height is determined based on the preset ear-header height correspondence, and the height of the header is automatically adjusted to the header height corresponding to the actual obtained ear height, so as to ensure that the ears can be effectively and non-destructively harvested.
[0042] The preset ear-cutting platform height correspondence is usually a database based on experience or testing, which is used to describe the optimal height of the cutting platform at different ear heights. Specifically, in one embodiment, the corn harvester control method further includes: Acquiring historical operation information, wherein the historical operation information includes a plurality of historical ear heights, a plurality of historical header heights, and a plurality of corresponding corn residue quantities in a harvested area; For each historical ear height, the corn loss rate corresponding to each historical header height is determined based on the corresponding corn remaining quantity; The historical header height with the minimum corn loss rate is used as the target header height for the historical ear height; A preset ear-header height correspondence is constructed based on all historical ear heights and the corresponding target header heights.
[0043] In this embodiment, it should be noted that the historical operation information includes past operation data, which may specifically include multiple historical ear heights, multiple historical header heights, and corresponding multiple corn residue numbers in the harvested area. Among them, the corn residue number refers to the number of corns that have not been successfully harvested. For each historical ear height, it is necessary to calculate the corn loss rate at different header heights. The corn loss rate can be determined by the number of corn residues per unit area; it can also be determined by comparing the actual number of corns harvested with the number of corns that should be harvested in theory.
[0044] Specifically, for each historical ear height, the corn loss rate under different header heights is calculated respectively. After determining the corn loss rate of different header heights under each historical ear height, the header height with the smallest corn loss rate is selected as the target header height of the historical ear height. The selection of the target header height can find the header height setting that can minimize corn loss under each ear height. Based on all historical ear heights and the corresponding target header heights, a preset ear-header height correspondence can be constructed. The preset ear-header height correspondence can be used as a database or lookup table to guide future corn harvesting operations. When the corn harvester encounters a new ear height in actual operation, the optimal header height setting can be determined by looking up the preset ear-header height correspondence, thereby minimizing corn loss. In this embodiment, through the analysis and utilization of historical data, intelligent guidance is provided for future operations, which can not only improve agricultural production efficiency, but also effectively reduce crop losses, thereby improving the overall benefits of agricultural production.
[0045] In this embodiment, when a start signal is received, the header of the corn harvester is controlled to drop to the first initial height and the field return machine of the corn harvester is controlled to drop to the second initial height; the current field return reference value is determined based on the crop residue state within the preset field return range; whether the height of the field return machine needs to be adjusted is determined based on the current field return reference value and the target field return reference value; when it is determined that the height of the field return machine needs to be adjusted, the height of the field return machine is adjusted based on the current field return reference value, the target field return reference value and the preset adjustment value; whether the height of the header needs to be adjusted is determined based on the first initial height, the preset ear-header height correspondence and the acquired ear height; when it is determined that the height of the header needs to be adjusted, the height of the header is adjusted based on the preset ear-header height correspondence and the ear height. The start signal can be used to trigger the initial height adjustment of the header and the field return machine, simplify the operation steps, and improve the operation efficiency. And the automatic adjustment of the header height and the field return machine height is realized, reducing manual dependence and improving the adjustment accuracy, thereby further improving the effectiveness of the corn harvester operation.
[0046] In one embodiment, the crop residue state includes straw length, and determining the current field return reference value based on the crop residue state within a preset field return range includes: Obtaining a first quantity of target straw within a preset field returning range, wherein the target straw is straw having a straw length exceeding a first preset length; A current field returning reference value is determined based on a ratio of the first quantity to a preset field returning range.
[0047] In this embodiment, it should be noted that the preset return to field range is a designated reference area, including the area size and the area position. Among them, during the operation of the corn harvester, the area position corresponding to the preset return to field range is a certain area in the area where the corn harvester has just operated, and the area size can be determined based on experience or the actual situation of the farmland, crop types, planting density and other factors. The first preset length is a straw reference length value set based on factors such as agricultural practice, crop types, and performance of the return to field equipment. For example, if the return to field machine of the corn harvester is designed to handle shorter straws, the first preset length may be set lower. The target straw refers to the straw whose straw length exceeds the first preset length within the preset return to field range. The target straw can be identified by image acquisition by a camera installed behind the granary, and by image recognition and other technical means by the host. The first quantity refers to the total number of straws that meet the target straw conditions within the preset return to field range.
[0048] It should be noted that the current return to field reference value is used to refer to the return to field effect. The larger the current return to field reference value, the worse the current return to field effect, and the smaller the current return to field reference value, the better the current return to field effect. Divide the first number of target straws by the total area of the preset return to field range to obtain a ratio. This ratio reflects the density of the target straws within the preset return to field range. In one embodiment, the ratio can also be determined by dividing the first number of target straws by the total number of straws in the preset return to field range. According to the calculated ratio, the current return to field reference value can be evaluated. If the ratio is high, it means that there are more target straws with a length exceeding the preset value within the preset return to field range, which may mean that the return to field equipment or method is insufficient in handling long straws, or the return to field operation is not thorough enough. On the contrary, if the ratio is low, it means that the return to field effect is better and the long straws are better handled.
[0049] In this embodiment, it should be noted that the straw length reflects the effect of the return machine in processing the straw. If the long straw is not handled properly, it may affect subsequent agricultural operations such as sowing, fertilization and irrigation. Stubble refers to the root or stem residues left in the soil after the crop is harvested. In this embodiment, by comprehensively considering the crop residue state, the current return reference value is more comprehensively evaluated, providing accurate and effective guidance for adjusting the height of the return machine of the corn harvester.
[0050] refer to Figure 3 In one embodiment, when it is determined that the height of the field return machine needs to be adjusted, the height of the field return machine is adjusted based on the current field return reference value, the target field return reference value and the preset adjustment value, including: In the case where it is determined that the height of the field return machine needs to be adjusted, if the current field return reference value is less than or equal to the target field return reference value, the height of the field return machine is controlled to remain unchanged; If the current field return reference value is greater than the target field return reference value, the height of the field return machine is controlled to decrease based on the preset adjustment value until the current field return reference value is less than or equal to the target field return reference value; If the field return machine descends to the preset minimum field return height, and the current field return reference value is greater than the target field return reference value during the descent process, the height of the field return machine is controlled to return to the second initial height.
[0051] In this embodiment, it should be noted that after determining the current field return reference value of the field return machine, the current field return reference value is compared with the target field return reference value. The current field return reference value is used to refer to the field return effect. The larger the current field return reference value, the worse the current field return effect, and the smaller the current field return reference value, the better the current field return effect. When the current field return reference value is less than the target field return reference value, it indicates that the current height has met or exceeded the target requirement, and the height of the field return machine is controlled unchanged. When the current field return reference value is greater than the target field return reference value, it means that the crop residue state is relatively dense, which may be because the height of the field return machine is too high, resulting in the straw and stubble not being fully processed. At this time, it is necessary to control the height of the field return machine to decrease based on the preset adjustment value to get closer to the ground and increase the processing capacity of straw and stubble. At this time, the height of the field return machine is controlled to gradually decrease based on the preset adjustment value. During the descent process, the current field return reference value is continuously monitored. If during the descent process, the current field return reference value drops to less than or equal to the target field return reference value, the descent stops. If the machine descends to the preset minimum height, and the current reference value is always greater than the target reference value, the height of the machine is controlled to return to the second initial height. The preset minimum height is a safety lower limit for protecting the machine and soil. The second initial height corresponds to the working stubble height equal to the preset maximum stubble height.
[0052] In this embodiment, by adjusting the height of the field return machine within a preset height adjustment range, the field return effect is maximized while meeting the stubble height requirements.
[0053] In one embodiment, the corn harvester control method further includes: Get ground height change information; The height of the field return machine and the harvesting platform are adjusted based on the ground height change information.
[0054] In the present embodiment, it should be noted that the ground height change information can be obtained by sensors installed on the corn harvester, such as laser rangefinders, radar sensors or ultrasonic sensors. These sensors can monitor the change of ground height in real time, including the ground height difference caused by factors such as terrain undulation and soil softness. According to the ground height change information, the height of the field return machine and the header are adjusted in real time to ensure that the field return machine and the header are always kept at an appropriate operating height. This helps to reduce crop damage, improve harvesting efficiency, and protect agricultural machinery and equipment from unnecessary wear and tear. If the ground height rises, such as encountering small mounds or stones, the height of the field return machine and the header will be controlled to rise accordingly to avoid collision and damage. If the ground height is reduced, such as entering a low-lying area or a soft soil area, the height of the field return machine and the header will be controlled to be reduced accordingly to ensure that the crop residues can be fully contacted and processed.
[0055] In this embodiment, by introducing ground height change information, the control of the corn harvester becomes more intelligent, so that it can better adapt to different operating environments and crop conditions, thereby improving agricultural production efficiency and crop yield.
[0056] Figure 4 The structure block diagram of a corn harvester control device according to an embodiment of the present application is schematically shown. Figure 4 As shown, the embodiment of the present application provides a corn harvester control device 1000, which may include: Memory 1001, configured to store instructions; The processor 1002 is configured to call instructions from the memory 1001 and implement the corn harvester control method described in the above embodiment when executing the instructions.
[0057] The present application also provides a corn harvester, comprising: The corn harvester control device as described in the above embodiment; Cutting table; Field return machine; The corn harvester control device is connected to the cutting table and the field return machine respectively, and the corn harvester control device is used to send control signals to the cutting table and / or the field return machine to make the cutting table and / or the field return machine move.
[0058] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the corn harvester control method as described in the above embodiment.
[0059] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take 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.) containing computer-usable program codes.
[0060] 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 block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks 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 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0061] 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.
[0062] 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 in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0063] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0064] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.
[0065] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.
[0066] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.
[0067] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.
Claims
1. A corn harvester control method, characterized in that: include: When receiving a start signal, controlling the header of the corn harvester to descend to a first initial height and controlling the field return machine of the corn harvester to descend to a second initial height; Determine the current reference value of returning to the field based on the crop residue status within the preset returning to the field range; Determining whether it is necessary to adjust the height of the field returning machine based on the current field returning reference value and the target field returning reference value; In the case where it is determined that the height of the field returning machine needs to be adjusted, adjusting the height of the field returning machine based on the current field returning reference value, the target field returning reference value and the preset adjustment value; Determining whether the height of the header needs to be adjusted based on the first initial height, the preset ear-head height correspondence relationship and the acquired ear height; When it is determined that the height of the header needs to be adjusted, the height of the header is adjusted based on the preset ear-head height correspondence relationship and the ear height.
2. The corn harvester control method according to claim 1, characterized in that: The crop residue state includes straw length, and the current returning to the field reference value is determined based on the crop residue state within a preset returning to the field range, including: Obtaining a first quantity of target straw within the preset field returning range, wherein the target straw is straw having a straw length exceeding a first preset length; A current returning-to-field reference value is determined based on a ratio of the first quantity to the preset returning-to-field range.
3. The corn harvester control method according to claim 1, characterized in that: After the step of controlling the field return machine of the corn harvester to descend to the second initial height, the method further includes: Determine the stubble height within the preset field return range based on a binocular vision system and a preset target detection model, wherein the binocular vision system includes a first image collector and a second image collector, the first image collector and the second image collector are installed on an operating machine, the first image collector and the second image collector are separated by a preset interval distance and are located on the same horizontal plane, and the preset target detection model is constructed based on a YOLOv8 model, a preset number of standard convolution modules in the Neck part of the YOLOv8 model are replaced with multi-scale convolution modules, and a CPCA attention module is added after the SPPF module in the Backbone part of the YOLOv8 model to obtain the preset target detection model; Determining whether the difference between the stubble height and a preset maximum stubble height is within a preset difference range; When the difference exceeds the preset difference range and the stubble height is higher than the preset maximum stubble height, the height of the field return machine is adjusted downward until the difference is within the preset difference range.
4. The corn harvester control method according to claim 3, characterized in that: The method of determining the stubble height within the preset field returning range based on the binocular vision system and the preset target detection model includes: Acquire a first image to be identified and a second image to be identified within the preset field return range based on a binocular vision system; Respectively identifying and marking stubble in the first image to be identified and the second image to be identified based on the preset target detection model to obtain a first stubble marked image and a second stubble marked image; Based on an image matching algorithm, feature points in the first stubble labeled image and the second stubble labeled image are respectively identified and matched to obtain a plurality of feature matching groups, wherein the feature matching group includes two feature points, which are feature points in the first stubble labeled image and feature points in the second stubble labeled image; Determine the initial stubble height corresponding to each feature matching group based on the pinhole imaging principle and the parallax distance measurement principle; The stubble height of the preset field returning range is determined based on the initial stubble heights corresponding to all feature matching groups.
5. The corn harvester control method according to claim 1, characterized in that: In the case where it is determined that the height of the field returning machine needs to be adjusted, adjusting the height of the field returning machine based on the current field returning reference value, the target field returning reference value and the preset adjustment value includes: In the case where it is determined that the height of the field returning machine needs to be adjusted, if the current field returning reference value is less than or equal to the target field returning reference value, the height of the field returning machine is controlled to remain unchanged; If the current field returning reference value is greater than the target field returning reference value, controlling the height of the field returning machine to decrease based on the preset adjustment value until the current field returning reference value is less than or equal to the target field returning reference value; If the field return machine descends to a preset minimum field return height, and the current field return reference value is greater than the target field return reference value during the descent, the height of the field return machine is controlled to return to the second initial height.
6. The corn harvester control method according to claim 1, characterized in that: Also includes: Get ground height change information; The heights of the field return machine and the harvesting platform are adjusted based on the ground height change information.
7. The corn harvester control method according to claim 1, characterized in that: Also includes: Acquiring historical operation information, wherein the historical operation information includes a plurality of historical ear heights, a plurality of historical header heights, and a plurality of corresponding corn residue quantities in a harvested area; For each of the historical ear heights, determining the corn loss rate corresponding to each of the historical header heights based on the corresponding corn remaining quantity; The historical header height with the minimum corn loss rate is used as the target header height of the historical ear height; The preset ear-header height correspondence relationship is constructed based on all the historical ear heights and the corresponding target header heights.
8. The corn harvester control method according to claim 1, characterized in that: Also includes: When the start signal is received, the main clutch of the corn harvester is connected to connect the engine of the corn harvester to the transmission system; Controlling the speed of the engine to a preset speed; Monitoring the speed information of the engine; When the rotation speed information differs from the preset rotation speed, the rotation speed of the engine is adjusted to the preset rotation speed.
9. A corn harvester control device, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the corn harvester control method according to any one of claims 1 to 8 when executing the instructions.
10. A corn harvester, characterized in that: include: The corn harvester control device according to claim 9; Cutting table; Field return machine; The corn harvester control device is connected to the cutting table and the field return machine respectively, and the corn harvester control device is used to send a control signal to the cutting table and / or the field return machine to move the cutting table and / or the field return machine.