Power control method and device for hybrid cotton picker

Abstract

The invention discloses a power control method and device of a hybrid cotton picker, and the power control method of the hybrid cotton picker comprises the steps that a system controller receives an instruction of a driver operating device, converts the instruction into an execution demand signal, and sends the execution demand signal to a control part, the control component comprises an engine controller, an FISG motor controller, a high-voltage distribution box, an energy storage device controller, a driving motor integrated controller, a spindle integrated motor controller, a packaging integrated motor controller, an air supply integrated motor controller and a conveying integrated motor controller. And whether the parking charging function is activated or not is judged based on the SOC value of the residual electric quantity of the high-voltage battery, if the SOC value is not larger than the calibration threshold value A%, the parking power generation function is activated, and engine starting and FISG motor enabling are executed. Therefore, by means of the power control method of the hybrid cotton picker, intelligent control over the electric control system of the cotton picker is achieved, the cotton picking efficiency and quality are improved, and energy consumption is reduced.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of new energy hybrid power cotton pickers, and in particular to a power control method and device for a hybrid cotton picker. Background Art

[0002] As a high-power agricultural machinery, cotton pickers have complex operating procedures and numerous actuators. In the actual operation of traditional cotton pickers, the load changes frequently, resulting in constant changes in the pressure and flow of the entire hydraulic system, and serious overflow and throttling losses.

[0003] like Figure 1 As shown in the figure, the power system of the traditional cotton picker is a diesel engine output power distribution. The power output of the cotton picker comes from the engine. The energy transfer process during the working process is: engine-hydraulic pump-hydraulic actuator (hydraulic motor, hydraulic cylinder)-working mechanism. During the energy transfer process, there is power loss in each link. In the end, only a small part of the power is transferred to the working structure, and the system energy transfer efficiency is low. The energy loss mainly includes mechanical loss, pipeline loss, loss caused by mismatch between hydraulic pump and load power, and loss caused by mismatch between engine and hydraulic pump power, such as Figure 2 shown. Summary of the invention

[0004] The embodiments of the present invention provide a power control method and device for a hybrid cotton picker, which realize intelligent control of the electronic control system of the cotton picker, improve cotton picking efficiency and quality, and reduce energy consumption.

[0005] To achieve the above-mentioned objectives, in a first aspect, the present invention provides a power control method for a hybrid cotton picker, comprising: a system controller receives instructions from a driver's operating device, converts the instructions into execution demand signals and sends them to a control component, wherein the control component comprises an engine controller, a FISG motor controller, a high-voltage distribution box, an energy storage device controller, a drive motor integrated controller, a spindle picking integrated motor controller, a baling integrated motor controller, an air supply integrated motor controller and a conveying integrated motor controller; based on the remaining power SOC value of the high-voltage battery, it is determined whether to activate the parking charging function; if the SOC value is not greater than a calibration threshold value A%, the parking power generation function is activated, the engine is started and the FISG motor is enabled, and the high-voltage battery is charged. Charging is carried out until the battery power SOC value is greater than the calibration threshold value B%, and then charging is stopped; if the SOC value is greater than the calibration threshold value A%, the driving and picking conditions are entered; if the driving conditions are met, the front drive motor and the rear drive motor are enabled, and the speed and torque of the front and rear drive motors are adjusted based on the no-load driving and picking conditions; if the picking conditions are met, the left spindle picking motor, the right spindle picking motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor, and the baling roller motor are enabled, and the speed and torque of the corresponding motors are adjusted based on the picking conditions; when the parking state is detected and the driver's key is powered off, the system controller controls the high-voltage battery to power off.

[0006] In the second aspect, the present invention provides a power control device for a hybrid cotton picker, including: a conversion module, a judgment module, an entry module, a first adjustment module, a second adjustment module and a power-off module. The conversion module is used for the system controller to receive the instructions of the driver's operating device, convert them into execution demand signals and send them to the control components, wherein the control components include an engine controller, a FISG motor controller, a high-voltage distribution box, an energy storage device controller, a drive motor integrated controller, a spindle picking integrated motor controller, a packaging integrated motor controller, an air supply integrated motor controller and a conveying integrated motor controller. The judgment module is used to determine whether to activate the parking charging function based on the SOC value of the remaining power of the high-voltage battery. If the SOC value is not greater than the calibration threshold value A%, the parking power generation function is activated, the engine is started and the FISG motor is enabled, and the high-voltage battery is charged until the battery power SOC value is greater than the calibration threshold value B%, and the charging is stopped. The entry module is used to enter the driving and picking working conditions if the SOC value is greater than the calibration threshold value A%. The first adjustment module is used to enable the front drive motor and the rear drive motor when the driving conditions are met, and adjust the speed and torque of the front and rear drive motors based on the no-load driving and picking working conditions. The second adjustment module is used to enable the left spindle picking motor, the right spindle picking motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor, and the baling roller motor when the picking working conditions are met, and adjust the speed and torque of the corresponding motors based on the picking working conditions. The power-off module is used to control the system controller to power off the high-voltage battery when the parking state is detected and the driver's key is powered off.

[0007] In a third aspect, the present invention provides an electronic device, comprising:

[0008] at least one processor; and

[0009] a memory communicatively coupled to the at least one processor;

[0010] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the power control method of the hybrid cotton picker as described above.

[0011] In a fourth aspect, the present invention provides a computer-readable storage medium, including a computer program and instructions, which, when the computer program or the instructions are executed on a computer, enables the computer to execute the power control method of the hybrid cotton picker as described above.

[0012] Compared with the prior art, the power control method and device of the hybrid cotton picker according to the present invention has the following beneficial effects:

[0013] 1. The present invention can adjust the working state of the motor in real time according to the picking conditions (such as evacuated picking, ordinary picking, and intensive picking) by accurately controlling the speed and torque of each motor, thereby optimizing the operating efficiency of the cotton picker. For example, under intensive picking conditions, by increasing the speed and torque of the spindle motor, cotton can be picked faster and the cotton picking efficiency can be improved; through the intelligent electric control system, the picking process can be controlled more accurately, missing and mis-picking can be reduced, and the cotton picking quality can be improved;

[0014] 2. The present invention adopts a hybrid power system, combining the advantages of the engine and the motor. When the vehicle is parked or under low load conditions, the high-voltage battery can be charged by the FISG motor, making full use of the excess power of the engine and reducing energy waste; by precisely controlling the speed and torque of the motor, the overflow throttling loss caused by frequent load changes in traditional cotton pickers is avoided, and the energy transmission efficiency is improved;

[0015] 3. The power control system of the present invention has intelligent characteristics, and can automatically determine the remaining power of the high-voltage battery, and automatically activate the parking charging or parking power generation function according to the power status, without manual intervention; the system can feed back the working status of each component (such as engine status, motor status, battery power, etc.) to the driver's operating device in real time, so that the driver can intuitively understand the working status of the cotton picker, improving the convenience and safety of operation;

[0016] 4. The present invention reduces mechanical impact and wear caused by load changes and extends the service life of the cotton picker by accurately controlling the working status of each component; the system has fault detection and alarm functions, which can detect and handle potential faults in time and improve the reliability and stability of the system.

[0017] 5. By adopting a hybrid power system, the present invention reduces the dependence of traditional cotton pickers on fossil fuels, reduces emissions, and complies with the development trend of environmental protection and energy conservation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the power system of a traditional cotton picker;

[0019] Figure 2 This is a schematic diagram of the efficiency loss of the traditional cotton picker power system;

[0020] Figure 3 It is a schematic flow chart of a power control method of a hybrid cotton picker in the first embodiment of the present invention;

[0021] Figure 4 It is a structural schematic diagram of a power control device of a hybrid cotton picker in the second embodiment of the present invention;

[0022] Figure 5It is a schematic diagram of the structure of an electronic device in Embodiment 3 of the present invention;

[0023] Figure 6 It is a structural schematic diagram of a power control system of a hybrid cotton picker in a specific embodiment of the present invention;

[0024] Figure 7 is a schematic diagram of a control architecture of a power control system of a hybrid cotton picker in a specific embodiment of the present invention;

[0025] Figure 8 It is a control logic flow chart of a power control method for a hybrid cotton picker in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0026] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention, rather than to limit the embodiments of the present invention. It is also necessary to explain that, for ease of description, only parts related to the embodiments of the present invention are shown in the accompanying drawings, rather than all structures.

[0027] To facilitate understanding, the main implementation concepts of the embodiments of the present invention are first briefly described.

[0028] As a high-power agricultural machinery, cotton pickers play a vital role in the cotton harvesting season. However, traditional cotton pickers face many challenges in actual operation, which not only affect the operating efficiency, but also increase energy consumption and cost. First, the operation process of cotton pickers is complex, involving the coordinated work of multiple actuators. These actuators need to be adjusted frequently during the operation to adapt to different picking environments and conditions. Due to the variability and complexity of the operating environment, the load of cotton pickers changes frequently during operation. This load change directly leads to constant fluctuations in the pressure and flow of the hydraulic system. The hydraulic system needs to be constantly adjusted to adapt to the load requirements, resulting in serious overflow and throttling losses. This not only reduces the efficiency of the hydraulic system, but also increases energy consumption. Secondly, the power system of traditional cotton pickers usually uses diesel engines as the only power source. After the power is output from the engine, it is transmitted to the hydraulic actuators (such as hydraulic motors and hydraulic cylinders) through the hydraulic pump, and then drives the working mechanism to operate. However, there are power losses in multiple links in this energy transfer process. For example, there is friction loss in the mechanical connection part, fluid resistance loss in the pipeline, and power mismatch between the hydraulic pump and the load will also cause energy loss. In addition, the power mismatch between the engine and the hydraulic pump is also an important cause of energy loss. These losses ultimately lead to low system energy transfer efficiency, and only a small part of the power can be truly transferred to the working structure to complete the picking task. More specifically, during the operation of traditional cotton pickers, due to the frequent changes in load, the pressure and flow of the hydraulic system need to be constantly adjusted. This adjustment not only increases the complexity of the hydraulic system, but also reduces the response speed and stability of the system. At the same time, since the output power of the engine is fixed and the load demand is variable, the power matching problem between the engine and the hydraulic pump is particularly prominent. When the load demand is low, the output power of the engine will exceed the demand of the hydraulic pump, resulting in energy waste; when the load demand is high, the output power of the engine may not meet the demand of the hydraulic pump, affecting the operating efficiency. In addition, during the long-term operation of traditional cotton pickers, due to the frequent changes in load and the continuous adjustment of the hydraulic system, it is also easy to cause wear and failure of mechanical parts. This not only increases the maintenance cost, but also reduces the service life of the cotton picker.

[0029] The inventor discovered the technical defects as described in the previous background technology, designed a power control method and device for a hybrid cotton picker, introduced a hybrid power system and intelligent control strategy, and realized intelligent control of the cotton picker's electronic control system, which significantly improved the cotton picking efficiency and quality, while reducing energy consumption and enhancing the system's reliability and environmental performance.

[0030] Embodiment 1

[0031] Figure 3is a flow chart of a power control method for a hybrid cotton picker in the first embodiment of the present invention, such as Figure 3 As shown, the first embodiment provides a power control method for a hybrid cotton picker, which is applied to a Figure 6 The power control system shown in the figure, the power control method of the hybrid cotton picker includes:

[0032] Step S100, the system controller receives the instruction of the driver's operating device, converts it into an execution demand signal and sends it to the control component, wherein the control component includes an engine controller, an FISG motor controller, a high-voltage distribution box, an energy storage device controller, a drive motor integrated controller, a spindle picking integrated motor controller, a packaging integrated motor controller, an air supply integrated motor controller and a conveying integrated motor controller;

[0033] Specifically, when the driver inputs instructions through the operating device, the system controller first receives these instructions, and after internal logic arbitration, converts the instructions into specific execution demand signals. These signals are then sent to multiple key control components, including the engine controller, FISG motor controller, high-voltage distribution box, energy storage device controller, drive motor integrated controller, spindle picking integrated motor controller, packaging integrated motor controller, air supply integrated motor controller and conveying integrated motor controller. After receiving the signal, these control components will perform corresponding operations according to the instructions, such as starting or stopping the motor, adjusting the motor speed and torque, etc., so as to realize the intelligent power control of the hybrid cotton picker. At the same time, the system controller can also feedback the system control status to the driver's operating device so that the driver can understand the working status of the cotton picker in real time.

[0034] Step S200, judging whether to activate the parking charging function based on the SOC value of the remaining power of the high-voltage battery, if the SOC value is not greater than the calibration threshold value A%, activating the parking power generation function, executing the engine start and enabling the FISG motor, charging the high-voltage battery, until the battery power SOC value is greater than the calibration threshold value B%, and then stopping the charging;

[0035] Specifically, the system controller monitors the remaining power SOC value of the high-voltage battery in real time, and determines whether the parking charging function needs to be activated based on this value. If the SOC value is not greater than the preset calibration threshold value A%, it means that the battery power is low and needs to be charged. At this time, the system will activate the parking power generation function, execute the engine start and the FISG (integrated starter / generator) motor enable operation. After the engine is started, the corresponding control state, speed or torque command will be executed according to the system instructions. At the same time, the FISG motor will also start and switch to the power generation mode to start charging the high-voltage battery. During the charging process, the system will continue to monitor the battery power SOC value until the SOC value is greater than another preset calibration threshold value B%, and the charging process will stop. At this time, the engine will stop, the FISG motor will also stop, and the high-voltage battery will enter the stop charging state. This intelligent charging management strategy can not only ensure that the high-voltage battery is always maintained at an appropriate power level, but also make full use of the engine's excess power to charge the battery when the engine is under low load or parked, thereby improving the energy utilization efficiency of the entire hybrid system.

[0036] Step S300, if the SOC value is greater than the calibration threshold value A%, then enter the driving and picking working conditions;

[0037] Specifically, when the system controller detects that the remaining power SOC value of the high-voltage battery is greater than the preset calibration threshold value A%, it means that the battery power is sufficient to meet the power demand of the hybrid cotton picker during driving and picking. Therefore, the system will immediately enter the driving and picking conditions preparation stage. At this stage, the system will prepare to start the corresponding power components, such as the engine, drive motor, and various execution motors, according to the instructions of the driver's operating device and the current operation requirements. Specifically, the system will pre-adjust the working status of these power components, including the enable status, control mode, torque and speed, etc., to ensure that the hybrid cotton picker can quickly and smoothly enter the driving and picking state. The implementation of this step not only improves the response speed and operating efficiency of the cotton picker, but also ensures that the power demand under different working conditions can be met in a timely and accurate manner, thereby improving the performance and reliability of the whole machine.

[0038] Step S400, if the driving conditions are met, the front drive motor and the rear drive motor are enabled, and the speed and torque of the front and rear drive motors are adjusted based on the no-load driving and picking working conditions;

[0039] Specifically, when the hybrid cotton picker meets the driving conditions, the system will immediately enable the front drive motor and the rear drive motor. This means that the system will start and activate the front drive motor and the rear drive motor according to the current driving needs and working conditions to provide the necessary driving force for the cotton picker. At the same time, the system will also fine-tune the speed and torque of the front and rear drive motors based on the no-load driving and picking working conditions. Specifically, the system will dynamically adjust the speed and torque output of the front and rear drive motors according to factors such as actual driving speed, load conditions, and road conditions to ensure that the cotton picker maintains a stable and efficient operating state during driving. This precise power control can not only improve the driving stability and safety of the cotton picker, but also optimize power output, reduce energy consumption, and extend the service life of the motor and transmission system according to the needs under different working conditions. In addition, the system will continue to monitor the actual working status of the front and rear drive motors, including the enabling status, control mode, actual torque value, actual speed value, and fault status, and feed this information back to the system controller for further optimization and adjustment.

[0040] Step S500, if the picking working condition is met, the left picking spindle motor, the right picking spindle motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor, and the baling roller motor are enabled, and the speed and torque of the corresponding motors are adjusted based on the picking working condition;

[0041] Specifically, when the hybrid cotton picker meets the picking working conditions, the system will immediately execute a series of motor enabling operations, including the left picking spindle motor, the right picking spindle motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compaction motor and the baling roller motor. These motors play a vital role in the picking process, and are responsible for picking cotton, transporting cotton, knocking down cotton wool, baling and other operations. The system will accurately adjust the speed and torque of these motors according to the current picking conditions (such as evacuation picking, ordinary picking, intensive picking) and actual needs to ensure the efficiency, accuracy and stability of the picking process. Specifically, the system will send an enable signal to the corresponding motor controller, instructing it to execute a specific control mode, torque and speed command. At the same time, the motor controller will provide real-time feedback on the actual working status of the motor, including the enable status, control mode, actual torque value, actual speed value and fault status, so that the system can be further optimized and adjusted. This precise power distribution and adjustment strategy not only improves the picking efficiency and quality of the cotton picker, but also reduces the mechanical impact and wear caused by load changes, extends the service life of the motor, and improves the reliability and stability of the entire power system.

[0042] Step S600, when the parking state is detected and the driver's key is powered off, the system controller controls the high-voltage battery to be powered off;

[0043] Specifically, when the system detects that the hybrid cotton picker is in a parking state and the driver's key has been powered off, the system controller will immediately perform an important operation: control the high-voltage battery to power off. This step is intended to cut off the electrical connection between the high-voltage battery and the entire power system, prevent the battery from consuming power unnecessarily while the vehicle is parked, and ensure the safety of the operator. During the power-off process, the system controller will send a control instruction to the energy storage device controller, instructing it to disconnect all relays related to the high-voltage battery, including the main positive relay, the main negative relay, and the pre-charge relay, etc., to ensure that the battery is completely isolated from the system. After the power-off is completed, the system controller will further put the system into a dormant state to reduce overall energy consumption and extend the service life of the equipment. In addition, this step is also part of the intelligent control of the hybrid cotton picker, which enables the system to automatically adjust the working mode according to the actual operating status of the vehicle, ensuring both efficient power output during operation and safe energy saving during parking. Through this refined control strategy, the hybrid cotton picker not only ensures efficient operation, but also achieves maximum utilization and safe management of energy.

[0044] In this embodiment, the system controller receives the instruction of the driver's operating device, converts it into an execution demand signal and sends it to the control component, including:

[0045] The system controller receives instructions from the driver's operating device, converts them into execution demand signals after logical arbitration and judgment by the system controller, and sends them to the control components, which include an engine controller, a FISG motor controller, a high-voltage distribution box, an energy storage device controller, a drive motor integrated controller, a spindle picking integrated motor controller, a baling integrated motor controller, an air supply integrated motor controller, and a conveying integrated motor controller; the system controller can also feed back the system control status to the driver's operating device for status display, and the displayed content includes the remaining power value SOC of the high-voltage battery, vehicle speed, power generation status, engine operating status, left spindle picking device operating status, right spindle picking device operating status, left roller device operating status, right roller device operating status, cotton beating device operating status, feeding device operating status, left air supply device operating status, right air supply device operating status, compacting device operating status, baling roller device operating status, and system fault status;

[0046] Specifically, the system controller is responsible for receiving instructions from the driver's operating device, and after logical arbitration, converting these instructions into execution demand signals and sending them to various control components. These control components include but are not limited to engine controller, FISG motor controller, high-voltage distribution box, energy storage device controller, drive motor integrated controller, spindle picking integrated motor controller, baling integrated motor controller, air supply integrated motor controller and conveying integrated motor controller, etc., which work together to realize the power control of the hybrid cotton picker. The system controller can not only send instructions, but also feedback the system control status to the driver's operating device in real time for status display, so that the driver can intuitively understand the working status of the cotton picker. The feedback status information is rich and varied, covering the remaining power value SOC of the high-voltage battery, vehicle speed, power generation status, engine operation status and the operation status of each actuator (such as left spindle picking device, right spindle picking device, left roller device, right roller device, cotton beating device, feeding device, left air supply device, right air supply device, compaction device, baling roller device) and system fault status. This two-way communication mechanism not only improves the convenience and safety of operation, but also enables the driver to adjust the operation strategy in time according to the real-time feedback information to ensure the efficient and stable operation of the cotton picker. At the same time, this intelligent design of the system controller is also the key to the hybrid cotton picker to achieve efficient, energy-saving and environmentally friendly operation.

[0047] In this embodiment, the system controller determines whether to activate the parking charging function based on the SOC value of the remaining power of the high-voltage battery. If the SOC value is not greater than the calibration threshold value A%, the parking power generation function is activated, the engine is started and the FISG motor is enabled, and the high-voltage battery is charged until the battery power SOC value is greater than the calibration threshold value B%. Stopping charging includes:

[0048] After receiving the instruction from the system controller, the energy storage device controller performs the connection and disconnection of the high-voltage battery relay based on the instruction. The high-voltage battery relay includes a main positive relay, a main negative relay and a pre-charge relay. The energy storage device also feeds back the connection and separation state of the high-voltage battery relay, the remaining power SOC value, and the fault state to the system controller; if the SOC value is not greater than the calibration threshold value A%, the parking power generation function is activated, and the engine start and the FISG motor are enabled accordingly. Then the engine executes the control state instruction, the speed instruction or the torque instruction, and the FISG motor executes the control state instruction, the torque instruction or the speed instruction, and enters the charging of the high-voltage battery until the battery power SOC value is greater than the calibration threshold value B%, the engine is shut down, the FISG motor is shut down, and the high-voltage battery stops charging;

[0049] Specifically, during the power control process of the hybrid cotton picker, when the system controller detects that the SOC value of the remaining power of the high-voltage battery does not reach the preset calibration threshold value A%, the parking power generation function will be triggered. At this time, after receiving the instructions from the system controller, the energy storage device controller will immediately perform a series of operations to ensure the effective charging of the high-voltage battery. Specifically, the energy storage device controller will control the connection and disconnection of the high-voltage battery relay according to the instructions. These relays include the main positive relay, the main negative relay and the pre-charge relay, which are jointly responsible for the electrical connection between the high-voltage battery and the power system. While the relay is operating, the energy storage device will also feed back the connection and separation state of the high-voltage battery relay and the remaining power SOC value and fault state of the battery to the system controller in real time, so that the system controller can accurately grasp the state of the battery. Once the charging conditions are met, the system will start the engine and FISG motor, execute the corresponding control state instructions, speed instructions or torque instructions, so that the engine and FISG motor work together to charge the high-voltage battery. During the charging process, the system will continuously monitor the battery SOC value. When the SOC value reaches the calibration threshold B%, the system will stop charging and control the engine and FISG motor to stop, so that the high-voltage battery enters the stop charging state. In this process, the precise control of the energy storage device controller and the intelligent monitoring of the system controller jointly ensure the safe and efficient charging of the high-voltage battery, providing stable power support for the continuous operation of the hybrid cotton picker.

[0050] In this embodiment, when the driving conditions are met, the front drive motor and the rear drive motor are enabled, and the speed and torque of the front and rear drive motors are adjusted based on the no-load driving and picking working conditions, including:

[0051] After the drive motor integrated controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the front drive motor controller based on the instruction, and the front drive motor controller feeds back the actual enabling state, actual control mode state, actual torque value, actual speed value and fault state of the front drive motor controller to the system controller; After the drive motor integrated controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the rear drive motor controller based on the instruction, and the rear drive motor controller feeds back the actual enabling state, actual control mode state, actual torque value, actual speed value and fault state of the rear drive motor controller to the system controller; Enter the working condition detection, and adjust the speed and torque of the front and rear drive motors based on the no-load driving and picking working condition driving;

[0052] Specifically, during the power control process of the hybrid cotton picker, when the driving conditions are met, the system controller will send instructions to the drive motor integrated controller to activate the front drive motor and the rear drive motor. After receiving these instructions, the drive motor integrated controller will immediately perform a series of operations, including enabling the front drive motor controller and the rear drive motor controller, and setting their control mode, torque command and speed command. At the same time, the front drive motor controller and the rear drive motor controller will feed back the actual execution of these instructions, such as the enable state, control mode, actual torque value and speed value, and any fault state, to the drive motor integrated controller in real time, and then the drive motor integrated controller will feed back this information to the system controller. This process ensures that the system controller can accurately grasp the operating status of the front and rear drive motors. Subsequently, the system will enter the working condition detection stage, and dynamically adjust the speed and torque of the front and rear drive motors according to the current no-load driving state or picking working condition. This refined adjustment strategy based on actual working conditions can not only ensure that the power output of the hybrid cotton picker under different working conditions meets the demand, but also effectively reduce energy waste and improve the operating efficiency and stability of the cotton picker. At the same time, through real-time feedback of motor status, the system can also promptly detect and handle potential faults to ensure the safe and reliable operation of the cotton picker.

[0053] In this embodiment, when the picking working condition is met, the left picking spindle motor, the right picking spindle motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor, and the baling roller motor are enabled, and the speed and torque of the corresponding motor are adjusted based on the picking working condition, including:

[0054] After the ingot picking integrated motor controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the left ingot picking motor controller based on the instruction, and the left ingot picking motor controller feeds back the actual enabling state, actual control mode state, actual torque value, actual speed value and fault state of the left ingot picking motor controller to the system controller; after the ingot picking integrated motor controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the right ingot picking motor controller based on the instruction, and the right ingot picking motor controller feeds back the actual enabling state, actual control mode state, actual torque value, actual speed value and fault state of the right ingot picking motor controller to the system system controller; after the packaged integrated motor controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the left roller motor controller based on the instruction, and the left roller motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the left roller motor controller to the system controller; after the packaged integrated motor controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the right roller motor controller based on the instruction, and the right roller motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the right roller motor controller to the system controller; After the package integrated motor controller receives the instruction in the system controller, it executes the enable, control mode, torque instruction and speed instruction of the cotton striking motor controller based on the instruction, and the cotton striking motor controller also feeds back the actual enable status, actual control mode status, actual torque value, actual speed value and fault status of the cotton striking motor controller to the system controller; After the package integrated motor controller receives the instruction in the system controller, it executes the enable, control mode, torque instruction and speed instruction of the feed motor controller based on the instruction, and the feed motor controller also feeds back the actual enable status, actual control mode status, actual torque value, actual speed value and fault status of the feed motor controller to the system controller; The air supply After the integrated motor controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the left air supply motor controller based on the instruction, and the left air supply motor controller also feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the left air supply motor controller to the system controller; after the air supply integrated motor controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the right air supply motor controller based on the instruction, and the right air supply motor controller also feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the right air supply motor controller to the system controller;After the conveying integrated motor controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the compacting motor controller based on the instruction, and the compacting motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the compacting motor controller to the system controller; After the conveying integrated motor controller receives the instruction in the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the baling roller motor controller based on the instruction, and the baling roller motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the baling roller motor controller to the system controller; Entering the picking condition detection, it is divided into evacuation picking condition, ordinary picking condition and intensive picking condition, and the speed and torque of the left picking spindle motor, the right picking spindle motor, the left roller motor, the right roller motor, the cotton compacting motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor and the baling roller motor are adjusted based on the picking condition state;

[0055] Specifically, under the picking condition of the hybrid cotton picker, the system controller will send detailed instructions to each integrated motor controller according to the current picking demand to accurately control the operating status of each execution motor. Specifically, after receiving the instructions from the system controller, the spindle picking integrated motor controller will immediately enable the left spindle picking motor controller and the right spindle picking motor controller, and set their control mode, torque command and speed command to ensure that the spindle picking motor can work according to the predetermined requirements. At the same time, the left spindle picking motor controller and the right spindle picking motor controller will feed back the execution status of these instructions, including the enabling status, control mode, actual torque value, speed value and any fault status, to the spindle picking integrated motor controller in real time, and then the spindle picking integrated motor controller will feed back this information to the system controller. Similarly, the packaging integrated motor controller will also receive the instructions from the system controller, set the enabling and control instructions for the left roller motor controller, the right roller motor controller, the cotton beating motor controller and the feeding motor controller, and receive the status feedback of these motor controllers. The air supply integrated motor controller is responsible for enabling and controlling the left air supply motor controller and the right air supply motor controller, and the conveying integrated motor controller is responsible for enabling and controlling the compaction motor controller and the baling roller motor controller. The status information of all these motor controllers will be fed back to the system controller in real time so that the system can fully understand the working status of each actuator under picking conditions. In addition, the system will dynamically adjust the speed and torque of each motor according to different picking conditions (such as evacuation picking, ordinary picking, and intensive picking) to optimize the picking efficiency and quality. This process fully reflects the intelligence and accuracy of the hybrid cotton picker power control system of the present invention.

[0056] In this embodiment, when the parking state is detected and the driver's key is powered off, the system controller controls the high-voltage battery to power off, including:

[0057] When the parking state is detected and the driver's key is turned off, the high-voltage battery is controlled to be powered off, and after the high-voltage battery is powered off, the system controller enters a dormant state; the system controller is connected to the control component through a low-voltage communication line, and the system controller can send control command signals and receive status signal feedback, and the control component also includes a driver operating device; the system controller can feedback the system control status to the driver operating device for status display;

[0058] Specifically, during the power control process of the hybrid cotton picker, when the system detects that the vehicle is in a parking state and the driver has turned off the power (i.e., turned off the key switch), the system will immediately perform a key safety and energy-saving operation: control the high-voltage battery to power off. This step is intended to ensure that the high-voltage battery does not consume power unnecessarily during the parking of the vehicle, and also to ensure the safety of the operator. After the high-voltage battery is powered off, the system will further enter a dormant state to reduce overall energy consumption and extend the service life of the equipment. In addition, the system controller plays a core role in the entire process. It maintains real-time connection with the control components through low-voltage communication lines. It can not only send control command signals to various control components, but also receive status signals fed back by these components, so as to fully grasp the operating status of the system. These control components include but are not limited to engine controllers, FISG motor controllers, etc., which work together to achieve power control of the hybrid cotton picker. In particular, the system controller can also feedback the system control status to the driver's operating device in real time. Through the status display interface, the driver can intuitively understand the working status of the cotton picker, including the remaining power (SOC value) of the high-voltage battery, vehicle speed, power generation status, engine operation status, and the working status of each actuator. This intelligent information display and feedback mechanism not only improves the convenience of operation, but also enhances driving safety.

[0059] In this embodiment, after the high-voltage distribution box receives the system controller instruction, it executes the connection and disconnection of the high-voltage accessory relay based on the instruction. The high-voltage accessory relay includes a FISG motor controller relay, a drive motor integrated controller relay, a spindle picking integrated motor controller relay, a packaging integrated motor controller relay, an air supply integrated motor controller relay, and a conveying integrated motor controller relay. The high-voltage distribution box also feeds back the connection and separation status of the high-voltage accessory relay to the system controller; after the motor controller receives the system controller instruction, it executes the enablement, control mode, torque instruction, and speed instruction of the FISG motor controller based on the instruction, and the motor controller also feeds back the actual enablement status, control mode actual status, torque actual value, speed actual value, and fault status of the FISG motor controller to the system controller; after the engine controller receives the system controller instruction, it executes the engine start and stop, control mode, torque instruction, and speed instruction based on the instruction, and the engine controller also feeds back the actual start and stop status, control mode actual status, torque actual value, speed actual value, and fault status of the engine to the system controller;

[0060] Specifically, in the power control system of the hybrid cotton picker, the high-voltage distribution box plays a key role. It is responsible for receiving the instructions of the system controller and performing the connection and disconnection operations of the high-voltage accessory relays according to these instructions. These high-voltage accessory relays include but are not limited to the FISG motor controller relay, the drive motor integrated controller relay, the spindle integrated motor controller relay, the packaging integrated motor controller relay, the air supply integrated motor controller relay and the conveying integrated motor controller relay. By accurately controlling the state of these relays, the high-voltage distribution box can ensure that each high-voltage accessory (such as the motor controller, the drive motor, etc.) is correctly connected or disconnected at the right time, thereby ensuring the power supply and safety of the hybrid cotton picker. At the same time, the high-voltage distribution box will also feed back the connection and separation state of the high-voltage accessory relay to the system controller in real time, so that the system controller can accurately grasp the working state of each accessory. In addition, the motor controller and the engine controller are also the core components of the power control of the hybrid cotton picker. After receiving the instructions from the system controller, the motor controller will immediately execute the operations such as enabling, control mode setting, torque command and speed command of the FISG motor controller to accurately control the operating state of the FISG motor. At the same time, the motor controller will also feed back key information such as the actual state of the FISG motor's enablement, the actual state of the control mode, the actual value of the torque, the actual value of the speed, and the fault state to the system controller, providing an important basis for the system's intelligent decision-making. The engine controller is responsible for receiving instructions from the system controller and executing operations such as engine start and stop, control mode setting, torque instructions, and speed instructions. Similar to the motor controller, the engine controller will also feed back information such as the actual state of the engine's start and stop, the actual state of the control mode, the actual value of the torque, the actual value of the speed, and the fault state to the system controller. This information is crucial for the system controller. It can not only help the system controller accurately grasp the working state of the engine, but also provide strong support for the system's fault diagnosis and early warning.

[0061] In a specific embodiment, if Figures 6 to 8As shown, the power control system of the hybrid cotton picker includes: an engine, a FISG motor, a FISG motor controller, a cooling pump, a steering pump, a mechanical accessory pump, an energy storage device, an external charging device, a high-voltage distribution box, a driver operation command device, a system controller, a front drive motor, a rear drive motor, a front gearbox, a rear gearbox, a front drive wheel, a rear drive wheel, a drive motor integrated controller, a left spindle picking motor, a left spindle picking device, a right spindle picking motor, a right spindle picking device, a spindle picking integrated motor controller, a left roller motor, a left roller device, a right roller motor, a right roller device, a striker Cotton motor, cotton beating device, feeding motor, feeding device, baling integrated motor controller, left air supply motor, left air supply device, right air supply motor, right air supply device, air supply integrated motor controller, compaction motor, compaction device, baling roller motor, baling roller device, conveying integrated motor controller, 7-section high-voltage busbars, 13-section high-voltage three-phase lines; the engine includes an engine mechanical body and an engine controller, and the engine fuel types include diesel engine, gasoline engine, methanol engine, and hydrogen engine; the energy storage device includes a high-voltage battery body and an energy storage device controller.

[0062] Mechanical connection of components: The output end of the engine is mechanically connected to one end of the FISG motor, and the front end of the engine is connected to the cooling pump, steering pump, and mechanical accessory pump. The output shaft end of the left picker motor is mechanically connected to the input end of the left picker device. The output shaft end of the right picker motor is mechanically connected to the input end of the right picker device. The output shaft end of the left roller motor is mechanically connected to the input end of the left roller device. The output shaft end of the right roller motor is mechanically connected to the input end of the right roller device. The output shaft end of the cotton beating motor is mechanically connected to the input end of the cotton beating device. The output shaft end of the feeding motor is mechanically connected to the input end of the feeding device. The output shaft end of the left air supply motor is mechanically connected to the input end of the left air supply device. The output shaft end of the right air supply motor is mechanically connected to the input end of the right air supply device. The output shaft end of the compacting motor is mechanically connected to the input end of the compacting device. The output shaft end of the baling roller motor is mechanically connected to the input end of the baling roller device. The output shaft end of the front drive motor is mechanically connected to one end of the front gearbox, and the other end of the front gearbox is connected to the front drive wheel. The output shaft end of the rear drive motor is mechanically connected to one end of the rear gearbox, and the other end of the rear gearbox is connected to the rear drive wheel.

[0063] High-voltage line connection part: The high-voltage distribution box is connected to the high-voltage accessories through the high-voltage two-phase busbar. The high-voltage accessories include energy storage device, motor controller, drive motor integrated controller, spindle picking integrated motor controller, baling integrated motor controller, air supply integrated motor controller, conveying integrated motor controller, and external charging device. The other end of the motor controller is connected to the FISG motor through a high-voltage three-phase line. The other end of the spindle picking integrated motor controller is connected to the spindle picking execution component motor through a high-voltage three-phase line. The spindle picking execution motor includes the left spindle picking motor and the right spindle picking motor. The other end of the baling integrated motor controller is connected to the baling execution component motor through a high-voltage three-phase line. The baling execution motor includes the left roller motor, the right roller motor, the cotton beating motor, and the feeding motor. The other end of the air supply integrated motor controller is connected to the air supply execution component motor through a high-voltage three-phase line. The air supply execution motor includes the left air supply motor and the right air supply motor. The other end of the conveying integrated motor controller is connected to the conveying execution component motor through a high-voltage three-phase line. The conveying execution motor includes the compaction motor and the baling roller motor. The other end of the drive motor integrated controller is connected to the drive motor through a high-voltage three-phase line, and the drive motor includes a front drive motor and a rear drive motor. The DC voltage range of the high-voltage bus is 300-1000V.

[0064] Control signal part: The system controller is connected to the control components through a low-voltage communication line, and the system controller can send control command signals and receive status signal feedback; the control components include driver operating device, engine controller, FISG motor controller, high-voltage distribution box, energy storage device controller, drive motor integrated controller, ingot picking integrated motor controller, packaging integrated motor controller, air supply integrated motor controller, and conveying integrated motor controller. The system controller receives the instruction of the driver's operating device, and after the system controller logic arbitration judgment, it is converted into an execution demand signal and sent to the control component for execution. The control component includes the engine controller, FISG motor controller, high-voltage distribution box, energy storage device controller, drive motor integrated controller, spindle picking integrated motor controller, packaging integrated motor controller, air supply integrated motor controller, and conveying integrated motor controller. The system controller can also feedback the system control status to the driver's operating device for status display. The displayed content includes the remaining power value SOC of the high-voltage battery, vehicle speed, power generation status, engine operation status, left spindle picking device operation status, right spindle picking device operation status, left roller device operation status, right roller device operation status, cotton beating device operation status, feeding device operation status, left air supply device operation status, right air supply device operation status, compacting device operation status, packaging roller device operation status, and system fault status. After receiving the instruction of the system controller, the energy storage device executes the connection and disconnection of the high-voltage battery relay based on the instruction. The high-voltage battery relay includes the main positive relay, the main negative relay and the pre-charge relay. The energy storage device also feeds back the connection and separation status of the high-voltage battery relay, the remaining power SOC value, and the fault status to the system controller. After the high-voltage distribution box receives the system controller instruction, it executes the connection and disconnection of the high-voltage accessory relays based on the instruction. The high-voltage accessory relays include FISG motor controller relay, drive motor integrated controller relay, picking integrated motor controller relay, packaging integrated motor controller relay, air supply integrated motor controller relay, and conveying integrated motor controller relay. The high-voltage distribution box also feeds back the connection and separation status of the high-voltage accessory relays to the system controller.

[0065] Among them, after the motor controller receives the instruction from the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the FISG motor controller based on the instruction, and the motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the FISG motor controller to the system controller. After the engine controller receives the instruction from the system controller, it executes the start and stop of the engine, the control mode, torque instruction, and speed instruction based on the instruction, and the engine controller feeds back the actual start and stop state, actual control mode state, actual torque value, actual speed value, and fault state of the engine to the system controller. After the spindle picking integrated motor controller receives the instruction from the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the left spindle picking motor controller based on the instruction, and the left spindle picking motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the left spindle picking motor controller to the system controller. After the spindle picking integrated motor controller receives the instructions from the system controller, it executes the enable, control mode, torque instruction and speed instruction of the right spindle picking motor controller based on the instructions. The right spindle picking motor controller also feeds back the actual enable status, control mode actual status, torque actual value, speed actual value and fault status of the right spindle picking motor controller to the system controller.

[0066] Among them, after the packaging integrated motor controller receives the instruction in the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the left roller motor controller based on the instruction, and the left roller motor controller feeds back the actual enablement state, actual control mode state, actual torque value, actual speed value, and fault state of the left roller motor controller to the system controller. After the packaging integrated motor controller receives the instruction in the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the right roller motor controller based on the instruction, and the right roller motor controller feeds back the actual enablement state, actual control mode state, actual torque value, actual speed value, and fault state of the right roller motor controller to the system controller. After the packaging integrated motor controller receives the instruction in the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the cotton striking motor controller based on the instruction, and the cotton striking motor controller feeds back the actual enablement state, actual control mode state, actual torque value, actual speed value, and fault state of the cotton striking motor controller to the system controller. After the packaged integrated motor controller receives the instructions from the system controller, it executes the enable, control mode, torque instruction, and speed instruction fed into the motor controller based on the instructions, feeds the motor controller and feeds back the actual enable status, control mode actual status, torque actual value, speed actual value, and fault status fed into the motor controller to the system controller.

[0067] Among them, after the air supply integrated motor controller receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the left air supply motor controller based on the instruction, and the left air supply motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the left air supply motor controller to the system controller. After the air supply integrated motor controller receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the right air supply motor controller based on the instruction, and the right air supply motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the right air supply motor controller to the system controller. After the transport integrated motor controller receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the compaction motor controller based on the instruction, and the compaction motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the compaction motor controller to the system controller. After the conveying integrated motor controller receives the instruction from the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the packing roller motor controller based on the instruction, and the packing roller motor controller feeds back the actual enablement state, actual control mode state, actual torque value, actual speed value, and fault state of the packing roller motor controller to the system controller. After the drive motor integrated controller receives the instruction from the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the front drive motor controller based on the instruction, and the front drive motor controller feeds back the actual enablement state, actual control mode state, actual torque value, actual speed value, and fault state of the front drive motor controller to the system controller. After the drive motor integrated controller receives the instruction from the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the rear drive motor controller based on the instruction, and the rear drive motor controller feeds back the actual enablement state, actual control mode state, actual torque value, actual speed value, and fault state of the rear drive motor controller to the system controller.

[0068] In practical applications, the power control method of the hybrid cotton picker of the present invention includes:

[0069] Step 1: When the key is powered on at low voltage, the system control components are powered on at low voltage, and each control component can communicate normally;

[0070] Step 2: Based on the communication information between components, the system collects fault status information between control components. If there is no fault information, the system controls the high-voltage system to perform high-voltage power-on operation. If the system triggers the fault level limit, the function of the system control component is restricted, such as prohibiting the engine from starting and prohibiting the motor from enabling.

[0071] Step 3, if the high voltage is powered on normally and the system has no faults, the system determines whether to activate the parking charging function based on the SOC value of the remaining power of the high voltage battery. If the SOC value is not greater than the calibration threshold A% (A≥0, such as A=10), the parking power generation function is activated, and the engine is started and the FISG motor is enabled. Then the engine executes the control state command, speed command or torque command, and the FISG motor executes the control state command, torque command or speed command. At this time, the high voltage battery is charged until the battery power SOC value is greater than the calibration threshold B% (B%>A%, B≤100). At this time, the engine is stopped, the FISG motor is stopped, and the high voltage battery stops charging;

[0072] Step 4: If the high voltage is powered on normally and the system has no faults, the system determines whether to activate the parking charging function based on the remaining power SOC value of the high voltage battery. If the SOC value is greater than the calibration threshold A% (A≥0, such as A=10), the system allows entering the driving and picking conditions;

[0073] Step 5: If the system meets the driving conditions, the system enters the driving activation state, and the front drive motor and the rear drive motor are enabled accordingly. Then the front drive motor executes the control state instruction, speed instruction or torque instruction, and the rear drive motor executes the control state instruction, torque instruction or speed instruction. The system enters the working condition detection, and adjusts the speed and torque of the front and rear drive motors based on the no-load driving and picking working condition driving. If the system does not meet the driving conditions, the system enters the parking state;

[0074] Step 6. If the system meets the picking working conditions, the system enters the picking activation state, and correspondingly executes the enabling of the left spindle picking motor, the right spindle picking motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor, and the baling roller motor. Then the left spindle picking motor executes the control state instruction, the speed instruction or the torque instruction, the right spindle picking motor executes the control state instruction, the torque instruction or the speed instruction, the left roller motor executes the control state instruction, the speed instruction or the torque instruction, the right roller motor executes the control state instruction, the torque instruction or the speed instruction, the cotton beating motor executes the control state instruction, the speed instruction or the torque instruction, and the feeding motor executes the control state instruction The left air supply motor executes the control state command, speed command or torque command, the right air supply motor executes the control state command, speed command or torque command, the compacting motor executes the control state command, torque command or speed command, the baling roller motor executes the control state command, torque command or speed command, the system enters the picking condition detection, which is divided into evacuation picking condition, ordinary picking condition and intensive picking condition. Based on the picking condition state, the driving is used to adjust the speed and torque of the left picking motor, the right picking motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor and the baling roller motor;

[0075] Step 7: If the system detects that the vehicle is in parking state and detects that the driver's key is powered off, the system controls the high-voltage battery to power off. After the high-voltage battery is powered off, the system enters a dormant state.

[0076] Embodiment 2

[0077] Figure 4 FIG. 1 is a schematic diagram of the structure of a power control device of a hybrid cotton picker in the second embodiment of the present invention. Figure 4 As shown, the second embodiment provides a power control device for a hybrid cotton picker, which is applied to a Figure 6 The power control system shown, the power control device of the hybrid cotton picker includes: a conversion module, a judgment module, an entry module, a first adjustment module, a second adjustment module and a power-off module. The conversion module is used for the system controller to receive the instructions of the driver's operating device, convert it into an execution demand signal and send it to the control component, wherein the control component includes an engine controller, a FISG motor controller, a high-voltage distribution box, an energy storage device controller, a drive motor integrated controller, a spindle picking integrated motor controller, a packaging integrated motor controller, an air supply integrated motor controller and a conveying integrated motor controller. The judgment module is used to determine whether to activate the parking charging function based on the SOC value of the remaining power of the high-voltage battery. If the SOC value is not greater than the calibration threshold value A%, the parking power generation function is activated, the engine is started and the FISG motor is enabled, and the high-voltage battery is charged until the battery power SOC value is greater than the calibration threshold value B%, and the charging is stopped. The entry module is used to enter the driving and picking working conditions if the SOC value is greater than the calibration threshold value A%. The first adjustment module is used to enable the front drive motor and the rear drive motor when the driving conditions are met, and adjust the speed and torque of the front and rear drive motors based on the no-load driving and picking working conditions. The second adjustment module is used to enable the left spindle picking motor, the right spindle picking motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor, and the baling roller motor when the picking working conditions are met, and adjust the speed and torque of the corresponding motors based on the picking working conditions. The power-off module is used to control the system controller to power off the high-voltage battery when the parking state is detected and the driver's key is powered off.

[0078] In this embodiment, the system controller receives the instruction of the driver's operating device, converts it into an execution demand signal and sends it to the control component, including:

[0079] The system controller receives the instruction of the driver's operating device, converts it into an execution demand signal after the system controller logic arbitration judgment, and sends it to the control component, the control component includes an engine controller, a FISG motor controller, a high-voltage distribution box, an energy storage device controller, a drive motor integrated controller, a spindle picking integrated motor controller, a packaging integrated motor controller, an air supply integrated motor controller, and a conveying integrated motor controller;

[0080] The system controller can also feed back the system control status to the driver's operating device for status display, and the displayed content includes the remaining power value SOC of the high-voltage battery, vehicle speed, power generation status, engine operating status, left spindle picking device operating status, right spindle picking device operating status, left roller device operating status, right roller device operating status, cotton beating device operating status, feeding device operating status, left air supply device operating status, right air supply device operating status, compacting device operating status, baling roller device operating status, and system fault status.

[0081] In this embodiment, the system controller determines whether to activate the parking charging function based on the SOC value of the remaining power of the high-voltage battery. If the SOC value is not greater than the calibration threshold value A%, the parking power generation function is activated, the engine is started and the FISG motor is enabled, and the high-voltage battery is charged until the battery power SOC value is greater than the calibration threshold value B%. Stopping charging includes:

[0082] After receiving the instruction from the system controller, the energy storage device controller performs the connection and disconnection of the high-voltage battery relay based on the instruction. The high-voltage battery relay includes a main positive relay, a main negative relay and a pre-charge relay. The energy storage device also feeds back the connection and disconnection state of the high-voltage battery relay, the remaining power SOC value, and the fault state to the system controller;

[0083] If the SOC value is not greater than the calibrated threshold value A%, the parking power generation function is activated, and the engine is started and the FISG motor is enabled. Then the engine executes the control state command, speed command or torque command, and the FISG motor executes the control state command, torque command or speed command to charge the high-voltage battery until the battery power SOC value is greater than the calibrated threshold value B%. The engine stops, the FISG motor stops, and the high-voltage battery stops charging.

[0084] In this embodiment, when the driving conditions are met, the front drive motor and the rear drive motor are enabled, and the speed and torque of the front and rear drive motors are adjusted based on the no-load driving and picking working conditions, including:

[0085] After receiving the instruction from the system controller, the drive motor integrated controller executes the enabling, control mode, torque instruction, and speed instruction of the front drive motor controller based on the instruction, and the front drive motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value, and fault state of the front drive motor controller to the system controller;

[0086] After receiving the instruction from the system controller, the drive motor integrated controller executes the enablement, control mode, torque instruction, and speed instruction of the rear drive motor controller based on the instruction, and the rear drive motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the rear drive motor controller to the system controller;

[0087] Enter the working condition detection and adjust the speed and torque of the front and rear drive motors based on the no-load driving and picking working conditions.

[0088] In this embodiment, when the picking working condition is met, the left picking spindle motor, the right picking spindle motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor, and the baling roller motor are enabled, and the speed and torque of the corresponding motor are adjusted based on the picking working condition, including:

[0089] After receiving the instruction from the system controller, the ingot picking integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the left ingot picking motor controller based on the instruction, and the left ingot picking motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the left ingot picking motor controller to the system controller;

[0090] After receiving the instruction from the system controller, the ingot picking integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the right ingot picking motor controller based on the instruction, and the right ingot picking motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the right ingot picking motor controller to the system controller;

[0091] After receiving the instruction from the system controller, the packaged integrated motor controller executes the enabling, control mode, torque instruction, and speed instruction of the left roller motor controller based on the instruction, and the left roller motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value, and fault state of the left roller motor controller to the system controller;

[0092] After receiving the instruction from the system controller, the packaged integrated motor controller executes the enablement, control mode, torque instruction, and speed instruction of the right roller motor controller based on the instruction, and the right roller motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the right roller motor controller to the system controller;

[0093] After receiving the instruction from the system controller, the packaged integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the cotton striking motor controller based on the instruction, and the cotton striking motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the cotton striking motor controller to the system controller;

[0094] After receiving the instruction in the system controller, the packaged integrated motor controller executes the enable, control mode, torque instruction, and speed instruction of the feed motor controller based on the instruction, and the feed motor controller feeds back the enable actual state, control mode actual state, torque actual value, speed actual value, and fault state of the feed motor controller to the system controller;

[0095] After receiving the instruction from the system controller, the air supply integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the left air supply motor controller based on the instruction, and the left air supply motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the left air supply motor controller to the system controller;

[0096] After receiving the instruction from the system controller, the air supply integrated motor controller executes the enablement, control mode, torque instruction, and speed instruction of the right air supply motor controller based on the instruction, and the right air supply motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the right air supply motor controller to the system controller;

[0097] After the conveying integrated motor controller receives the instruction from the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the compaction motor controller based on the instruction, and the compaction motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the compaction motor controller to the system controller;

[0098] After receiving the instruction from the system controller, the conveying integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the packing roller motor controller based on the instruction, and the packing roller motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the packing roller motor controller to the system controller;

[0099] Enter the picking condition detection, which is divided into evacuation picking condition, ordinary picking condition and intensive picking condition. Based on the picking condition status, the driving is used to adjust the speed and torque of the left picking spindle motor, right picking spindle motor, left roller motor, right roller motor, cotton beating motor, feeding motor, left air supply motor, right air supply motor, compaction motor and baling roller motor.

[0100] In this embodiment, when the parking state is detected and the driver's key is powered off, the system controller controls the high-voltage battery to power off, including:

[0101] When the vehicle is detected to be in parking state and the driver's key is detected to be powered off, the high-voltage battery is controlled to be powered off, and after the high-voltage battery is powered off, the vehicle enters a dormant state;

[0102] The system controller is connected to the control component via a low-voltage communication line, and the system controller can send control command signals and receive status signal feedback. The control component also includes a driver operating device;

[0103] The system controller can feed back the system control status to the driver operating device for status display.

[0104] In this embodiment, after receiving the system controller instruction, the high-voltage distribution box executes the connection and disconnection of the high-voltage accessory relay based on the instruction. The high-voltage accessory relay includes the FISG motor controller relay, the drive motor integrated controller relay, the ingot picking integrated motor controller relay, the packaging integrated motor controller relay, the air supply integrated motor controller relay, and the conveying integrated motor controller relay. The high-voltage distribution box also feeds back the connection and separation status of the high-voltage accessory relay to the system controller;

[0105] After receiving the system controller instruction, the motor controller executes the enable, control mode, torque instruction, and speed instruction of the FISG motor controller based on the instruction, and the motor controller feeds back the actual enable state, control mode actual state, torque actual value, speed actual value, and fault state of the FISG motor controller to the system controller;

[0106] After receiving the system controller instruction, the engine controller executes the engine start and stop, control mode, torque instruction, and speed instruction based on the instruction. The engine controller also feeds back the engine start and stop actual state, control mode actual state, torque actual value, speed actual value, and fault state to the system controller.

[0107] The various variations and specific examples of the power control method for a hybrid cotton picker provided in Example 1 are also applicable to the power control device for a hybrid cotton picker provided in this example. Through the above detailed description of the power control method for a hybrid cotton picker, those skilled in the art can clearly know the implementation method of the power control device for a hybrid cotton picker in this example. Therefore, for the sake of brevity of the specification, it will not be described in detail here.

[0108] Embodiment 3

[0109] Figure 5 is a schematic diagram of the structure of an electronic device in Embodiment 3 of the present invention, such as Figure 5 As shown, the third embodiment further provides an electronic device 500 , which may include: a processor 501 and a memory 502 .

[0110] The memory 502 is used to store programs; the memory 502 may include volatile memory (English: volatile memory), such as random-access memory (English: random-access memory, abbreviated: RAM), such as static random-access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory 502 is used to store computer programs (such as applications, functional modules, etc. that implement the above method), computer instructions, etc., and the above computer programs, computer instructions, etc. can be partitioned and stored in one or more memories 502. And the above computer programs, computer instructions, data, etc. can be called by the processor 501.

[0111] The above-mentioned computer programs, computer instructions, etc. may be stored in partitions in one or more memories 502 . And the above-mentioned computer programs, computer instructions, etc. may be called by the processor 501 .

[0112] The processor 501 is used to execute the computer program stored in the memory 502 to implement the various steps in the method involved in the above embodiment.

[0113] For details, please refer to the relevant description in the previous method embodiment.

[0114] The processor 501 and the memory 502 may be independent structures or integrated structures. When the processor 501 and the memory 502 are independent structures, the memory 502 and the processor 501 may be coupled and connected via a bus 503 .

[0115] The electronic device of this embodiment can execute the technical solution in the above method, and its specific implementation process and technical principle are the same, which will not be repeated here.

[0116] Embodiment 4

[0117] Embodiment 4 further provides a computer-readable storage medium, including a computer program and instructions. When the computer program or instructions are executed on a computer, the computer executes the power control method for a hybrid cotton picker of any embodiment of the present invention.

[0118] Computer-readable storage media include: USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks, and other media that can store program codes.

[0119] This embodiment also provides a computer program product, which includes: a computer program, which is stored in a readable storage medium. At least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the solution provided by any of the above embodiments.

[0120] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0121] In summary, compared with the prior art, the power control method and device of the hybrid cotton picker according to the present invention has the following beneficial effects:

[0122] 1. The present invention can adjust the working state of the motor in real time according to the picking conditions (such as evacuated picking, ordinary picking, and intensive picking) by accurately controlling the speed and torque of each motor, thereby optimizing the operating efficiency of the cotton picker. For example, under intensive picking conditions, by increasing the speed and torque of the spindle motor, cotton can be picked faster and the cotton picking efficiency can be improved; through the intelligent electric control system, the picking process can be controlled more accurately, missing and mis-picking can be reduced, and the cotton picking quality can be improved;

[0123] 2. The present invention adopts a hybrid power system, combining the advantages of the engine and the motor. When the vehicle is parked or under low load conditions, the high-voltage battery can be charged by the FISG motor, making full use of the excess power of the engine and reducing energy waste; by precisely controlling the speed and torque of the motor, the overflow throttling loss caused by frequent load changes in traditional cotton pickers is avoided, and the energy transmission efficiency is improved;

[0124] 3. The power control system of the present invention has intelligent characteristics, and can automatically determine the remaining power of the high-voltage battery, and automatically activate the parking charging or parking power generation function according to the power status, without manual intervention; the system can feed back the working status of each component (such as engine status, motor status, battery power, etc.) to the driver's operating device in real time, so that the driver can intuitively understand the working status of the cotton picker, improving the convenience and safety of operation;

[0125] 4. The present invention reduces mechanical impact and wear caused by load changes and extends the service life of the cotton picker by accurately controlling the working status of each component; the system has fault detection and alarm functions, which can detect and handle potential faults in time and improve the reliability and stability of the system.

[0126] 5. By adopting a hybrid power system, the present invention reduces the dependence of traditional cotton pickers on fossil fuels, reduces emissions, and complies with the development trend of environmental protection and energy conservation.

[0127] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A power control method for a hybrid cotton picker, characterized in that: include: The system controller receives the instruction of the driver's operating device, converts it into an execution demand signal and sends it to the control component, wherein the control component includes an engine controller, a FISG motor controller, a high-voltage distribution box, an energy storage device controller, a drive motor integrated controller, a spindle picking integrated motor controller, a packaging integrated motor controller, an air supply integrated motor controller and a conveying integrated motor controller; Determine whether to activate the parking charging function based on the remaining power SOC value of the high-voltage battery. If the SOC value is not greater than the calibration threshold value A%, activate the parking power generation function, execute the engine start and enable the FISG motor, and charge the high-voltage battery until the battery power SOC value is greater than the calibration threshold value B%, and then stop charging; If the SOC value is greater than the calibration threshold value A%, the driving and picking conditions are entered; If the driving conditions are met, the front drive motor and the rear drive motor are enabled, and the speed and torque of the front and rear drive motors are adjusted based on the no-load driving and picking working conditions; If the picking working condition is met, the left picking spindle motor, right picking spindle motor, left roller motor, right roller motor, cotton beating motor, feeding motor, left air supply motor, right air supply motor, compacting motor and baling roller motor are enabled, and the speed and torque of the corresponding motor are adjusted based on the picking working condition; When the parking state is detected and the driver's key is powered off, the system controller controls the high-voltage battery to be powered off.

2. The power control method of the hybrid cotton picker according to claim 1, characterized in that: The system controller receives the instruction of the driver's operating device, converts it into an execution demand signal and sends it to the control component, including: The system controller receives the instruction of the driver's operating device, converts it into an execution demand signal after the system controller logic arbitration judgment, and sends it to the control component, the control component includes an engine controller, a FISG motor controller, a high-voltage distribution box, an energy storage device controller, a drive motor integrated controller, a spindle picking integrated motor controller, a packaging integrated motor controller, an air supply integrated motor controller, and a conveying integrated motor controller; The system controller can also feed back the system control status to the driver's operating device for status display, and the displayed content includes the remaining power value SOC of the high-voltage battery, vehicle speed, power generation status, engine operating status, left spindle picking device operating status, right spindle picking device operating status, left roller device operating status, right roller device operating status, cotton beating device operating status, feeding device operating status, left air supply device operating status, right air supply device operating status, compacting device operating status, baling roller device operating status, and system fault status.

3. The power control method of the hybrid cotton picker according to claim 1, characterized in that: The system controller determines whether to activate the parking charging function based on the remaining power SOC value of the high-voltage battery. If the SOC value is not greater than the calibration threshold value A%, the parking power generation function is activated, the engine is started and the FISG motor is enabled, and the high-voltage battery is charged until the battery power SOC value is greater than the calibration threshold value B%. Stopping charging includes: After receiving the instruction from the system controller, the energy storage device controller performs the connection and disconnection of the high-voltage battery relay based on the instruction. The high-voltage battery relay includes a main positive relay, a main negative relay and a pre-charge relay. The energy storage device also feeds back the connection and disconnection state of the high-voltage battery relay, the remaining power SOC value, and the fault state to the system controller; If the SOC value is not greater than the calibrated threshold value A%, the parking power generation function is activated, and the engine is started and the FISG motor is enabled. Then the engine executes the control state command, speed command or torque command, and the FISG motor executes the control state command, torque command or speed command to charge the high-voltage battery until the battery power SOC value is greater than the calibrated threshold value B%. The engine stops, the FISG motor stops, and the high-voltage battery stops charging.

4. The power control method of the hybrid cotton picker according to claim 1, characterized in that: When the driving conditions are met, the front drive motor and the rear drive motor are enabled, and the speed and torque of the front and rear drive motors are adjusted based on the no-load driving and picking working conditions, including: After receiving the instruction from the system controller, the drive motor integrated controller executes the enabling, control mode, torque instruction, and speed instruction of the front drive motor controller based on the instruction, and the front drive motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value, and fault state of the front drive motor controller to the system controller; After receiving the instruction from the system controller, the drive motor integrated controller executes the enablement, control mode, torque instruction, and speed instruction of the rear drive motor controller based on the instruction, and the rear drive motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the rear drive motor controller to the system controller; Enter the working condition detection and adjust the speed and torque of the front and rear drive motors based on the no-load driving and picking working conditions.

5. The power control method of a hybrid cotton picker according to claim 1, characterized in that: If the picking working condition is met, the left picking spindle motor, the right picking spindle motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor, and the baling roller motor are enabled, and the speed and torque of the corresponding motor are adjusted based on the picking working condition, including: After receiving the instruction from the system controller, the ingot picking integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the left ingot picking motor controller based on the instruction, and the left ingot picking motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the left ingot picking motor controller to the system controller; After receiving the instruction from the system controller, the ingot picking integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the right ingot picking motor controller based on the instruction, and the right ingot picking motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the right ingot picking motor controller to the system controller; After receiving the instruction from the system controller, the packaged integrated motor controller executes the enabling, control mode, torque instruction, and speed instruction of the left roller motor controller based on the instruction, and the left roller motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value, and fault state of the left roller motor controller to the system controller; After receiving the instruction from the system controller, the packaged integrated motor controller executes the enablement, control mode, torque instruction, and speed instruction of the right roller motor controller based on the instruction, and the right roller motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the right roller motor controller to the system controller; After receiving the instruction from the system controller, the packaged integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the cotton striking motor controller based on the instruction, and the cotton striking motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the cotton striking motor controller to the system controller; After receiving the instruction in the system controller, the packaged integrated motor controller executes the enable, control mode, torque instruction, and speed instruction of the feed motor controller based on the instruction, and the feed motor controller feeds back the enable actual state, control mode actual state, torque actual value, speed actual value, and fault state of the feed motor controller to the system controller; After receiving the instruction from the system controller, the air supply integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the left air supply motor controller based on the instruction, and the left air supply motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the left air supply motor controller to the system controller; After receiving the instruction from the system controller, the air supply integrated motor controller executes the enablement, control mode, torque instruction, and speed instruction of the right air supply motor controller based on the instruction, and the right air supply motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the right air supply motor controller to the system controller; After the conveying integrated motor controller receives the instruction from the system controller, it executes the enabling, control mode, torque instruction and speed instruction of the compaction motor controller based on the instruction, and the compaction motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the compaction motor controller to the system controller; After receiving the instruction from the system controller, the conveying integrated motor controller executes the enabling, control mode, torque instruction and speed instruction of the packing roller motor controller based on the instruction, and the packing roller motor controller feeds back the enabling actual state, control mode actual state, torque actual value, speed actual value and fault state of the packing roller motor controller to the system controller; Enter the picking condition detection, which is divided into evacuation picking condition, ordinary picking condition and intensive picking condition. Based on the picking condition status, the driving is used to adjust the speed and torque of the left picking spindle motor, right picking spindle motor, left roller motor, right roller motor, cotton beating motor, feeding motor, left air supply motor, right air supply motor, compaction motor and baling roller motor.

6. The power control method of a hybrid cotton picker according to claim 1, characterized in that: When the parking state is detected and the driver's key is powered off, the system controller controls the high-voltage battery to power off, including: When the vehicle is detected to be in parking state and the driver's key is detected to be powered off, the high-voltage battery is controlled to be powered off, and after the high-voltage battery is powered off, the vehicle enters a dormant state; The system controller is connected to the control component via a low-voltage communication line, and the system controller can send control command signals and receive status signal feedback. The control component also includes a driver operating device; The system controller can feed back the system control status to the driver operating device for status display.

7. The power control method of a hybrid cotton picker as claimed in claim 2, characterized in that: After receiving the system controller instruction, the high-voltage distribution box executes the connection and disconnection of the high-voltage accessory relay based on the instruction. The high-voltage accessory relay includes the FISG motor controller relay, the drive motor integrated controller relay, the ingot picking integrated motor controller relay, the packaging integrated motor controller relay, the air supply integrated motor controller relay, and the conveying integrated motor controller relay. The high-voltage distribution box also feeds back the connection and separation status of the high-voltage accessory relay to the system controller; After receiving the system controller instruction, the motor controller executes the enable, control mode, torque instruction, and speed instruction of the FISG motor controller based on the instruction, and the motor controller feeds back the actual enable state, control mode actual state, torque actual value, speed actual value, and fault state of the FISG motor controller to the system controller; After receiving the system controller instruction, the engine controller executes the engine start and stop, control mode, torque instruction, and speed instruction based on the instruction. The engine controller also feeds back the engine start and stop actual state, control mode actual state, torque actual value, speed actual value, and fault state to the system controller.

8. A power control device for a hybrid cotton picker, characterized in that: include: A conversion module is used for the system controller to receive instructions from the driver's operating device, convert them into execution demand signals and send them to the control components, wherein the control components include an engine controller, a FISG motor controller, a high-voltage distribution box, an energy storage device controller, a drive motor integrated controller, a spindle picking integrated motor controller, a packaging integrated motor controller, an air supply integrated motor controller and a conveying integrated motor controller; A judgment module is used to judge whether to activate the parking charging function based on the SOC value of the remaining power of the high-voltage battery. If the SOC value is not greater than the calibration threshold value A%, the parking power generation function is activated, the engine is started and the FISG motor is enabled, and the high-voltage battery is charged until the battery power SOC value is greater than the calibration threshold value B%, and the charging is stopped; An entry module is used to enter the driving and picking conditions if the SOC value is greater than a calibrated threshold value A%; The first adjustment module is used to enable the front drive motor and the rear drive motor when the driving conditions are met, and adjust the speed and torque of the front and rear drive motors based on the no-load driving and picking working conditions; The second adjustment module is used to enable the left picking motor, the right picking motor, the left roller motor, the right roller motor, the cotton beating motor, the feeding motor, the left air supply motor, the right air supply motor, the compacting motor, and the baling roller motor to meet the picking working condition, and adjust the speed and torque of the corresponding motor based on the picking working condition; The power-off module is used to control the high-voltage battery to be powered off by the system controller when a parking state is detected and the driver's key is powered off.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively coupled to the at least one processor; Wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the power control method of the hybrid cotton picker described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: It comprises a computer program and instructions. When the computer program or the instructions are run on a computer, the computer is enabled to execute the power control method for a hybrid cotton picker as described in any one of claims 1-7.

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