Harvester header height adjusting method, harvester and electronic equipment

Abstract

The invention discloses a harvester header height adjusting method, a harvester and electronic equipment, and belongs to the technical field of agricultural machinery. The harvester header height adjusting method comprises the steps that in response to an automatic control instruction, the actual height and the target height of a header are obtained in real time, and based on the target height and the actual height of the header, whether the header meets the preset height adjusting requirement or not is judged; and under the condition of determining that the header meets the preset height adjustment requirement, adjusting the harvester to the target height. Whether the header meets the preset height adjustment requirement or not is judged based on the target height and the actual height of the header in response to the automatic control instruction, and height adjustment is performed under the condition that the header meets the preset height adjustment requirement, so that the header of the harvester is electrically controlled, and the header can be adjusted according to manual requirements. The functions of one-key header lifting, one-key header descending and one-key height fixing are achieved, and the operation efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of agricultural machinery, and particularly to a method for adjusting the height of a harvester header, a harvester, and an electronic device. Background Art

[0002] A harvester is a mechanical device used in agricultural production to harvest various crops, which can effectively improve agricultural production efficiency and reduce the labor intensity of farmers. For example: rice harvesters, fruit harvesters, vegetable harvesters, etc.

[0003] Most of the headers of harvesters adopt mechanical hydraulic control. In the actual operation process, to control the header to the target position, it entirely depends on manual adjustment. Often, after multiple lifting adjustments, the ideal position is not achieved, reducing the operation efficiency. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a method for adjusting the height of a harvester header, a harvester, and an electronic device, so as to solve the problem in the prior art that to control the header to the target position, it entirely depends on manual judgment. Often, after multiple lifting adjustments, the ideal position is not achieved, reducing the operation efficiency.

[0005] To achieve the above purpose, the first aspect of this application provides a method for adjusting the height of a harvester header, including:

[0006] In response to an automatic control instruction, real-time obtain the actual height and the target height of the header;

[0007] Based on the target height and the actual height of the header, determine whether the header meets the preset height adjustment requirements;

[0008] When it is determined that the header meets the preset height adjustment requirements, adjust the header of the harvester to the target height.

[0009] In the embodiments of this application, when the automatic control instruction is an upward instruction, the determining whether the header meets the preset height adjustment requirements based on the target height and the actual height of the header includes:

[0010] Based on the actual height of the header, determine whether the header meets the preset upward conditions;

[0011] When it is determined that the header meets the preset upward conditions, determine that the header meets the preset height adjustment requirements.

[0012] In the embodiments of this application, the preset upward condition is: the actual height of the header is not greater than the difference between the maximum height of the header and a preset advance amount.

[0013] In an embodiment of the present application, the automatic control instruction is a descending instruction. Based on the target height and the actual height of the cutter bar, determining whether the cutter bar meets the preset height adjustment requirements includes:

[0014] Based on the target height and the actual height of the cutter bar, determining whether the cutter bar meets the preset descending conditions;

[0015] When it is determined that the cutter bar meets the preset descending conditions, it is determined that the cutter bar meets the preset height adjustment requirements.

[0016] In an embodiment of the present application, the preset descending conditions are: the actual height of the cutter bar is greater than the sum of the target height and a preset advance amount.

[0017] In an embodiment of the present application, the real-time acquisition of the actual height and the target height of the cutter bar includes:

[0018] Acquiring the working condition parameters of the harvester;

[0019] Based on the working condition parameters, determining whether the harvester meets the preset automatic control conditions;

[0020] When it is determined that the harvester meets the preset automatic control conditions, the actual height and the target height of the cutter bar are acquired in real time.

[0021] In an embodiment of the present application, the working condition parameters include: cutter bar handle parameters and cutter bar height sensor parameters;

[0022] The determination of whether the harvester meets the preset automatic control conditions based on the working condition parameters includes:

[0023] Based on the cutter bar handle parameters, determining whether the cutter bar handle meets the preset cutter bar handle conditions;

[0024] Based on the cutter bar height sensor parameters, determining whether the cutter bar height sensor is in a normal state;

[0025] When it is determined that the cutter bar handle meets the preset cutter bar handle conditions and the cutter bar height sensor is in a normal state, it is determined that the harvester meets the preset automatic control conditions.

[0026] In an embodiment of the present application, the preset cutter bar handle conditions include: the angle range of the cutter bar handle meets the preset angle range, the angle change of the cutter bar handle does not exceed the preset change range and the duration meets the preset time value.

[0027] A second aspect of the present application provides a harvester, and the harvester adjusts the height of the cutter bar by using the above-mentioned method for adjusting the height of the cutter bar of the harvester.

[0028] A third aspect of the present application provides an electronic device, which includes:

[0029] At least one processor;

[0030] A memory connected to the at least one processor;

[0031] Wherein, the memory stores instructions executable by the at least one processor, and the at least one processor realizes the above-mentioned harvester cutter bar height adjustment method by executing the instructions stored in the memory.

[0032] Through the above technical solution, by responding to the automatic control instruction, the actual height and the target height of the cutter bar are obtained in real time, and based on the target height and the actual height of the cutter bar, it is judged whether the cutter bar meets the preset height adjustment requirements; when it is determined that the cutter bar meets the preset height adjustment requirements, the harvester is adjusted to the target height. By responding to the automatic control instruction, based on the target height and the actual height of the cutter bar, it is judged whether the cutter bar meets the preset height adjustment requirements, and when the cutter bar meets the preset height adjustment requirements, the height adjustment is performed, realizing the electronic control of the harvester cutter bar. According to the needs of the operator, the functions of one-key raising the cutter bar, one-key lowering the cutter bar and one-key setting the height can be realized. Based on the target height and the actual height of the cutter bar, it can be accurately judged whether the cutter bar meets the preset height adjustment requirements, and the height adjustment is only performed when the cutter bar meets the preset height adjustment requirements, ensuring the effectiveness and reliability of the cutter bar adjustment, so that the height adjustment of the cutter bar can be completed more quickly and the operation efficiency is improved.

[0033] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific implementation manners, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0035] Figure 1 Schematically shows a flowchart of a method for adjusting the height of a harvester cutter bar according to an embodiment of the present application;

[0036] Figure 2 Schematically shows an overall network architecture diagram of the automatic control of a rice harvester cutter bar according to an embodiment of the present application;

[0037] Figure 3 Schematically shows a logic table diagram of the automatic lifting control of a rice harvester cutter bar according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of this application, and are not used to limit the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope protected by this application.

[0039] It should be noted that the acquisition, transmission, storage, use, processing, etc. of data in the technical solutions of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain industry-existing solutions such as software, components, models, etc. may be mentioned. They should be regarded as exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solutions of this application, but it does not mean that the applicant has already or necessarily used this solution.

[0040] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then such directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then such descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0042] Figure 1 Schematically shows a flowchart of a method for adjusting the height of a harvester cutting table according to an embodiment of this application. As Figure 1 shown, the embodiments of this application provide a method for adjusting the height of a harvester cutting table, including the following steps:

[0043] Step 210: In response to an automatic control instruction, real-time obtain the actual height and the target height of the cutting table;

[0044] In this embodiment, the above-mentioned automatic control instruction can be input by an operator. For example, the Vehicle Control Unit (VCU) of the harvester is connected to a display screen, and options for the automatic control mode are displayed on the display screen. The operator selects the option for the automatic control mode by pressing a button or touching the display screen to issue the automatic control instruction. The automatic control instruction includes a raising instruction and a lowering instruction. In specific implementation, they can correspond to different buttons respectively. For example, the raising instruction corresponds to the "one-key up" button, and the lowering instruction corresponds to the "one-key down" button. After the vehicle control unit obtains the automatic control instruction, it determines to enable the automatic control mode to adjust the cutting table of the harvester, and then obtains the actual height and the target height of the cutting table in real time. The above-mentioned target height can be input by the operator according to actual needs. Specifically, a knob-type sensor can be set on the harvester, and the operator rotates the knob-type sensor to obtain the corresponding target height. The above-mentioned actual height of the cutting table is the relative height between the cutting table and the vehicle body collected, and ranging methods such as laser, infrared, and ultrasonic can be used, or it can be obtained by collecting the data of the cutting table height sensor.

[0045] Considering assembly or other reasons for each machine, the data of each sensor is different. To adapt to mass-produced products, the cutting table can be first lifted to the highest position and the angle of the cutting table handle is recorded; then it is lowered to the lowest position and the angle of the cutting table handle is recorded; finally, the linear relationship between the angle of the cutting table handle and the height is obtained. When obtaining the actual height of the cutting table, the corresponding height can be matched in the linear relationship between the angle of the cutting table handle and the height according to the current angle of the cutting table handle to obtain the actual height of the cutting table.

[0046] By obtaining the current angle of the cutting table handle and determining the actual height of the cutting table based on the current angle of the cutting table handle, the angle of the cutting table lifting action can be collected in real time through the angle sensor, and the height of the cutting table can be calculated indirectly, which helps to adapt to mass-produced products.

[0047] In some embodiments, to ensure the reliable progress of automatic adjustment, the real-time obtaining of the actual height and the target height of the cutting table includes the following steps:

[0048] First, obtain the working condition parameters of the harvester;

[0049] In this embodiment, the above-mentioned working condition parameters of the harvester can reflect the working states of various components. The above-mentioned working condition parameters include: cutting table handle parameters, cutting table height sensor parameters, etc., which can be obtained by collecting the sensor data on the harvester respectively. For example, the cutting table handle parameters include the cutting table handle angle data, which can be obtained by an angle sensor.

[0050] It should be noted that the header handle mentioned in this embodiment can be implemented by using an ordinary handle + an angle sensor, or a CAN bus handle. This embodiment does not make a limitation.

[0051] Then, based on the working condition parameters, it is determined whether the harvester meets the preset automatic control conditions;

[0052] In this embodiment, the preset automatic control conditions can be set according to the actual situation to ensure that the header height can be adjusted. Only when the harvester meets the preset automatic adjustment conditions can the automatic control mode be carried out. Otherwise, manual control can be performed through the header handle.

[0053] In some embodiments, the working condition parameters include: header handle parameters and header height sensor parameters; correspondingly, the determining whether the harvester meets the preset automatic control conditions based on the working condition parameters includes:

[0054] The first step is to determine whether the header handle meets the preset header handle conditions based on the header handle parameters;

[0055] In this embodiment, the header handle parameters include the voltage value of the header handle, each gear, etc. The above-mentioned preset header handle conditions can be set in advance according to the actual situation.

[0056] Among them, the preset header handle conditions include: the angle range of the header handle meets the preset angle range, the angle change of the header handle does not exceed the preset change range and the duration meets the preset time value.

[0057] In this embodiment, the preset header handle conditions can be that the header handle is in a non-action state. Specifically, it can be set that the angle range of the header handle meets the preset angle range, the angle change of the header handle does not exceed the preset change range and the duration meets the preset time value. The above-mentioned preset angle range can be set according to the actual situation. The above-mentioned preset angle range refers to the angle range that the header handle can achieve and can be set according to the actual situation. For example, the preset angle range can be -100% to 100%. The above-mentioned preset change range and preset time value can both be set according to the actual situation. For example, the preset change range does not exceed 10%, and the preset time value is 1 second.

[0058] Setting the header handle conditions by means of the angle range of the header handle and the angle change situation of the header handle helps to accurately determine whether the header handle meets the automatic control requirements.

[0059] In some embodiments, the preset header handle conditions may also be that the header handle is in a non-operating state and the header handle is working properly. For example, to determine whether the header handle is in a non-operating state, it can be determined whether the angle change of the header handle does not exceed 10% and lasts for 1 second. If so, it means that the header handle is in a non-operating state; otherwise, it means that the header handle is in motion. To determine whether the header handle is working properly, it can be determined whether the detected voltage value of the header handle is within the normal range (0.01V to 5.5V), and at the same time, it is detected whether the header handle is calibrated, that is, it is required to satisfy 5.5V > maximum rising gear > neutral gear > maximum falling gear > 0.05V; if the detected voltage value is not within the normal range (0.01V to 5.5V), at this time, both the lift and lower solenoid valves are closed, and the display screen gives a fault prompt; if the calibration value of the three gears is 0 or the calibration is incorrect, both the lift and lower solenoid valves are closed, and the display screen gives a fault prompt; if the detected voltage value of the header handle is within the normal range (0.01V to 5.5V) and it is detected that the header handle has been calibrated, it means that the header handle is working properly.

[0060] Second, based on the header height sensor parameters, determine whether the header height sensor is in a normal state;

[0061] In this embodiment, the header height sensor can be used to collect the header height in real time. The header height sensor parameters include the voltage value of the header height sensor, each calibration value, etc. To determine whether the header height sensor is in a normal state as described above, it can be determined whether the header height sensor data is normal and whether the header height sensor is calibrated. To determine whether the header height sensor data is normal, it can be determined whether the detected voltage value is within the normal range (0.5V to 4.5V); to determine whether the header height sensor is calibrated, it can be determined whether the calibration value satisfies 4.5V > lowest point calibration value > highest point calibration value > 0.55V. If the detected voltage value is not within the normal range (0.5V to 4.5V), at this time, the automatic control condition is not met, and according to the handle control, the display screen gives a fault prompt; if the calibration value of the two points is 0 or the calibration is incorrect, at this time, the automatic control condition is not met, and according to the handle control, the display screen gives a fault prompt; if both the header height sensor data is normal and the header height sensor has been calibrated, it means that the header height sensor is in a normal state.

[0062] Third, when it is determined that the header handle meets the preset header handle conditions and the header height sensor is in a normal state, it is determined that the harvester meets the preset automatic control conditions.

[0063] In this embodiment, it is determined that the harvester meets the automatic control condition only when the header handle meets the preset header handle condition and the header height sensor is in a normal state. Otherwise, it means it does not meet the condition. When the automatic control condition is not met, the header height can be controlled by the header handle. At the same time, the display screen can also give an alarm prompt.

[0064] By respectively judging whether the header handle meets the preset header handle condition based on the header handle parameters, and judging whether the header height sensor is in a normal state based on the header height sensor parameters, it is possible to more accurately and comprehensively determine whether the harvester meets the automatic control condition, which helps to ensure the reliability of the header height adjustment.

[0065] Then, when it is determined that the harvester meets the preset automatic control condition, the actual header height and the target height are obtained in real time.

[0066] In this embodiment, when the harvester meets the preset automatic control condition, it means that automatic adjustment can be performed, and then the actual header height and the target height are obtained in real time.

[0067] By judging whether the harvester meets the preset automatic control condition based on the working condition parameters; only when it is determined that the harvester meets the preset automatic control condition, the actual header height and the target height are obtained in real time, so as to ensure that the automatic adjustment of the header height can be realized and improve the reliability of the automatic adjustment of the header height.

[0068] Step 220: Based on the target height and the actual header height, judge whether the header meets the preset height adjustment requirement;

[0069] In this embodiment, the above-mentioned preset height adjustment requirement can be set in advance, and specifically, different height adjustment requirements can be set according to different automatic control instructions. For example, when the automatic control instruction is an upward instruction, there is a corresponding upward height adjustment requirement; when the automatic control instruction is a downward instruction, there is a corresponding downward height adjustment requirement.

[0070] In some embodiments, the automatic control instruction is an upward instruction, and the judging whether the header meets the preset height adjustment requirement based on the target height and the actual header height includes:

[0071] First, based on the actual header height, judge whether the header meets the preset upward condition;

[0072] In this embodiment, the preset upward condition can be that the actual header height is less than or equal to the maximum height of the header, and the above judgment can be to compare the actual header height with the maximum height of the header.

[0073] In some embodiments, in order to reduce control lag, the preset rising condition may also consider a lead, that is, the preset rising condition is: the actual height of the cutter bar is not greater than the difference between the maximum height of the cutter bar and the preset lead. That is, the actual height of the cutter bar ≤ (the maximum height of the cutter bar - lead).

[0074] In this embodiment, the above-mentioned preset lead can be preset according to the actual harvester situation. By subtracting the lead from the maximum height of the cutter bar, the height error caused by control lag can be taken into account, thereby reducing the error impact caused by control lag and helping to make the high-platform rising control more accurate.

[0075] Then, when it is determined that the cutter bar meets the preset rising condition, it is determined that the cutter bar meets the preset height adjustment requirement.

[0076] In this embodiment, when the cutter bar meets the preset rising condition, it means that the cutter bar can still rise, so it is determined that the cutter bar meets the preset height adjustment requirement. When the cutter bar does not meet the preset rising condition, it means that the cutter bar is already at the highest level and cannot rise any further, so it is determined that the cutter bar does not meet the preset height adjustment requirement.

[0077] By, when issuing a rising command, based on the actual height of the cutter bar, determining whether the cutter bar meets the preset rising condition to determine whether the cutter bar can continue to rise, it is possible to accurately determine whether the cutter bar meets the preset height adjustment requirement.

[0078] In some embodiments, the automatic control command is a descending command. Based on the target height and the actual height of the cutter bar, determining whether the cutter bar meets the preset height adjustment requirement includes:

[0079] First, based on the target height and the actual height of the cutter bar, determining whether the cutter bar meets the preset descending condition;

[0080] In this embodiment, the preset descending condition may be that the actual height of the cutter bar is greater than the target height. The above determination may be to compare the actual height of the cutter bar with the target height.

[0081] In some embodiments, in order to reduce control lag, the preset descending condition may also consider a lead, that is, the preset descending condition is: the actual height of the cutter bar is greater than the sum of the target height and the preset lead. That is, the actual height of the cutter bar ≥ (target height + lead).

[0082] In this embodiment, the preset lead can be set in advance according to the actual situation of the harvester. By adding the lead to the target height, the height error caused by control lag can be taken into account, thereby reducing the error impact caused by control lag and helping to make the control of the high platform descent more accurate.

[0083] Then, when it is determined that the cutter bar meets the preset descent condition, it is determined that the cutter bar meets the preset height adjustment requirement.

[0084] In this embodiment, when the cutter bar meets the preset descent condition, it indicates that the cutter bar can still continue to descend, so it is determined that the cutter bar meets the preset height adjustment requirement. When the cutter bar does not meet the preset descent condition, it indicates that the cutter bar is not above the target height, so it is determined that the cutter bar does not meet the preset height adjustment requirement.

[0085] When a descent command is issued, based on the actual height of the cutter bar, it is judged whether the cutter bar meets the preset descent condition to determine whether the cutter bar can continue to descend, so as to accurately determine whether the cutter bar meets the preset height adjustment requirement.

[0086] Step 230: When it is determined that the cutter bar meets the preset height adjustment requirement, adjust the cutter bar of the harvester to the target height.

[0087] In this embodiment, if the cutter bar meets the preset height adjustment requirement, it means that automatic adjustment can be performed, and the corresponding solenoid valve can be controlled to adjust the cutter bar of the harvester to rise; if the cutter bar does not meet the preset height adjustment requirement, no height adjustment is performed. For example: when the automatic control command is a rise command, if the cutter bar meets the preset rise condition, the rise solenoid valve can be adjusted according to the target height to control the cutter bar of the harvester to rise. When the automatic control command is a descent command, if the cutter bar meets the preset descent condition, the cutter bar of the harvester can be adjusted to descend to the target height.

[0088] In the above implementation process, by responding to the automatic control instruction, the actual height and the target height of the cutter bar are obtained in real time. Based on the target height and the actual height of the cutter bar, it is determined whether the cutter bar meets the preset height adjustment requirements; when it is determined that the cutter bar meets the preset height adjustment requirements, the harvester is adjusted to the target height. By responding to the automatic control instruction, based on the target height and the actual height of the cutter bar, it is determined whether the cutter bar meets the preset height adjustment requirements, and height adjustment is performed when the cutter bar meets the preset height adjustment requirements, realizing the electronic control of the cutter bar of the harvester. According to the needs of the operator, the functions of one-key raising the cutter bar, one-key lowering the cutter bar and one-key setting the height can be realized. Based on the target height and the actual height of the cutter bar, it can be accurately determined whether the cutter bar meets the preset height adjustment requirements, and height adjustment is only performed when the cutter bar meets the preset height adjustment requirements, ensuring the effectiveness and reliability of the cutter bar adjustment, so that the height adjustment of the cutter bar can be completed more quickly, improving the operation efficiency.

[0089] Taking a rice harvester as an example below, the solution will be described in detail. Please refer to Figure 2 , Figure 2 which schematically shows the overall network architecture diagram of the automatic control of the cutter bar of the rice harvester according to an embodiment of the present application.

[0090] The VCU is connected to the display screen through the CAN bus, and the display screen can detect the relevant parameters, status and enable / disable of the automatic control function of the cutter bar in real time. The scheme of using a cutter bar handle + angle sensor is adopted to replace the traditional mechanical handle. The VCU collects the angle AI signal of the handle. After calibration, the angle of the lifting and lowering action of the cutter bar is collected in real time through the angle sensor, and the height of the cutter bar is calculated indirectly. The lifting and lowering solenoid valve of the cutter bar is controlled through IO, thus realizing the electronic control of the cutter bar. When the automatic control mode is enabled, when the one-key up button on the cutter bar handle is pressed, the cutter bar automatically raises to the highest position; when the one-key down button on the cutter bar handle is pressed, the cutter bar automatically descends to the target position.

[0091] Please refer to Figure 3 , Figure 3 which schematically shows the logic table diagram of the automatic lifting control of the cutter bar of the rice harvester according to an embodiment of the present application.

[0092] If the detected voltage value is not within the normal range (0.01V to 5.5V), at this time, both the lift and lower solenoid valves are closed, and the display screen gives a fault prompt;

[0093] If the calibration value of the third gear of the cutter bar handle is 0 or the calibration is incorrect (it is required that 5.5V > the maximum up gear > neutral gear > the maximum down gear > 0.05V), both the lift and lower solenoid valves are closed, and the display screen gives a fault prompt;

[0094] If the detected voltage value of the header height sensor is not within the normal range (0.5V - 4.5V), the automatic control condition is not met at this time. According to the handle control, the display screen gives a fault prompt;

[0095] If the two calibration values of the header height sensor are 0 or the calibration is incorrect (it is required that 4.5V > the lowest point > the highest point > 0.55V), the automatic control condition is not met at this time. According to the handle control, the display screen gives a fault prompt;

[0096] If the display screen turns off the automatic control, the automatic adjustment condition is not met at this time. According to the handle control;

[0097] If the header handle moves: no movement determination (the angle change does not exceed 10% and lasts for 1s), the automatic adjustment condition is not met at this time. According to the handle control;

[0098] If none of the above situations occur, the automatic adjustment condition is met: press the "One - key Up" button, and the header automatically rises to the highest point; press the "One - key Down" button, and the header automatically descends to the lowest point.

[0099] This embodiment provides a harvester, and the harvester adjusts the header height by using the above - mentioned method for adjusting the header height of the harvester.

[0100] In this embodiment, the above - mentioned harvester can be a rice harvester, a fruit harvester, a vegetable harvester, etc. By responding to the automatic control instruction, based on the target height and the actual height of the header, it is judged whether the header meets the preset height adjustment requirements. When the header meets the preset height adjustment requirements, the height adjustment is carried out, realizing the electronic control of the header of the harvester. It can realize the functions of one - key lifting of the header, one - key lowering of the header and one - key height setting according to the manual needs. Based on the target height and the actual height of the header, it can accurately judge whether the header meets the preset height adjustment requirements, and only carries out the height adjustment when the header meets the preset height adjustment requirements, ensuring the effectiveness and reliability of the header adjustment, so as to complete the header height adjustment more quickly and improve the operation efficiency.

[0101] This application embodiment provides an electronic device, and this electronic device includes: at least one processor; a memory connected to the at least one processor; wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor realizes the above - mentioned method for adjusting the header height of the harvester by executing the instructions stored in the memory. When the processor executes the instructions, the following steps are realized:

[0102] In response to the automatic control instruction, obtain the actual height and the target height of the header in real time;

[0103] Based on the target height and the actual height of the header, judge whether the header meets the preset height adjustment requirements;

[0104] When it is determined that the cutter bar meets the preset height adjustment requirements, adjust the cutter bar of the harvester to the target height.

[0105] In one embodiment, the automatic control instruction is a rising instruction. Based on the target height and the actual height of the cutter bar, determining whether the cutter bar meets the preset height adjustment requirements includes:

[0106] Based on the actual height of the cutter bar, determining whether the cutter bar meets the preset rising conditions;

[0107] When it is determined that the cutter bar meets the preset rising conditions, determine that the cutter bar meets the preset height adjustment requirements.

[0108] In one embodiment, the preset rising conditions are: the actual height of the cutter bar is not greater than the difference between the maximum height of the cutter bar and the preset advance amount.

[0109] In one embodiment, the automatic control instruction is a descending instruction. Based on the target height and the actual height of the cutter bar, determining whether the cutter bar meets the preset height adjustment requirements includes:

[0110] Based on the target height and the actual height of the cutter bar, determining whether the cutter bar meets the preset descending conditions;

[0111] When it is determined that the cutter bar meets the preset descending conditions, determine that the cutter bar meets the preset height adjustment requirements.

[0112] In one embodiment, the preset descending conditions are: the actual height of the cutter bar is greater than the sum of the target height and the preset advance amount.

[0113] In one embodiment, the real-time acquisition of the actual height and the target height of the cutter bar includes:

[0114] Obtain the working condition parameters of the harvester;

[0115] Based on the working condition parameters, determine whether the harvester meets the preset automatic control conditions;

[0116] When it is determined that the harvester meets the preset automatic control conditions, real-time acquire the actual height and the target height of the cutter bar.

[0117] In one embodiment, the working condition parameters include: cutter bar handle parameters and cutter bar height sensor parameters;

[0118] The determination of whether the harvester meets the preset automatic control conditions based on the working condition parameters includes:

[0119] Based on the header handle parameters, determine whether the header handle meets the preset header handle conditions;

[0120] Based on the header height sensor parameters, determine whether the header height sensor is in a normal state;

[0121] When it is determined that the header handle meets the preset header handle conditions and the header height sensor is in a normal state, determine that the harvester meets the preset automatic control conditions.

[0122] In one embodiment, the preset header handle conditions include: the angle range of the header handle meets the preset angle range, the angle change of the header handle does not exceed the preset change range, and the duration meets the preset time value.

[0123] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0125] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, causing a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one process Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps for implementing the functions specified in one block or a plurality of blocks.

[0127] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0128] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0129] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storing information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0130] It should also be noted that the term "comprises", "comprising", or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0131] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and variations can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for adjusting the height of a harvester header, characterized in that: include: Responding to automatic control instructions, obtaining the actual height and target height of the header in real time; Based on the target height and the actual height of the header, determining whether the header meets a preset height adjustment requirement; When it is determined that the cutting platform meets the preset height adjustment requirement, the cutting platform of the harvester is adjusted to the target height.

2. The method according to claim 1, characterized in that The automatic control instruction is a rising instruction, and judging whether the header meets the preset height adjustment requirement based on the target height and the actual height of the header includes: Based on the actual height of the header, determining whether the header meets the preset rising condition; In the case where it is determined that the header meets the preset rising condition, it is determined that the header meets the preset height adjustment requirement.

3. The method according to claim 2, characterized in that The preset rising condition is that the actual height of the header is not greater than the difference between the maximum height of the header and the preset advance amount.

4. The method according to claim 1, characterized in that: The automatic control instruction is a descending instruction, and judging whether the header meets the preset height adjustment requirement based on the target height and the actual height of the header includes: Based on the target height and the actual height of the header, determining whether the header meets a preset descending condition; In the case where it is determined that the header meets the preset descending condition, it is determined that the header meets the preset height adjustment requirement.

5. The method according to claim 4, characterized in that The preset descending condition is that the actual height of the header is greater than the sum of the target height and the preset advance amount.

6. The method according to claim 1, characterized in that The real-time acquisition of the actual height and target height of the header includes: Obtaining operating parameters of the harvester; Based on the operating condition parameters, determining whether the harvester meets preset automatic control conditions; When it is determined that the harvester meets the preset automatic control conditions, the actual height and target height of the harvesting platform are obtained in real time.

7. The method according to claim 6, characterized in that The working condition parameters include: header handle parameters and header height sensor parameters; The step of judging whether the harvester meets a preset automatic control condition based on the operating condition parameters includes: Based on the header handle parameter, determining whether the header handle meets a preset header handle condition; Based on the header height sensor parameters, determining whether the header height sensor is in a normal state; When it is determined that the header handle satisfies the preset header handle condition and the header height sensor is in a normal state, it is determined that the harvester satisfies the preset automatic control condition.

8. The method according to claim 7, characterized in that The preset header handle conditions include: the angle range of the header handle meets the preset angle range, the angle change of the header handle does not exceed the preset change range and the duration meets the preset time value.

9. A harvester, characterized in that: The harvester uses the harvester header height adjustment method according to any one of claims 1-8 to adjust the header height.

10. An electronic device, characterized in that: The electronic device includes: at least one processor; a memory connected to the at least one processor; Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the harvester header height adjustment method described in any one of claims 1 to 8 by executing the instructions stored in the memory.

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