Header component adjustable automatic control method and device, electronic equipment and harvesting machine

Abstract

The embodiment of the invention provides a header component adjustable automatic control method and device, electronic equipment and harvesting machinery, and relates to the technical field of agricultural machinery. The header part adjustable automatic control method comprises the steps that it is determined that an automatic control mode is in an activated state, and the working state of a header is determined according to the running driving mechanism state and the main clutch state of a machine where the header is located and the opening degree state of a handle for controlling the advancing direction; when the working state is a harvesting state, working parameters of an execution variable pump corresponding to all parts of the header are determined according to the harvesting speed and the harvesting working condition; and correcting the working parameters of the execution variable pump based on the detection signal of the header monitoring point position monitored in the harvesting state. According to the embodiment, the rotating speed and the rotating direction of the header part can be automatically adjusted, the working efficiency of the harvesting process is improved, meanwhile, abnormal blockage of the header can be automatically monitored and processed, and the operation quality is improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and particularly relates to an adjustable automatic control method for a header component, an adjustable automatic control device for a header component, an electronic device, a corresponding storage medium, and a harvesting machine. Background Art

[0002] With the improvement of modern agricultural mechanization, higher requirements are put forward for the performance and intelligence of agricultural machinery. Taking a corn harvester as an example, as an important agricultural machinery equipment, its working efficiency and operation quality directly affect the harvesting effect of crops. At present, most corn harvesters on the market adopt a header system with a fixed rotation speed. Although it can meet the basic harvesting requirements, when facing different terrains, crop densities, and changes in the machine's traveling speed, it is difficult for the header with a fixed rotation speed to ensure the best working efficiency and operation quality.

[0003] In the prior art, a corn header is provided with an engine electronic speed switch, which can correspond to multiple engine speeds. The operator can control the engine speed by rotating the button of the engine electronic speed switch, or can also control the engine speed by stepping on the accelerator pedal. There is also a joystick with a function handle. The driving handle can be pushed forward and backward. By controlling the oil inlet and outlet directions of the variable displacement piston pump, the steering of the corn machine can be controlled. Pushing it forward to the right front is for forward movement, pushing it backward to the left rear is for reverse movement, and when the handle is in the middle position, it is for stopping walking. The displacement of the variable displacement piston pump is controlled by the pushing distance of the handle to control the vehicle speed. When the equipment is operating, the operator operates the engine electronic speed switch to select different engine speeds. After the engine speed is set, it will not be automatically adjusted. The working components of the header are connected to the engine through a mechanical transmission mechanism. Limited by the characteristics of the fixed transmission ratio of the mechanical transmission mechanism such as chain drive, gear drive, and belt drive, the rotation speed of the working components of the header can only be directly proportional to the engine speed and be stable within a certain range. In the prior art, since the working components of the header such as the stalk puller rollers, augers, and reel chains cannot adjust their rotation speeds according to different working conditions and requirements, it may cause the equipment to not reach the best working state under certain working conditions. When the engine speed remains at a certain value during operation, the rotation speed of the working components of the header also remains at a certain value and cannot be adaptively adjusted according to the traveling speed of the corn machine. However, the feeding amount will fluctuate at different traveling speeds. When the feeding amount is small, there will be a phenomenon of power waste, and when the feeding amount is large, the header will be blocked. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide an adjustable automatic control method, device, electronic device, and harvesting machine for a header component. By an automatic control method for automatically adjusting the rotation speed and steering of the header component through a hydraulic system, the coordination between the two can be achieved, and the working efficiency and operation quality can be improved to at least solve some problems in the background art.

[0005] To achieve the above object, a method for adjustable automatic control of a header component is provided in the present application. The method includes: determining that the automatic control mode is in an active state, and determining the working state of the header according to the state of the driving mechanism of the machine where the header is located, the state of the main clutch, and the opening state of the handle for controlling the traveling direction; when the working state is the harvesting state, determining the working parameters of the execution variable pumps corresponding to the components of the header according to the harvesting speed and the harvesting working conditions; and correcting the working parameters of the execution variable pumps based on the detection signals of the header monitoring points monitored in the harvesting state.

[0006] Optionally, the header monitoring points are arranged at the auger of the header; correcting the working parameters of the execution variable pumps based on the detection signals of the header monitoring points monitored in the harvesting state includes: if the pressure at the auger of the header is less than the preset minimum pressure threshold and lasts for a certain period of time, correcting the working parameters of the execution variable pump of the pulling roller; if the pressure at the auger of the header is greater than the preset maximum pressure threshold and lasts for a certain period of time, correcting the working parameters of the execution variable pumps of the pulling roller, the reel chain, and the auger.

[0007] Optionally, determining the working state of the header according to the state of the driving mechanism of the machine where the header is located, the state of the main clutch, and the opening state of the handle for controlling the traveling direction includes: if the state of the driving mechanism is the non-start state, determining that the header is in the parking state; if the state of the driving mechanism is the start state and the state of the main clutch is the non-engaged state, determining that the header is in the first standby state; if the state of the driving mechanism is the start state, the state of the main clutch is the engaged state, and the opening state of the handle is not positive, determining that the header is in the second standby state; if the state of the driving mechanism is the start state, the state of the main clutch is the engaged state, and the opening state of the handle is positive, determining that the header is in the harvesting state.

[0008] Optionally, the method further includes: when the header is in the second standby state, setting the rotation speeds of the components of the header to the initial rotation speeds; and determining the working parameters of the execution variable pumps corresponding to the components of the header according to the initial rotation speeds.

[0009] Optionally, the working parameters of the execution variable pumps include the inlet displacement and the inlet direction; determining the working parameters of the execution variable pumps corresponding to the components of the header according to the harvesting speed and the harvesting working conditions includes: determining the rotation speed requirements of the components of the header according to the harvesting speed and the harvesting working conditions; and mapping the rotation speed requirements to obtain the inlet displacement of the execution variable pumps based on the output rotation speed of the engine, the transmission ratio, and the displacement of the execution fixed-displacement motor.

[0010] Optionally, the header assembly includes pulling rollers; the rotational speed requirements of each component of the header are determined according to the harvesting speed and harvesting conditions, including: taking the pulling time being no greater than the traveling time as the first constraint condition; taking the processing speed of the pulling rollers for the to-be-harvested crop being greater than the processing speed of the header for the to-be-harvested crop as the second constraint condition; taking the linear speed of the pulling rollers that satisfies the first constraint condition and the second constraint condition as the minimum linear speed of the pulling rollers.

[0011] Optionally, the first constraint condition is expressed as:

[0012] where, V 拉 is the linear speed of the pulling rollers, s is the safety factor, H 结穗 is the ear height, H 摘穗 is the header ear-picking height, t 车 is the time required for the header to travel one plant spacing;

[0013] The second constraint condition is expressed as:

[0014]

[0015] where, Q 拉 is the processing speed of the pulling rollers for the to-be-harvested crop, n is the number of rows during harvesting, and Q is the processing speed of the header for the to-be-harvested crop.

[0016] Optionally, the header assembly includes reel chains; the rotational speed requirements of each component of the header are determined according to the harvesting speed and harvesting conditions, including: obtaining an expression for the processing speed of the reel chains for the to-be-harvested crop, where the parameters of the expression include the linear speed of the reel chains; taking the processing speed of the reel chains for the to-be-harvested crop being greater than the processing speed of the header for the to-be-harvested crop as the constraint condition to determine the value range of the linear speed of the reel chains; obtaining the minimum linear speed of the reel chains based on the value range of the linear speed of the reel chains.

[0017] Optionally, the expression for the processing speed of the reel chains for the to-be-harvested crop includes: where, Q 拨 is the processing speed of the reel chains for the to-be-harvested crop, n is the number of rows during harvesting, Ψ 1 is the filling coefficient, considering that the ears in the ear-picking channel are not completely full, and the fullness is between 0.5 and 1, L 0 is the length of the corn ear, V 拨 is the linear speed of the reel chains.

[0018] Optionally, the header assembly includes an auger; the rotational speed requirements of each component of the header are determined according to the harvesting speed and harvesting conditions, including: obtaining an expression for the processing speed of the auger for the object to be harvested, where the parameters of the expression include the auger rotational speed; determining the value range of the auger rotational speed with the constraint that the processing speed of the auger for the object to be harvested is greater than the processing speed of the header for the object to be harvested; and obtaining the minimum rotational speed of the auger based on the value range of the auger rotational speed.

[0019] Optionally, the expression for the processing speed of the auger for the object to be harvested includes:

[0020]

[0021] where Q 搅龙 is the processing speed of the auger for the object to be harvested, η is the actual efficiency value of the auger, P is the pitch of the auger, π is the pi, d 1 is the outer diameter of the auger blade, d 2 is the inner diameter of the auger blade, V 1 is the volume of the object to be harvested, and n 搅龙 is the auger rotational speed.

[0022] Optionally, the method further includes: determining that the manual control mode is in an active state, and determining whether the received control command is valid according to the main clutch state; when the control command is valid, determining the control target of the control command, where the control target is one of the components of the header; and generating an adjustment command for the execution variable pump corresponding to the control target based on the control command.

[0023] In the present application, there is also provided an adjustable automatic control device for a header assembly, characterized in that the device includes: a state determination module for determining that the automatic control mode is in an active state and determining the working state of the header according to the state of the travel drive mechanism, the main clutch state, and the handle opening state for controlling the travel direction; a parameter determination module for determining the working parameters of the execution variable pumps corresponding to the components of the header according to the harvesting speed and harvesting conditions when the header is in the harvesting state; and a parameter correction module for correcting the working parameters of the execution variable pumps based on the detection signals of the header monitoring points monitored in the harvesting state.

[0024] In the present application, there is also provided an electronic device, including: at least one processor; a memory connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the at least one processor implements the aforementioned adjustable automatic control method for the header assembly by executing the instructions stored in the memory.

[0025] In this application, a machine-readable storage medium is also provided. Instructions are stored on the machine-readable storage medium, and when the instructions are executed by a processor, the processor is configured to execute the adjustable automatic control method of the header component described above.

[0026] In this application, a computer program product is also provided, including a computer program, which implements the adjustable automatic control method of the header component described above when executed by a processor.

[0027] In this application, a harvesting machine is also provided. The PLC in the harvesting machine is configured to execute the adjustable automatic control method of the header component described above.

[0028] The above technical solutions have the following beneficial effects:

[0029] (1) By detecting the traveling speed and working state, the rotation speed and steering of the header component are automatically adjusted, improving the working efficiency of the header, preventing abnormal blockage of the header, reducing missed harvesting and damage to the harvested crops, and improving the operation quality.

[0030] (2) The automatic control system reduces manual intervention, improving the convenience and accuracy of operation. The system can maintain the best operating state under different terrains and working conditions, with strong adaptability.

[0031] Other features and advantages of the embodiments of this application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings are used to provide a further understanding of the embodiments of this application, and constitute a part of the specification. They are used together with the following specific implementation to explain the embodiments of this application, but do not constitute a limitation to the embodiments of this application. In the drawings:

[0033] Figure 1 Schematically shows a schematic diagram of the steps of the adjustable automatic control method of the header component according to the embodiment of this application;

[0034] Figure 2 Schematically shows a first part schematic diagram of the automatic control logic according to the embodiment of this application;

[0035] Figure 3 Schematically shows a second part schematic diagram of the automatic control logic according to the embodiment of this application;

[0036] Figure 4 Schematically shows a schematic diagram of the manual control logic according to the embodiment of this application;

[0037] Figure 5 Schematically shows a schematic diagram of the structure of the adjustable automatic control device of the header component according to the embodiment of this application;

[0038] Figure 6 Schematically shows the internal structure diagram of an electronic device according to an embodiment of the present application;

[0039] Figure 7 Schematically shows the system implementation diagram of a harvesting machine according to an embodiment of the present application. Specific Embodiments

[0040] The following will describe in detail the specific embodiments of the embodiments of the present application with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and illustrating the embodiments of the present application, and are not used to limit the embodiments of the present application.

[0041] Figure 1 Schematically shows the step diagram of a method for automatically controlling adjustable components of a cutter bar according to an embodiment of the present application. As Figure 1 shown, a method for automatically controlling adjustable components of a cutter bar, the method includes:

[0042] S01. Determine that the automatic control mode is in an active state, and determine whether the cutter bar is in a harvesting state according to the speed information of the machine where the cutter bar is located, the main clutch state, and the handle opening state for controlling the traveling direction;

[0043] S02. When the cutter bar is in a harvesting state, determine the working parameters of the execution variable pump corresponding to each component of the cutter bar according to the harvesting speed and harvesting working conditions; and

[0044] S03. Correct the working parameters of the execution variable pump based on the detection signals of the monitoring points of the cutter bar monitored in the harvesting state.

[0045] The machine where the cutter bar is located refers to the machine that provides power for the cutter bar and / or drives the cutter bar to travel. Taking the cutter bar of a corn picker as an example, the machine where the cutter bar is located is the corn picker.

[0046] In an actual scenario, steps S03 and S02 are performed in real time during the harvesting process. The execution timing of step S03 can be based on the working parameters of the execution variable pump in the previous adjustment cycle determined by step S02, or S03 and step S02 can be executed in parallel, and when an abnormality is detected based on the detection signal, the working parameters of the execution variable pump are directly replaced.

[0047] Through the above embodiments, the automatic determination of the working parameters of the execution variable pump in the automatic mode is realized. By introducing the automatic monitoring of the monitoring points of the cutter bar, the abnormal conditions of the cutter bar can be timely detected and automatically processed, improving the intelligent level of cutter bar control.

[0048] In some harvesting scenarios, abnormal situations may occur, which will affect the normal operation of the cutter bar. Therefore, this application sets up the detection of the detection signals at the monitoring points of the cutter bar to discover these abnormal situations and automatically process them through processing strategies. In some embodiments of this application, the aforementioned monitoring points of the cutter bar are set at the auger of the cutter bar; when the pressure at the auger is within the threshold range, it represents that the working state is normal. However, when the pressure exceeds the threshold range, corresponding processing needs to be carried out on the situation where the pressure exceeds. Based on the detection signals at the monitoring points of the cutter bar monitored in the harvesting state, the working parameters of the variable displacement pump are corrected, including: if the pressure at the auger of the cutter bar is less than the preset minimum pressure threshold and lasts for a certain period of time, such as 15 seconds, it indicates that the picker plate at the cutter bar is blocked, then the working parameters of the variable displacement pump of the pulling roller are corrected. At this time, the correction includes: increasing the oil inlet volume of the variable displacement pump of the pulling roller to increase the rotation speed of the pulling roller. In another case, if the pressure at the auger of the cutter bar is greater than the preset maximum pressure threshold and lasts for a certain period of time, such as 5 seconds, it indicates that the auger is blocked. At this time, the working parameters of the variable displacement pumps of the pulling roller, the reel chain and the auger are all corrected, including: reducing the oil inlet volume of the variable displacement pumps of the pulling roller and the reel chain to reduce their rotation speeds, and making the variable displacement pump of the auger reverse oil inlet to make the auger reverse to discharge the blocked materials.

[0049] In some embodiments of this application, it is determined whether the cutter bar is in the harvesting state according to the state of the driving mechanism of the machine where the cutter bar is located, the state of the main clutch and the opening degree state of the handle for controlling the traveling direction, including: when the cutter bar starts to work, the engine starts. If the state of the driving mechanism is the non-start state, it is determined that the cutter bar is in the parking state. Here, it can be judged whether the driving mechanism starts according to the rotation speed sensor installed at the front axle of the cutter bar. If it does not start, it means that the vehicle speed is 0 and it is in the parking state. If the state of the driving mechanism is the start state and the state of the main clutch is the unengaged state, it is determined that the cutter bar is in the first standby state. At this time, the main clutch does not output kinetic energy, and the variable displacement pump is in the neutral position and does not output flow.

[0050] If the main clutch is engaged, then judge the state of the opening degree signal of the handle. When the opening degree signal of the handle is negative, it represents that the machine where the cutter bar is located is in the reverse state, that is, the aforementioned second standby state, and the rotation speeds of all components of the cutter bar are set to the initial rotation speed N 1 , and the displacement of the variable displacement pump is adjusted according to the engine speed to keep its rotation speed unchanged. When the opening degree signal of the handle is 0, it represents that the machine where the cutter bar is located is in the stationary state. At this time, the traveling speed is 0 and there is no feeding at the cutter bar. At this time, it should also be regarded as the second standby state, and the rotation speeds of all components of the cutter bar are set to the initial rotation speed N 1, adjust the displacement of the variable pump according to the engine speed to keep the speeds of the components of the cutter bar unchanged. When the handle opening signal is positive, it indicates that the machine where the cutter bar is located is in the forward state. At this time, it is determined that the cutter bar is in the harvesting state, and the control logics of step 02 and step S03 are started to be executed. In this embodiment, even when the cutter bar is in other working states except the harvesting state, the working parameters of the variable pump can be automatically determined, realizing the automatic control of the cutter bar.

[0051] As described above, when the cutter bar is in the second standby state, set the speeds of the components of the cutter bar to the initial speed N 1 ; at this time, according to the initial speed N 1 to determine the working parameters of the variable pump corresponding to each component of the cutter bar.

[0052] Figure 2 Schematically shows the first part of the schematic diagram of the automatic control logic according to the embodiment of the present application. As Figure 2 shown, it schematically shows the logic diagram for determining the working state according to parameters such as the main clutch engagement state above. The 1 in the circle in the figure is connected to Figure 3 .

[0053] In some embodiments of the present application, the working parameters include the oil inlet displacement and the oil inlet direction; an embodiment of reversing the oil inlet direction based on the pressure monitoring result was disclosed above, and the oil inlet direction in other cases is generally positive. Determine the working parameters of the variable pump corresponding to each component of the cutter bar according to the harvesting speed and the harvesting working conditions, including: determining the speed requirements of each component of the cutter bar according to the harvesting speed and the harvesting working conditions; here, the harvesting speed and the harvesting working conditions are both automatically determined by the self-sensing device of the cutter bar to realize the automatic control of the speed requirements. For example, take the forward speed as the harvesting speed and collect it through a speed sensor. The harvesting working conditions are automatically obtained through image acquisition and image recognition, and other ranging devices can also be used to obtain the number of harvesting rows, the plant spacing of corn, the ear height, the length and diameter of the corn ear, etc. of the harvesting working conditions. Then, based on the output speed of the engine, the transmission ratio, and the displacement of the fixed-displacement motor, map the speed requirements to obtain the oil inlet displacement of the variable pump. For example, the output flow of the variable pump can be determined by the following formula:

[0054] Q b =N f ·i·V b ;

[0055] where, Q b is the output flow of the variable pump, N f is the output speed of the engine, V bTo implement the displacement of the variable pump, i is the rotational speed transmission ratio from the engine to the variable pump. Based on the output flow of the variable pump and the displacement of the fixed-displacement motor, the output rotational speed of the fixed-displacement motor can be obtained, that is:

[0056] Among them, N m is the output rotational speed of the fixed-displacement motor, and V m is the displacement of the fixed-displacement motor. Substituting the aforementioned Q b expression, the rotational speeds of the components of the cutting table are obtained as: Therefore, based on the above formula, the displacement of the variable pump of each component of the cutting table can be adjusted according to the current rotational speed of the engine to keep the rotational speeds of the components of the cutting table unchanged or change to a preset value.

[0057] Figure 3 Schematically shows the second part of the schematic diagram of the automatic control logic according to the embodiment of the present application. As Figure 3 shown, it schematically shows the control logic for controlling the displacement of the variable pump according to the rotational speed.

[0058] In this embodiment, a method for determining the rotational speed requirements of the components of the cutting table is provided here. In a typical scenario, the components of the cutting table include pulling rollers, reel chains, augers, etc., and the methods for determining their rotational speed requirements are as follows.

[0059] In some embodiments, the cutting table component includes a pulling roller; determining the rotational speed requirements of the components of the cutting table according to the harvesting speed and harvesting conditions includes: taking the pulling time not greater than the driving time as the first constraint condition; that is:

[0060] Among them, V 拉 is the linear speed of the pulling roller, s is the safety factor, H 结穗 is the ear height, H 摘穗 is the ear picking height of the cutting table, t 车 is the time required for the cutting table to travel one plant spacing; where: t 车 = L 株距 / V 车 , L 株距 is the corn plant spacing, and V 车 is the traveling speed of the corn harvester.

[0061] Taking the processing speed of the pulling roller for the object to be picked greater than the processing speed of the cutting table for the object to be picked as the second constraint condition, that is:

[0062]

[0063] Among them, Q 拉 is the processing speed of the pulling roller for the object to be picked, n is the number of rows during harvesting, and Q is the processing speed of the cutting table for the object to be picked;

[0064] After transforming the above formula, we get

[0065] According to the foregoing formula, the minimum linear speed V required for the pulling roller can be determined based on the current traveling speed, the ear picking height of the header, the ear bearing height of the corn, and the plant spacing of the corn 拉 , and this V 拉 can satisfy the first constraint condition and the second constraint condition.

[0066] In some embodiments of the present application, the header component includes a reel; determining the rotational speed requirements of each component of the header according to the harvesting speed and harvesting conditions, including: obtaining an expression for the processing speed of the reel for the object to be picked, and the parameters of the expression include the linear speed of the reel; the expression is constructed according to the processing capacity of the ear picking channel for the corn ear, and it includes various factors affecting the processing capacity, such as the filling coefficient, the accommodating capacity, the length of the corn ear, and the linear speed of the reel, and we get:

[0067] wherein, Q 拨 is the processing speed of the reel for the object to be picked, n is the number of rows during harvesting, Ψ 1 is the filling coefficient, considering that the ears in the ear picking channel are not completely full, and the fullness is between 0.5 and 1, L 0 is the length of the corn ear, V 拨 is the linear speed of the reel.

[0068] The ear conveying capacity Q of the reel 拨 should be greater than the total number Q of ears harvested by the header in the next second to ensure the completion of the processing of the plants. Therefore, taking the processing speed of the reel for the object to be picked being greater than the processing speed of the header for the object to be picked as a constraint condition, that is:

[0069] Determine the value range of the linear speed of the reel, that is: Based on the value range of the linear speed of the reel, obtain the minimum linear speed of the reel.

[0070] In some embodiments of the present application, the header component includes an auger; determining the rotational speed requirements of each component of the header according to the harvesting speed and harvesting conditions, including: obtaining an expression for the processing speed of the auger for the object to be picked, and the parameters of the expression include the auger rotational speed; the expression is constructed according to the processing capacity of the auger for the corn ear, and it includes various factors affecting the processing capacity, such as the auger blade size, the auger pitch, the actual efficiency of the auger, and the auger rotational speed, and we get:

[0071]

[0072] wherein, Q 搅龙Let \(v\) be the processing speed of the auger for the objects to be picked, \(\eta\) be the actual efficiency value of the auger, \(P\) be the pitch of the auger, \(\pi\) be the ratio of the circumference of a circle to its diameter, and \(d\) 1 be the outer diameter of the auger blade, and \(d\) 2 be the inner diameter of the auger blade, and \(V\) 1 be the volume of the objects to be picked, expressed as:

[0073] Let \(D\) 0 be the diameter of the corn ear, and \(L\) 0 be the length of the corn ear.

[0074] The auger needs to convey all the ears in all models. The conveying capacity of the auger should be greater than the total number of ears harvested by the cutter bar in the next second. Therefore, with the constraint that the processing speed of the auger for the objects to be picked is greater than the processing speed of the cutter bar for the objects to be picked, that is:

[0075]

[0076] Determine the value range of the rotational speed of the auger, that is:

[0077]

[0078] Obtain the minimum rotational speed of the auger based on the value range of the rotational speed of the auger.

[0079] Through the above embodiments, the required rotational speed matching values of each component of the cutter bar are inversely deduced based on parameters such as the harvesting speed and harvesting working conditions, and the displacement of the actuator variable pump is adjusted to make the rotational speeds of each component of the cutter bar be at the matching values, thereby realizing the automatic control of each component of the cutter bar.

[0080] In the foregoing embodiments, the automatic control mode of the cutter bar is determined to be in the active state, and in this embodiment, the control logic of the manual control mode of the cutter bar is also provided. Figure 4 Schematically shows a schematic diagram of the manual control logic according to an embodiment of the present application. As Figure 4 shown, it includes: determining that the manual control mode is in the active state, and determining whether the received control instruction is valid according to the state of the main clutch; when the engine is started, determining whether it is in the manual control mode. If it is not in the manual control mode, control is performed according to the foregoing automatic control mode. If it is in the manual control mode, the control instruction of the control panel in the human-machine interaction unit is received. The operator can control each component of the cutter bar in three cases through the control panel of the human-machine interaction unit: increasing the rotational speed, decreasing the rotational speed, and reversing the component, and generating corresponding control instructions. After receiving the control instruction, determine whether the main clutch is engaged. If it is not engaged, the instruction is invalid. If the main clutch is engaged, the instruction is valid, and the subsequent process is executed.

[0081] When the control instruction is valid, determine the control target of the control instruction, where the control target is one of the components of the cutter bar; here, determine which component of the cutter bar the control instruction is for, perform precise adjustment of a certain component, and then determine whether it is a reverse instruction.

[0082] Generate an adjustment instruction for the execution variable pump corresponding to the control target based on the control instruction. If the control instruction is not a reverse instruction, determine whether it is a speed increase instruction or a speed decrease instruction. When it is a speed increase instruction, increase the displacement of the execution variable pump according to the engine speed to increase the speed of the cutter bar component, and vice versa to decrease the displacement to decrease the speed of the cutter bar component. If it is a reverse instruction, first change the oil inlet direction of the execution variable pump, and then determine whether it is a speed increase instruction or a speed decrease instruction, and the control logic is the same as above. The manual control mode in this embodiment adapts to the personalized operation needs of users.

[0083] Through the above embodiments, by automatically detecting the traveling speed and working state, the speed and steering of the cutter bar components are automatically adjusted, improving the working efficiency of the cutter bar. By monitoring the pressure at the monitoring points of the cutter bar, abnormal blockage of the cutter bar is prevented, reducing the loss and damage of the harvested crops and improving the operation quality.

[0084] Based on the same inventive concept, the present application also provides an automatically controllable device for adjustable cutter bar components. Figure 5 Schematically shows a structural diagram of the automatically controllable device for adjustable cutter bar components according to an embodiment of the present application. As Figure 5 shown, the device includes: a state determination module, configured to determine that the automatic control mode is in an active state, and determine the working state of the cutter bar according to the state of the traveling drive mechanism of the machine where the cutter bar is located, the state of the main clutch, and the opening state of the handle for controlling the traveling direction; a parameter determination module, configured to determine the working parameters of the execution variable pumps corresponding to the components of the cutter bar according to the harvesting speed and harvesting conditions when the cutter bar is in the harvesting state; and a parameter correction module, configured to correct the working parameters of the execution variable pumps based on the detection signals at the monitoring points of the cutter bar monitored in the harvesting state.

[0085] In some alternative embodiments of the present application, the monitoring points of the cutter bar are arranged at the auger of the cutter bar; correcting the working parameters of the execution variable pumps based on the detection signals at the monitoring points of the cutter bar monitored in the harvesting state includes: if the pressure at the auger of the cutter bar is less than a preset minimum pressure threshold and lasts for a certain period of time, correct the working parameters of the execution variable pump of the pulling roller; if the pressure at the auger of the cutter bar is greater than a preset maximum pressure threshold and lasts for a certain period of time, correct the working parameters of the execution variable pumps of the pulling roller, the reel chain, and the auger.

[0086] In some alternative embodiments of the present application, determining the working state of the header according to the state of the driving mechanism of the machine where the header is located, the state of the main clutch, and the opening state of the handle for controlling the traveling direction includes: if the state of the driving mechanism is the non-started state, determining that the header is in the parked state; if the state of the driving mechanism is the started state and the state of the main clutch is the non-engaged state, determining that the header is in the first standby state; if the state of the driving mechanism is the started state, the state of the main clutch is the engaged state, and the opening state of the handle is not positive, determining that the header is in the second standby state; if the state of the driving mechanism is the started state, the state of the main clutch is the engaged state, and the opening state of the handle is positive, determining that the header is in the harvesting state.

[0087] In some alternative embodiments of the present application, the device further includes an initial parameter module for: when the header is in the second standby state, setting the rotational speeds of the components of the header to the initial rotational speeds; and determining the working parameters of the corresponding execution variable pumps of the components of the header according to the initial rotational speeds.

[0088] In some alternative embodiments of the present application, the working parameters of the execution variable pumps include the oil inlet displacement and the oil inlet direction; determining the working parameters of the corresponding execution variable pumps of the components of the header according to the harvesting speed and the harvesting working condition includes: determining the rotational speed requirements of the components of the header according to the harvesting speed and the harvesting working condition; and mapping the rotational speed requirements to obtain the oil inlet displacement of the execution variable pumps based on the output rotational speed of the engine, the transmission ratio, and the displacement of the execution fixed-displacement motor.

[0089] In some alternative embodiments of the present application, the header components include the pulling rollers; determining the rotational speed requirements of the components of the header according to the harvesting speed and the harvesting working condition includes: taking that the pulling time is not greater than the traveling time as the first constraint condition; taking that the processing speed of the pulling rollers for the objects to be picked is greater than the processing speed of the header for the objects to be picked as the second constraint condition; and taking the linear speed of the pulling rollers that satisfies the first constraint condition and the second constraint condition as the minimum linear speed of the pulling rollers.

[0090] In some alternative embodiments of the present application, the first constraint condition is expressed as:

[0091] wherein, V 拉 is the linear speed of the pulling rollers, s is the safety factor, H 结穗 is the ear-bearing height, H 摘穗 is the ear-picking height of the header, t 车 is the time required for the header to travel one plant spacing;

[0092] The second constraint condition is expressed as:

[0093]

[0094] Among them, Q 拉 is the processing speed of the pulling stem roller for the object to be picked, n is the number of rows during harvesting, and Q is the processing speed of the header for the object to be picked.

[0095] In some alternative embodiments of the present application, the header components include a reel chain; determining the rotational speed requirements of each component of the header according to the harvesting speed and harvesting conditions, including: obtaining an expression for the processing speed of the reel chain for the object to be picked, the parameters of the expression including the linear speed of the reel chain; determining the value range of the linear speed of the reel chain with the constraint that the processing speed of the reel chain for the object to be picked is greater than the processing speed of the header for the object to be picked; obtaining the minimum linear speed of the reel chain based on the value range of the linear speed of the reel chain.

[0096] In some alternative embodiments of the present application, the expression for the processing speed of the reel chain for the object to be picked includes: Among them, Q 拨 is the processing speed of the reel chain for the object to be picked, n is the number of rows during harvesting, Ψ 1 is the filling coefficient, considering that the ears in the ear picking channel are not completely full, and the fullness is between 0.5 and 1, L 0 is the length of the corn ear, V 拨 is the linear speed of the reel chain.

[0097] Optionally, the header components include an auger; determining the rotational speed requirements of each component of the header according to the harvesting speed and harvesting conditions, including: obtaining an expression for the processing speed of the auger for the object to be picked, the parameters of the expression including the auger rotational speed; determining the value range of the auger rotational speed with the constraint that the processing speed of the auger for the object to be picked is greater than the processing speed of the header for the object to be picked; obtaining the minimum rotational speed of the auger based on the value range of the auger rotational speed.

[0098] In some alternative embodiments of the present application, the expression for the processing speed of the auger for the object to be picked includes:

[0099]

[0100] Among them, Q 搅龙 is the processing speed of the auger for the object to be picked, η is the actual efficiency value of the auger, P is the pitch of the auger, π is the pi, d 1 is the outer diameter of the auger blade, d 2 is the inner diameter of the auger blade, V 1 is the volume of the object to be picked.

[0101] In some optional embodiments of the present application, the device also includes a manual control module, which is used to: determine whether the manual control mode is in an activated state, and determine whether the received control instruction is valid according to the main clutch state; when the control instruction is valid, determine the control target of the control instruction, and the control target is one of the components of the harvesting platform; based on the control instruction, generate an adjustment instruction for the variable pump corresponding to the control target.

[0102] The specific definition of each functional module in the above-mentioned adjustable automatic control device for the header component can be found in the above-mentioned definition of the adjustable automatic control method for the header component, which will not be repeated here. Each module in the above-mentioned system can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory in the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the above modules. It also realizes the automatic control of the rotation speed and steering of the header, and has the advantages of improving work efficiency and work quality.

[0103] In some embodiments of the present application, an electronic device is also provided, comprising: 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 executes the above-mentioned adjustable automatic control method for the header component. The internal structure diagram thereof can be as follows Figure 6 shown. Figure 6 The internal structure diagram of an electronic device according to an embodiment of the present application is schematically shown. The electronic device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The network interface A02 of the electronic device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a method for adjustable automatic control of a header component is implemented.

[0104] Those skilled in the art will understand that Figure 6 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0105] In an implementation provided by the present application, a harvesting machine is also provided. Figure 7 The system implementation diagram of the harvesting machine according to the implementation of the present application is schematically shown. As Figure 7 shown, the harvesting machine includes: a visual recognition unit, a sensor unit, an intelligent control unit, a traveling unit, a header execution unit, a human-machine interaction unit, and a connection harness. Hereinafter, the harvesting machine is taken as a corn harvester for example for illustration.

[0106] Among them, the visual recognition unit includes a camera and a deep learning object detection model. The camera uses two area array cameras to form a binocular camera for taking pictures. The object detection model is trained to accurately identify corn ears and corn stalks, and is embedded in the intelligent control unit.

[0107] The object detection model here can adopt the improved YOLOv8. In order to further improve the recognition accuracy of the YOLOv8 algorithm for corn ear and corn stalk targets, and in order to achieve real-time detection during the driving process of the corn harvester and accelerate its recognition speed, two innovative improvement measures are proposed in this implementation to replace the modules in YOLOv8, so that it has better performance for corn stalk and corn ear targets.

[0108] Measure 1: Introduce a multi-scale convolution module in the connection layer of the YOLO algorithm. The basic principle of the multi-scale convolution module (Multi-Scale Convolution, MSConv) is to divide the channels of the input feature map into three parts according to the ratio of 1 / 2, 1 / 4, and 1 / 4, and perform standard convolution with convolutional kernels of sizes 1×1, 3×3, and 5×5 respectively. Then, in the channel direction, all the convolution feature maps are spliced together, and pointwise convolution is performed using a 1×1 convolutional kernel for further feature fusion. This convolution method enables it to generate more feature maps that can explore the required information from the features of corn ears and corn stalks at a smaller cost, reduces the parameters of the model, and increases the ability of the model to explore feature information, thereby making the model more accurate and faster in recognition speed, and better meeting the requirements for real-time detection during the driving process of the corn harvester.

[0109] Measure 2: Introduce a channel-first convolutional attention module into the backbone layer of the YOLO algorithm. The channel-prior convolutional attention mechanism (CPCA) is introduced. The CPCA model supports dynamic distribution of attention weights in both the channel and spatial dimensions, and its overall structure includes an ordered arrangement of channel attention and spatial attention. The channel information of the feature map is aggregated through methods such as average pooling and max pooling of channel attention. Then, the channel information is processed by a shared multi-layer perceptron (MLP) to generate a channel attention map. The input feature is multiplied element-wise with the channel attention map to obtain a channel prior. The channel prior is then input into a depth convolution module to generate a spatial attention map. The depth convolution module receives the spatial attention map and performs channel mixing. Finally, the refined feature is obtained as the output by multiplying the result of channel mixing element-wise with the channel prior. The real-time object detection algorithm includes a backbone layer, a neck layer, and a head layer. MSConv is set in the neck layer, and the CPCA module is set after the SPPF (Spatial Pyramid Pooling-Fast) module in the backbone layer. Introducing the CPCA mechanism enables the model to focus on the features of corn ears and corn stalks with high weights when extracting features, while ignoring other irrelevant features in the picture, making the model detection accuracy higher and more adaptable to the more complex working conditions of corn.

[0110] In some embodiments of the present application, to identify several feature points of the object to be picked and its stem from the first image and the second image obtained by the binocular camera, the following steps can be adopted: Use the trained real-time object detection algorithm to identify the object to be picked and its stem from the first image and the second image respectively; Use the scale-invariant feature transform algorithm to identify a set of feature points from the object to be picked and its stem, obtaining a first set of feature points corresponding to the first image and a second set of feature points corresponding to the second image; Match the first set of feature points and the second set of feature points to obtain several feature points of the object to be picked and its stem. For example: After accurately identifying and annotating the corn ears and corn stalks in the picture, it is necessary to match the feature points of the corn ears and corn stalks in the annotation box. In the subsequent agronomic calculation process, only the area containing 2*2 corn stalks can represent the entire detection area, so only the feature points within the annotation box of this area need to be matched.

[0111] Use the SIFT (Scale-invariant feature transform) algorithm to detect the features of the corn ears and corn stalks within the labeled bounding boxes, and combine the Euclidean distance constraint to match the feature points on the left and right views of the corn ears and corn stalks captured by two cameras. To detect the feature points in the image using the SIFT algorithm, it is first necessary to construct a Gaussian pyramid, including the following steps:

[0112] Step1: First, double the image by image magnification as the first layer of the first group of the Gaussian pyramid, and then successively pass through Gaussian convolution to obtain a total of 6 layers of images. The Gaussian convolution process is expressed as:

[0113]

[0114] Among them, G(x, y, σ) is the Gaussian convolution function, I(x, y) is the value of each coordinate pixel point of the image, and σ is a fixed parameter value.

[0115] Step2: Downsample the third-to-last layer image of the first group as the first layer of the second group, that is, for each row, take a pixel point every other pixel point to obtain an image with rows and columns being 1 / 2 of the original image.

[0116] Step3: Repeat Step 1 to obtain the second group of images.

[0117] Step4: Repeat Step 2 to obtain O groups of images. A total of O×6 images are the Gaussian pyramid. The Gaussian Difference Pyramid (DOG) can be obtained by subtracting the pixels of adjacent images within a group. The feature points are composed of the local extreme points found in the DOG space. Therefore, to detect the extreme points in the DOG, it is necessary to compare each pixel point with all its surrounding adjacent points to obtain the feature points in the image.

[0118] After obtaining the feature points, it is necessary to describe their feature information as follows:

[0119] Step1: First, extract the distribution characteristics of the gradient m(x, y) and direction θ(x, y) of each pixel within the 3×3 neighborhood of the Gaussian pyramid image where the feature point is located. The formula is as follows:

[0120]

[0121] Step2: After the acquisition is completed, use a histogram to count the gradients and directions of all pixel points. The histogram divides the 0-360° direction into 8 bins, with each bin being 45°. In the histogram, the peak direction is regarded as the main direction of the feature point. To improve robustness, the directions higher than 80% of the main direction will be retained as auxiliary directions.

[0122] Step 3: After the above process, for each feature point, there are three pieces of information: position, scale, and direction. To complete the feature point matching between two images, a descriptor should also be constructed for each feature point information, that is, vectorize the feature point information. First, determine the image area required for calculating the descriptor according to the Gaussian image at the scale where the feature point is located. The radius calculation formula is as follows:

[0123]

[0124] where d = 4, representing that the image area is divided into 4×4 sub-blocks.

[0125] Step 4: Then rotate the coordinate axis where the feature point is located to the direction of the feature point. It is necessary to perform histogram statistics in 8 directions for each of the 4×4 sub-blocks divided, and obtain the gradient amplitude in each direction. In this way, for each feature point, a 128-dimensional feature point descriptor vector is formed.

[0126] Calculate the Euclidean distance between the feature points in the two images through the feature vectors. The calculation formula is as follows:

[0127]

[0128] where a(i) is the feature vector of the feature point in the specific area of the corn ear and corn stalk image captured by the left camera, and b(i) is the feature vector of the feature point in the specific area of the corn ear and corn stalk image captured by the right camera. Set a threshold T. When d < T, the feature point matching is successful. Through the above feature point matching, the first feature point set corresponding to the first image and the second feature point set corresponding to the second image can be aligned for subsequent calculations.

[0129] In some embodiments of the present application, determine the depth information of the several feature points according to the position parameters and optical parameters of the first camera and the second camera in the binocular camera, including: for one feature point among the several feature points, select several points from the optical center of the first camera, the optical center of the second camera, the feature point, the imaging point of the feature point in the first camera, and the imaging point of the feature point in the second camera to construct at least one group of similar triangles; based on the similar triangles, calculate the distance between the feature point and the connection line of the camera optical centers or the distance between the feature point and the imaging plane with several line lengths among the distance between the optical centers, the focal length of the first camera, the focal length of the second camera, and the distance from the imaging point to the end of the imaging plane; use the distance between the feature point and the connection line of the camera optical centers or the distance between the feature point and the imaging plane as the depth information of the feature point.

[0130] In the ideal binocular vision ranging model diagram, the left and right cameras installed under the cab should have the same camera parameters, O Land O R respectively represent the optical centers of the left and right cameras. The optical axes of the two cameras are parallel to each other and lie in the same horizontal plane. The horizontal distance between the two optical centers is b. The feature point P is imaged as point P L and point P R in the left and right camera image planes respectively. The line where points P L and P R are located is parallel to the line connecting the camera optical center O R O L . The distance from point P L to the leftmost end of its imaging plane is X L , and the distance from point P R to the leftmost end of its imaging plane is X R .

[0131] According to the principle of similar triangles, it can be deduced that:

[0132]

[0133] Adding the two equations gives:

[0134]

[0135] Further deduction leads to:

[0136]

[0137] According to the position difference of the feature point at the bottom of the meter stick on the X-axis of the left and right camera image planes, the distance Z from this feature point to the camera optical center plane can be calculated based on the horizontal distance between the two cameras and the focal length f of the camera. Similarly, the depth information of the feature point at the bottom of the corn ear can also be obtained.

[0138] In some embodiments of the present application, a method or steps for selecting feature points are provided, including: If the agronomic parameter to be determined is the size information of the object to be picked, the object to be measured is the object to be picked, and the feature points of the object to be measured include the left-end feature point, right-end feature point, top-end feature point, and bottom-end feature point of the object to be picked; If the agronomic parameter to be determined is the distribution information of the stem where the object to be picked is located, the object to be measured is the stem where the object to be picked is located, and the feature points of the object to be measured include the bottom-end feature point of the stem where the object to be picked is located; If the agronomic parameter to be determined is the relative position of the object to be picked on its stem, the object to be measured is the object to be picked and its stem, and the feature points of the object to be measured include the bottom-end feature point of the picked object and the bottom-end feature point of the stem where the object to be picked is located. For example, after the feature point matching is completed, parameters such as the plant spacing of corn, the length, diameter, and ear-bearing height of the corn ear are calculated. The plant spacing of corn can be obtained based on the bottom-end feature points of two adjacent corn stalks before and after. The length of the corn ear can be obtained based on the top-end feature point and bottom-end feature point of the corn ear. The diameter of the corn ear can be obtained based on the left-end feature point and right-end feature point of the corn ear. The ear-bearing height can be obtained based on the bottom-end feature point of the corn stalk and the bottom-end feature point of the corn ear.

[0139] In some embodiments of the present application, the value of the agronomic parameter to be determined is obtained based on the depth information of the feature points of the object to be measured and the pixel size information of the image formed by the object to be measured, including: Obtaining the pixel distance between feature points based on the pixel size information of the line segment formed by the feature points of the object to be measured in the image; Obtaining the projected height of the line segment formed by the feature points of the object to be measured based on the pixel distance and the depth information, and obtaining the value of the agronomic parameter to be determined with the projected height. According to its depth information and the principle of pinhole imaging, a method for measuring the ear-bearing height is designed. First, calculate the height of the corn ear-bearing height projected onto a plane parallel to the image plane based on the bottom-end feature point of the corn stalk and the bottom-end feature point of the corn ear, which can be expressed as:

[0140]

[0141] In the formula, L is the projected height of the corn ear-bearing height, l is the pixel length corresponding to the ear-bearing height in the pixel coordinates after camera imaging, dx is the size occupied by a single pixel in the camera, f is the camera focal length, and D is the depth value from the horizontal plane where the target line segment is located to the optical center of the camera.

[0142] Further, when the depth information of different feature points of the target to be measured is inconsistent, the method further includes: when the depth information of different feature points of the target to be measured is inconsistent, the method further includes: calculating the depth difference between different feature points within the same line segment, and correcting the projection height based on the depth difference, and obtaining the value of the agronomic parameter to be determined with the corrected projection height. Since the growth direction of the corn during the harvesting process is not completely perpendicular to the camera shooting direction, the entire corn stalk cannot be completely parallel to the camera's image plane when the camera shoots. Therefore, it is necessary to correct the projection height in combination with the depth difference. The correction method is exemplified as follows: The ear height H can be obtained by combining the depth difference h and the projection height L between the feature point at the bottom of the corn stalk and the feature point at the bottom of the corn ear. 结穗 :

[0143]

[0144] Similarly, the plant spacing, ear length and diameter of the corn can be obtained according to the above method.

[0145] The sensor unit includes a speed sensor, an infrared sensor and a pressure sensor. The speed sensor and the infrared sensor are respectively installed on the front axle and the cutting table of the corn harvester, and are used to monitor the driving speed and the cutting table height of the corn harvester in real time during the operation of the corn harvester; the pressure sensor is installed on the auger and is used to detect whether there is a blockage at the auger.

[0146] The human-machine interaction unit includes a control panel, an operating handle, and an engine electronic speed switch. The intelligent control unit controls the displacement and the oil inlet and outlet directions of the travel variable pump through the handle signal to operate the speed and the driving direction of the corn harvester, and operates the engine speed through the engine electronic speed switch signal or the throttle signal. The control panel can display the detected traveling speed and the rotation speed of the cutting table components in real time, and can also adjust the displacement and the oil inlet and outlet directions of the execution variable plunger pump through the control panel through the intelligent control unit, and then manually adjust the rotation speed and the steering of the cutting table working components.

[0147] The core processor of the intelligent control unit is a PLC, which includes a data acquisition module, a data processing module and an execution control module. The data acquisition module can receive the pictures taken by the camera, and can also read information such as the traveling speed, the cutting table height, and the auger pressure from the sensors; the data processing module can identify the pictures taken, and can calculate and analyze the various agronomics of the corn through the built-in binocular vision algorithm, and then calculate the required rotation speed of each component of the cutting table and send out control signals; the execution control module outputs the control signals to the actuators, and then adjusts the system.

[0148] The cutting table execution unit consists of an electro-hydraulic proportional variable pump and an execution motor. It can achieve the matching of the rotational speed of the working components of the cutting table and the traveling speed through the control signal sent by the intelligent control unit. The engine outputs power to the hydraulic pump, which converts mechanical energy into hydraulic energy and adjusts the output flow or the direction of oil inlet and outlet according to the control signal to achieve precise control of the rotational speed of the hydraulic motor, and further achieve the control of the working components of the cutting table. The same principle applies to the traveling unit. The electro-hydraulic proportional variable pump can send feedback signals back to the intelligent control unit, and the real-time rotational speed of each working component of the cutting table can be obtained based on the current engine speed and the feedback signal.

[0149] The connection wire harness is a type of wire harness used to connect the sensor unit, intelligent control unit, execution unit, and human-machine interaction unit, including communication wires, power supply wires, and signal wires; the intelligent control unit is connected to the human-machine interaction unit and the execution unit by communication wires, and the control unit is connected to the sensor unit by signal wires; all hardware needs to be directly / indirectly connected to the power supply wire from the battery.

[0150] Generally speaking, the vehicle can be controlled through each operating component of the human-machine interaction unit, and the function of automatically adjusting the rotational speed and steering of the working components of the cutting table according to the traveling speed and specific working conditions can also be achieved; this application also sets a manual adjustment unit to facilitate the operator to manually adjust the working components of the cutting table through the control panel under special working conditions, and the operator can switch between the automatic adjustment mode and the manual adjustment mode through the control panel.

[0151] In an implementation manner provided by this application, a machine-readable storage medium is provided. Instructions are stored on this machine-readable storage medium, and when the instructions are executed by a processor, the processor is configured to execute the aforementioned automatic control method for adjustable cutting table components.

[0152] In an implementation manner provided by this application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, it implements the aforementioned automatic control method for adjustable cutting table components.

[0153] Those skilled in the art should understand that the embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, this application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general purpose computers, special purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0155] 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 operate in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks. These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks. In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0156] The memory may include non-permanent memory in the form of computer-readable media, 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 computer-readable media.

[0157] A computer-readable medium includes permanent and non-permanent, removable and non-removable media that can implement information storage by any method or technology. 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 disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0158] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. 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 device comprising the element.

[0159] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modifications, equivalent replacements, improvements, 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 adjustable automatic control of header components, characterized in that: The method includes: Determine that the automatic control mode is activated, and determine the working state of the header according to the state of the travel drive mechanism of the machine where the header is located, the state of the main clutch, and the opening state of the handle for controlling the travel direction; When the working state is a harvesting state, the working parameters of the variable displacement pumps corresponding to the various components of the harvesting platform are determined according to the harvesting speed and the harvesting working conditions; and The working parameters of the variable displacement pump are corrected based on the detection signal of the header monitoring point monitored under the harvesting state.

2. The method according to claim 1, characterized in that The cutting platform monitoring point is set at the auger of the cutting platform; Based on the detection signal of the header monitoring point monitored in the harvesting state, the working parameters of the variable pump are corrected, including: If the pressure at the auger of the cutting table is less than the preset minimum pressure threshold and lasts for a certain period of time, the working parameters of the variable displacement pump of the stem pulling roller are corrected; If the pressure at the auger of the harvesting platform is greater than a preset maximum pressure threshold and lasts for a certain period of time, the working parameters of the stem pulling roller, the straw chain and the variable displacement pump of the auger are all corrected.

3. The method according to claim 1, characterized in that The working state of the header is determined according to the state of the travel drive mechanism of the machine where the header is located, the state of the main clutch and the opening state of the handle for controlling the travel direction, including: If the state of the travel drive mechanism is an unstarted state, determining that the header is in a parked state; If the state of the travel drive mechanism is the start state and the state of the main clutch is the unengaged state, then determining that the header is in the first standby state; If the state of the travel drive mechanism is the start state, the state of the main clutch is the engagement state, and the handle opening state is not positive, then it is determined that the header is in the second standby state; If the state of the travel drive mechanism is the start state, the state of the main clutch is the engagement state, and the state of the handle opening is positive, it is determined that the harvesting platform is in the harvesting state.

4. The method according to claim 3, characterized in that The method further comprises: When the header is in the second standby state, the rotation speed of each component of the header is set to an initial rotation speed; The working parameters of the variable displacement pumps corresponding to the various components of the header are determined according to the initial rotation speed.

5. The method according to claim 1, characterized in that The working parameters of the variable displacement pump include oil inlet displacement and oil inlet direction; Determine the working parameters of the variable displacement pump corresponding to each component of the harvesting platform according to the harvesting speed and harvesting conditions, including: Determine the speed requirements of each component of the harvesting platform according to the harvesting speed and harvesting conditions; The speed requirement is mapped based on the output speed of the engine, the transmission ratio and the displacement of the actuator fixed displacement motor to obtain the oil inlet displacement of the actuator variable displacement pump.

6. The method according to claim 5, characterized in that The header components include the stem puller; the speed requirements of the header components are determined according to the harvesting speed and harvesting conditions, including: The first constraint condition is that the stem pulling time should not be greater than the driving time; The second constraint condition is that the processing speed of the stem pulling roller for picking is greater than the processing speed of the cutting table for picking; The linear speed of the stem-pulling roller that satisfies the first constraint condition and the second constraint condition is taken as the minimum linear speed of the stem-pulling roller.

7. The method according to claim 6, characterized in that The first constraint is expressed as: Among them, V 拉 is the linear speed of the stem pulling roller, s is the safety factor, H 结穗 H is the ear height, 摘穗 is the cutting height of the header, t 车 The time required for the header to travel one plant spacing; The second constraint is expressed as: Among them, Q 拉 is the processing speed of the stem roller on the harvested objects, n is the number of rows during harvesting, and Q is the processing speed of the harvesting platform on the harvested objects.

8. The method according to claim 5, characterized in that The harvesting platform components include the harvesting chain; the speed requirements of each component of the harvesting platform are determined according to the harvesting speed and harvesting conditions, including: Obtaining an expression for the processing speed of the reed-pulling chain on the objects to be picked, wherein the parameters of the expression include the linear speed of the reed-pulling chain; Taking the processing speed of the reed chain for the picked objects as a constraint condition being greater than the processing speed of the header for the picked objects, determining the value range of the linear speed of the reed chain; The minimum linear speed of the reel chain is obtained based on the value range of the linear speed of the reel chain.

9. The method according to claim 8, characterized in that The expression of the processing speed of the reed chain for the picked objects includes: Among them, Q 拨 is the processing speed of the picking chain for the harvested objects, n is the number of rows during harvesting, Ψ1 is the filling coefficient, considering that the ears in the picking path are not completely full, the filling coefficient is between 0.5 and 1, L0 is the length of the corn ear, V 拨 is the linear speed of the reed chain.

10. The method according to claim 5, characterized in that The harvesting platform components include the auger; the speed requirements of each component of the harvesting platform are determined according to the harvesting speed and harvesting conditions, including: Obtaining an expression for the processing speed of the auger on the objects to be picked, wherein the parameters of the expression include the auger rotation speed; Taking the processing speed of the auger for the harvested objects as a constraint condition that the processing speed of the auger for the harvested objects is greater than the processing speed of the header for the harvested objects, determining the value range of the auger rotation speed; The minimum rotation speed of the auger is obtained based on the value range of the auger rotation speed.

11. The method according to claim 10, characterized in that The expression for the speed at which the auger is handling the harvested material includes: Among them, Q 搅龙 is the processing speed of the auger for picking, η is the actual efficiency value of the auger, P is the pitch of the auger, π is the circumference, d1 is the outer diameter of the auger blade, d2 is the inner diameter of the auger blade, V1 is the volume of the object to be picked, n 搅龙 is the auger speed.

12. The method according to claim 1, characterized in that The method further comprises: Determining that the manual control mode is in an activated state, and determining whether the received control instruction is valid according to the master clutch state; When the control instruction is valid, determining a control target of the control instruction, wherein the control target is one of the components of the header; An adjustment instruction for executing a variable displacement pump corresponding to the control target is generated based on the control instruction.

13. An adjustable automatic control device for a header component, characterized in that: The device includes: A state determination module, used to determine whether the automatic control mode is activated, and determine the working state of the header according to the state of the travel drive mechanism, the state of the main clutch, and the opening state of the handle controlling the travel direction; a parameter determination module, used for determining working parameters of variable displacement pumps corresponding to various components of the harvesting platform according to harvesting speed and harvesting conditions when the harvesting platform is in a harvesting state; and The parameter correction module is used to correct the working parameters of the variable displacement pump based on the detection signal of the header monitoring point monitored in the harvesting state.

14. An electronic device, characterized in that: include: at least one processor; a memory connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the steps of the adjustable automatic control method of the header components as claimed in any one of claims 1 to 12 by executing the instructions stored in the memory.

15. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the adjustable automatic control method of header components described in any one of claims 1 to 12 are implemented.

16. A harvesting machine, characterized in that: The harvesting machine comprises a header, and a PLC in the harvesting machine is configured to execute the adjustable automatic control method of header components according to any one of claims 1 to 12.

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