Mountain pepper harvester and method

Abstract

The invention provides a mountain pepper harvester and method, and the method comprises the steps: determining the motion characteristics of the mountain pepper harvester during pepper picking according to an operation state, carrying out the dynamic coupling of the mechanical gravity center of the mountain pepper harvester through the motion characteristics, and obtaining the motion gravity center of the mountain pepper harvester; topographic features in the target pepper planting area are determined, the ground attachment coefficient of the mountain pepper harvester is determined according to the topographic features and the movement gravity center, and the topographic fitness between the working state of the mountain pepper harvester and the target pepper planting area is determined through the ground attachment coefficient and the anti-overturning capacity of the mountain pepper harvester; when the terrain fitness is lower than a preset adaptability threshold value, feedback adjustment is conducted on the follow-up operation state of the mountain pepper harvester. Based on the scheme, dynamic adaptive adjustment of the operation state of the mountain pepper harvester can be achieved, and therefore the operation stability under the complex mountain conditions can be improved.

Description

Technical Field

[0001] This application relates to the technical field of intelligent agricultural machinery. More specifically, this application relates to a mountain pepper harvester and method. Background Art

[0002] Mountainous terrains have characteristics such as large slopes, fragmented terrains, and narrow spaces, which pose higher requirements for the autonomous navigation, stability, and operation accuracy of agricultural machinery. With the help of artificial intelligence, Internet of Things, and automatic control technologies, the application of intelligent agricultural machinery in mountainous terrains has developed rapidly, solving the problem that traditional machinery is difficult to adapt to complex terrains. Modern intelligent agricultural machinery can achieve precise path planning, autonomous obstacle avoidance, and efficient operation.

[0003] Traditional pepper harvesters are mostly designed based on flat terrains and face significant challenges in mountainous conditions. The change in slope easily causes the center of gravity to shift, leading to rollover or capsizing. The irregular terrain makes it difficult for the chassis to adapt, easily resulting in wheel suspension or loss of traction. The lack of terrain-adaptive harvesting path planning makes it difficult for the machinery to identify the optimal path, affecting the operation coverage rate and harvesting quality. Therefore, when facing steep slopes, insufficient power output may lead to unstable climbing or backward sliding. Therefore, how to achieve dynamic adaptive adjustment of the operation state in a mountain pepper harvester to improve the operation stability under complex mountainous conditions is a difficult problem faced by the industry. Summary of the Invention

[0004] This application provides a mountain pepper harvester and method, which can achieve dynamic adaptive adjustment of the operation state in a mountain pepper harvester, thereby improving the operation stability under complex mountainous conditions.

[0005] In a first aspect, this application provides a feedback adjustment method for the operation state in a mountain pepper harvester, including: Using a mountain pepper harvester to pick peppers in a target pepper planting area, and monitoring the operation state of the mountain pepper harvester during pepper picking; Determining the motion characteristics of the mountain pepper harvester during pepper picking operation according to the operation state, and performing power coupling on the mechanical center of gravity of the mountain pepper harvester through the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during pepper picking; Determining the terrain characteristics in the target pepper planting area, determining the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area according to the terrain characteristics and the motion center of gravity, and determining the terrain adaptability between the operation state in the mountain pepper harvester and the target pepper planting area through the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester; When the terrain adaptability is lower than a preset adaptability threshold, feedback adjustment is performed on the subsequent operation state of the mountain pepper harvester based on a power feedback mechanism.

[0006] In some embodiments, determining the motion characteristics of the mountain pepper harvester during pepper picking operations according to the operation state specifically includes: Determining the coupling value of each motion parameter in the operation state; Determining the motion characteristics of the mountain pepper harvester during pepper picking operations according to all the coupling values.

[0007] In some embodiments, dynamically coupling the mechanical center of gravity of the mountain pepper harvester through the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during pepper picking specifically includes: Determining the coupling weight of each motion parameter on the mechanical center of gravity of the mountain pepper harvester; Determining the coupling offset vector of the mechanical center of gravity of the mountain pepper harvester according to all the coupling weights and the motion characteristics; Offsetting the mechanical center of gravity of the mountain pepper harvester through the coupling offset vector to obtain the motion center of gravity of the mountain pepper harvester during pepper picking.

[0008] In some embodiments, determining the terrain characteristics in the target pepper planting area specifically includes: Collecting the terrain data of the target pepper planting area to obtain mountain agricultural planting information; Dividing the target pepper planting area into multiple pepper picking areas based on the terrain fitness zoning mechanism; Extracting the geomorphic sub-characteristics of each pepper picking area from the mountain agricultural planting information; Determining the terrain characteristics in the target pepper planting area according to all the geomorphic sub-characteristics.

[0009] In some embodiments, determining the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area according to the terrain characteristics and the motion center of gravity specifically includes: For each pepper picking area, obtaining the geomorphic sub-characteristics of the pepper picking area in the terrain characteristics; Determining the ground adhesion force of the mountain pepper harvester to the pepper picking area according to the geomorphic sub-characteristics and the motion center of gravity, and further obtaining the ground adhesion force of the mountain pepper harvester to each pepper picking area; Determining the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area through all the ground adhesion forces.

[0010] In some embodiments, determining the terrain fitness between the operation state of the mountain pepper harvester and the target pepper planting area through the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester specifically includes: For each chili picking area, obtain the ground adhesion force of the mountain chili harvester in the chili picking area from the value range of the ground adhesion coefficient; Determine the adaptability between the chili picking area and the mountain chili harvester according to the ground adhesion force and the anti-overturning ability of the mountain chili harvester, and then obtain the power adaptability between each chili picking area and the mountain chili harvester; Determine the terrain adaptability between the operation state of the mountain chili harvester and the target chili planting area through all the power adaptabilities.

[0011] In some embodiments, the mountain chili harvester is a small remote-controlled mountain chili harvester.

[0012] In a second aspect, the present application provides a mountain chili harvester, which includes a feedback adjustment unit, and the feedback adjustment unit includes: A monitoring module, which is used to pick chili peppers in the target chili planting area by using the mountain chili harvester and monitor the operation state of the mountain chili harvester during chili picking; A processing module, which is used to determine the motion characteristics of the mountain chili harvester during chili picking operation according to the operation state, perform power coupling on the mechanical center of gravity of the mountain chili harvester through the motion characteristics, and obtain the motion center of gravity of the mountain chili harvester during chili picking; The processing module is further used to determine the terrain characteristics in the target chili planting area, determine the ground adhesion coefficient of the mountain chili harvester to the target chili planting area according to the terrain characteristics and the motion center of gravity, and determine the terrain adaptability between the operation state of the mountain chili harvester and the target chili planting area through the ground adhesion coefficient and the anti-overturning ability of the mountain chili harvester; An execution module, which is used to, when the terrain adaptability is lower than a preset adaptability threshold, perform feedback adjustment on the subsequent operation state of the mountain chili harvester based on a power feedback mechanism.

[0013] In a third aspect, the present application provides a computer device, which includes a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the feedback adjustment method for the operation state in the above-mentioned mountain chili harvester.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium, in which instructions or codes are stored. When the instructions or codes are run on a computer, the computer is enabled to execute the feedback adjustment method for the operation state in the above-mentioned mountain chili harvester.

[0015] The technical solutions provided by the disclosed embodiments of the present application have the following beneficial effects: In a mountain pepper harvester and method provided by the present application, when using the mountain pepper harvester to pick peppers in a target pepper planting area, the operation state of the mountain pepper harvester during pepper picking is monitored; the motion characteristics of the mountain pepper harvester during pepper picking operation are determined according to the operation state, and the mechanical center of gravity of the mountain pepper harvester is power-coupled through the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during pepper picking; the terrain characteristics in the target pepper planting area are determined, and the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area is determined according to the terrain characteristics and the motion center of gravity. The terrain adaptability between the operation state of the mountain pepper harvester and the target pepper planting area is determined through the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester; when the terrain adaptability is lower than a preset adaptability threshold, the subsequent operation state of the mountain pepper harvester is feedback-regulated based on a power feedback mechanism.

[0016] It can be seen that in this application, when the terrain fitness is lower than the preset adaptability threshold, the subsequent operation state of the mountain pepper harvester is feedback-regulated based on the dynamic feedback mechanism. First, determining the center of movement gravity can obtain an index to measure the stability of the mountain pepper harvester during movement. Through the movement characteristics in the operation state, the mountain pepper harvester can adjust the position of the mechanical center of gravity in real time, thereby enhancing stability in the complex mountain environment. The position of the mechanical center of gravity directly affects the anti-overturning ability of the mountain pepper harvester during operation. Especially in the complex mountain environment, reasonable adjustment of the center of gravity can effectively reduce the risks of rollover and slippage, enabling the mountain pepper harvester to adapt to the rapid changes in terrain, ensuring an efficient and stable operation state during pepper picking, and thus significantly improving the operation stability of the mountain pepper harvester in the complex mountain area. Then, determining the terrain fitness can obtain a quantitative value of the adaptability of the operation state to the mountain pepper harvester under different terrain conditions. By comprehensively evaluating the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester, it provides a global quantitative guidance for the dynamic adaptability adjustment of the mountain pepper harvester. Among them, the ground adhesion coefficient reflects the grip of the mountain pepper harvester in different sub-feature regions of the landform, while the anti-overturning ability quantifies the stability limit of the mountain pepper harvester. Combining the anti-overturning ability and the ground adhesion coefficient to obtain the terrain fitness can clarify the matching degree between the mountain pepper harvester and the agricultural terrain, providing a criterion for the real-time feedback adjustment of the operation state. When the terrain fitness is lower than the preset adaptability threshold, the console of the mountain pepper harvester can quickly adjust the movement mode of the mountain pepper harvester, enhancing the adaptability of the mountain pepper harvester to terrain changes, helping to reduce the efficiency loss caused by insufficient power or overturning risk during operation, and thus significantly improving the running stability and working reliability of the mountain pepper harvester under complex mountain conditions. In summary, based on the above solution, the dynamic adaptability adjustment of the operation state in the mountain pepper harvester can be realized, thereby improving the operation stability under complex mountain conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is an exemplary flowchart of the feedback regulation method for the operation state in the mountain pepper harvester according to some embodiments of the present application; Figure 2 is a structural diagram of the mountain pepper harvester according to some embodiments of the present application; Figure 3 It is a schematic flow chart for determining the ground adhesion coefficient as shown in some embodiments of the present application; Figure 4 It is a schematic structural diagram of a feedback adjustment unit as shown in some embodiments of the present application; Figure 5 It is a schematic structural diagram of a computer device for implementing a feedback adjustment method for the operation state in a mountain pepper harvester as shown in some embodiments of the present application. Detailed implementation manners

[0019] To better understand the technical solutions of the present application, the technical solutions of the present application will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0020] Refer to Figure 1 , this figure is an exemplary flow chart of a feedback adjustment method for the operation state in a mountain pepper harvester as shown in some embodiments of the present application. The feedback adjustment method for the operation state in the mountain pepper harvester mainly includes the following steps: In step 101, use the mountain pepper harvester to pick peppers in the target pepper planting area, and monitor the operation state of the mountain pepper harvester during pepper picking.

[0021] In some embodiments, use sensors and cameras to monitor the operation state of the mountain pepper harvester during pepper picking; specifically, when implementing, use the mountain pepper harvester to pick peppers in the target pepper planting area. During the picking process, sensors and cameras can be used to monitor the speed, angle, load, and track state of the mountain pepper harvester at each fixed time interval (default is 5 s). The set of speed, angle, load, and track state can be used as motion parameters, and the set of parameter values of each motion parameter within a specified time period can be used as the operation state of the mountain pepper harvester during pepper picking; it should be noted that in the present application, the operation state refers to the set of dynamic parameters of the mountain pepper harvester during pepper picking operation; the target pepper planting area refers to the area in the mountain environment suitable for the planting and harvesting of agricultural crops; the mountain pepper harvester is a small remote-controlled mountain pepper harvester.

[0022] In some embodiments, refer to Figure 2 as described, this figure is a structural diagram of a mountain pepper harvester as shown in some embodiments of the present application. The figure includes a picking device 1, a picking motor 2, a conveying device 3, a motor cabinet 4, a blower 5, a battery 6, a hopper 7, an aggregate bin 8, a power system 9, a range extender 10, a crawler chassis 11, a manual hydraulic pump 12, and a hydraulic cylinder 13.

[0023] First, add diesel to the range extender 10, start the range extender 10 to charge the battery 6, and the battery 6 provides power for the whole machine. Then, open the motor cabinet 4 to start each key component, and adjust the header height, cylinder speed, fan speed, and conveyor belt speed according to information such as the pepper crop variety and the lowest fruit-bearing height in the harvesting area. After the debugging is completed, use the remote control to operate the whole machine for picking operations.

[0024] The specific picking process is as follows: First, use the remote control to control the whole machine to move forward to prepare for picking peppers. During the movement of the whole machine, the dividing board separates the crossed peppers, and then the pressing wheel presses down the peppers to facilitate the picking by the picking device 1. The picking cylinder rotates at a high speed driven by the picking motor 2, and picks the peppers fed into the picking device clean from bottom to top. The picked peppers move in a circular motion with the picking cylinder and finally fall onto the conveying device 3. Then, the conveying device 3 transports the harvested machine-harvested mixture (including peppers, pepper leaves, etc.) from the bottom to the top of the conveying device 3. During the process of the machine-harvested mixture being thrown from the top of the conveying device 3 to the hopper 7, the fan 5 performs cleaning to blow away the pepper leaves, so that the remaining materials continue to fall along the hopper 7 and finally fall into the aggregate bin 8. When the aggregate bin 8 is full of peppers, use the remote control to stop the whole machine, pour the peppers in the aggregate bin 8 into the designated position, and reinstall the aggregate bin onto the pepper harvester, and continue to repeat the above operation process until all the peppers are picked.

[0025] In step 102, determine the motion characteristics of the mountain pepper harvester during pepper picking operations according to the operation state, and perform dynamic coupling on the mechanical center of gravity of the mountain pepper harvester through the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during pepper picking.

[0026] In some embodiments, determining the motion characteristics of the mountain pepper harvester during pepper picking operations according to the operation state can be achieved by the following steps: Determine the coupling value of each motion parameter in the operation state; Determine the motion characteristics of the mountain pepper harvester during pepper picking operations according to all the coupling values.

[0027] It should be noted that in this application, the motion characteristics are the characteristics used to reflect the overall motion performance of the mountain pepper harvester during pepper picking; the coupling value is a vector that quantifies the degree of mutual influence between motion parameters. When specifically implemented, first, the coupling values of each motion parameter in the operation state can be determined in the following manner: for each motion parameter in the operation state, a dynamic coupling model based on a support vector machine is initialized. All parameter values of the motion parameter are used as the input feature vector in this dynamic coupling model, and all parameter values of other motion parameters in the operation state are used as the target coupling variables in this dynamic coupling model. The dynamic coupling model is used to quantify the coupling influence of other motion parameters in the operation state on the motion parameter. The result of quantifying the coupling influence by this dynamic coupling model can be used as the coupling value of the motion parameter in the operation state. Through the above method, the coupling values of each motion parameter in the operation state can be obtained. Then, the motion characteristics of the mountain pepper harvester during pepper picking operation can be determined according to all the coupling values in the following manner: the set of all coupling values can be used as the motion characteristics of the mountain pepper harvester during pepper picking operation.

[0028] In some embodiments, the dynamic coupling of the mechanical center of gravity of the mountain pepper harvester through the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during pepper picking can be achieved by the following steps: Determine the coupling weights of each motion parameter on the mechanical center of gravity of the mountain pepper harvester; Determine the coupling offset vector of the mechanical center of gravity in the mountain pepper harvester according to all the coupling weights and the motion characteristics; Offset the mechanical center of gravity of the mountain pepper harvester through the coupling offset vector to obtain the motion center of gravity of the mountain pepper harvester during pepper picking.

[0029] It should be noted that in this application, the motion center of gravity is an index to measure the stability of the mountain pepper harvester during motion; the coupling offset vector represents the position change of the mechanical center of gravity under dynamic conditions; the coupling weight is a quantitative index reflecting the degree of influence of the motion parameter on the change of the mechanical center of gravity.

[0030] In specific implementation, first, for each motion parameter, the mechanical center of gravity at each value of the motion parameter can be obtained through a large number of simulation experiments. A linear-based weight learning algorithm can be used to quantitatively analyze the data obtained from the simulation experiments, so as to quantitatively analyze the influence degree of the motion parameter on the mechanical center of gravity in the mountain pepper harvester, and use the quantitative result of the influence degree as the coupling weight of the motion parameter on the mechanical center of gravity in the mountain pepper harvester. Through the above method, the coupling weights of each motion parameter on the mechanical center of gravity in the mountain pepper harvester can be obtained. Among them, this coupling weight is a vector carrying the influence direction and influence magnitude. Then, for each motion parameter, the product of the coupling weight of the motion parameter and the coupling value of the motion parameter in the motion characteristics can be used as the offset influence amount of the motion parameter on the mechanical center of gravity in the mountain pepper harvester. Through the above method, the offset influence amounts of each motion parameter on the mechanical center of gravity in the mountain pepper harvester can be obtained, and the sum of all offset influence amounts can be used as the coupling offset vector of the mechanical center of gravity in the mountain pepper harvester. Finally, the mechanical center of gravity of the mountain pepper harvester is moved according to the direction and distance in the coupling offset vector, and the position of the mechanical center of gravity after movement is used as the motion center of gravity of the mountain pepper harvester during pepper picking.

[0031] In step 103, determine the terrain characteristics in the target pepper planting area, determine the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area according to the terrain characteristics and the motion center of gravity, and determine the terrain adaptability between the operation state of the mountain pepper harvester and the target pepper planting area through the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester.

[0032] In some embodiments, the determination of the terrain characteristics in the target pepper planting area can be implemented by the following steps: Collect the terrain data of the target pepper planting area to obtain mountain agricultural planting information; Divide the target pepper planting area into multiple pepper picking areas based on the terrain adaptability zoning mechanism; Extract the geomorphic sub-features of each pepper picking area from the mountain agricultural planting information; Determine the terrain characteristics in the target pepper planting area according to all the geomorphic sub-features.

[0033] It should be noted that in this application, the terrain characteristics are the characteristics used to describe the terrain characteristics in the target pepper planting area; the mountain agricultural planting information refers to the data information about the terrain and geomorphology in the mountain area; the pepper picking area refers to the area with similar elevation, slope and surface roughness; the geomorphic sub-features are the characteristics used to describe the terrain characteristics in the pepper picking area.

[0034] In specific implementation, first, remote sensing technology (such as satellite images) and ground sensors (such as topographic survey instruments) can be used to collect topographic data of elevation, slope, and surface roughness in the target pepper planting area, and the set of all topographic data can be used as mountain agricultural planting information. Secondly, the K-means clustering algorithm based on the terrain fitness zoning mechanism is used to cluster the mountain agricultural planting information, so as to divide the areas with similar elevation, slope, and surface roughness into one pepper picking area, and multiple pepper picking areas can be obtained. Then, for each pepper picking area, all topographic data of the pepper picking area are obtained from the mountain agricultural planting information, and a feature extraction algorithm can be used to extract the data features in all topographic data as the geomorphic features of the pepper picking area. Through the above method, the geomorphic sub-features of each pepper picking area can be obtained. Finally, the set of all geomorphic sub-features can be used as the topographic features in the target pepper planting area.

[0035] In some embodiments, the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area is determined according to the topographic features and the center of movement gravity. Refer to Figure 3 As described above, this figure is a schematic flowchart of determining the ground adhesion coefficient in some embodiments of the present application. In this embodiment, the ground adhesion coefficient can be determined by the following steps: In step 1031, for each pepper picking area, the geomorphic sub-features of the pepper picking area in the topographic features are obtained. In step 1032, according to the geomorphic sub-features and the center of movement gravity, the ground adhesion force of the mountain pepper harvester to the pepper picking area is determined, and then the ground adhesion force of the mountain pepper harvester to each pepper picking area is obtained. In step 1033, the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area is determined through all the ground adhesion forces.

[0036] It should be noted that in this application, the ground adhesion coefficient is a quantitative parameter used to describe the friction characteristics between the mountain pepper harvester and the ground under different terrain conditions. Specifically, in implementation, first, for each pepper picking area, the geomorphic sub-features of the pepper picking area in the terrain features are obtained. Then, a mechanical model based on the friction force formula is initialized. The geomorphic sub-features can be used as the terrain input parameters in this mechanical model, and the center of motion gravity can be used as the mechanical action point in this mechanical model. The mechanical model is used to simulate the adhesion situation of the mountain pepper harvester in the pepper picking area. The quantitative value of the adhesion situation after simulating this mechanical model can be used as the ground adhesion force of the mountain pepper harvester to the pepper picking area. In the above way, the ground adhesion force of the mountain pepper harvester to each pepper picking area can be obtained. Among them, the ground adhesion force refers to the frictional force generated when the mountain pepper harvester contacts the agricultural ground. Finally, the set of all ground adhesion forces can be used as the value range of the ground adhesion coefficient, and thus the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area can be obtained.

[0037] In some embodiments, determining the terrain fitness between the working state of the mountain pepper harvester and the target pepper planting area based on the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester can be achieved by the following steps: For each pepper picking area, obtain the ground adhesion force of the mountain pepper harvester to the pepper picking area from the value range of the ground adhesion coefficient. Determine the adaptability between the pepper picking area and the mountain pepper harvester according to the ground adhesion force and the anti-overturning ability of the mountain pepper harvester, and then obtain the power adaptability between each pepper picking area and the mountain pepper harvester. Determine the terrain fitness between the working state of the mountain pepper harvester and the target pepper planting area through all the power adaptabilities.

[0038] It should be noted that in this application, the terrain fitness represents the degree of adaptation of the working state of the mountain pepper harvester to the terrain conditions in the target pepper planting area; the power adaptability refers to the adaptability of the mountain pepper harvester to the terrain conditions in each pepper picking area; the anti-overturning ability refers to the stability of the mountain pepper harvester on the sloping ground.

[0039] In specific implementation, first, for each pepper picking area, obtain the ground adhesion force of the mountain pepper harvester in the pepper picking area from the value range of the ground adhesion coefficient; then, obtain the total gravity of the mountain pepper harvester, the maximum inclination angle and the center of gravity height in the pepper picking area from the operating instructions of the mountain pepper harvester. The product of the total gravity, the sine value of the maximum inclination angle and the center of gravity height can be used as the anti-overturning ability of the mountain pepper harvester in the pepper picking area. The product of the anti-overturning ability and the ground adhesion force can be used as the adaptability between the pepper picking area and the mountain pepper harvester. Through the above method, the power adaptability between each pepper picking area and the mountain pepper harvester can be obtained; finally, the standard deviation of all power adaptabilities can be used as the terrain fitness between the operating state of the mountain pepper harvester and the target pepper planting area.

[0040] In step 104, when the terrain fitness is lower than the preset adaptability threshold, feedback adjustment is performed on the subsequent operating state of the mountain pepper harvester based on the power feedback mechanism.

[0041] It should be noted that in this application, the adaptability threshold is the lowest adaptability standard for measuring whether the mountain pepper harvester can operate safely and stably. This adaptability threshold can be preset through a large number of simulation experiments combined with history.

[0042] In some embodiments, performing feedback adjustment on the subsequent operating state of the mountain pepper harvester based on the power feedback mechanism is to use the power feedback mechanism to adjust the subsequent operating state of the mountain pepper harvester until the terrain fitness is greater than or equal to the preset adaptability threshold; in specific implementation, when the terrain fitness is lower than the adaptability threshold, generate the motion parameters to be adjusted through the power feedback model, apply the adjusted motion parameters to the control system of the mountain pepper harvester, adjust the operating state of the device, and re-obtain the terrain fitness in the above manner until the terrain fitness is greater than or equal to the preset adaptability threshold.

[0043] In this application, when the terrain fitness is lower than a preset adaptability threshold, the subsequent operation state of the mountain pepper harvester is feedback-regulated based on a dynamic feedback mechanism. First, by determining the center of movement gravity, an index for measuring the stability of the mountain pepper harvester during movement can be obtained. Through the movement characteristics in the operation state, the mountain pepper harvester can adjust the position of the mechanical center of gravity in real time, thereby enhancing stability in a complex mountain environment. The position of the mechanical center of gravity directly affects the anti-overturning ability of the mountain pepper harvester during operation. Especially in a complex mountain environment, reasonable adjustment of the center of gravity can effectively reduce the risks of rollover and slippage, enabling the mountain pepper harvester to adapt to rapid terrain changes, ensuring an efficient and stable operation state during pepper picking, and thus significantly improving the operation stability of the mountain pepper harvester in complex mountains. Then, by determining the terrain fitness, a quantitative value for the adaptability of the operation state of the mountain pepper harvester under different terrain conditions can be obtained. By comprehensively evaluating the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester, it provides a global quantitative guidance for the dynamic adaptability adjustment of the mountain pepper harvester. Among them, the ground adhesion coefficient reflects the grip of the mountain pepper harvester in different sub-feature regions of the landform, and the anti-overturning ability quantifies the stability limit of the mountain pepper harvester. By combining the anti-overturning ability and the ground adhesion coefficient to obtain the terrain fitness, the matching degree between the mountain pepper harvester and the agricultural terrain can be clarified, providing a criterion for the real-time feedback adjustment of the operation state. When the terrain fitness is lower than the preset adaptability threshold, the console of the mountain pepper harvester can quickly adjust the movement mode of the mountain pepper harvester, enhancing the adaptability of the mountain pepper harvester to terrain changes, helping to reduce the efficiency loss caused by insufficient power or overturning risk during operation, and thus significantly improving the running stability and working reliability of the mountain pepper harvester under complex mountain conditions. In summary, based on the above solution, the dynamic adaptability adjustment of the operation state in the mountain pepper harvester can be realized, thereby improving the operation stability under complex mountain conditions.

[0044] In addition, on the other hand of this application, in some embodiments, this application provides a mountain pepper harvester, which includes a feedback regulation unit. Refer to Figure 4 , which is a schematic structural diagram of the feedback regulation unit shown in some embodiments of this application. The feedback regulation unit includes: a monitoring module 201, a processing module 202, and an execution module 203, which are described as follows: The monitoring module 201 is mainly used in this application to pick peppers in the target pepper planting area using the mountain pepper harvester and monitor the operation state of the mountain pepper harvester during pepper picking. The processing module 202. In this application, the processing module 202 is used to determine the motion characteristics of the mountain pepper harvester during pepper picking operations according to the operation status, perform dynamic coupling on the mechanical center of gravity of the mountain pepper harvester through the motion characteristics, and obtain the motion center of gravity of the mountain pepper harvester during pepper picking. It should be noted that the processing module 202 is further used to determine the terrain characteristics in the target pepper planting area, determine the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area according to the terrain characteristics and the motion center of gravity, and determine the terrain adaptability between the operation status of the mountain pepper harvester and the target pepper planting area through the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester. The execution module 203. In this application, the execution module 203 is mainly used to perform feedback adjustment on the subsequent operation status of the mountain pepper harvester based on the power feedback mechanism when the terrain adaptability is lower than the preset adaptability threshold.

[0045] The above has introduced in detail the examples of the mountain pepper harvester and method provided by the embodiments of this application. It can be understood that, correspondingly, in order to implement the above functions, the device includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed in this article, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraint conditions of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0046] In some embodiments, this application also provides a computer device, which includes a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the above-mentioned feedback adjustment method for the operation status in the mountain pepper harvester.

[0047] In some embodiments, refer to Figure 5 , the dotted line in this figure indicates that the unit or the module is optional. This figure is a schematic structural diagram of a computer device for implementing the feedback adjustment method for the operation status in the mountain pepper harvester provided by the embodiments of this application. The above-mentioned feedback adjustment method for the operation status in the mountain pepper harvester can be implemented by Figure 5 the computer device shown. This computer device includes at least one processor 301, a memory 302, and at least one communication unit 305. This computer device can be a terminal device, a server, or a chip.

[0048] The processor 301 can be a general-purpose processor or a special-purpose processor. For example, the processor 301 can be a central processing unit (CPU), and the CPU can be used to control a computer device, execute software programs, and process the data of software programs. The computer device can also include a communication unit 305 for realizing the input (reception) and output (transmission) of signals.

[0049] For example, the computer device can be a chip, and the communication unit 305 can be the input and / or output circuit of the chip, or the communication unit 305 can be the communication interface of the chip. The chip can be a component of a terminal device, a network device, or other devices.

[0050] Again, for example, the computer device can be a terminal device or a server, and the communication unit 305 can be the transceiver of the terminal device or the server, or the communication unit 305 can be the transceiver circuit of the terminal device or the server.

[0051] The computer device can include one or more memories 302 on which a program 304 is stored. The program 304 can be run by the processor 301 to generate instructions 303, enabling the processor 301 to execute the methods described in the above method embodiments according to the instructions 303. Optionally, data (such as a target audit model) can also be stored in the memory 302. Optionally, the processor 301 can also read the data stored in the memory 302. This data can be stored at the same storage address as the program 304, or it can be stored at a different storage address from the program 304.

[0052] The processor 301 and the memory 302 can be set separately or integrated together. For example, they can be integrated on a system on chip (SOC) of a terminal device.

[0053] It should be understood that the steps of the above method embodiments can be completed by the logic circuit in the form of hardware or instructions in the form of software in the processor 301. The processor 301 can be a CPU, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices. For example, discrete gate, transistor logic devices, or discrete hardware components.

[0054] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. 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.) that contain computer-usable program code.

[0055] For example, in some embodiments, the present application further provides a computer-readable storage medium, in which instructions or code are stored. When the instructions or code run on a computer, the computer is caused to execute the feedback adjustment method of the operation state in the above-mentioned mountain pepper harvester.

[0056] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments as well as all changes and modifications that fall within the scope of the present application.

[0057] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A feedback adjustment method for operating status in a mountain pepper harvester, characterized in that: The steps include: Use a mountain pepper harvester to pick peppers in the target pepper planting area, and monitor the operating status of the mountain pepper harvester during pepper picking; Determining the motion characteristics of the mountain pepper harvester during the pepper picking operation according to the operation state, and dynamically coupling the mechanical center of gravity of the mountain pepper harvester through the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during the pepper picking operation; Determine the terrain features in the target pepper planting area, determine the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area according to the terrain features and the center of gravity of the movement, and determine the terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area through the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester; When the terrain adaptability is lower than a preset adaptability threshold, feedback adjustment is performed on the subsequent operation state of the mountain pepper harvester based on a power feedback mechanism.

2. The method according to claim 1, characterized in that Determining the motion characteristics of the mountain pepper harvester during the pepper picking operation according to the operation state specifically includes: Determining coupling values ​​of various motion parameters in the operating state; The motion characteristics of the mountain pepper harvester during pepper picking operations are determined based on all coupling values.

3. The method according to claim 1, characterized in that The mechanical center of gravity of the mountain pepper harvester is dynamically coupled by the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester when picking peppers, which specifically includes: Determine the coupling weights of various motion parameters to the mechanical center of gravity in a mountain pepper harvester; Determining a coupling offset vector of the mechanical center of gravity in the mountain pepper harvester based on all coupling weights and the motion characteristics; The mechanical center of gravity of the mountain pepper harvester is offset by the coupling offset vector to obtain the movement center of gravity of the mountain pepper harvester when picking peppers.

4. The method according to claim 1, characterized in that The topographical features of the target pepper planting area include: Collect topographic data of the target pepper planting area to obtain mountain agricultural planting information; The target pepper planting area is divided into multiple pepper picking areas based on the terrain fitness zoning mechanism; Extracting geomorphic sub-features of each pepper picking area from the mountain agricultural planting information; Determine the topographic features in the target pepper planting area based on all the topographic sub-features.

5. The method according to claim 1, characterized in that Determining the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area according to the terrain features and the movement center of gravity specifically includes: For each pepper picking area, obtaining the topographic sub-features of the pepper picking area in the topographic features; Determining the ground adhesion of the mountain pepper harvester to the pepper picking area according to the topographic sub-features and the motion center of gravity, and then obtaining the ground adhesion of the mountain pepper harvester to each pepper picking area; The ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area is determined by all ground adhesion forces.

6. The method according to claim 1, characterized in that Determining the terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area through the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester specifically includes: For each pepper picking area, the ground adhesion of the mountain pepper harvester to the pepper picking area is obtained from the value range of the ground adhesion coefficient; Determine the adaptability between the pepper picking area and the mountain pepper harvester according to the ground adhesion and the anti-overturning ability of the mountain pepper harvester, and then obtain the power adaptability between each pepper picking area and the mountain pepper harvester; The terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area is determined through all dynamic adaptability.

7. The method according to claim 1, characterized in that The mountain pepper harvester is a small remote-controlled mountain pepper harvester.

8. A mountain pepper harvester, comprising a feedback adjustment unit, characterized in that: The feedback adjustment unit comprises: A monitoring module is used to use a mountain pepper harvester to pick peppers in a target pepper planting area and monitor the operating status of the mountain pepper harvester when picking peppers; A processing module, used to determine the motion characteristics of the mountain pepper harvester during the pepper picking operation according to the operation state, and dynamically couple the mechanical center of gravity of the mountain pepper harvester through the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during the pepper picking operation; The processing module is also used to determine the terrain features in the target pepper planting area, determine the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area according to the terrain features and the movement center of gravity, and determine the terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area through the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester; The execution module is used to feedback and adjust the subsequent operation state of the mountain pepper harvester based on the power feedback mechanism when the terrain adaptability is lower than a preset adaptability threshold.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the feedback adjustment method of the operating status in the mountain pepper harvester described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions or codes, and when the instructions or codes are executed on a computer, the computer implements the feedback adjustment method for the operating status in the mountain pepper harvester as described in any one of claims 1 to 7.

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