Mountain pepper harvester and method

Abstract

The present application provides a mountain pepper harvester and method. The method determines the motion characteristics of the mountain pepper harvester during pepper picking operations based on the operating state, dynamically couples the mechanical center of gravity of the mountain pepper harvester through the motion characteristics, and obtains the motion center of gravity of the mountain pepper harvester. The method also determines the terrain characteristics of the target pepper planting area, determines the ground adhesion coefficient of the mountain pepper harvester based on the terrain characteristics and the motion center of gravity, and determines the terrain adaptability between the operating 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. When the terrain adaptability falls below a preset adaptability threshold, feedback adjustment is performed on the subsequent operating state of the mountain pepper harvester. Based on the above scheme, dynamic adaptive adjustment of the operating state of the mountain pepper harvester can be achieved, thereby improving operational stability in complex mountainous conditions.

Description

Technical Field

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

[0002] Mountainous terrain is characterized by steep slopes, fragmented terrain, and narrow space, which places higher demands on the autonomous navigation, stability, and operating accuracy of agricultural machinery. With the help of artificial intelligence, the Internet of Things, and automatic control technologies, the application of intelligent agricultural machinery in mountainous terrain has developed rapidly, solving the problem that traditional machinery has difficulty adapting to complex terrain. Modern intelligent agricultural machinery can achieve precise path planning, autonomous obstacle avoidance, and efficient operation.

[0003] Traditional pepper harvesters are mostly designed for flat terrain and face significant challenges in mountainous conditions. Slope changes can easily cause the center of gravity to shift, leading to rollover or overturning. Irregular terrain makes it difficult for the chassis to adapt, and wheels can easily become suspended or lose traction. The lack of terrain-adaptive harvesting path planning makes it difficult for the machine to identify the optimal path, affecting the operation coverage and harvesting quality. Insufficient power output when facing steep slopes may lead to instability when climbing or sliding backward. Therefore, how to achieve dynamic adaptive adjustment of the operating status in mountain pepper harvesters to improve operating stability under complex mountain conditions is a difficult problem facing the industry. Summary of the Invention

[0004] The present application provides a mountain pepper harvester and method, which can realize dynamic adaptive adjustment of the operating state in the mountain pepper harvester, thereby improving the operating stability under complex mountain conditions.

[0005] In a first aspect, the present application provides a feedback adjustment method for the operating state of a mountain pepper harvester, comprising:

[0006] 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;

[0007] 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;

[0008] Determining terrain features in the target pepper planting area, determining a ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area based on the terrain features and the center of gravity of the movement, and determining terrain adaptability between the operating 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;

[0009] 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.

[0010] In some embodiments, determining the motion characteristics of the mountain pepper harvester during the pepper picking operation according to the operation state specifically includes:

[0011] Determining coupling values ​​of various motion parameters in the operating state;

[0012] The motion characteristics of the mountain pepper harvester during pepper picking operation are determined based on all coupling values.

[0013] In some embodiments, 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, specifically including:

[0014] Determine the coupling weights of various motion parameters to the mechanical center of gravity in a mountain pepper harvester;

[0015] determining a coupling offset vector of a mechanical center of gravity in a mountain pepper harvester based on all coupling weights and the motion characteristics;

[0016] 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.

[0017] In some embodiments, determining the terrain features in the target pepper planting area specifically includes:

[0018] Collect topographic data of the target pepper planting area to obtain mountain agricultural planting information;

[0019] The target pepper planting area is divided into multiple pepper picking areas based on the terrain fitness zoning mechanism;

[0020] Extracting geomorphic sub-features of each pepper picking area from the mountain agricultural planting information;

[0021] Determine the topographic features in the target pepper planting area based on all the topographic sub-features.

[0022] In some embodiments, determining the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area based on the terrain characteristics and the motion center of gravity specifically includes:

[0023] For each pepper picking area, obtaining the topographic sub-features of the pepper picking area in the topographic features;

[0024] Determining the ground adhesion of the mountain pepper harvester to the pepper picking area based on 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;

[0025] The ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area is determined by all ground adhesion forces.

[0026] In some embodiments, determining the terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area by using the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester specifically includes:

[0027] For each pepper picking area, the adhesion of the mountain pepper harvester to the ground in the pepper picking area is obtained from the value range of the ground adhesion coefficient;

[0028] Determining the adaptability between the pepper picking area and the mountain pepper harvester based on the ground adhesion and the anti-overturning ability of the mountain pepper harvester, and then obtaining the dynamic adaptability between each pepper picking area and the mountain pepper harvester;

[0029] The terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area is determined through all dynamic adaptabilities.

[0030] In some embodiments, the mountain pepper harvester is a small remote-controlled mountain pepper harvester.

[0031] In a second aspect, the present application provides a mountain pepper harvester, comprising a feedback adjustment unit, the feedback adjustment unit comprising:

[0032] 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 during pepper picking;

[0033] a processing module, configured to determine, based on the operating state, motion characteristics of the mountain pepper harvester during the pepper picking operation, and dynamically couple the mechanical center of gravity of the mountain pepper harvester using the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during the pepper picking operation;

[0034] The processing module is further configured to determine the terrain features of the target pepper planting area, determine the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area based on 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 based on the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester;

[0035] 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.

[0036] In a third aspect, the present application provides a computer device comprising a memory and a processor, wherein 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 operating status of the mountain pepper harvester.

[0037] 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 implements the above-mentioned feedback adjustment method for the operating status of the mountain pepper harvester when executing the instructions or codes.

[0038] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects:

[0039] In a mountain pepper harvester and method provided by the present application, a mountain pepper harvester is used to pick peppers in a target pepper planting area, and the operating status of the mountain pepper harvester during the pepper picking operation is monitored; the motion characteristics of the mountain pepper harvester during the pepper picking operation are determined according to the operating status, and the mechanical center of gravity of the mountain pepper harvester is dynamically coupled through the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during the pepper picking operation; 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, and the terrain adaptability between the operating status 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 operating status of the mountain pepper harvester is feedback-adjusted based on a power feedback mechanism.

[0040] It can be seen that in the present application, when the terrain adaptability is lower than the preset adaptability threshold, the subsequent operating state of the mountain pepper harvester is feedback-adjusted based on the power feedback mechanism; first, the center of gravity of the movement is determined to obtain an indicator for measuring the stability of the mountain pepper harvester in motion, and the motion characteristics in the operating state enable the mountain pepper harvester to 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 center of gravity adjustment can effectively reduce the risk of rollover and slippage, so that the mountain pepper harvester can adapt to the rapid changes in the terrain and ensure that it maintains an efficient and stable operating state during the pepper picking process, thereby significantly improving the operating stability of the mountain pepper harvester under complex mountains; then, the terrain adaptability is determined to obtain a quantitative value of the adaptability of the operating state to the mountain pepper harvester under different terrain conditions, and by comprehensively evaluating the ground adhesion coefficient and the mountain pepper The anti-overturning ability of the harvester 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 landform sub-feature areas, while 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 adaptability, the degree of adaptation between the mountain pepper harvester and the agricultural terrain can be clarified, providing a criterion for real-time feedback adjustment of the operating status. When the terrain adaptability is lower than the preset adaptability threshold, the central console of the mountain pepper harvester can quickly adjust the movement mode of the mountain pepper harvester, enhance the adaptability of the mountain pepper harvester to terrain changes, and help reduce the efficiency loss caused by insufficient power or overturning risk during operation, thereby significantly improving the operating stability and work reliability of the mountain pepper harvester under complex mountain conditions. In summary, based on the above scheme, the dynamic adaptive adjustment of the operating status of the mountain pepper harvester can be realized, thereby improving the operating stability under complex mountain conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 is an exemplary flow chart of a feedback adjustment method for an operating state in a mountain pepper harvester according to some embodiments of the present application;

[0043] Figure 2is a structural diagram of a mountain pepper harvester according to some embodiments of the present application;

[0044] Figure 3 is a schematic diagram of a process for determining a ground adhesion coefficient according to some embodiments of the present application;

[0045] Figure 4 is a schematic structural diagram of a feedback regulation unit according to some embodiments of the present application;

[0046] Figure 5 It is a structural diagram of a computer device for implementing a feedback adjustment method for the operating status of a mountain pepper harvester according to some embodiments of the present application. DETAILED DESCRIPTION

[0047] In order to better understand the technical solution of the present application, the technical solution of the present application will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0048] refer to Figure 1 This figure is an exemplary flow chart of a feedback adjustment method for the operating state of a mountain pepper harvester according to some embodiments of the present application. The feedback adjustment method for the operating state of the mountain pepper harvester mainly includes the following steps:

[0049] In step 101, a mountain pepper harvester is used to pick peppers in a target pepper planting area, and the operating status of the mountain pepper harvester during the pepper picking is monitored.

[0050] In some embodiments, sensors and cameras are used to monitor the operating status of a mountain pepper harvester during pepper picking. In specific implementation, a mountain pepper harvester is used to pick peppers in a target pepper planting area. During the picking process, sensors and cameras can be used to monitor the speed, angle, load, and track status of the mountain pepper harvester at each fixed time interval (the default is 5s). The set of speed, angle, load, and track status 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 operating status of the mountain pepper harvester during pepper picking. It should be noted that, in this application, the operating status refers to the set of dynamic parameters of the mountain pepper harvester during pepper picking operations. The target pepper planting area refers to an area in a mountain environment suitable for planting and harvesting agricultural crops. The mountain pepper harvester is a small remote-controlled mountain pepper harvester.

[0051] In some embodiments, reference Figure 2As described above, the figure is a structural diagram of the mountain pepper harvester shown in some embodiments of the present application, which includes a picking device 1, a picking motor 2, a conveying device 3, a motor cabinet 4, a fan 5, a battery 6, a drop hopper 7, a collection box 8, a power system 9, a range extender 10, a crawler chassis 11, a manual hydraulic pump 12, and a hydraulic cylinder 13.

[0052] First, add diesel to the range extender 10 and start the range extender 10 to charge the battery 6. The battery 6 provides power for the entire machine. Open the motor cabinet 4 to start the key components, and adjust the cutting table height, drum speed, fan speed and conveyor belt speed according to information such as the pepper crop variety and the minimum fruiting height in the harvesting area. After debugging is completed, use the remote control to control the entire machine for picking operations.

[0053] The specific picking process is as follows: First, the remote control controls the entire machine to advance and prepare to pick peppers. As the machine moves, a straw divider separates the intersecting peppers. Then, a straw presser lowers the peppers to facilitate picking by the picking mechanism 1. Driven by the picking motor 2, the picking drum rotates at high speed, picking the peppers fed into the picking mechanism from bottom to top. The dropped peppers follow the picking drum in a circular motion and eventually fall onto the conveyor 3. The conveyor 3 then transports the harvested mixture (including peppers, pepper leaves, etc.) from the bottom to the top of the conveyor 3. As the harvested mixture is thrown from the top of the conveyor 3 into the drop hopper 7, a fan 5 cleans the mixture, blowing away the pepper leaves and causing the remaining material to continue falling through the drop hopper 7 and ultimately into the collection bin 8. When the collection bin 8 is full of peppers, the remote control controls the entire machine to stop, and the peppers in the collection bin 8 are poured into the designated location. The collection bin is then reinstalled on the pepper harvester, and the above process is repeated until all the peppers are harvested.

[0054] In step 102, the motion characteristics of the mountain pepper harvester during the pepper picking operation are determined according to the operating state, and the mechanical center of gravity of the mountain pepper harvester is dynamically coupled through the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during the pepper picking operation.

[0055] In some embodiments, determining the motion characteristics of the mountain pepper harvester during the pepper picking operation according to the operation state can be achieved by using the following steps:

[0056] Determining coupling values ​​of various motion parameters in the operating state;

[0057] The motion characteristics of the mountain pepper harvester during pepper picking operation are determined based on all coupling values.

[0058] It should be noted that, in the present application, the motion characteristics are characteristics used to reflect the overall motion performance of the mountain pepper harvester when picking peppers; the coupling value is a vector that quantifies the degree of mutual influence between motion parameters; in specific implementation, first, determining the coupling value of each motion parameter in the operating state can be implemented in the following manner, namely: for each motion parameter in the operating state, initialize a dynamic coupling model based on a support vector machine, use all parameter values ​​of the motion parameters as input feature vectors in the dynamic coupling model, use all parameter values ​​of other motion parameters in the operating state as target coupling variables in the dynamic coupling model, use the dynamic coupling model to quantify the coupling influence of other motion parameters on the motion parameters in the operating state, and the result of quantifying the coupling influence by the dynamic coupling model can be used as the coupling value of the motion parameter in the operating state. The coupling value of each motion parameter in the operating state can be obtained by the above method; then, determining the motion characteristics of the mountain pepper harvester during the pepper picking operation based on all coupling values ​​can be implemented in the following manner, namely: the set of all coupling values ​​can be used as the motion characteristics of the mountain pepper harvester during the pepper picking operation.

[0059] In some embodiments, the following steps may be used to dynamically couple the mechanical center of gravity of the mountain pepper harvester using the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester when picking peppers:

[0060] Determine the coupling weights of various motion parameters to the mechanical center of gravity in a mountain pepper harvester;

[0061] determining a coupling offset vector of a mechanical center of gravity in a mountain pepper harvester based on all coupling weights and the motion characteristics;

[0062] 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.

[0063] It should be noted that in this application, the center of gravity of motion is an indicator 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; and the coupling weight is a quantitative indicator reflecting the degree of influence of motion parameters on the change of the mechanical center of gravity.

[0064] In the specific implementation, first, for each motion parameter, the mechanical center of gravity of the motion parameter at various values ​​can be obtained through a large number of simulation experiments, and the data obtained from the simulation experiment can be quantitatively analyzed using a linear weight learning algorithm, so as to quantify the degree of influence of the motion parameter on the mechanical center of gravity in the mountain pepper harvester, and the quantified result of the influence degree is used as the coupling weight of the motion parameter on the mechanical center of gravity in the mountain pepper harvester. The coupling weight of each motion parameter on the mechanical center of gravity in the mountain pepper harvester can be obtained in the above manner, wherein the coupling weight is a vector carrying the influence direction and influence magnitude; then 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 feature can be used as the offset influence of the motion parameter on the mechanical center of gravity in the mountain pepper harvester. The offset influence of each motion parameter on the mechanical center of gravity in the mountain pepper harvester can be obtained in the above way, and the sum of all offset influences 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 after the mechanical center of gravity is moved is used as the motion center of gravity of the mountain pepper harvester when picking peppers.

[0065] In step 103, the terrain features 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 based on the terrain features and the center of gravity of the movement. The terrain adaptability between the operating 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.

[0066] In some embodiments, determining the terrain features in the target pepper planting area can be achieved by using the following steps:

[0067] Collect topographic data of the target pepper planting area to obtain mountain agricultural planting information;

[0068] The target pepper planting area is divided into multiple pepper picking areas based on the terrain fitness zoning mechanism;

[0069] Extracting geomorphic sub-features of each pepper picking area from the mountain agricultural planting information;

[0070] Determine the topographic features in the target pepper planting area based on all the topographic sub-features.

[0071] It should be noted that in this application, terrain features are used to describe the characteristics of the terrain in the target pepper planting area; mountain agricultural planting information refers to data information about the terrain and landforms of the mountain area; the pepper picking area refers to an area with similar elevation, slope and surface roughness; and landform sub-features are used to describe the characteristics of the terrain in the pepper picking area.

[0072] In specific implementation, first, remote sensing technology (for example, satellite images) and ground sensors (for example, terrain surveyors) can be used to collect terrain data of elevation, slope and surface roughness in the target pepper planting area, and the collection of all terrain data can be used as mountain agricultural planting information; secondly, the mountain agricultural planting information is clustered using the K-means clustering algorithm based on the terrain fitness partitioning mechanism, so that areas with similar elevation, slope and surface roughness are divided into a pepper picking area, and multiple pepper picking areas can be obtained; then, for each pepper picking area, all terrain data of the pepper picking area are obtained from the mountain agricultural planting information, and a feature extraction algorithm can be used to extract data features from all terrain data as the geomorphic features of the pepper picking area. The geomorphic sub-features of each pepper picking area can be obtained in the above manner; finally, the collection of all geomorphic sub-features can be used as the terrain features in the target pepper planting area.

[0073] In some embodiments, the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area is determined based on the terrain characteristics and the center of gravity of the movement, and the reference Figure 3 As described above, this figure is a schematic diagram of the process 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:

[0074] In step 1031, for each pepper picking area, the topographic sub-feature of the pepper picking area in the topographic feature is obtained;

[0075] In step 1032, the ground adhesion of the mountain pepper harvester to the pepper picking area is determined based on the topographic sub-features and the motion center of gravity, thereby obtaining the ground adhesion of the mountain pepper harvester to each pepper picking area;

[0076] In step 1033, the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area is determined by using all ground adhesion forces.

[0077] It should be noted that, in the present 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; in specific implementation, first, for each pepper picking area, the topographic sub-features of the pepper picking area in the terrain features are obtained; then, a mechanical model based on the friction formula is initialized, and the topographic sub-features can be used as the terrain input parameters in the mechanical model, and the center of gravity of the movement can be used as the mechanical action point in the mechanical model. The mechanical model is used to simulate the adhesion of the mountain pepper harvester in the pepper picking area, and the quantitative value of the adhesion after the simulation of the mechanical model can be used as the ground adhesion of the mountain pepper harvester to the pepper picking area. The ground adhesion of the mountain pepper harvester to each pepper picking area can be obtained in the above manner, wherein the ground adhesion refers to the friction generated when the mountain pepper harvester contacts the agricultural ground; finally, the set of all ground adhesions can be used as the value range of the ground adhesion coefficient to obtain the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area.

[0078] In some embodiments, determining the terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area by using the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester can be achieved by the following steps:

[0079] For each pepper picking area, the adhesion of the mountain pepper harvester to the ground in the pepper picking area is obtained from the value range of the ground adhesion coefficient;

[0080] Determining the adaptability between the pepper picking area and the mountain pepper harvester based on the ground adhesion and the anti-overturning ability of the mountain pepper harvester, and then obtaining the dynamic adaptability between each pepper picking area and the mountain pepper harvester;

[0081] The terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area is determined through all dynamic adaptabilities.

[0082] It should be noted that in this application, terrain adaptability refers to the degree of adaptability of the operating state of the mountain pepper harvester to the terrain conditions in the target pepper planting area; power adaptability refers to the adaptability of the mountain pepper harvester to the terrain conditions in each pepper picking area; anti-overturning ability refers to the stability of the mountain pepper harvester on inclined slopes.

[0083] In the specific implementation, first, 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; then, the total gravity of the mountain pepper harvester, the maximum inclination angle and the center of gravity height in the pepper picking area are obtained from the instruction manual 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, and the product of the anti-overturning ability and the ground adhesion can be used as the adaptability between the pepper picking area and the mountain pepper harvester. The above method can be used to obtain the dynamic adaptability between each pepper picking area and the mountain pepper harvester; finally, the standard deviation of all dynamic adaptabilities can be used as the terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area.

[0084] In step 104, 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.

[0085] It should be noted that in this application, the adaptability threshold is the minimum adaptability standard for measuring whether the mountain pepper harvester can operate safely and stably. The adaptability threshold can be preset through a large number of simulation experiments combined with history.

[0086] In some embodiments, feedback adjustment of the subsequent operating status of the mountain pepper harvester based on a power feedback mechanism is to use the power feedback mechanism to adjust the subsequent operating status of the mountain pepper harvester until the terrain adaptability is greater than or equal to a preset adaptability threshold; in specific implementation, when the terrain adaptability is lower than the adaptability threshold, the motion parameters that need to be adjusted are generated through the power feedback model, the adjusted motion parameters are applied to the control system of the mountain pepper harvester, the operating status of the equipment is adjusted, and the terrain adaptability is re-acquired in the above manner until the terrain adaptability is greater than or equal to the preset adaptability threshold.

[0087] In the present application, when the terrain adaptability is lower than the preset adaptability threshold, the subsequent operating state of the mountain pepper harvester is feedback-adjusted based on the power feedback mechanism; first, the center of gravity of the movement is determined to obtain an indicator for measuring the stability of the mountain pepper harvester in motion, and the motion characteristics in the operating state enable the mountain pepper harvester to 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 center of gravity adjustment can effectively reduce the risk of rollover and slippage, so that the mountain pepper harvester can adapt to the rapid changes in the terrain and ensure that it maintains an efficient and stable operating state during the pepper picking process, thereby significantly improving the operating stability of the mountain pepper harvester in complex mountains; then, the terrain adaptability is determined to obtain a quantitative value of the adaptability of the operating state to the mountain pepper harvester under different terrain conditions, and by comprehensively evaluating the ground adhesion coefficient and the mountain pepper harvester. The anti-rollover ability of the machine 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 landform sub-feature areas, while the anti-rollover ability quantifies the stability limit of the mountain pepper harvester. By combining the anti-rollover ability and the ground adhesion coefficient to obtain the terrain adaptability, the degree of adaptation between the mountain pepper harvester and the agricultural terrain can be clarified, providing a criterion for real-time feedback adjustment of the operating status. When the terrain adaptability is lower than the preset adaptability threshold, the central console of the mountain pepper harvester can quickly adjust the movement mode of the mountain pepper harvester, enhance the adaptability of the mountain pepper harvester to terrain changes, and help reduce the efficiency loss caused by insufficient power or rollover risk during operation, thereby significantly improving the operating stability and work reliability of the mountain pepper harvester under complex mountain conditions. In summary, based on the above scheme, the dynamic adaptive adjustment of the operating status of the mountain pepper harvester can be realized, thereby improving the operating stability under complex mountain conditions.

[0088] In addition, in another aspect of the present application, in some embodiments, the present application provides a mountain pepper harvester, the mountain pepper harvester includes a feedback adjustment unit, reference Figure 4 , which is a schematic diagram of the structure of a feedback regulation unit according to some embodiments of the present application. The feedback regulation unit includes: a monitoring module 201, a processing module 202 and an execution module 203, which are described as follows:

[0089] Monitoring module 201, in this application, monitoring module 201 is mainly 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;

[0090] Processing module 202, in this application, is used to determine the motion characteristics of the mountain pepper harvester during the pepper picking operation based on the operating 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;

[0091] It should be noted that the processing module 202 is further used to determine the terrain characteristics of the target pepper planting area, determine the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area based on the terrain characteristics 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;

[0092] Execution module 203, in this application, execution module 203 is mainly used to feedback and adjust 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.

[0093] The above describes in detail the examples of the mountain pepper harvester and method provided by the embodiments of the present application. It can be understood that in order to realize the above functions, the corresponding device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0094] In some embodiments, the present 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 operating status of the mountain pepper harvester.

[0095] In some embodiments, reference Figure 5 The dotted line in the figure indicates that the unit or module is optional. The figure is a structural diagram of a computer device for implementing a feedback adjustment method for the working state of a mountain pepper harvester according to an embodiment of the present application. The feedback adjustment method for the working state of a mountain pepper harvester described in the above embodiment can be achieved by Figure 5The computer device shown in the figure is implemented, and the computer device includes at least one processor 301, a memory 302 and at least one communication unit 305. The computer device can be a terminal device, a server or a chip.

[0096] The processor 301 may be a general-purpose processor or a dedicated processor. For example, the processor 301 may be a central processing unit (CPU), which may be used to control the computer device, execute software programs, and process data from the software programs. The computer device may also include a communication unit 305 for inputting (receiving) and outputting (transmitting) signals.

[0097] For example, the computer device may be a chip, the communication unit 305 may be an input and / or output circuit of the chip, or the communication unit 305 may be a communication interface of the chip, and the chip may be a component of a terminal device, a network device, or other device.

[0098] For another example, the computer device may be a terminal device or a server, and the communication unit 305 may be a transceiver of the terminal device or the server, or the communication unit 305 may be a transceiver circuit of the terminal device or the server.

[0099] The computer device may include one or more memories 302, on which a program 304 is stored. The program 304 can be executed by the processor 301 to generate instructions 303, so that the processor 301 executes the method described in the above method embodiment 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 data stored in the memory 302. The data can be stored at the same storage address as the program 304, or at a different storage address from the program 304.

[0100] The processor 301 and the memory 302 may be provided separately or integrated together, for example, integrated on a system on chip (SOC) of a terminal device.

[0101] It should be understood that each step of the above method embodiment can be completed by a hardware-based logic circuit or software-based instructions 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, such as discrete gates, transistor logic devices, or discrete hardware components.

[0102] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] For example, in some embodiments, the present application also provides a computer-readable storage medium, which stores instructions or codes. When the instructions or codes are run on a computer, the computer implements the above-mentioned feedback adjustment method for the operating status of the mountain pepper harvester when executing.

[0104] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0105] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A feedback adjustment method for the operating state of 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; Determining terrain features in the target pepper planting area, determining a ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area based on the terrain features and the center of gravity of the movement, and determining terrain adaptability between the operating 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; 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; 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. Specifically, the motion center of gravity of the mountain pepper harvester when picking peppers 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 a mechanical center of gravity in a 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 motion center of gravity of the mountain pepper harvester when picking peppers; Wherein, determining the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area according to the terrain characteristics 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 based on 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; Determine the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area through all ground adhesion forces; The method of determining the terrain adaptability between the operating state of the mountain pepper harvester and the target pepper planting area by using the ground adhesion coefficient and the anti-overturning ability of the mountain pepper harvester specifically includes: For each pepper picking area, the adhesion of the mountain pepper harvester to the ground in the pepper picking area is obtained from the value range of the ground adhesion coefficient; Determining the adaptability between the pepper picking area and the mountain pepper harvester based on the ground adhesion and the anti-overturning ability of the mountain pepper harvester, and then obtaining the dynamic 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 adaptabilities.

2. The method according to claim 1, wherein 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 operation are determined based on all coupling values.

3. The method according to claim 1, wherein Determine the topographical features of the target pepper planting area, including: 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.

4. The method according to claim 1, wherein The mountain pepper harvester is a small remote-controlled mountain pepper harvester.

5. A mountain pepper harvester, comprising a feedback adjustment unit, which uses the method according to any one of claims 1 to 4 to perform feedback adjustment of the operating state of the mountain pepper harvester, characterized in that: The feedback adjustment unit includes: 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 during pepper picking; a processing module, configured to determine, based on the operating state, motion characteristics of the mountain pepper harvester during the pepper picking operation, and dynamically couple the mechanical center of gravity of the mountain pepper harvester using the motion characteristics to obtain the motion center of gravity of the mountain pepper harvester during the pepper picking operation; The processing module is further configured to determine the terrain features of the target pepper planting area, determine the ground adhesion coefficient of the mountain pepper harvester to the target pepper planting area based on 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 based on 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.

6. 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 according to any one of claims 1 to 4.

7. 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 of the mountain pepper harvester according to any one of claims 1 to 4.

Images