Agricultural machine fan angle adjusting method and device based on multi-parameter feedback

Abstract

The application relates to a kind of multi-parameter feedback-based agricultural machinery fan angle adjustment method and device, the method comprises: obtaining the current working condition parameter of agricultural machinery, the current working condition parameter includes the engine working condition parameter corresponding to current time, environmental parameter, operation terrain slope parameter and fan current angle value;According to the engine working condition parameter corresponding to current time, environmental parameter, operation terrain slope parameter, determine the fan theoretical angle value;According to the fan theoretical angle value and the fan current angle value, using the way of adjusting in stages, the fan current angle value is dynamically adjusted, so that the fan current angle value reaches the fan theoretical angle value.Through the method of the application, through the processing engineering of "first calculating the theoretical angle by working condition, then pushing the fan to the theoretical angle in stages", the two problems of traditional adjustment response lag and one-time overshoot are solved at one time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular, the present application relates to a kind of fan angle adjustment method and device based on multi-parameter feedback of agricultural machinery. BACKGROUND

[0002] In the field of agricultural machinery, the traditional fan angle adjustment technology generally exists three major defects of response lag, poor vibration resistance (positioning accuracy degradation in vibration environment) and insufficient environmental adaptability (efficiency attenuation in plateau working condition), which leads to serious problems such as increased risk of overheating of engine in variable working condition, fuel efficiency loss, etc. Especially in the face of complex vibration environment and continuous operation demand of large agricultural machinery such as combine harvester, the existing hydraulic adjustment system is easy to fail due to oil temperature sensitivity, and mechanical adjustment needs to stop operation, which seriously affects production efficiency, while electronic scheme has the bottleneck of high power consumption and poor reliability.

[0003] Therefore, the fan adjustment mode in the prior art has three major core defects of response lag leading to transient overheating risk, positioning accuracy degradation under vibration interference affecting heat dissipation efficiency and insufficient adaptability in plateau / alpine environment leading to excessive efficiency attenuation. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a fan angle adjustment method and device based on multi-parameter feedback of agricultural machinery, which aims to solve at least one of the above technical problems.

[0005] In a first aspect, the technical solution of the present application to solve the above technical problems is as follows: a fan angle adjustment method based on multi-parameter feedback of agricultural machinery, the method comprising:

[0006] Obtaining the current working condition parameters of agricultural machinery, the current working condition parameters including engine working condition parameters, environmental parameters, working terrain slope parameters and current fan angle value corresponding to the current time;

[0007] According to the engine working condition parameters, environmental parameters and working terrain slope parameters corresponding to the current time, determine the theoretical angle value of the fan;

[0008] According to the theoretical angle value of the fan and the current angle value of the fan, the current angle value of the fan is dynamically adjusted in a staged adjustment mode, so that the current angle value of the fan reaches the theoretical angle value of the fan.

[0009] The beneficial effects of the present application are that the response lag and the overshoot of the traditional regulation are solved at one time through the processing process of "first passing the working condition to calculate the theoretical angle, and then pushing the fan to the theoretical angle in stages", the working condition-theoretical angle mapping makes the angle adjustment no longer rely on experience, the stage-by-stage regulation separates the "fast" and "accurate" to execute, the coarse adjustment is responsible for saving time, and the fine adjustment is responsible for accuracy, the engine water temperature fluctuation is minimized, the transient overheating risk, fuel waste and operation downtime are simultaneously reduced, and finally the fast response and accurate positioning are realized.

[0010] On the basis of the above technical scheme, the present application can also be improved as follows.

[0011] Further, the method further comprises:

[0012] Obtaining the dynamic acceleration of the agricultural machine;

[0013] According to the dynamic acceleration, the fan theoretical angle value is compensated for vibration to obtain a target angle value;

[0014] According to the fan theoretical angle value and the current fan angle value, the current fan angle value is dynamically adjusted in a stage-by-stage adjustment manner to make the current fan angle value reach the fan theoretical angle value, comprising:

[0015] According to the target angle value and the current fan angle value, the current fan angle value is dynamically adjusted in a stage-by-stage adjustment manner to make the current fan angle value reach the fan theoretical angle value.

[0016] The beneficial effects of the above further scheme are that vibration compensation is added to realize accurate calculation of the fan theoretical angle value, and at the same time, no additional hardware is added to improve the accuracy of adjustment.

[0017] Further, the above fan theoretical angle value is determined according to the engine working condition parameter, the environment parameter and the working terrain slope parameter corresponding to the current time, comprising:

[0018] According to the engine working condition parameter, the environment parameter and the working terrain slope parameter corresponding to the current time, the heat dissipation of the engine is determined;

[0019] According to the heat dissipation, the fan air volume is determined;

[0020] According to the fan air volume, the fan theoretical angle value is determined.

[0021] The beneficial effects of the above further scheme are that the heat that must be dissipated by the engine is calculated according to the engine working condition, the environment and the slope, the heat is converted into the required air volume, and finally the air volume is mapped into the fan theoretical angle, the whole process does not require human experience, the fan theoretical angle value makes the subsequent stage-by-stage adjustment get accurate target from the first step, and the cooling efficiency is fundamentally improved and the fuel waste is reduced.

[0022] Further, the above-mentioned dynamic control of the hydraulic cylinder of the agricultural machine according to the fan theoretical angle value and the fan current angle value to adjust the fan current angle value to the coarse adjustment range of the fan theoretical angle value comprises:

[0023] Dynamic control of the proportional valve opening of the agricultural machine according to the fan theoretical angle value and the fan current angle value to adjust the fan current angle value from fast to slow to the coarse adjustment range of the fan theoretical angle value;

[0024] The above-mentioned dynamic control of the piezoelectric fine adjustment unit of the agricultural machine to adjust the angle value in the coarse adjustment range to the fine adjustment range of the fan theoretical angle value comprises:

[0025] The beneficial effect of the above-mentioned further scheme is to implement "staged adjustment" in the hardware execution chain: first, let the hydraulic cylinder be responsible for coarse adjustment of a large stroke, and then let the piezoelectric fine adjustment unit make micron-level stepping, forming a "hydraulic fast push-piezoelectric fine adjustment-mechanical locking" three-stage series; coarse adjustment uses a millisecond proportional valve to adjust the speed, and fine adjustment uses nanometer piezoelectric ceramic compensation, both of which are coaxially connected in series and torque path closed loop, retaining the advantages of high torque and high speed of hydraulic pressure, and also retaining the advantages of high precision and no hysteresis of piezoelectricity, once solving the contradiction between "fast but not accurate" and "accurate but not fast" of traditional single actuator, and realizing high-speed response and ultra-high positioning precision.

[0026] Further, the above-mentioned dynamic control of the hydraulic cylinder of the agricultural machine according to the fan theoretical angle value and the fan current angle value to adjust the fan current angle value to the coarse adjustment range of the fan theoretical angle value comprises:

[0027] Dynamic control of the proportional valve opening of the agricultural machine according to the fan theoretical angle value and the fan current angle value to adjust the fan current angle value from fast to slow to the coarse adjustment range of the fan theoretical angle value;

[0028] The above-mentioned dynamic control of the piezoelectric fine adjustment unit of the agricultural machine to adjust the angle value in the coarse adjustment range to the fine adjustment range of the fan theoretical angle value comprises:

[0029] When the difference between the fan theoretical angle value and the angle value in the coarse adjustment range is less than a set value, the piezoelectric fine adjustment unit of the agricultural machine is dynamically controlled to adjust the angle value in the coarse adjustment range to the fine adjustment range of the fan theoretical angle value.

[0030] The beneficial effect of the above-mentioned further scheme is to further refine "hydraulic coarse adjustment" into a proportional valve real-time speed regulation closed loop: forming a "fast-slow-stop" speed curve; the piezoelectric fine adjustment is only started in the pressure maintaining section, compensating for the last few degrees to trigger the locking, and the oil cylinder speed is directly determined by the valve port size throughout the process, avoiding the inertial overshoot caused by the traditional on-off valve one-time positioning, making the coarse-fine switching smooth and reliable, and shortening the whole machine adjustment time, and simultaneously reducing energy consumption and impact.

[0031] Further, if any of the current working condition parameters of the agricultural machine cannot be acquired, the method further comprises:

[0032] acquiring historical working condition parameters of the agricultural machine at a historical time point before the current time point;

[0033] determining the fan theoretical angle value according to the engine working condition parameter, the environmental parameter, and the working terrain slope parameter in the historical working condition parameters.

[0034] The beneficial effect of the above further scheme is that when any of the water temperature, the speed, the slope, and the like cannot be acquired, the historical data is immediately driven to predict the fan theoretical angle value using the historical working condition parameters at the historical time point, avoiding the direct shutdown or the blind adjustment of the traditional scheme due to the single-point sensor failure, and significantly improving the continuous operation reliability of the agricultural machine and the survival rate in the harsh environment such as the plateau and the night.

[0035] Further, the above determination of the fan theoretical angle value according to the engine working condition parameter, the environmental parameter, and the working terrain slope parameter in the historical working condition parameters comprises:

[0036] determining the fan theoretical angle value according to the engine working condition parameter, the environmental parameter, and the working terrain slope parameter in the historical working condition parameters through a pre-trained prediction model.

[0037] The beneficial effect of the above further scheme is that the LSTM network that has been trained is used to predict the fan theoretical angle value from the historical working condition parameters, and the accuracy of the prediction of the fan theoretical angle value is improved.

[0038] In a second aspect, the present application also provides an agricultural machine fan angle adjusting device based on multi-parameter feedback, which comprises:

[0039] an acquisition module, configured to acquire current working condition parameters of the agricultural machine, the current working condition parameters comprising an engine working condition parameter, an environmental parameter, a working terrain slope parameter, and a fan current angle value corresponding to a current time point;

[0040] a fan theoretical angle value determination module, configured to determine a fan theoretical angle value according to the engine working condition parameter, the environmental parameter, and the working terrain slope parameter corresponding to the current time point;

[0041] a dynamic adjusting module, configured to dynamically adjust the fan current angle value in a staged adjustment manner according to the fan theoretical angle value and the fan current angle value, so that the fan current angle value reaches the fan theoretical angle value.

[0042] In a third aspect, the present application provides an electronic device to solve the above technical problems, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method for adjusting the angle of the fan of agricultural machinery based on multi-parameter feedback when executing the computer program.

[0043] In a fourth aspect, the present application provides a computer readable storage medium to solve the above technical problems, which stores a computer program, and the computer program is executed by a processor to implement the method for adjusting the angle of the fan of agricultural machinery based on multi-parameter feedback.

[0044] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced.

[0046] Figure 1 A flowchart of a method for adjusting the angle of the fan of agricultural machinery based on multi-parameter feedback provided by an embodiment of the present application;

[0047] Figure 2 A flowchart of a prediction model provided by an embodiment of the present application;

[0048] Figure 3 A block diagram of the overall architecture of a method for adjusting the angle of the fan of agricultural machinery based on multi-parameter feedback provided by an embodiment of the present application;

[0049] Figure 4 A structural diagram of a device for adjusting the angle of the fan of agricultural machinery based on multi-parameter feedback provided by an embodiment of the present application;

[0050] Figure 5 A structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0051] The principles and features of the present application are described below, and the examples are only used to explain the present application, and are not used to limit the scope of the present application.

[0052] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0053] The solution provided in this invention can be applied to any application scenario that requires adjustment of the angle of the agricultural machinery fan. The solution provided in this invention can be executed by any electronic device, such as a control terminal on the agricultural machinery or a control terminal communicating with the agricultural machinery.

[0054] This invention provides a possible implementation, such as... Figure 1 The flowchart shown illustrates a method for adjusting the angle of an agricultural machinery fan based on multi-parameter feedback. This method can be executed by any electronic device. For ease of description, the following will use the control terminal on the agricultural machinery as the execution subject to illustrate the method provided in this embodiment of the invention. Figure 1 The flowchart shown indicates that the method may include the following steps:

[0055] S10, obtain the current operating parameters of the agricultural machinery. The current operating parameters include the engine operating parameters, environmental parameters, working terrain slope parameters and fan current angle value at the current moment.

[0056] S20 determines the theoretical fan angle value based on the engine operating parameters, environmental parameters, and terrain slope parameters at the current moment;

[0057] S30 dynamically adjusts the current fan angle value in stages based on the theoretical fan angle value and the current fan angle value, so that the current fan angle value reaches the theoretical fan angle value.

[0058] The method of this invention solves the two problems of response lag and large overshoot in traditional adjustment in one go by the process of "first calculating the theoretical angle through the operating conditions and then pushing the fan to the theoretical angle in stages". The mapping between operating conditions and theoretical angles makes angle adjustment no longer dependent on experience. The staged adjustment separates "speed" and "accuracy" into one. The coarse adjustment is responsible for saving time and the fine adjustment is responsible for improving accuracy. Engine water temperature fluctuations are minimized, and the risk of transient overheating, fuel waste and downtime are reduced simultaneously, ultimately achieving rapid response and accurate positioning.

[0059] The following specific embodiments further illustrate the solution of the present invention. In these embodiments, the present invention addresses three core defects of existing agricultural machinery fan adjustment technology: response lag leading to transient overheating risk, deterioration of positioning accuracy under vibration interference affecting heat dissipation efficiency, and insufficient adaptability to high-altitude / cold environments leading to excessive efficiency attenuation. The present invention aims to achieve the following through the innovative integration of a hydraulic-piezoelectric composite drive architecture and a multi-physics field collaborative control algorithm: ① rapid and precise dynamic adjustment of the fan angle; ② stable operation under strong vibration conditions; ③ reliable operation in all climate environments. Ultimately, this breakthrough overcomes the technical bottleneck of large fluctuations in cooling efficiency and high fuel loss in traditional systems during variable operating conditions.

[0060] Based on this, the embodiment provides a multi-parameter feedback-based agricultural machine fan angle adjusting method, which can include the following steps:

[0061] S10, obtaining current working condition parameters of the agricultural machine, the current working condition parameters including engine working condition parameters corresponding to the current time, environment parameters, working terrain slope parameters, and a current fan angle value;

[0062] Among the different parameters in the current working condition parameters, different sensors on the agricultural machine can be used to obtain the different parameters, and the different sensors can include an engine water temperature sensor and a rotation speed sensor, an environment temperature and humidity sensor, an angle sensor, and a GPS slope meter. The engine working condition parameters include a temperature obtained by the engine water temperature sensor and a rotation speed obtained by the rotation speed sensor, the environment parameters include a temperature and humidity obtained by the environment temperature and humidity sensor, the working terrain slope parameters are obtained based on the GPS slope meter, and the current fan angle value is obtained based on the angle sensor.

[0063] S20, determining a fan theoretical angle value according to the engine working condition parameters corresponding to the current time, the environment parameters, and the working terrain slope parameters;

[0064] The fan theoretical angle value refers to an optimal angle of the fan under the current working condition parameters of the agricultural machine.

[0065] Optionally, the S20 specifically includes:

[0066] S201, determining a heat dissipation amount of the engine according to the engine working condition parameters corresponding to the current time, the environment parameters, and the working terrain slope parameters, i.e., the heat dissipation amount of the engine under the engine working condition parameters corresponding to the current time, the environment parameters, and the working terrain slope parameters;

[0067] S202, determining a fan air volume according to the heat dissipation amount, i.e., how much fan air volume the fan needs to provide to blow away the heat dissipation amount;

[0068] S203, determining the fan theoretical angle value according to the fan air volume.

[0069] Based on the above scheme, considering the influence of vibration of the agricultural machine on the fan angle during the operation of the agricultural machine, the method can further include:

[0070] Obtaining a dynamic acceleration of the agricultural machine; in the present application, the dynamic acceleration can be obtained by a three-axis MEMS accelerometer on the agricultural machine;

[0071] Performing vibration compensation on the fan theoretical angle value according to the dynamic acceleration to obtain a target angle value;

[0072] Specifically, the dynamic acceleration can include respective accelerations in three directions, including

[0073] The X-axis acceleration aX represents a horizontal vibration in the fan rotation plane, parallel to the ground, and perpendicular to the main shaft of the blade. The Y-axis acceleration aY represents a horizontal vibration in the fan rotation plane, parallel to the ground, and along the main shaft of the blade. The Z-axis acceleration aZ represents a "pitching up and down" vibration perpendicular to the fan rotation plane.

[0074] The vibration of the agricultural machine directly affects the angle of the fan. The stronger the vibration, the more the angle is reduced, and the fan is reversed in the wind direction (the stronger the vibration, the more the wind pushes the blade, and the more the blade is blown open, so the angle is reduced, which is equivalent to closing the sail in advance, so that the wind blows and the blade returns to the original position. The wind pushes the blade from the back of the blade to the front, which will "blow the blade more open", so it will be immediately reversed by a few degrees. That is, the stronger the vibration, the more the sail is closed in advance, and the wind is reversed in advance. Finally, the blade is "pushed" by the wind and falls into the target position).

[0075] S30, according to the fan theoretical angle value and the fan current angle value, using a phased adjustment method to dynamically adjust the fan current angle value, so that the fan current angle value reaches the fan theoretical angle value.

[0076] After the vibration compensation of the fan theoretical angle value, in the above S30, according to the fan theoretical angle value and the fan current angle value, using a phased adjustment method to dynamically adjust the fan current angle value, so that the fan current angle value reaches the fan theoretical angle value, including:

[0077] According to the target angle value and the fan current angle value, using a phased adjustment method to dynamically adjust the fan current angle value, so that the fan current angle value reaches the fan theoretical angle value.

[0078] Wherein, the phased adjustment includes two stages of coarse adjustment and fine adjustment, the coarse adjustment refers to the difference between the fan current angle value and the fan theoretical angle value in a large range, that is, the coarse adjustment range, for example, ±5°; the fine adjustment refers to the difference between the angle value after the coarse adjustment and the fan theoretical angle value in a relatively small range, that is, the fine adjustment range, for example, ±0.3°.

[0079] In the above S30, according to the fan theoretical angle value and the fan current angle value, using a phased adjustment method to dynamically adjust the fan current angle value, so that the fan current angle value reaches the fan theoretical angle value, one implementation way is: according to the fan theoretical angle value, querying the historical database to determine the correction coefficient, and based on the correction coefficient, using a phased adjustment method to dynamically adjust the fan current angle value, so that the fan current angle value reaches the fan theoretical angle value.

[0080] The historical database can record the correction coefficients corresponding to different fan theoretical angle values, and the corresponding correction coefficient can be queried based on the fan theoretical angle value.

[0081] The above S30 specifically includes:

[0082] S301, dynamically controlling the hydraulic cylinder of the agricultural machine according to the fan theoretical angle value and the fan current angle value, so as to adjust the fan current angle value to the coarse adjustment range of the fan theoretical angle value;

[0083] S302, dynamically controlling the piezoelectric fine adjustment unit of the agricultural machine, so as to adjust the angle value in the coarse adjustment range to the fine adjustment range of the fan theoretical angle value.

[0084] After fine adjustment, the locking unit can be mechanically locked by the hydraulic cylinder quick locking unit on the agricultural machine, wherein the hydraulic cylinder quick locking unit can use a plunger cylinder to drive a sector gear and a proportional valve to control the flow; the piezoelectric fine adjustment unit can be composed of a stacked piezoelectric ceramic and a lever amplification mechanism; and the locking unit is composed of an electromagnetic buckle type self-locking.

[0085] The connection mode of the hydraulic cylinder quick locking unit and the piezoelectric fine adjustment unit is coaxial series, and the force transmission path is hydraulic thrust→sector gear→transmission shaft→piezoelectric lever→wheel hub. The hydraulic push rod is connected to a harmonic reducer through a flexible coupling (such as a spherical hinge), and then drives the sector gear; and the piezoelectric lever directly acts on the precise boss on the back of the sector gear. It not only ensures torque transmission, but also filters hydraulic vibration through the harmonic reducer.

[0086] Since the proportional valve opening is a knob that controls whether the oil cylinder is pushed fast or slow, the above S301 specifically includes:

[0087] According to the fan theoretical angle value and the fan current angle value, the proportional valve opening of the agricultural machine is dynamically controlled, so as to adjust the fan current angle value from fast to slow to the coarse adjustment range of the fan theoretical angle value;

[0088] The above process can be called coarse adjustment, which is to change the proportional valve opening in real time, let the hydraulic cylinder rush to the coarse adjustment range first and then slow down, and then wait for pressure retention for fine adjustment; the larger the valve port, the faster it runs, the smaller the valve port, the slower it runs, and the smaller the valve port opening, the pressure is maintained.

[0089] The above process of adjusting the fan current angle value from fast to slow to the coarse adjustment range of the fan theoretical angle value can be divided into three stages:

[0090] 1. Slope acceleration section (0→maximum speed);

[0091] Upon receiving the coarse adjustment instruction, first increase the proportional valve current I from 0 to I_max (corresponding to 100% opening of the valve port) at a slope of 20 mA / ms, and the hydraulic cylinder extends at high speed; at the same time, the angle sensor returns the current angle β_act in real time. That is, through the PID algorithm control the proportional valve opening, increase to the maximum opening in the form of ramp speed, and the angle sensor returns the current angle β_act in real time.

[0092] 2. Deceleration window segment (5° away from the target);

[0093] When |β_target - β_act = Δβ| ≤ 5° (set value), the valve current decreases linearly according to I = I_max·(Δβ / 5°), the speed decreases rapidly, preventing inertia overshoot. This step reduces the hydraulic cylinder speed from "high speed" to "low speed", leaving adjustment range for piezoelectric fine adjustment. That is, when |β_target - β_act = Δβ| ≤ 5°, control the proportional valve opening in the form of ramp deceleration to reduce the adjustment speed.

[0094] 3. Pressure maintaining segment (after entering ±0.3°);

[0095] When |Δβ| ≤ 0.3°, the valve current no longer decreases, but maintains I_hold (about 15% opening), allowing the hydraulic cylinder cavity to maintain a back pressure of 2-3 MPa, preventing the blade from being pushed back by wind pressure.

[0096] The above S302 specifically includes:

[0097] When the difference between the fan theoretical angle value and the angle value in the coarse adjustment range is less than the set value, dynamically control the piezoelectric fine adjustment unit of the agricultural machine to adjust the angle value in the coarse adjustment range to the fine adjustment range of the fan theoretical angle value.

[0098] Specifically, in the pressure maintaining segment, the piezoelectric fine adjustment starts to compensate Δβ, and after compensating to an error of 0°, the electromagnetic locking pin is inserted, and the proportional valve is completely powered off and depressurized. That is, when |Δβ| ≤ 0.3°, the piezoelectric fine adjustment control is simultaneously started, and the hydraulic overshoot is suppressed through inverse vibration compensation; when the hydraulic adjustment is within the storage range (2-3 MPa back pressure), the hydraulic pressure is maintained, and then the piezoelectric fine adjustment is controlled to the fine adjustment range of the target value.

[0099] After that, a locking instruction can also be triggered, a 24V driving voltage is applied through a double-coil redundant electromagnet, a tungsten steel locking pin is inserted into a conical positioning hole for locking, and after the locking is completed, the hydraulic system can be depressurized.

[0100] Optionally, after the angle value in the fine adjustment range is stabilized, the stabilized angle value is transmitted to the cloud platform as the final angle value corresponding to the current time for subsequent processing, and the actual cooling effect is also recorded.

[0101] Optionally, if any of the current working condition parameters of the agricultural machine cannot be acquired, that is, any sensor for acquiring the current working condition parameters cannot work normally, the method further comprises:

[0102] acquiring historical working condition parameters of the agricultural machine at a historical moment before the current moment;

[0103] determining the theoretical angle value of the fan according to the engine working condition parameter, the environmental parameter, and the working terrain slope parameter in the historical working condition parameters.

[0104] At this time, it belongs to a safe mode, and in the mode, the theoretical angle value of the fan at the current moment can be predicted through the historical working condition parameters at the historical moment.

[0105] The historical moment can be the previous moment or multiple previous moments of the current moment.

[0106] When it is detected that the sensor is normal, that is, any of the current working condition parameters of the agricultural machine can be acquired, the processing process of S10 to S30 can be restored.

[0107] Further, the determination of the theoretical angle value of the fan according to the engine working condition parameter, the environmental parameter, and the working terrain slope parameter in the historical working condition parameters comprises:

[0108] determining the theoretical angle value of the fan according to the engine working condition parameter, the environmental parameter, and the working terrain slope parameter in the historical working condition parameters through a pre-trained prediction model.

[0109] The prediction model can be a model trained based on an LSTM model, and the process of angle adjustment based on the prediction model can be referred to as shown in Figure 2 The historical working condition parameters are subjected to feature extraction, and then the theoretical angle value of the fan corresponding to the historical working condition parameters is predicted through the LSTM prediction network shown in Figure 2 to generate an angle and an adjustment instruction based on the theoretical angle value of the fan corresponding to the historical working condition parameters, to adjust the current angle value of the fan, and to obtain an adjustment effect feedback.

[0110] Further, in the scheme of the present application, real-time working condition data (current working condition parameters) can also be subjected to feature extraction, and then a prediction theoretical angle value of the fan corresponding to the real-time working condition data is obtained through a prediction model, and an angle and an adjustment instruction are generated based on the prediction theoretical angle value of the fan corresponding to the real-time working condition data, to adjust the current angle value of the fan, and to obtain an actual effect feedback; based on the actual effect feedback and the effect feedback corresponding to S10 to S30, the model parameters of the prediction model are updated to update the prediction model. The actual effect feedback refers to the actual cooling result of the engine.

[0111] In order to better illustrate and understand the principles of the method provided by the present application, the scheme of the present application is described below in combination with an optional specific embodiment. It should be noted that the specific implementation of each step in the specific embodiment should not be understood as a limitation on the scheme of the present application, and other implementation manners that can be thought of by those skilled in the art on the basis of the principles of the scheme provided by the present application should also be regarded as within the protection scope of the present application.

[0112] In the embodiment, referring to the structure block diagram shown in Figure 3 The scheme of the present application can be composed of three parts, i.e., a multi-source perception module, a composite execution mechanism and an intelligent control unit, wherein the multi-source perception layer contains an engine water temperature sensor and a rotating speed sensor, an environmental temperature and humidity sensor, a three-axis MEMS accelerometer and a GPS slope instrument. The intelligent control layer calculates the required air volume according to the current working condition parameters collected in real time, outputs a control signal (a control signal for adjusting the angle of the fan) to the execution driving layer, adjusts the angle of the fan, and realizes closed-loop control (the processing process of S10 to S30 in the foregoing). After the adjustment is stabilized, the current stable angle is obtained and uploaded to the cloud platform.

[0113] Through the scheme of the present application, the following beneficial effects are achieved:

[0114] The specific structural combination of the composite execution mechanism is a three-stage series architecture of a hydraulic coarse adjustment unit, a piezoelectric ceramic fine adjustment unit and a mechanical self-locking unit; the hydraulic-piezoelectric composite driving structure can realize rapid response and accurate positioning, thereby dynamically matching the dramatic change of the engine working condition, eliminating the heat dissipation delay to reduce the water temperature fluctuation, and improving the operation efficiency;

[0115] The theoretical value calculated by the sensor value is subjected to vibration compensation to eliminate vibration interference and accurately adjust the angle value; the vibration compensation can suppress the vibration interference in advance and maintain the fan at the optimal wind resistance angle, thereby reducing the power consumption of the fan;

[0116] The fusion of the multi-modal collaborative driving architecture and the intelligent self-learning prediction algorithm can realize intelligent control of the fan angle through historical data prediction after the sensor is abnormal. The LSTM prediction model can predict the working condition for several minutes, can guarantee the cooling efficiency at high altitudes, eliminate the power attenuation on the plateau, and improve the torque output stability rate;

[0117] The three innovative elements described above are closed-loop, and comprehensively realize the industry breakthrough of reducing the failure rate and carbon emission.

[0118] Based on the same principles as the method shown in Figure 1 The embodiment of the present application also provides a farm machinery fan angle adjustment device 20 based on multi-parameter feedback, as shown in Figure 4As shown in the figure, the multi-parameter feedback based agricultural machinery fan angle adjusting device 20 can include an acquisition module 210, a fan theoretical angle value determining module 220, and a dynamic adjusting module 230, wherein:

[0119] The acquisition module 210 is configured to acquire current working condition parameters of the agricultural machinery, the current working condition parameters including engine working condition parameters, environmental parameters, working terrain slope parameters, and a current fan angle value corresponding to a current time;

[0120] The fan theoretical angle value determining module 220 is configured to determine a fan theoretical angle value according to the engine working condition parameters, the environmental parameters, and the working terrain slope parameters corresponding to the current time;

[0121] The dynamic adjusting module 230 is configured to dynamically adjust the current fan angle value in a staged adjustment manner according to the fan theoretical angle value and the current fan angle value, so that the current fan angle value reaches the fan theoretical angle value.

[0122] Optionally, the device further includes:

[0123] The compensation module is configured to acquire a dynamic acceleration of the agricultural machinery, and perform vibration compensation on the fan theoretical angle value according to the dynamic acceleration to obtain a target angle value;

[0124] The dynamic adjusting module 230 is specifically configured to:

[0125] dynamically adjust the current fan angle value in a staged adjustment manner according to the target angle value and the current fan angle value, so that the current fan angle value reaches the fan theoretical angle value.

[0126] Optionally, the fan theoretical angle value determining module 220 is specifically configured to:

[0127] determine a heat dissipation amount of the engine according to the engine working condition parameters, the environmental parameters, and the working terrain slope parameters corresponding to the current time;

[0128] determine a fan air volume according to the heat dissipation amount;

[0129] determine the fan theoretical angle value according to the fan air volume.

[0130] Optionally, the dynamic adjusting module 230 is specifically configured to:

[0131] dynamically control a hydraulic cylinder of the agricultural machinery according to the fan theoretical angle value and the current fan angle value, so as to adjust the current fan angle value to a coarse adjustment range of the fan theoretical angle value;

[0132] dynamically control a piezoelectric fine adjustment unit of the agricultural machinery, so as to adjust an angle value in the coarse adjustment range to a fine adjustment range of the fan theoretical angle value.

[0133] Optionally, the dynamic adjustment module 230 is specifically configured to:

[0134] dynamically control the proportional valve opening degree of the agricultural machine according to the fan theoretical angle value and the fan current angle value, so as to adjust the fan current angle value from fast to slow to the coarse adjustment range of the fan theoretical angle value.

[0135] The dynamic adjustment module 230 is specifically configured to:

[0136] dynamically control the piezoelectric fine adjustment unit of the agricultural machine to adjust the angle value in the coarse adjustment range to the fine adjustment range of the fan theoretical angle value when the difference between the fan theoretical angle value and the angle value in the coarse adjustment range is less than a set value.

[0137] Optionally, if any of the current working condition parameters of the agricultural machine cannot be obtained, the device further comprises:

[0138] a prediction module configured to obtain historical working condition parameters of the agricultural machine at a historical time before the current time, and determine the fan theoretical angle value according to the engine working condition parameter, the environmental parameter and the working terrain slope parameter in the historical working condition parameters.

[0139] Optionally, the prediction module is specifically configured to:

[0140] determine the fan theoretical angle value according to the engine working condition parameter, the environmental parameter and the working terrain slope parameter in the historical working condition parameters through a pre-trained prediction model.

[0141] The agricultural machine fan angle adjustment device based on multi-parameter feedback provided in the embodiments of the present application can execute the agricultural machine fan angle adjustment method based on multi-parameter feedback provided in the embodiments of the present application, and the implementation principles are similar. The actions performed by each module and unit in the agricultural machine fan angle adjustment device based on multi-parameter feedback in the embodiments of the present application are corresponding to the steps in the agricultural machine fan angle adjustment method based on multi-parameter feedback in the embodiments of the present application. For detailed description of the functions of each module of the agricultural machine fan angle adjustment device based on multi-parameter feedback, please refer to the description of the corresponding agricultural machine fan angle adjustment method based on multi-parameter feedback provided in the foregoing.

[0142] The multi-parameter feedback based agricultural machine fan angle adjusting device can be a computer program (including program code) running in a computer device, for example, the multi-parameter feedback based agricultural machine fan angle adjusting device is an application software; the device can be used to execute the corresponding steps in the method provided by the embodiments of the present application.

[0143] In some embodiments, the multi-parameter feedback based agricultural machine fan angle adjusting device provided by the embodiments of the present application can be implemented in a combination of software and hardware, for example, the multi-parameter feedback based agricultural machine fan angle adjusting device provided by the embodiments of the present application can be a hardware decoding processor programmed to execute the multi-parameter feedback based agricultural machine fan angle adjusting method provided by the embodiments of the present application, for example, the hardware decoding processor can be one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0144] In some other embodiments, the multi-parameter feedback based agricultural machine fan angle adjusting device provided by the embodiments of the present application can be implemented in software, Figure 4 The multi-parameter feedback based agricultural machine fan angle adjusting device stored in the memory can be software in the form of programs and plug-ins, and includes a series of modules, including an acquisition module 210, a fan theoretical angle value determination module 220 and a dynamic adjustment module 230, for implementing the multi-parameter feedback based agricultural machine fan angle adjusting method provided by the embodiments of the present application.

[0145] The modules described in the embodiments of the present application can be implemented in software or hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0146] Based on the same principles as the method shown in the embodiments of the present application, the embodiments of the present application also provide an electronic device, which can include but is not limited to: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the method shown in any of the embodiments of the present application by calling the computer program.

[0147] In an optional embodiment, an electronic device is provided, as shown in Figure 5 as shown,Figure 5 The electronic device 4000 shown includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 can also include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception, etc. It should be noted that the transceiver 4004 is not limited to one in actual application, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0148] The processor 4001 can be a CPU (Central Processing Unit, central processor), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the present disclosure. The processor 4001 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0149] The bus 4002 can include a channel for transmitting information between the above-mentioned components. The bus 4002 can be a PCI (Peripheral Component Interconnect, peripheral component interconnect) bus or an EISA (Extended Industry Standard Architecture, extended industry standard architecture) bus, etc. The bus 4002 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience, Figure 5 In the figure, only one thick line is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0150] The memory 4003 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0151] The memory 4003 is configured to store application code (computer program) for implementing the scheme of the present application, and the processor 4001 is configured to control the execution. The processor 4001 is configured to execute the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0152] The electronic device can also be a terminal device, Figure 5 The electronic device shown is only an example, and should not limit the functions and use range of the embodiments of the present application.

[0153] The embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is run on a computer, the computer can execute the corresponding content in the foregoing method embodiments.

[0154] According to another aspect of the present application, a computer program product or computer program is also provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to enable the computer device to perform the method provided in the various implementation manners of the above embodiments.

[0155] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0156] It should be understood that the flowchart and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of various embodiments of the present application. In this regard, each block in the flowchart and block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.

[0157] The computer readable storage medium of the present application embodiment can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, the computer readable storage medium can be any tangible medium that contains or stores a program and can be used by an instruction execution system, apparatus, or device to retrieve and execute the program.

[0158] The computer readable storage medium described above bears one or more programs, when the one or more programs are executed by the electronic device, cause the electronic device to execute the method shown in the above embodiment.

[0159] The above description is merely the preferred embodiments of the present application and the explanation of the applied technical principles. It should be understood by those skilled in the art that the disclosed range of the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by any combinations of the above technical features or their equivalent features without departing from the disclosed concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features disclosed in the present application (but not limited to) having similar functions.

Claims

1. A method for adjusting the angle of an agricultural machine fan based on multi-parameter feedback, characterized in that, The method comprises: obtaining current working condition parameters of the agricultural machine, the current working condition parameters comprising engine working condition parameters corresponding to a current time, environmental parameters, working terrain slope parameters, and a current angle value of a fan; determining a theoretical angle value of the fan according to the engine working condition parameters corresponding to the current time, the environmental parameters, and the working terrain slope parameters; dynamically adjusting the current angle value of the fan in a staged adjustment manner according to the theoretical angle value of the fan and the current angle value of the fan, so that the current angle value of the fan reaches the theoretical angle value of the fan; the dynamically adjusting the current angle value of the fan in a staged adjustment manner according to the theoretical angle value of the fan and the current angle value of the fan, so that the current angle value of the fan reaches the theoretical angle value of the fan, comprises: dynamically controlling the opening degree of a proportional valve of the agricultural machine according to the theoretical angle value of the fan and the current angle value of the fan, so as to adjust the current angle value of the fan from fast to slow to a coarse adjustment range of the theoretical angle value of the fan; when the difference between the theoretical angle value of the fan and the angle value of the coarse adjustment range is less than a set value, dynamically controlling a piezoelectric fine adjustment unit of the agricultural machine, so as to adjust the angle value in the coarse adjustment range to a fine adjustment range of the theoretical angle value of the fan.

2. The method of claim 1, wherein, The method further comprises: obtaining a dynamic acceleration of the agricultural machine; performing vibration compensation on the theoretical angle value of the fan according to the dynamic acceleration, to obtain a target angle value; wherein the dynamic acceleration comprises an X-axis acceleration aX representing horizontal vibration in the fan rotation plane, parallel to the ground, and perpendicular to the main shaft of the blade, a Y-axis acceleration aY representing horizontal vibration in the fan rotation plane, parallel to the ground, and along the main shaft of the blade, and a Z-axis acceleration aZ representing up-and-down vibration perpendicular to the fan rotation plane; the performing vibration compensation on the theoretical angle value of the fan according to the dynamic acceleration, to obtain a target angle value, comprises: directly subtracting the angle value affected by the dynamic acceleration from the theoretical angle value of the fan according to the rule that the stronger the vibration is, the more the angle is reduced, and the windward direction is back to the rule, to obtain the target angle value; the dynamically adjusting the current angle value of the fan in a staged adjustment manner according to the theoretical angle value of the fan and the current angle value of the fan, so that the current angle value of the fan reaches the theoretical angle value of the fan, comprises: dynamically adjusting the current angle value of the fan in a staged adjustment manner according to the target angle value and the current angle value of the fan, so that the current angle value of the fan reaches the theoretical angle value of the fan.

3. The method of claim 1, wherein, the determining the theoretical angle value of the fan according to the engine working condition parameters corresponding to the current time, the environmental parameters, and the working terrain slope parameters, comprises: determining the heat dissipation of the engine according to the engine working condition parameters corresponding to the current time, the environmental parameters, and the working terrain slope parameters; determining the fan air volume according to the heat dissipation; determining the theoretical angle value of the fan according to the fan air volume.

4. The method according to any one of claims 1 to 3, characterized in that, If any of the current working condition parameters of the agricultural machine cannot be obtained, the method further comprises: acquire historical working condition parameters of the agricultural machine at historical time points before the current time point; determine the fan theoretical angle value according to engine working condition parameters, environmental parameters, and working terrain slope parameters in the historical working condition parameters.

5. The method of claim 4, wherein, The determination of the fan theoretical angle value according to the engine working condition parameters, the environmental parameters, and the working terrain slope parameters in the historical working condition parameters comprises: The determination of the fan theoretical angle value according to the engine working condition parameters, the environmental parameters, and the working terrain slope parameters in the historical working condition parameters comprises:

6. A multi-parameter feedback based angle adjustment device for an agricultural fan, comprising: The determination of the fan theoretical angle value according to the engine working condition parameters, the environmental parameters, and the working terrain slope parameters in the historical working condition parameters comprises: The device comprises: an acquisition module configured to acquire current working condition parameters of the agricultural machine, the current working condition parameters comprising engine working condition parameters, environmental parameters, working terrain slope parameters, and a fan current angle value corresponding to the current time point; a fan theoretical angle value determination module configured to determine a fan theoretical angle value according to the engine working condition parameters, the environmental parameters, and the working terrain slope parameters corresponding to the current time point; 7. An electronic device, comprising: a dynamic adjustment module configured to dynamically adjust the fan current angle value in a staged adjustment manner according to the fan theoretical angle value and the fan current angle value, so that the fan current angle value reaches the fan theoretical angle value.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1-5. The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1-5.

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