Header-based multi-sensor joint automatic calibration method and related equipment

Abstract

The invention discloses a header-based multi-sensor joint automatic calibration method and related equipment, and relates to the technical field of harvester sensor calibration, and the method comprises the steps: controlling a header of a harvester to descend to a ground mechanical limit; respectively calibrating the minimum values of the header height sensor, the profiling height sensor, the left profiling height sensor and the right profiling height sensor; respectively calibrating the maximum value of the profiling height sensor, the maximum value of the left profiling height sensor and the maximum value of the right profiling height sensor based on the position of the header just leaving the ground; calibrating the maximum value of a header height sensor based on the highest position of the header; the header is controlled to incline leftwards to the maximum position, and the minimum value of a header inclination angle sensor is calibrated; controlling the header to be adjusted to a horizontal position, and calibrating a horizontal value of a header tilt angle sensor; and controlling the header to tilt rightwards to the maximum position, and calibrating the maximum value of the header tilt angle sensor. The calibration efficiency is improved, and the consistency and long-term stability of the calibration result are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harvester sensor calibration, and in particular to a multi-sensor joint automatic calibration method based on a header and related equipment. BACKGROUND

[0002] The header of a harvester is the core executive mechanism of crop harvesting operation, and its main function is to complete the cutting, feeding and conveying of crops, directly affecting the operation efficiency, loss rate and stability of the whole machine. With the development of agricultural intelligence, modern headers widely integrate multiple sensors for real-time monitoring of header height, profiling height, header inclination and other parameters, thereby achieving precise operation and fault warning. However, the current calibration process of header sensors faces significant challenges: the number of sensors that need to be calibrated is large, the installation positions of each sensor are scattered and the environmental adaptability requirements are different, resulting in complex calibration operations; at the same time, the consistency, accuracy and long-term stability of the calibration results are difficult to guarantee.

[0003] To solve the above calibration requirements, the current industry generally adopts a scheme that relies on manual operation for on-site calibration. The existing technology is manually operated by a technician according to experience, the header is moved to each specific position in turn, and then the output values of each sensor at that position are observed and recorded, thereby completing the one-by-one calibration of key parameters such as header height sensor, profiling height sensor and header inclination sensor.

[0004] However, this existing technology relying on manual operation has obvious shortcomings. First, the calibration process is complex, as the header integrates multiple types of sensors with scattered positions, the manual operation of the header and the recording of data flow are tedious, resulting in low overall calibration efficiency. Second, the labor cost is high, this process relies heavily on the on-site operation and subjective experience of professional technicians, and is not suitable for large-scale centralized calibration or rapid maintenance scenarios of agricultural equipment, significantly increasing maintenance costs. Third, the calibration accuracy and consistency are poor, manual operation is easily affected by environmental interference and subjective factors, making it difficult to ensure the consistency of calibration results for different equipment, different batches and even different technicians, and the long-term stability of sensor data cannot be guaranteed.

[0005] Therefore, in view of the low efficiency, high cost and poor consistency of the manual calibration method in the prior art, a new method is needed to automatically and standardize the joint calibration of multiple sensors, to improve the calibration efficiency and accuracy, reduce the dependence on professional labor, and promote the further development of agricultural equipment intelligence. SUMMARY

[0006] The technical problem to be solved by the present application is to overcome the deficiencies of the prior art, and a multi-sensor joint automatic calibration method based on a header and related equipment are specifically provided as follows: 1) In a first aspect, the present application provides a method for automatic calibration of multiple sensors based on a header, and the specific technical solutions are as follows: Control the header of the harvester to descend to the mechanical limit of the ground, so that the header descends to the lowest position, and based on the lowest position, the minimum value of the header height sensor, the minimum value of the profiling height sensor, the minimum value of the left profiling height sensor and the minimum value of the right profiling height sensor are calibrated respectively; Control the header to leave the ground, and based on the position of the header when it just leaves the ground, the maximum value of the profiling height sensor, the maximum value of the left profiling height sensor and the maximum value of the right profiling height sensor are calibrated respectively; Control the header to rise to the mechanical limit, so that the header rises to the highest position, and based on the highest position, the maximum value of the header height sensor is calibrated; Control the header to lean left to the maximum position, and the minimum value of the header tilt angle sensor is calibrated; control the header to adjust to the horizontal position, and the horizontal value of the header tilt angle sensor is calibrated; control the header to lean right to the maximum position, and the maximum value of the header tilt angle sensor is calibrated.

[0007] The method for automatic calibration of multiple sensors based on a header provided by the present application has the following beneficial effects: By controlling the header to descend to the mechanical limit of the ground and calibrating the minimum values of the header height sensor, the profiling height sensor, the left profiling height sensor and the right profiling height sensor at the lowest position at one time, the lower limit reference of multiple sensors is quickly and synchronously established, and the complexity of manual operation is greatly reduced. Based on the position of the header when it just leaves the ground, the maximum values of the profiling height sensor, the left profiling height sensor and the right profiling height sensor are calibrated, which provides an accurate starting reference point for the profiling function and ensures the accuracy of height sensing. By controlling the header to rise to the mechanical limit to calibrate the maximum value of the header height sensor, the physical range of height measurement is completely established, and the accuracy of height control is improved. By controlling the header to lean left, adjust to the horizontal position and lean right to the maximum position, the minimum value, the horizontal value and the maximum value of the header tilt angle sensor are calibrated in sequence, a complete tilt angle measurement coordinate system is established, and the reliability of lateral attitude control is ensured. The whole process is automatically executed by the program, replacing the traditional way which relies on manual experience and judgment, which not only significantly improves the calibration efficiency and reduces the labor cost, but also eliminates human interference through standardized process, ensuring the consistency and long-term stability of the calibration results.

[0008] On the basis of the above-mentioned scheme, the method for automatic calibration of multiple sensors based on a header of the present application can be further improved as follows.

[0009] Further, it further comprises: during the automatic calibration process, the state of each sensor is monitored in real time, and when any sensor fails, fault information is output and the automatic calibration process is terminated.

[0010] The beneficial effect of the above further scheme is to ensure the safety and reliability of the automatic calibration process, preventing the continuation of invalid or erroneous calibration operations in the case of untrusted sensor data. It effectively avoids the generation of false data in all subsequent calibration steps due to a single sensor failure, thereby ensuring the overall effectiveness and accuracy of the final calibration result and improving the robustness of the entire automatic calibration system.

[0011] Further, it further comprises: before automatic calibration, detecting the state of each sensor, and when all sensor states are normal, executing the automatic calibration process.

[0012] The beneficial effect of the above further scheme is to ensure that the necessary conditions for starting the automatic calibration process are met. It avoids starting an invalid calibration process due to existing faults or communication abnormalities of individual sensors from the source, preventing the waste of time and system resources. Through this pre-check, it can ensure that the data source relied on by subsequent calibration actions is reliable, thereby improving the certainty and efficiency of the successful completion of the entire automatic calibration process and reducing the process interruption and subsequent maintenance work due to the discovery of hardware problems midway.

[0013] Further, it further comprises: storing the calibration data of each sensor, and enabling the control system of the harvester to operate the header of the harvester based on the calibration data.

[0014] The beneficial effect of the above further scheme is to ensure that the calibration results are effectively retained and applied. The stored calibration values of the header height sensor, the profiling height sensor, and the header tilt angle sensor provide a long-term and reliable reference for the control system. This enables the system to accurately interpret real-time sensor signals in subsequent operations, thereby achieving precise and stable control of the header lifting, profiling, and leveling actions, ensuring operation consistency and fully utilizing the effectiveness of automatic calibration.

[0015] 2) In a second aspect, the present application also provides a multi-sensor joint automatic calibration system based on a header, and the specific technical scheme is as follows: It comprises a first calibration module, a second calibration module, a third calibration module, and a fourth calibration module. The first calibration module is used to: control the header of the harvester to descend to the ground mechanical limit, so that the header descends to the lowest position, and based on the lowest position, respectively calibrate the minimum value of the header height sensor, the minimum value of the profiling height sensor, the minimum value of the left profiling height sensor, and the minimum value of the right profiling height sensor. The second calibration module is used to: control the header to leave the ground, and based on the position of the header when it just leaves the ground, respectively calibrate the maximum value of the profiling height sensor, the maximum value of the left profiling height sensor, and the maximum value of the right profiling height sensor. The third calibration module is configured to control the header to rise to a mechanical limit, so as to rise the header to a highest position, and calibrate a maximum value of the header height sensor based on the highest position. The fourth calibration module is configured to control the header to lean left to a maximum position, calibrate a minimum value of the header tilt angle sensor, control the header to adjust to a horizontal position, calibrate a horizontal value of the header tilt angle sensor, and control the header to lean right to a maximum position, calibrate a maximum value of the header tilt angle sensor.

[0016] Based on the above scheme, the multi-sensor joint automatic calibration system based on the header can be further improved as follows.

[0017] Further, the real-time monitoring module is configured to monitor the state of each sensor in real time during the automatic calibration process, and output fault information and terminate the automatic calibration process when any sensor fails.

[0018] Further, the detection module is configured to detect the state of each sensor before the automatic calibration, and execute the automatic calibration process when all the sensors are normal.

[0019] Further, the storage control module is configured to store the calibration data of each sensor, so that the control system of the harvester runs the header of the harvester based on the calibration data.

[0020] 3) In a third aspect, the present application further provides a harvester comprising the multi-sensor joint automatic calibration system according to any one of the above.

[0021] 4) In a fourth aspect, the present application further provides an electronic device comprising a processor and a memory, wherein the memory stores at least one computer program, the at least one computer program is loaded and executed by the processor, so that the electronic device implements the multi-sensor joint automatic calibration method based on the header according to any one of the above.

[0022] 5) In a fifth aspect, the present application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the multi-sensor joint automatic calibration method based on the header according to any one of the above.

[0023] It should be noted that the technical solutions of the second aspect to the fifth aspect of the present application and the corresponding possible implementation manners have the beneficial effects as described above for the first aspect and the corresponding possible implementation manners, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below: Figure 1 This is a flowchart illustrating a multi-sensor joint automatic calibration method based on a cutting table according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a multi-sensor joint automatic calibration system based on a cutting platform according to an embodiment of the present invention. Detailed Implementation

[0025] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0026] like Figure 1 As shown in the figure, an embodiment of the present invention provides a multi-sensor joint automatic calibration method based on a header, which includes the following steps: S1. Control the harvester's header to descend to the ground mechanical limit, so that the header is lowered to its lowest position. Based on the lowest position, calibrate the minimum values ​​of the header height sensor, the contour height sensor, the left contour height sensor, and the right contour height sensor, respectively. Specifically: 1) The specific implementation process for calibrating the minimum value of the cutter height sensor is as follows: After receiving the start command for the automatic calibration process, the vehicle controller sends electrical signals to the enable valve and the header lowering valve in the hydraulic system. The enable valve connects the hydraulic oil circuit, the header lowering valve opens, and hydraulic oil enters the header lowering hydraulic cylinder, pushing the header to begin its downward movement. During the header lowering process, the header height sensor continuously monitors the vertical distance between the header and the frame in real time and transmits the detected analog or digital signals to the vehicle controller. The vehicle controller continuously compares the real-time height value transmitted by the header height sensor with a preset ground mechanical limit judgment threshold. When the height value reaches or stabilizes within the threshold range, it determines that the header has lowered to the lowest position corresponding to the ground mechanical limit. After confirming that the header has stabilized at the lowest position, the vehicle controller reads the sensor output value at this moment from the header height sensor and determines this value as the minimum value of the header height sensor. The vehicle controller uses the determined minimum value of the header height sensor as calibration data and writes it into the non-volatile memory of the harvester control system, completing the calibration of the minimum value of the header height sensor. After calibration, the vehicle controller sends a command to the display screen to show a message indicating that the minimum value calibration of the cutter height sensor has been successful, and prepares for subsequent calibration steps.

[0027] Wherein, the ground mechanical limit refers to the extreme position that the header of the harvester can reach in the vertical descending direction, which is determined by the hard limit of the mechanical structure between the header and the harvester body. It is usually manifested as the complete contraction of the header descending hydraulic cylinder, or the contact between the bottom of the header and the fixed stop block on the ground or the body, thereby preventing the header from further descending and avoiding structural interference or damage. The ground mechanical limit is a fixed physical position, which provides a stable and repeatable reference point for the header height measurement.

[0028] Wherein, the minimum value of the header height sensor refers to the electrical signal value or digital value measured and output by the header height sensor when the header is lowered to the lowest position corresponding to the ground mechanical limit. This value represents the lower limit reference of the sensor in the measurement range, corresponding to the actual lowest physical position of the header. The significance of calibrating this minimum value is to establish the zero point or starting reference of the height measurement for the harvester control system, which can accurately map all subsequent signal values read by the sensor to the actual height of the header, thereby ensuring the accuracy of the header lifting control.

[0029] 2) The specific implementation process of calibrating the minimum value of the profiling height sensor is as follows: The vehicle controller sends a command to the hydraulic system according to the preset program after starting the header automatic calibration process. The command causes the enable valve and the header lowering valve to be energized at the same time, and hydraulic oil flows into the header lowering hydraulic cylinder, driving the header to move stably towards the ground. During the entire process of the header continuously descending, the profiling height sensor installed on the side of the header is always in working condition. The profiling height sensor detects the vertical distance between its sensing component and the ground or the crop residue base in real time, and transmits the detected distance data to the vehicle controller in the form of continuous electrical signals. The vehicle controller processes multiple information streams in parallel. On the one hand, it monitors the readings of the header height sensor to determine the overall height, and on the other hand, it continuously receives data from the profiling height sensor. When it is confirmed through comprehensive judgment by the header height sensor that the header has stably reached the lowest position determined by the ground machine, the calibration preparation state is entered. After confirming that the header is stably at the lowest position, the vehicle controller immediately reads a specific and stable instantaneous value from the signal output end of the profiling height sensor. This value represents the measurement output of the profiling height sensor corresponding to the header being at the lowest known physical state. The vehicle controller formally determines this instantaneous value as the minimum value of the profiling height sensor. This operation means that this value is permanently associated with the physical state of "the reference height of the profiling mechanism relative to the ground when the header is at the lowest position". After determining the value, the vehicle controller stores the minimum value of the profiling height sensor as a key calibration parameter in the non-volatile storage unit of the harvester control system. The completion of storage marks the completion of the calibration action in logic. The vehicle controller drives the display screen to pop up a text prompt to clearly inform the operator that "the minimum value calibration of the profiling height sensor is successful", thereby completing the human-machine interaction feedback of this link.

[0030] Among them, the minimum value of the profiling height sensor is a calibration concept. It specifically refers to the specific electrical signal value measured and output by the profiling height sensor when the header of the harvester is lowered to the lowest position determined by the ground machine limit. This value is recorded and defined as the lower limit reference point of the sensor measurement range. The purpose of calibrating this value is to enable the control system to accurately know the correct reading of the profiling height sensor when the header is at the lowest limit position during the subsequent normal operation of the harvester, thereby providing a reliable initial reference zero point for the profiling system to judge the ground undulation and control the header to move along the profile. The accuracy of this value is directly related to the accuracy of the profiling function starting point.

[0031] The installation position of the profiling height sensor is located on the side of the harvester header. Specifically, it is installed on the profiling mechanism connected to the header lifting mechanism. The profiling mechanism is usually a mechanical component that can independently float or swing relative to the header body, and its lower end is equipped with a ground contact slide or a sensing wheel for directly contacting the ground or crop stems. The body of the profiling height sensor is fixed to the bracket of the header body or the profiling mechanism, and its sensing probe or detection target is connected to the moving part of the profiling mechanism. This installation method enables the profiling height sensor to directly detect the displacement change of the profiling mechanism caused by the ground undulation in real time, i.e., the real height change of the local header relative to the ground, thereby converting mechanical displacement into an electrical signal. The design of installing the sensor on the side of the header ensures that the sensor can directly perceive the terrain information at the working front.

[0032] 3) The specific implementation process of calibrating the minimum value of the left profiling height sensor is as follows: When the vehicle controller executes the header automatic calibration process, it controls the overall descent of the header. The controller sends an open command to the enable valve and the header descent valve in the hydraulic system, and hydraulic oil enters the header descent hydraulic cylinder, pushing the header to move smoothly downward until it reaches the mechanical limit position determined by the mechanical structure, at which point the header is at the lowest position in the entire lifting range. During the descent of the header and its final stabilization at the lowest position, the left profiling height sensor on the left profiling mechanism of the header continuously measures. The sensor detects the relative distance between the left profiling mechanism and the ground in real time and converts the perceived distance change into a continuous electrical signal. The vehicle controller simultaneously monitors the height status of the entire header and the data of each profiling height sensor. Through comprehensive information such as the header height sensor, it is determined that the header body has completely reached and stably maintained at the lowest position, which is a unified prerequisite for the subsequent calibration of the minimum value of the sensor. After confirming that the header is stably at the lowest position, the vehicle controller reads the output value of the left profiling height sensor at that moment from the signal line. This output value is a stable electrical signal value that accurately corresponds to the specific position of the left profiling mechanism when the header is at the lowest position. The vehicle controller assigns the electrical signal value read at a specific physical state as a calibration meaning and officially determines it as the minimum value of the left profiling height sensor. This operation establishes a fixed mapping relationship between the sensor output value and the "reference height of the left profiling mechanism when the header is at the lowest position". After completing the value determination, the vehicle controller writes the minimum value of the left profiling height sensor as an independent calibration parameter into the specified non-volatile memory address region of the control system for permanent storage. The completion of the save action means that the minimum value calibration of the sensor is effective in the system. At the same time, the vehicle controller generates a corresponding prompt message and feeds back to the operator through the display screen, such as displaying "left profiling height sensor minimum value calibration successful", to confirm that the step has been successfully completed.

[0033] The minimum value of the left profiling height sensor is a calibration parameter. It refers to the electric signal value measured and output by the left profiling height sensor specially installed on the left profiling mechanism of the header when the header is lowered to the lowest position corresponding to the mechanical limit of the ground. This value is defined and recorded as the lower limit reference value of the sensor in normal operation. The purpose of calibrating this value is to establish an accurate correspondence between a known physical extreme position (the header is at its lowest position and the left profiling mechanism is in its corresponding position) and the sensor reading. In subsequent harvesting operations, the control system can more accurately interpret the real-time signals from the left profiling height sensor based on this calibration value, accurately determine the true height of the left header relative to the ground, and achieve precise profiling control of the left area.

[0034] The installation position of the left profiling height sensor is on the left side of the header of the harvester. Specifically, it is installed on the left profiling mechanism. The profiling mechanism is a floating device connected to the left side of the header body that can independently adapt to the ground. The body of the left profiling height sensor is usually fixed on the frame or profiling mechanism support on the left side of the header, and its sensing probe or movable detection component is mechanically connected to the moving parts of the left profiling mechanism. This installation method allows the left profiling height sensor to directly and in real time sense the up-down displacement of the left profiling mechanism as the left ground level changes, and linearly convert this mechanical displacement into an electric signal. The installation position on the left side makes it specifically used to monitor and control the working height of the left area of the header, and together with the right profiling height sensor, it realizes collaborative control of the overall transverse profiling attitude of the header.

[0035] 4) The specific implementation process of calibrating the minimum value of the right profiling height sensor is as follows: The vehicle controller sends a command to control the whole header to descend after starting the automatic calibration process. By controlling the enable valve and the header descent valve of the hydraulic system, the hydraulic oil drives the header descent cylinder to move the header from any position to the lowest point allowed by the physical structure, i.e. the ground mechanical limit position. During the whole process of the header descending and finally reaching the lowest position, the right profiling height sensor installed on the right profiling mechanism of the header is always in working condition. The sensor senses the change of the vertical gap between the right profiling mechanism and the ground in real time and converts the continuous displacement change into the corresponding electrical signal output. The vehicle controller comprehensively judges the overall state of the header. When it is confirmed according to the signals of the header height sensor and other signals that the header has stably reached the lowest position defined by the ground mechanical limit, the controller determines that the unified condition for calibrating the minimum value of each sensor has been met. On the premise that the header is stably at the lowest position, the vehicle controller obtains the instantaneous output signal value of the right profiling height sensor at that moment from the data bus. This signal value is a stable value, which uniquely corresponds to the specific physical position of the right profiling mechanism of the header at the global lowest position. The vehicle controller formally defines the stable signal value as the minimum value of the right profiling height sensor. This step establishes a fixed calibration relationship from the "state of the right profiling mechanism at the lowest position of the header" to the "specific output value of the sensor". After the definition is completed, the vehicle controller stores the minimum value of the right profiling height sensor as a key calibration data in the predetermined area of the harvester control system non-volatile memory. The successful writing of data into the memory marks the completion of the minimum value calibration of the right profiling height sensor in logic and hardware. At the same time, the vehicle controller generates user interface feedback information and prompts the operator through the display screen that "the minimum value calibration of the right profiling height sensor is successful", thereby completing the human-machine interaction closed loop of this link.

[0036] Among them, the minimum value of the right profiling height sensor is a calibrated parameter. It specifically refers to the specific electrical signal value output by the right profiling height sensor when the header of the harvester is completely lowered to the lowest position corresponding to the ground mechanical limit. This value is recorded and recognized as a lower limit reference point of the effective measurement range of the sensor. The purpose of calibrating this value is to provide a precise reference for the control system: when the header is in the known global lowest physical state, the right profiling height sensor should output the correct reading. This calibration is the basis for the control system to accurately interpret the real-time data of the right profiling height sensor and then realize the precise profiling control of the right header in subsequent operations.

[0037] The installation position of the right profiling height sensor is located in the right area of the harvester header. Specifically, the sensor is installed on the right independent profiling mechanism. The right profiling mechanism is a mechanical device hinged or floatingly connected to the right side of the header body for adapting to the right ground undulation. The body of the right profiling height sensor is fixed on the frame or a special bracket on the right side of the header, and the sensing part is directly connected with the movable part of the right profiling mechanism. Such installation arrangement enables the right profiling height sensor to be dedicated to detecting the real-time position change of the right profiling mechanism relative to the ground and linearly converting the mechanical movement into an electrical signal. The installation position determines the functional specificity, i.e. separately monitoring and controlling the working height of the right part of the header, and working with the left profiling height sensor to ensure the overall balance and accuracy of the header transverse profiling.

[0038] S2, when the header is leaving the ground, based on the position of the header just leaving the ground, respectively calibrating the maximum value of the profiling height sensor, the maximum value of the left profiling height sensor and the maximum value of the right profiling height sensor, specifically: 1) The specific implementation process of calibrating the maximum value of the profiling height sensor is as follows: ①After successfully calibrating the minimum value of each sensor and the header being at the lowest position limited by the ground machine, the vehicle controller automatically enters the next calibration stage. The controller sends new instructions to the hydraulic system to control the header to start slowly rising from the lowest position. ②In the initial stage of the header rising, the vehicle controller continuously monitors the signals from the profiling height sensor. At this time, the value of the profiling height sensor gradually increases from the minimum value representing the "touching the ground" state. The controller has a pre-set logic threshold or signal change rate threshold for determining the "leaving the ground" state. ③When the value of the profiling height sensor feedback continuously and stably exceeds the pre-set logic threshold, and its change trend meets the expectation, the vehicle controller logically determines that the profiling mechanism has just left the ground contact. The position of the header at this moment is defined as the "position of the header when it just leaves the ground". ④Upon determining the arrival of the target position, the vehicle controller immediately locks and reads the real-time output value of the profiling height sensor at this moment. This value reflects the sensor's measurement value when the profiling mechanism is in the critical state from fully touching the ground to just leaving the ground. ⑤The vehicle controller formally determines this specific value read at the critical position as the maximum value of the profiling height sensor. It needs to be clear that the "maximum value" here is not the physical travel limit, but refers to an upper reference point defined for the profiling height sensor in the automatic calibration logic, which corresponds to the starting position of the profiling function. ⑥After determining the value, the vehicle controller writes the maximum value of the profiling height sensor as an important calibration parameter into the non-volatile memory of the control system, which together with the previously stored minimum value constitutes the complete calibration range of the sensor. ⑦After completing the storage, the vehicle controller outputs prompt information through the display screen, such as displaying "profiling height sensor maximum value calibration success", to inform the operator that this step is successfully completed and is ready to enter the subsequent other calibration process.

[0039] Among them, the maximum value of the profiling height sensor is a calibration parameter defined in the automatic calibration process. It does not refer to the upper limit of the sensor's physical measurement capability, but specifically refers to the electrical signal value measured and output by the sensor at the critical moment when the header starts to rise from the ground machine limit and the profiling mechanism just leaves the ground contact. This value is recorded as an upper reference point of the working range of the profiling height sensor. The fundamental purpose of calibrating this value is to establish a clear action trigger point in the control system. In subsequent actual harvesting operations, when the reading of the profiling height sensor is greater than the calibrated maximum value, the control system knows that the profiling mechanism has completely left the ground and is in the floating profiling working state; when the reading is between the minimum value and the maximum value, it may indicate that the profiling mechanism still has contact or pressure with the ground. This calibration enables the harvester to more accurately determine the grounding state of the profiling system, thereby achieving more sensitive and accurate automatic profiling control.

[0040] 2) The specific implementation process of calibrating the maximum value of the left profiling height sensor is as follows: ①On the basis of completing the calibration of the minimum value of the left profiling height sensor and the header being in the lowest position, the vehicle controller automatically controls the header to start slowly rising. The controller sends instructions to the enable valve and the header lifting valve of the hydraulic system, and hydraulic oil enters the header lifting hydraulic cylinder to drive the header to lift off the ground as a whole. ②In the initial stage of the header rising as a whole, the vehicle controller specially monitors the signal change from the left profiling height sensor. At this time, the output value of the left profiling height sensor starts to gradually increase from its calibrated minimum value. The controller internal program continuously analyzes the value and change trend of the signal. ③The vehicle controller compares the real-time signal value of the left profiling height sensor with a preset "ground clearance threshold value". This threshold value can be a fixed voltage or digital value, or it can also be combined with the judgment of the signal change rate. When the sensor signal continuously and stably exceeds this threshold value and maintains a short time period, the controller makes a logical judgment. ④The controller logically judges that the left profiling mechanism has just left the ground contact. At this moment when the judgment is established, the precise position of the header stopped or passed is defined as the position of the header when it just leaves the ground on the left side. ⑤At the moment of making the ground clearance judgment or within a very short time, the vehicle controller captures and records the instantaneous output value of the left profiling height sensor at this time. This value represents the critical point of the left profiling mechanism switching from the fully grounded state to the free floating state. ⑥The vehicle controller formally defines the captured critical point value as the maximum value of the left profiling height sensor. This definition establishes a fixed correspondence between the sensor reading and the functional state of the left profiling mechanism "just leaving the ground". ⑦The controller stores the defined maximum value of the left profiling height sensor as an independent calibration parameter in the non-volatile storage area designated by the control system. The storage completion means that the calibration data takes effect and can be called by subsequent control programs. ⑧After the storage operation is successful, the vehicle controller generates a user interface message and displays "left profiling height sensor maximum value calibration successful" to the operator through the display screen, completing the interactive confirmation of this step.

[0041] The maximum value of the left profiling height sensor is a functional calibration point. It refers to the electrical signal value measured and output by the left profiling height sensor at the critical moment when the header is rising from the lowest position and the left profiling mechanism just comes off the ground. This value is recorded as an upper reference point of the sensor. The purpose of calibrating this value is to establish a clear action switching basis in the harvester control logic. In actual field operation, the control system can accurately determine whether the left profiling mechanism is in the ground compaction state or has left the ground and entered the profiling follow-up state by comparing the real-time reading of the left profiling height sensor with the calibrated maximum value. This calibration ensures the accurate start and stop and sensitivity of the left header profiling control, and is an important parameter basis for realizing accurate profiling operation in the left area.

[0042] 3) The specific implementation process of calibrating the maximum value of the right profiling height sensor is as follows: ①After completing all the minimum point calibrations including the minimum value of the right profiling height sensor, the header is stabilized at the ground machine limit position. At this moment, the vehicle controller starts the header raising action according to the automatic calibration procedure sequence to find the ground clearance position. ②The vehicle controller sends the electric control signals to the enable valve and the header raising valve of the hydraulic system to drive the header raising hydraulic cylinder to work, so that the header slowly and smoothly moves upward from the minimum position. ③During the process of the header lifting, the vehicle controller specially and continuously monitors the output signal of the right profiling height sensor. The controller internal program reads and analyzes the data from the right profiling height sensor in real time, and the data shows an upward trend from the calibrated minimum value. ④The vehicle controller compares the real-time measurement value of the right profiling height sensor with the preset ground clearance judgment logic condition in the program. This condition may be based on a specific signal amplitude threshold, or it may be a comprehensive judgment combined with the signal change rate in unit time. ⑤When the signal of the right profiling height sensor meets and continuously maintains the ground clearance judgment condition, the vehicle controller logically confirms a key state: the profiling mechanism on the right side of the header just leaves the contact with the ground. The spatial position of the header corresponding to the moment when the judgment occurs is the specific definition of the "position of the header when it just leaves the ground" for the right side. ⑥At the moment of making the ground clearance state confirmation, the vehicle controller performs a data capture operation to record the real-time output value of the right profiling height sensor at this moment. This value accurately corresponds to the critical transition point of the right profiling height sensor from ground support to free suspension. ⑦The vehicle controller defines the captured critical point value as the maximum value of the right profiling height sensor. This definition establishes a fixed mapping relationship between the sensor reading and the functional state of the right profiling mechanism "just off the ground". ⑧After completing the definition, the vehicle controller writes the maximum value of the right profiling height sensor as a key calibration parameter into the designated storage unit of the control system non-volatile memory. The successful execution of the write operation marks that the calibration value has been saved persistently and takes effect. ⑨Subsequently, the vehicle controller generates the corresponding operation feedback information and displays the prompt such as "right profiling height sensor maximum value calibration success" to the user through the display screen interface, thereby completing the human-machine interaction and procedure confirmation of this step.

[0043] The maximum value of the right profiling height sensor is a functional reference value set in the automatic calibration process. It specifically refers to the specific electrical signal value measured and output by the right profiling height sensor at the critical moment when the harvester header rises from the lowest position so that the profiling mechanism installed on the right side just loses contact with the ground. The control system records this value and establishes it as an upper reference point for judging the working state of the right profiling mechanism. The core purpose of calibrating this value is to provide a clear, data-based decision boundary for the control logic of the harvester. In subsequent actual work, the control system can accurately distinguish whether the right profiling mechanism is in the non-floating state of pressing the ground or has entered the free profiling state that can follow the terrain fluctuations by continuously comparing the real-time monitoring value of the right profiling height sensor with this calibrated maximum value. This calibration is an indispensable parameter basis for the harvester right header to achieve accurate and sensitive automatic profiling control.

[0044] S3, control the header to rise to the mechanical limit, so that the header rises to the highest position, and calibrate the maximum value of the header height sensor based on the highest position, the specific implementation process is as follows: ①After the header has left the ground and the maximum values of each profile sensor have been calibrated, the vehicle controller automatically enters the phase of lifting the header to the highest position. The controller sends new control commands to the hydraulic system according to the program sequence. ②The vehicle controller sends an opening signal to the enable valve and the header lift valve in the hydraulic valve group. The electric signal drives the electromagnetic valve to act, and the hydraulic oil circuit is connected, and the pressure oil continuously enters the rodless chamber of the header lift hydraulic cylinder. ③The header lift hydraulic cylinder begins to gradually extend under the push of the hydraulic oil, thereby smoothly lifting the entire header. The header height sensor works continuously during the header lifting process, measures the vertical height of the header relative to the harvester body in real time, and transmits the measurement signal to the vehicle controller. ④The vehicle controller continuously monitors the signal changes of the header height sensor. At the same time, the control system also monitors auxiliary information such as hydraulic system pressure or hydraulic cylinder stroke as the basis for comprehensive judgment. ⑤When the header is lifted to a certain height, the hydraulic cylinder is fully extended, or the header moving parts contact the fixed mechanical stop block on the harvester frame and cannot continue to rise, that is, the mechanical limit in the lifting direction is reached. At this time, the reading of the header height sensor tends to be stable and no longer increases. ⑥The vehicle controller detects that the signal value of the header height sensor remains stable within a predetermined time, and the auxiliary judgment information also confirms that the movement has stopped, and the logic determines that the header has been stably positioned at the highest position defined by the mechanical limit. ⑦After confirming that the header has been stably positioned at the highest position, the vehicle controller immediately reads and locks the output value of the header height sensor at this moment. This stable value directly corresponds to the top of the physical travel of the header. ⑧The vehicle controller formally defines this value read at the highest position as the maximum value of the header height sensor. This operation completes the association of the upper limit of the sensor physical measurement with a specific electric signal value. ⑨The controller writes the defined maximum value of the header height sensor as a crucial calibration parameter into the specified address of the non-volatile memory of the control system for permanent storage. Data writing is successful, indicating that the calibration action is complete. ⑩Subsequently, the vehicle controller drives the display screen to update the interface and pop up a prompt message, such as "header height sensor maximum value calibration success", to inform the operator of the execution result of this step.

[0045] The maximum value of the header height sensor is a calibration parameter. It refers to the value of the electrical signal measured and output by the header height sensor when the header of the harvester is raised to the highest position corresponding to the mechanical limit in the raising direction. This value represents the upper limit of the physical position that the sensor can perceive within the entire vertical movement range of the header. The control system records this value and defines it as the upper limit reference point of the sensor output range. The fundamental purpose of calibrating this value is to establish a complete height measurement coordinate system in the control system of the harvester, which strictly corresponds to the actual physical travel. With the calibration of the minimum and maximum values, the control system can accurately map any real-time signal value output by the header height sensor to a specific height percentage or absolute height between the lowest and highest positions of the header, thereby achieving precise and reliable control of the header lifting position, which is the basis for ensuring the normal operation of automatic height adjustment, height-keeping harvesting, and other functions of the harvester.

[0046] S4, control the header to tilt left to the maximum position, calibrate the minimum value of the header tilt angle sensor; control the header to adjust to the horizontal position, calibrate the horizontal value of the header tilt angle sensor; control the header to tilt right to the maximum position, calibrate the maximum value of the header tilt angle sensor, specifically: 1) The specific implementation process of calibrating the minimum value of the header tilt angle sensor includes: ①After completing the header height related calibration, the vehicle controller enters the header tilt sensor calibration phase according to the automatic calibration flow sequence. The controller first prepares to execute the action of tilting the header to the left. ②The vehicle controller sends an open command to the enable valve and the header left tilt hydraulic valve in the hydraulic system. The electrical signal drives the corresponding solenoid valve to act, thereby connecting the hydraulic oil path to the header left tilt hydraulic cylinder. ③The pressure hydraulic oil enters the corresponding cavity of the header left tilt hydraulic cylinder, pushing the hydraulic cylinder piston rod to move. This mechanical action is converted into the rotational movement of the header as a whole around its hinge point to the left direction by the tilting mechanism, that is, the header begins to tilt to the left. ④During the process of the header continuously tilting to the left, the header tilt sensor works in real time, continuously measures and outputs the tilt angle signal of the header in the left-right direction. The signal is transmitted to the vehicle controller in real time. ⑤The vehicle controller continuously monitors the change of the reading of the header tilt sensor, and at the same time, it can monitor the pressure of the hydraulic system or the stroke signal of the tilt hydraulic cylinder as an auxiliary judgment. When the header tilts to a certain angle, the left tilt hydraulic cylinder is fully extended or the mechanical structure is limited and cannot continue to tilt, that is, the mechanical limit in the left tilt direction is reached. ⑥When the output value of the header tilt sensor no longer changes within a predetermined time, and the auxiliary signal also confirms that the movement has stopped, the vehicle controller logically judges that the header has stabilized at the mechanical limit of tilting to the left, that is, the maximum left tilt position. ⑦After confirming that the header has stabilized at the maximum left tilt position, the vehicle controller immediately reads and locks the output value of the header tilt sensor at this moment. This stable value directly corresponds to the physical angle limit of the header tilting to the left. ⑧The vehicle controller defines the value read at this position as the minimum value of the header tilt sensor. It should be noted that this "minimum value" refers to the lower limit of the sensor output range defined in this calibration system, which corresponds to the maximum angle of left tilt, and its value may be negative or a small relative value. ⑨The controller defines the minimum value of the header tilt sensor as an important calibration parameter, and writes it into the specified storage area of the non-volatile memory of the control system for permanent storage. ⑩After completing the storage, the vehicle controller generates prompt information and displays it to the operator through the display screen, such as "header tilt sensor minimum value calibration success" confirmation information.

[0047] The minimum value of header tilt sensor is a calibration parameter. It refers to the electrical signal value measured and outputted by the header tilt sensor when the header of the harvester is tilted to the left to the maximum position corresponding to the mechanical limit of the left tilt. This value represents the lower limit of the output corresponding to the limit angle of the left tilt when the sensor measures the left and right tilt angles of the header. The control system records and defines this value as a negative or low-end reference point of the output range of the sensor. The purpose of calibrating this value is to establish an accurate tilt measurement coordinate system. In subsequent operations, the control system can accurately calculate the deviation of the actual transverse tilt angle of the header from the horizontal state by comparing the real-time reading of the header tilt sensor with this calibrated minimum value and the subsequent calibrated horizontal value and maximum value, thereby providing essential raw data basis for the control functions such as automatic leveling of the header, adaptive operation on slopes, etc.

[0048] 2) The specific implementation process of calibrating the horizontal value of the header tilt sensor includes: ①After the minimum value of the header tilt sensor is calibrated and the header is stabilized at the maximum left tilt position, the vehicle controller automatically enters the stage of adjusting the header to the horizontal position according to the sequence of the automatic calibration process. The next target position is set to the horizontal position in the controller internal program. ②The vehicle controller sends control commands to the hydraulic system. Specifically, it sends electrical signals to the enable valve and the header right tilt hydraulic valve to drive the corresponding solenoid valves to act. This operation connects the oil path to the header right tilt hydraulic cylinder or coordinates the control of the left and right tilt hydraulic cylinders in a specific way, aiming to make the header slowly rotate in the right direction from the current left tilt state. ③The hydraulic oil enters the corresponding hydraulic cylinder, pushing the piston rod to move, and through the tilt linkage mechanism, it drives the entire header to rotate smoothly in the right direction around the central hinge point. The header starts to move from the maximum left tilt position to the direction of reducing the left tilt angle. ④During this adjustment process, the header tilt sensor continues to work in real time. It continuously measures the instantaneous tilt angle of the header in the left and right directions and transmits the continuous electrical signal representing the angle to the vehicle controller in real time. ⑤The vehicle controller continuously receives and analyzes the readings of the header tilt sensor. The controller internally stores or calculates a reference signal value or range representing the "horizontal position". This reference value can be a theoretical zero signal or a reference value preset during the installation and debugging of the harvester. ⑥The controller compares the real-time feedback signal of the header tilt sensor with the reference value representing the horizontal position in real time. When the feedback signal value of the sensor enters and stabilizes within the error range allowed by the reference value, the controller preliminarily judges that the header has approached or reached the horizontal position. ⑦After reaching the preliminary judgment condition, the controller may enter a fine adjustment stage, fine-tuning the header posture through smaller amplitude hydraulic valve control until the sensor signal stabilizes at the horizontal reference value. ⑧When the output signal of the header tilt sensor continuously stabilizes within the allowed range of the horizontal reference value for a preset period of time, and the hydraulic system feedback also indicates that the posture adjustment has stopped, the vehicle controller logically confirms that the header has stabilized at the horizontal position. ⑨At the moment when the header is confirmed to be stabilized at the horizontal position, the vehicle controller immediately reads and locks the output signal value of the header tilt sensor at that moment. ⑩The controller defines the stable signal value read at the horizontal position as the horizontal value of the header tilt sensor. This operation establishes a fixed correspondence between the sensor output and the "absolute horizontal state of the header". ⑪The vehicle controller writes the defined horizontal value of the header tilt sensor as a core calibration parameter into the specific address of the non-volatile memory of the control system for permanent storage. ⑫After completing the storage operation, the vehicle controller generates user interface feedback information and displays it to the operator through the display screen, such as "header tilt sensor horizontal value calibration successful".

[0049] The horizontal position refers to a specific attitude of the header in the left-right tilt direction. In this attitude, the transverse axis of the header is parallel to the ground plane or to the reference horizontal plane defined by the machine body, and the left-right tilt angle is zero. The horizontal position is a theoretical reference position, which can be defined mechanically by a specific sensor zero point or mechanical installation symmetry. During the automatic calibration process, the system drives the header by controlling the hydraulic tilt system and relies on the feedback of the header tilt sensor to accurately adjust and stabilize the header in this reference attitude. The horizontal position is the origin of all subsequent tilt angle measurements and is crucial for the automatic leveling function of the header and the stability of the slope operation.

[0050] The horizontal value of the header tilt sensor is a calibration parameter. It specifically refers to the electrical signal value measured and output by the header tilt sensor when the header is accurately adjusted and stabilized in the horizontal position. This value represents the specific output of the sensor when measuring the left-right tilt angle of the header corresponding to the "zero tilt" or "absolute horizontal" state. The control system records and defines this value as the reference zero point of the sensor output range. The fundamental purpose of calibrating this value is to establish an accurate reference origin for the entire tilt measurement system. In all subsequent operations of the harvester, the control system can directly and accurately calculate the actual angle size and direction of the header tilt to the left or right by comparing the value of the header tilt sensor in real time with this calibrated horizontal value. This is the cornerstone of the advanced control functions such as automatic header leveling and slope operation.

[0051] 3) The specific implementation process of calibrating the maximum value of the header tilt sensor is as follows: ①After the calibration of the header tilt sensor's horizontal value is completed and the header is stabilized at the horizontal position, the vehicle controller enters the final stage of the automatic calibration procedure. The controller's internal program sets the next target position as the maximum right tilt position. ②The vehicle controller sends an open command to the enable valve and the header right tilt hydraulic valve in the hydraulic system. The electrical signal drives the corresponding solenoid to actuate, thereby connecting the specific hydraulic oil path to the header right tilt hydraulic cylinder. ③The pressurized hydraulic oil enters the corresponding cavity of the header right tilt hydraulic cylinder, pushing the hydraulic cylinder piston rod to produce linear motion. This linear motion is converted into rotational motion of the header as a whole around the central hinge point in the right direction through the harvester's tilting mechanism, i.e., the header begins to tilt to the right from the horizontal position. ④During the entire process of the header continuously tilting to the right, the header tilt sensor remains in real-time working state. It continuously measures the instantaneous tilt angle of the header in the left-right direction and transmits this angle information in the form of a continuously changing electrical signal to the vehicle controller in real time. ⑤The vehicle controller continuously monitors and records the changes in the header tilt sensor readings. At the same time, the controller may also receive auxiliary signals from the hydraulic system pressure sensor or the tilt hydraulic cylinder stroke sensor for comprehensive judgment of the header's motion state. ⑥When the header tilts to the right to a certain angle, the right tilt hydraulic cylinder will fully extend, or the header's tilting motion is hindered by the mechanical structure itself and cannot continue. At this time, the header reaches the mechanical limit in the right tilt direction. ⑦When the output value of the header tilt sensor remains constant and does not increase for several consecutive sampling periods, and the auxiliary judgment information also confirms that the mechanical motion has stopped, the vehicle controller logically determines that the header has stabilized at the mechanical limit of the right tilt, i.e., the maximum right tilt position. ⑧After confirming that the header has stabilized at the maximum right tilt position, the vehicle controller immediately performs a data latching operation to read and fix the output value of the header tilt sensor at this moment. This latched value directly corresponds to the physical angle limit of the header's right tilt. ⑨The vehicle controller formally defines the value read and latched at this specific position as the maximum value of the header tilt sensor. In this calibration system, this "maximum value" represents the upper limit of the sensor's output range, which corresponds to the maximum angle of right tilt. ⑩The controller defines the maximum value of the header tilt sensor as a key calibration parameter, along with the previously stored minimum value and horizontal value, and writes them into the designated storage area of the control system's non-volatile memory, completing the full storage of the tilt sensor calibration data. ⑪After completing data storage, the vehicle controller generates corresponding procedure confirmation information and displays it to the operator through the display screen's human-machine interface, such as "header tilt sensor maximum value calibration successful."

[0052] The maximum value of the header tilt sensor is a calibration parameter. It refers to the electrical signal value measured and output by the header tilt sensor when the header of the harvester is tilted to the right to the right limit position corresponding to the mechanical limit. This value represents the upper limit of the sensor output corresponding to the right limit angle when measuring the left and right tilt angles of the header. The control system records this value and defines it as a positive or high-end reference point of the sensor output range. The purpose of calibrating this value is to establish a complete tilt angle measurement coordinate system, which together with the minimum value and the horizontal value constitutes a complete measurement reference from the negative limit through the zero point to the positive limit. In subsequent field operations of the harvester, the control system can accurately determine whether the header has reached or approached the limit posture of the right tilt by comparing the real-time readings of the header tilt sensor with the calibrated maximum value, and provides accurate data boundaries for advanced algorithms such as slope operation control and anti-overturning protection, ensuring the safety and accuracy of operation.

[0053] Optionally, in the above technical solution, further comprising: during the automatic calibration process, the state of each sensor is monitored in real time, and when any sensor fails, fault information is output and the automatic calibration process is terminated, and the specific implementation process is as follows: ①After the automatic calibration procedure is started, a monitoring program inside the vehicle controller is activated simultaneously with any lifting or tilting action of the header. This monitoring program runs in a fixed, short time cycle. ②In each monitoring cycle, the vehicle controller actively polls or reads the status information of each sensor involved in the calibration through the vehicle's network bus or dedicated analog-digital input channels. These sensors include the header height sensor, the profile height sensor, the left profile height sensor, the right profile height sensor, and the header tilt angle sensor. ③For sensors with digital interface, the vehicle controller checks the validity of their communication messages, including the message identifier, the cyclic redundancy check code, and the data update period. If no valid message is received or the message check fails for several consecutive monitoring cycles, the sensor communication is preliminarily judged to be failed. ④For sensors with analog interface or providing raw signals, the vehicle controller reads the output voltage, current, or frequency values. The controller program compares these raw signal values with a pre-set reasonable physical range. The lower limit of this range is usually higher than the signal ground level, and the upper limit is lower than the supply voltage, to avoid extreme cases of open circuit or short circuit. If the read signal value continuously exceeds this reasonable range, the sensor signal is preliminarily judged to be failed. ⑤In addition to checking the signal itself, the monitoring program also makes a reasonability judgment. For example, when the header is stationary, it checks whether the readings of each height sensor remain stable within the expected time; or when the header moves at a constant speed, it checks whether the sensor reading trend is consistent with the movement direction and continuously without jumping. If there is abnormal data that violates the physical law, the sensor function is judged to be abnormal. ⑥When a sensor is judged to be possibly failed by any of the above methods, the monitoring program does not take immediate action but enters a confirmation phase lasting for several monitoring cycles, to avoid false judgments caused by transient disturbances. ⑦In the confirmation phase, if the abnormal state of the sensor persists, the monitoring program finally confirms that the sensor is failed. The program generates a fault code containing the specific sensor identifier and records this fault event in the system's non-volatile memory. ⑧Once the sensor failure is confirmed, the vehicle controller immediately executes the automatic calibration procedure termination program. The controller first sends a close command to all control channels of the hydraulic valve group, especially the enable valve, to cut off the power source of the hydraulic system and make all hydraulic cylinders stop immediately. ⑨At the same time of terminating the hydraulic action, the vehicle controller calls the fault information processing module. This module generates a clear text fault information according to the fault code, and the information content includes the name of the failed sensor. ⑩The vehicle controller sends the generated text fault information to the display screen. The display screen displays the fault information to the operator in an eye-catching way, such as popping up a red warning box with icons. The displayed fault information can be specific content such as "header height sensor signal abnormal, automatic calibration has been suspended".After the flow is terminated and the fault information is output, the vehicle controller sets a state flag of the automatic calibration flow to "fault termination", and blocks all starting instructions related to the automatic calibration, until the operator clears the fault code through a diagnostic tool and manually resets, and then the automatic calibration is allowed to be tried again.

[0054] Optionally, in the above technical solution, further comprising: before the automatic calibration, detecting the state of each sensor, when all the sensor states are normal, performing the automatic calibration flow, and the specific implementation process is as follows: ①After the operator selects and triggers the "header automatic calibration" function through the touch display screen, the vehicle controller starts a separate sensor state pre-check subprogram before starting any header action. The task of this subprogram is to perform a comprehensive power-on initialization and communication self-check on all related sensors.

[0055] ②The vehicle controller sends query instructions or starts to listen to the data flow of each sensor that needs to be calibrated through an internal data network or a special input / output interface. These sensors include the header height sensor, the profiling height sensor, the left profiling height sensor, the right profiling height sensor, and the header inclination sensor.

[0056] ③For sensors with digital bus communication capability, the controller checks whether a correct response message in accordance with the predetermined communication protocol can be received within a specified time. The controller verifies the identifier, data length, and check code of the message to ensure that the communication link is smooth and the sensor can respond correctly.

[0057] ④For sensors that output analog or pulse signals, the vehicle controller reads the initial signal value through an analog-to-digital conversion channel. The controller program compares this initial value with a pre-set "physical silent range". This range defines the reasonable interval of the output signal of each sensor when the header is still and in a static state.

[0058] ⑤While performing the static signal check, the pre-check program also performs a simple "cross-verification". For example, in the static state, there should be logical consistency between the readings of the header height sensor, the profiling height sensor, and the left and right profiling height sensors in accordance with the mechanical installation relationship. The program checks whether these readings are contradictory, for example, whether the reading of a profiling height sensor is abnormally higher than the reading of the header height sensor.

[0059] ⑥To further confirm the dynamic response capability of the sensors, the pre-check procedure can control the relevant hydraulic valve to perform a very short and small excitation operation. For example, the enable valve can be momentarily turned on and off to generate a weak system pressure fluctuation, and whether the relevant sensor signal has an expected slight disturbance response is observed to determine whether the sensor is "stuck" at a fixed value.

[0060] ⑦The vehicle controller summarizes the check results of all sensors. Each sensor will obtain an independent "state flag", which can be "normal", "communication failure", "signal out of range", "logic anomaly" or "no response".

[0061] ⑧The controller checks the state flags of all sensors one by one. Only when the state flags of the header height sensor, the profile height sensor, the left profile height sensor, the right profile height sensor, and the header tilt angle sensor are all "normal", the pre-check procedure determines that the overall detection is passed.

[0062] ⑨If all sensor states are normal, the pre-check procedure returns a "calibration allowed" signal to the main control program. The vehicle controller then formally enters the automatic calibration process and starts to perform a series of subsequent calibration actions such as controlling the header to descend to the ground mechanical limit.

[0063] ⑩If the state flag of any one or more sensors in the pre-check procedure is not "normal", the overall detection is determined to be failed. The pre-check procedure will lock the specific sensor or sensors that are abnormal and generate a clear fault prompt information.

[0064] ⑪The controller sends the fault prompt information to the display screen for display, for example, "the left profile height sensor signal is abnormal, and the automatic calibration cannot be started". At the same time, the controller does not issue any action instruction to drive the hydraulic valve, thereby completely preventing the execution of the automatic calibration process, and waiting for the operator to troubleshoot the sensor fault.

[0065] Optionally, in the above technical solution, further comprising: storing calibration data of each sensor, and making a control system of the harvester run a header of the harvester based on the calibration data, and the specific implementation process is as follows: ①When the automatic calibration process is gradually executed and the calibration values of each sensor are successfully obtained, the vehicle controller temporarily stores these results in its internal random access memory. The calibration data to be stored includes the minimum and maximum values of the header height sensor, the minimum and maximum values of the profile height sensor, the minimum and maximum values of the left profile height sensor, the minimum and maximum values of the right profile height sensor, and the minimum, horizontal and maximum values of the header tilt angle sensor.

[0066] ②After all the action steps in the main calibration flow are successfully completed, the vehicle controller starts the data storage subprogram. The primary task of this subprogram is to format and package the calibration data temporarily stored. The controller assigns a unique parameter identifier to each calibration value according to the predetermined data structure, and packs the value and its identifier into a complete data record.

[0067] ③After the data packing is completed, the storage subprogram needs to access the non-volatile memory in the harvester control system. Non-volatile memory is a storage chip that does not lose data after power failure. The controller issues a write-ready instruction to a specific sector or address of the non-volatile memory through the internal data bus and storage controller.

[0068] ④Before formal writing, the controller usually performs a redundant storage plan. That is, the same set of calibration data is saved in two or three different physical areas of the non-volatile memory. This is done to prevent all calibration data from being lost due to damage to a single storage unit, improving data reliability.

[0069] ⑤The controller transmits the packaged calibration data record to the cache of the non-volatile memory in multiple transmissions through the data bus. After each transmission, the controller waits for the write confirmation signal returned by the memory.

[0070] ⑥After completing data transmission to all predetermined addresses, the controller sends the final write execution command. The non-volatile memory permanently burns or solidifies the data in the cache to the storage unit according to the command. The entire writing process may take tens of milliseconds, during which the controller monitors the writing status to ensure the process is completed smoothly.

[0071] ⑦After the data is written, the storage subprogram immediately performs a verification operation. The controller reads the stored value from the address just written in the non-volatile memory and compares it byte by byte with the original calibration data temporarily stored.

[0072] ⑧If the comparison result is completely consistent, it is confirmed that the calibration data storage is successful. The controller writes a "calibration complete" flag to a specific status flag bit in the non-volatile memory. If the comparison finds inconsistencies, the controller will attempt to write again using the backup storage area until it is successful or reports a storage hardware failure.

[0073] ⑨When the calibration data is successfully stored and the "calibration complete" flag is set, the control system of the harvester will automatically read these calibration data from the non-volatile memory and load them into the corresponding parameter variables of the control software during each power-on initialization. At this point, the calibration data becomes a fixed knowledge base that can be called by the control system at any time.

[0074] 10. In the subsequent operation of the header, the control system works based on these calibration data. For example, when the system reads the real-time voltage signal of the header height sensor, it calls the minimum and maximum values of the header height sensor calibration data stored. By comparing the real-time signal value with these two boundary values and linear interpolation, the control system can accurately calculate the current actual height percentage or absolute height of the header, and then decide whether to continue the lifting action.

[0075] 14. For contour control, the system reads the real-time signal of the contour height sensor and compares it with the stored minimum and maximum values of the contour height sensor. When the real-time value is between the minimum and maximum values, the system can determine that the contour mechanism is in the ground contact state; when the real-time value is greater than the maximum value, it is determined that the floating state is away from the ground, so as to determine the opening and closing of the contour valve.

[0076] 15. For leveling control, the system reads the real-time signal of the header inclination sensor and compares it with the minimum, horizontal and maximum values of the header inclination sensor stored. By calculating the degree of deviation of the real-time signal from the horizontal value, the system can accurately know the angle of the header tilting to the left or right, and then drive the corresponding tilting hydraulic valve to automatically compensate for leveling. Through the above method, the stored calibration data enables the control system to accurately interpret the meaning of the sensor signal and issue correct control instructions to operate the header of the harvester.

[0077] In the above embodiments, although the steps are numbered S1, S2, etc., it is only a specific embodiment given by the present application, and those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation. The scheme after adjusting the order is also within the protection scope of the present application, and it can be understood that in some embodiments, some or all of the above embodiments can be included.

[0078] As shown in Figure 2 The embodiment of the present application is a multi-sensor joint automatic calibration system based on the header 200, which comprises a first calibration module 201, a second calibration module 202, a third calibration module 203 and a fourth calibration module 204. The first calibration module 201 is used to control the header of the harvester to descend to the ground mechanical limit, so that the header descends to the lowest position, and based on the lowest position, the minimum value of the header height sensor, the minimum value of the contour height sensor, the minimum value of the left contour height sensor and the minimum value of the right contour height sensor are calibrated respectively. The second calibration module 202 is used to control the header to leave the ground, and based on the position of the header when it just leaves the ground, the maximum value of the contour height sensor, the maximum value of the left contour height sensor and the maximum value of the right contour height sensor are calibrated respectively. The third calibration module 203 is configured to control the header to rise to the mechanical limit, so that the header rises to the highest position, and calibrate the maximum value of the header height sensor based on the highest position. The fourth calibration module 204 is configured to control the header to lean left to the maximum position, calibrate the minimum value of the header tilt angle sensor, control the header to adjust to the horizontal position, calibrate the horizontal value of the header tilt angle sensor, and control the header to lean right to the maximum position, calibrate the maximum value of the header tilt angle sensor.

[0079] Optionally, in the above technical solution, a real-time monitoring module is further included, and the real-time monitoring module is configured to monitor the state of each sensor in real time during the automatic calibration process, and output fault information and terminate the automatic calibration process when any sensor fails.

[0080] Optionally, in the above technical solution, a detection module is further included, and the detection module is configured to detect the state of each sensor before the automatic calibration, and execute the automatic calibration process when all the sensors are in normal state.

[0081] Optionally, in the above technical solution, a storage control module is further included, and the storage control module is configured to store the calibration data of each sensor, and enable the control system of the harvester to operate the header of the harvester based on the calibration data.

[0082] In another embodiment, the system of the present application is composed of a handle button, a vehicle controller, a horn, a hydraulic valve, a hydraulic cylinder, a display screen, a header height sensor, a middle profiling height sensor, a left profiling height sensor, a right profiling height sensor, and a header tilt angle sensor. The handle button includes a header up button, a header down button, a header left lean button, and a header right lean button. The hydraulic cylinder includes a header up hydraulic cylinder, a header down hydraulic cylinder, a header left lean hydraulic cylinder, and a header right lean hydraulic cylinder. The hydraulic valve includes a header up hydraulic valve, a header down hydraulic valve, a header left lean hydraulic valve, a header right lean hydraulic valve, and an enable valve. The header tilt angle sensor is configured to acquire the tilt angle information of the header in the left-right direction in real time. The specific steps of the automatic calibration process are as follows: ①The driver starts the automatic calibration program by touching the "header automatic calibration" button on the display screen.

[0083] ②The vehicle controller detects the state of all sensors, including the header height sensor, the middle profiling height sensor, the left profiling height sensor, the right profiling height sensor, and the header tilt angle sensor. If the state of any sensor is abnormal, the automatic calibration strategy cannot be executed; if the state of all sensors is normal, the automatic calibration strategy continues to Step 3.

[0084] ③The built-in buzzer of the display screen emits a sound alarm, and a prompt window pops up on the screen to display "Please note that the header is being automatically calibrated". The prompt window disappears automatically after 5 seconds of continuous display.

[0085] ④The vehicle controller automatically lowers the header to the mechanically limited lowest position by controlling the hydraulic valve and hydraulic cylinder. After stabilization at the lowest position, the vehicle controller simultaneously calibrates the minimum value of the header height sensor, the minimum value of the middle profiling height sensor, the minimum value of the left profiling height sensor, and the minimum value of the right profiling height sensor. After calibration is complete, the display screen pops up a prompt window displaying information that the calibration of the corresponding sensor minimum values is successful.

[0086] ⑤The vehicle controller automatically raises the header to the mechanically limited highest position by controlling the hydraulic valve and hydraulic cylinder. After stabilization at the highest position, the vehicle controller simultaneously calibrates the maximum value of the header height sensor and the maximum value of the middle profiling height sensor. After calibration is complete, the display screen pops up a prompt window displaying information that the calibration of the maximum values of the header height sensor and the middle profiling height sensor is successful.

[0087] ⑥The vehicle controller automatically tilts the header to the mechanically limited maximum left position by controlling the hydraulic valve and hydraulic cylinder. After stabilization at the maximum left tilt position, the vehicle controller calibrates the minimum value of the header tilt angle sensor and the maximum value of the left profiling height sensor. Subsequently, the vehicle controller automatically adjusts the header to the horizontal position, and after stabilization at the horizontal position, calibrates the horizontal value of the header tilt angle sensor, the horizontal value of the middle profiling height sensor, the horizontal value of the left profiling height sensor, and the horizontal value of the right profiling height sensor. Finally, the vehicle controller automatically tilts the header to the mechanically limited maximum right position, and after stabilization at the maximum right tilt position, calibrates the maximum value of the header tilt angle sensor and the maximum value of the right profiling height sensor. All minimum values, horizontal values, and maximum values mentioned in the calibration process are determined based on the mechanically limited positions.

[0088] ⑦During the automatic calibration process, the vehicle controller monitors the status of each sensor in real time. If it detects that any sensor is malfunctioning, such as abnormal output value or communication interruption, the vehicle controller immediately pops up a fault prompt window on the display screen, displays specific sensor fault information, and terminates the automatic calibration process.

[0089] In addition, after the automatic calibration is complete, the vehicle controller stores the calibration data of all sensors in the non-volatile memory. The stored calibration data includes the minimum and maximum values of the header height sensor, the minimum, maximum, and horizontal values of the middle profiling height sensor, the minimum, maximum, and horizontal values of the left profiling height sensor, the minimum, maximum, and horizontal values of the right profiling height sensor, and the minimum, horizontal, and maximum values of the header tilt angle sensor. The storage process ensures data integrity and retrievability, enabling the control system of the harvester to accurately control the lifting and tilting actions of the header based on these calibration data during subsequent operation, achieving automated operation.

[0090] It should be noted that the beneficial effects of the multi-sensor joint automatic calibration system 200 provided by the above embodiments are the same as those of the multi-sensor joint automatic calibration method, and will not be repeated here. In addition, the system provided by the above embodiments is only exemplified by the division of the above functional modules when realizing its functions, and in actual application, the above functions can be completed by different functional modules according to the needs, that is, the system is divided into different functional modules according to the actual situation to complete all or part of the above described functions. In addition, the system and method embodiments provided by the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0091] The present application also provides a harvester comprising the multi-sensor joint automatic calibration system of any one of the above.

[0092] An electronic device according to an embodiment of the present application includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the multi-sensor joint automatic calibration method of any one of the above when executing the computer program.

[0093] A computer readable storage medium according to an embodiment of the present application has a computer program stored thereon, and the computer program is executable on a processor to implement the multi-sensor joint automatic calibration method of any one of the above.

[0094] The above description is only the preferred embodiments of the present application and the explanation of the applied technical principles. Those skilled in the art should understand that the disclosed range of the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the disclosed concept. For example, the above features are replaced with the technical features disclosed in the present application (but not limited to) having similar functions to form technical solutions.

[0095] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A multi-sensor joint automatic calibration method based on a header, characterized in that, include: The harvester's header is controlled to descend to the ground mechanical limit, so that the header is lowered to the lowest position, and based on the lowest position, the minimum values ​​of the header height sensor, the contour height sensor, the left contour height sensor, and the right contour height sensor are calibrated respectively. When the cutting table is controlled to leave the ground, based on the position of the cutting table when it just leaves the ground, the maximum values ​​of the contour height sensor, the left contour height sensor, and the right contour height sensor are calibrated respectively. The cutting table is controlled to rise to the mechanical limit, so that the cutting table rises to the highest position, and the maximum value of the cutting table height sensor is calibrated based on the highest position; Control the cutting table to tilt to the left to the maximum position and calibrate the minimum value of the cutting table tilt angle sensor; control the cutting table to adjust to the horizontal position and calibrate the horizontal value of the cutting table tilt angle sensor; control the cutting table to tilt to the right to the maximum position and calibrate the maximum value of the cutting table tilt angle sensor.

2. The multi-sensor joint automatic calibration method based on a cutting platform according to claim 1, characterized in that, Also includes: During the automatic calibration process, the status of each sensor is monitored in real time. When any sensor fails, fault information is output and the automatic calibration process is terminated.

3. The multi-sensor joint automatic calibration method based on a cutting platform according to claim 1, characterized in that, Also includes: Before automatic calibration, the status of each sensor is checked. When all sensor statuses are normal, the automatic calibration process is executed.

4. A multi-sensor joint automatic calibration method based on a cutting platform according to any one of claims 1 to 3, characterized in that, Also includes: The calibration data of each sensor is stored, enabling the harvester's control system to operate the harvester's header based on the calibration data.

5. A multi-sensor joint automatic calibration system based on a header, characterized in that, It includes a first calibration module, a second calibration module, a third calibration module, and a fourth calibration module; The first calibration module is used to: control the harvester's header to descend to the ground mechanical limit, so that the header descends to the lowest position, and based on the lowest position, calibrate the minimum value of the header height sensor, the minimum value of the contour height sensor, the minimum value of the left contour height sensor, and the minimum value of the right contour height sensor respectively. The second calibration module is used to: control the cutting table to leave the ground, and based on the position of the cutting table when it just leaves the ground, calibrate the maximum value of the contour height sensor, the maximum value of the left contour height sensor, and the maximum value of the right contour height sensor respectively; The third calibration module is used to: control the cutting table to rise to the mechanical limit so that the cutting table rises to the highest position, and calibrate the maximum value of the cutting table height sensor based on the highest position; The fourth calibration module is used to: control the cutting table to tilt to the left to the maximum position and calibrate the minimum value of the cutting table tilt sensor; control the cutting table to adjust to a horizontal position and calibrate the horizontal value of the cutting table tilt sensor; control the cutting table to tilt to the right to the maximum position and calibrate the maximum value of the cutting table tilt sensor.

6. The multi-sensor joint automatic calibration system based on a cutting platform according to claim 5, characterized in that, It also includes a real-time monitoring module, which is used to: monitor the status of each sensor in real time during the automatic calibration process, and output fault information and terminate the automatic calibration process when any sensor fails.

7. The multi-sensor joint automatic calibration method based on a cutting platform according to claim 5, characterized in that, It also includes a detection module, which is used to: detect the status of each sensor before automatic calibration, and execute the automatic calibration process when all sensor statuses are normal.

8. A harvester, characterized in that, Includes a multi-sensor joint automatic calibration system as described in any one of claims 5 to 7.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the multi-sensor joint automatic calibration method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the multi-sensor joint automatic calibration method according to any one of claims 1 to 4.

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