Header self-tuning method, header control method, and working machine

Abstract

The invention provides a header self-tuning method, a header control method and an operation machine, and belongs to the technical field of operation machines. The header self-tuning method comprises the steps that under the condition that a header is attached to the ground, the header is controlled to freely descend so as to be used for obtaining multiple groups of data pairs of actual soil pressure and soil settlement in the free descending process of the header, and a first data pair is obtained; under the condition that the header stops freely descending, applying pressure to the header in sequence based on a plurality of pressure parameters so as to obtain a data pair of actual soil pressure and soil settlement under each pressure parameter, and obtaining a second data pair; and based on the first data pair and the second data pair, obtaining a first relationship so as to complete self-tuning of the header. The relationship between the actual pressed pressure of the soil and the soil settlement can be accurately established without depending on artificial experience, so that the self-tuning of the header is more accurate.

Description

Technical Field

[0001] This invention relates to the field of machinery technology, specifically to a header self-tuning method, a header control method, a header self-tuning device, a header control device, a machine tool, an electronic device, and a machine-readable storage medium. Background Technology

[0002] Self-tuning of the header refers to the automatic and intelligent adjustment of key operating parameters of the harvesting machinery by its control system to adapt to different crops and field conditions, thereby achieving optimal harvesting results. When the harvesting machinery operates in different regions and seasons, the header's contour-following mechanism is in direct contact with the soil. The soil is subjected to vertical deformation due to the weight of the header and the elastic force of the spring plates, resulting in a deviation from the initial soil height. Therefore, it is necessary to determine the relationship between the actual soil pressure and soil settlement.

[0003] However, currently, the actual soil pressure and soil settlement are determined by human experience, and the relationship between the actual soil pressure and soil settlement cannot be accurately determined. Summary of the Invention

[0004] The purpose of this invention is to provide a header self-tuning method, a header control method, a header self-tuning device, a header control device, a working machine, an electronic device, and a machine-readable storage medium. This header self-tuning method can accurately establish the relationship between the actual soil pressure and soil settlement without relying on human experience, making header self-tuning more accurate.

[0005] To achieve the above objectives, the first aspect of this application provides a method for self-tuning a cutter head, comprising: With the cutting platform in contact with the ground, the cutting platform is controlled to descend freely in order to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent of the cutting platform, and obtain the first data pair; When the cutting platform stops descending freely, pressure is applied to the cutting platform sequentially based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, thus obtaining a second data pair. Based on the first data pair and the second data pair, a first relationship is obtained to complete the self-tuning of the cutting platform.

[0006] In this embodiment of the application, when the cutting platform stops freely descending, pressure is sequentially applied to the cutting platform based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, thus obtaining a second data pair, including: When the cutting platform stops descending freely, after controlling the free descent of the cutting platform for a preset time, pressure is applied to the cutting platform sequentially based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, thus obtaining a second data pair.

[0007] In this embodiment of the application, when the cutting platform is in contact with the ground, controlling the free descent of the cutting platform is used to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent of the cutting platform, to obtain a first data pair, including: With the cutting platform in contact with the ground, the cutting platform is controlled to descend freely; During the process of the cutting platform descending to the maximum contour position, when the cutting platform reaches the preset position, the cutting platform is controlled to stop free descent, and the data pair of the actual soil pressure and soil settlement at the current position is obtained to obtain the data pair of the free descent segment; Based on the data pairs from the free descent segment, the first data pair is obtained.

[0008] In this embodiment of the application, it also includes: After obtaining the data pair of the free descent segment, the cutter platform is controlled to descent freely for a preset time. Then, the data pair of the actual soil pressure and soil settlement at the current position of the cutter platform is obtained to obtain the third data pair. The first data pair obtained based on the data pair from the free descent segment includes: Based on the data pair of the free descent segment and the third data pair, the first data pair is obtained.

[0009] In this embodiment of the application, obtaining the first relationship based on the first data pair and the second data pair includes: Curve fitting is performed on the first data pair and the second data pair to obtain the first relationship.

[0010] In this embodiment of the application, a first sensor and a second sensor are provided on the cutting table; The soil settlement is calculated based on the displacement of the cutter bottom plate assembly obtained by the first sensor and the height displacement of the cutter obtained by the second sensor.

[0011] A second aspect of this application provides a method for controlling a cutting platform, comprising: Obtain the soil compaction depth; Based on the first relationship and the soil compaction depth, the required soil pressure is determined. The first relationship records the relationship between the actual soil pressure and soil settlement. Based on the required soil pressure, the cutting platform is controlled by ground contouring.

[0012] In this embodiment of the application, the ground contour control of the cutting platform based on the required soil pressure includes: Based on the required soil pressure, the initial conforming force is determined; Real-time acquisition of the actual distance between the cutting blade and the bottom plate; Based on the soil compaction depth and the preset cutter height above the ground, the expected height is determined; Based on the actual distance between the cutting blade and the lower base plate and the expected height, the contour control direction of the cutting table is determined; Based on the contour control direction of the cutting platform and the initial contour force, ground contour control is performed on the cutting platform.

[0013] A third aspect of this application provides a self-tuning device for a cutting platform, comprising: The first control module is used to control the free descent of the cutting platform when it is in contact with the ground, so as to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent of the cutting platform, and obtain the first data pair. The second control module is used to apply pressure to the cutting platform sequentially based on multiple pressure parameters when the cutting platform stops descending freely, so as to obtain a data pair of actual soil pressure and soil settlement under each pressure parameter, and obtain a second data pair. The self-tuning module is used to obtain a first relationship based on the first data pair and the second data pair in order to complete the self-tuning of the cutter.

[0014] A fourth aspect of this application provides a cutting table control device, comprising: The acquisition module is used to obtain the soil compaction depth; The determination module is used to determine the required soil pressure based on a first relationship and the soil compaction depth, wherein the first relationship records the relationship between the actual soil pressure and soil settlement. The control module is used to perform ground contour control on the cutting platform based on the required soil pressure.

[0015] The fifth aspect of this application provides a work machine, including a cutting table; The operating machinery uses the above-mentioned header self-tuning method to self-tun the header; and / or The operating machinery uses the above-described cutting platform control method to perform ground contour control on the cutting platform.

[0016] A sixth aspect of this application provides an electronic device, the electronic device comprising: At least one processor; A memory connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-described method by executing the instructions stored in the memory.

[0017] A seventh aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the method described above.

[0018] The above technical solution involves controlling the free descent of the cutter platform while it is in contact with the ground to obtain multiple sets of data pairs on the actual soil pressure and soil settlement during the free descent, resulting in a first data pair. Once the free descent stops, pressure is sequentially applied to the cutter platform based on multiple pressure parameters to obtain data pairs on the actual soil pressure and soil settlement under each pressure parameter, resulting in a second data pair. Based on the first and second data pairs, a first relationship is established to complete the self-tuning of the cutter platform. By obtaining data pairs on the actual soil pressure and soil settlement during the free descent and after the pressure is applied to the cutter platform, the relationship between the actual soil pressure and soil settlement can be accurately established without relying on human experience, making the self-tuning of the cutter platform more accurate.

[0019] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 The illustration shows a flowchart of a cutter self-tuning method according to an embodiment of this application; Figure 2 A schematic diagram illustrating the boom hydraulic control principle based on an electronically controlled variable pump according to an embodiment of this application is shown. Figure 3 The diagram illustrates the soil compressive pressure-settlement characteristics according to an embodiment of this application. Figure 4 The schematic diagram illustrates a flow chart of a cutting table control method according to an embodiment of this application; Figure 5 The schematic diagram illustrates the structure of a self-tuning device for a cutting table according to an embodiment of this application; Figure 6 The schematic diagram illustrates a structural schematic of a cutting table control device according to an embodiment of this application; Figure 7 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0021] Explanation of reference numerals in the attached figures 410-First control module; 420-Second control module; 430-Self-tuning module; 510-Acquisition module; 520-Determination module; 530-Control module; 1-Hydraulic pump; 2-Relief valve; 3-First pressure compensation valve; 4-First directional valve; 5-Second directional valve; 6-Third directional valve; 7-One-way throttle valve; 8-Second pressure compensation valve; 9-Fourth directional valve; 10-Cutter leveling cylinder; 11-Cutter bridge cylinder; 12-Pressure sensor; A01-Processor; A02-Network interface; A03-Internal memory; A04-Display screen; A05-Input device; A06-Non-volatile storage medium; B01-Operating system; B02-Computer program. Detailed Implementation

[0022] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0023] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0024] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0026] Please refer to Figure 1 , Figure 1 The illustration schematically shows a flowchart of a cutter self-tuning method according to an embodiment of this application. Figure 1 As shown, in one embodiment of this application, a header self-tuning method is provided. It should be noted that the header self-tuning method proposed in this embodiment can be applied to various types of harvesting machinery. The header self-tuning mentioned in this embodiment refers to the header system's ability to automatically detect, adjust, and maintain optimal working conditions to cope with constantly changing crop conditions and terrain. The header self-tuning method includes the following steps: Step 210: With the cutting platform in contact with the ground, control the cutting platform to descend freely, so as to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent of the cutting platform, and obtain the first data pair; Step 220: When the cutting platform stops descending freely, apply pressure to the cutting platform sequentially based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, and obtain a second data pair; Step 230: Based on the first data pair and the second data pair, obtain the first relationship to complete the self-tuning of the cutting platform.

[0027] Through the above technical solution, by controlling the free descent of the cutter platform while it is in contact with the ground, multiple sets of data pairs on the actual soil pressure and soil settlement during the free descent are obtained, resulting in a first data pair. When the cutter platform stops descent, pressure is sequentially applied to the platform based on multiple pressure parameters to obtain data pairs on the actual soil pressure and soil settlement under each pressure parameter, resulting in a second data pair. Based on the first and second data pairs, a first relationship is obtained to complete the self-tuning of the cutter platform. By applying different control pressures to the soil and obtaining data pairs on the actual soil pressure and soil settlement during the free descent and after the free descent stops, the relationship between the actual soil pressure and soil settlement can be accurately established without relying on human experience, making the self-tuning of the cutter platform's floating arm cylinder pressure parameters more accurate.

[0028] This self-tuning method for the header can detect the actual soil pressure and soil settlement in different regions and environments. For different regions and environments, the relationship between the actual soil pressure and soil settlement can be established, which can greatly reduce the problem of inconsistent machine harvesting rates caused by geological differences in different regions and environments, and help improve the consistency of harvesting efficiency under different soil conditions.

[0029] In this embodiment, the actual soil pressure can be obtained by calculating the pressure of the cutting platform on the ground. Specifically, it can be calculated according to the pressure calculation formula, and is related to the weight of the profile plate, the stiffness of the profile plate torsion spring, the contact area between the profile plate and the ground, the weight of the cutting platform, the rod chamber pressure and rod chamber area of ​​the hydraulic cylinder that controls the lifting and lowering of the cutting platform.

[0030] For example, during the free descent of the cutting platform, the pressure exerted by the cutting platform on the ground is... ,in For the weight of the profiling plate, For the stiffness of the torsion spring of the profile plate, The area of ​​interaction between the molding board and the ground. This is the detection point; when the cutting platform stops descending, the pressure of the cutting platform on the ground is... ,in The weight of the cutting platform; when the cutting platform stops falling freely and pressure is applied to the cutting platform, the pressure of the cutting platform on the ground is... in For the rod chamber pressure of the bridge hydraulic cylinder, The area of ​​the rod chamber of the bridge cylinder is the area of ​​the cylinder that controls the lifting and lowering of the cutting table. The angle between the two ends of the lifting cylinder of the cutting table and the rotating shaft of the cutting table.

[0031] The aforementioned control of the free descent of the cutting platform and the application of pressure to the cutting platform can be achieved through a cutting platform lifting control system. For example, the cutting platform lifting control system includes a hydraulic cylinder for controlling the lifting of the cutting platform, and the lifting of the cutting platform is controlled by controlling the oil flow in and out of the hydraulic cylinder.

[0032] For example, please see Figure 2 , Figure 2 The diagram illustrates the hydraulic control principle of a boom based on an electronically controlled variable pump according to an embodiment of this application. The cutter head electro-hydraulic control system includes a hydraulic pump 1, an overflow valve 2, a cutter head lifting control system, and a cutter head leveling control system. The hydraulic pump 1 provides a power source to the control system, and the overflow valve 2 limits the output pressure of the hydraulic pump to ensure the safety of the entire system.

[0033] The cutting platform lifting control system includes a first pressure compensation valve 3, a first reversing valve 4, a second reversing valve 5, a third reversing valve 6, a one-way throttle valve 7, a cutting platform bridge cylinder 11, and a pressure sensor 12. The first pressure compensation valve 3 can control the pressure difference between the inlet and outlet of the first reversing valve 4, thereby achieving a proportional relationship between the output flow of the first reversing valve 4 and the control signal. The cutting platform bridge cylinder 11 controls the lifting and lowering of the cutting platform. When the first reversing valve 4 (Ya1) is energized, oil enters the rodless chamber of the cutting platform bridge cylinder 11, and the cutting platform rises. When the second reversing valve 5 (Yb1) is energized, the rod chamber of the header bridge cylinder 11 draws oil from the oil tank through the third reversing valve 6 due to its own weight, causing the header to descend. When the third reversing valve 6 (Ya3) is energized, the hydraulic pump supplies oil to the rod chamber of the header bridge cylinder 11, controlling the pressure of the header on the ground, i.e., applying pressure to the header. The one-way throttle valve 7 is used to achieve throttling control of the header descent, thereby reducing the descent speed of the header. The pressure sensor 12 is used to collect the pressure of the rod chamber of the bridge cylinder and calculate the soil deformation modulus.

[0034] The cutting platform leveling system includes a second pressure compensation valve 8, a fourth directional valve 9, and a cutting platform leveling cylinder 10. The second pressure compensation valve 8 can control the pressure difference between the inlet and outlet of the fourth directional valve 9, thereby achieving a proportional relationship between the output flow of the fourth directional valve 9 and the control signal. When the fourth directional valve 9 (Ya2) is energized, the system oil enters the rodless chamber of the cutting platform leveling cylinder 10, controlling the cutting platform to tilt to the left. When the fourth directional valve 9 (Yb2) is energized, the system oil enters the rod chamber of the cutting platform leveling cylinder 10, controlling the cutting platform to tilt to the left.

[0035] In some examples, the first directional valve 4 and the second directional valve 5 can be two-position two-way proportional directional valves, the third directional valve 6 can be a two-position three-way proportional directional valve, and the fourth directional valve 9 can be a three-position five-way proportional directional valve. Of course, in feasible implementations, the specific form of these directional valves can be selected according to actual needs, and no specific limitation is made here.

[0036] The aforementioned soil settlement can be obtained by calculating the difference between the change in the header height and the change in the displacement of the header's underside plate. Specifically, the change in header height can be obtained by calculating the difference between the current header height and the header height when it is in contact with the ground; correspondingly, the change in the displacement of the header's underside plate can be obtained by calculating the difference between the current header displacement and the header displacement when it is in contact with the ground.

[0037] In some embodiments, a first sensor and a second sensor may be provided on the cutting platform; correspondingly, the soil settlement is calculated based on the displacement of the bottom plate assembly of the cutting platform obtained by the first sensor and the height displacement of the cutting platform obtained by the second sensor.

[0038] In this embodiment, the first sensor is used to acquire the displacement of the lower base plate assembly of the cutting table. The first sensor is also used to acquire the contouring amount of the cutting table's contouring plate in real time. The distance between the cutter and the contouring plate is calculated based on the contouring amount, and the contouring amount is the displacement of the lower base plate assembly of the cutting table. The first sensor can be an angular displacement sensor, which converts angle changes into height changes to obtain the displacement of the lower base plate assembly of the cutting table; it can also be a displacement sensor such as a wire sensor, which obtains the displacement of the cutting table through real-time detection. This embodiment does not limit the type of the first sensor.

[0039] For example, the bottom plate of the cutting table contains multiple floating cutters, and three angle sensors can be installed at the left, middle, and right ends of the cutting table. Except for the floating cutters at the left and right ends, the rotation axes of the other cutters are all connected to the angle sensor in the middle via connecting rods. The floating of any floating cutter's bottom plate assembly will cause a change in the reading of the angle sensor in the middle. The contour of each bottom plate can be detected by the angle sensor in the middle, thereby converting the displacement of the cutting table into the actual displacement.

[0040] In this embodiment, the height of the cutting platform can be obtained by measuring the height of the cutter above the ground. This cutting platform height can also be detected by installing a second sensor on the cutting platform. This second sensor can be an angular displacement sensor, a laser sensor, an ultrasonic sensor, or something similar.

[0041] For example, the header base plate contains multiple floating cutters, which mainly consist of cutters, a flexible header base plate, and various components. An angle sensor is used to detect the angle between the lower base plate assembly and the slewing arm assembly. During harvester operation, the lower base plate assembly remains in contact with the ground. When the ground undulates, the mechanical movement of the lower base plate assembly is converted into an angle sensor signal. By calibrating the angle sensor, the actual header height above the ground can be obtained.

[0042] The displacement change of the bottom plate assembly under the cutter is obtained by calculating the difference between the reading of the first sensor acquired in real time and the reading of the first sensor when the cutter is in contact with the ground; the height change of the cutter is obtained by calculating the difference between the reading of the second sensor acquired in real time and the reading of the second sensor when the cutter is in contact with the ground; finally, the soil settlement is obtained by calculating the difference between the height change of the cutter and the displacement change of the bottom plate assembly under the cutter.

[0043] Soil settlement can be accurately calculated based on the displacement of the cutting platform obtained by the first sensor and the height of the cutting platform obtained by the second sensor.

[0044] In step 210, to facilitate determining the contact between the cutting platform and the ground, in practice, the cutting platform can be slowly lowered until the reading of the first sensor changes. At this point, it indicates that the contour plate is in contact with the ground, i.e., the cutting platform is in contact with the ground. The current reading of the first sensor can be recorded as the initial displacement value of the cutting platform. For example, in the above example, when the cutting platform slowly lowers until the reading of the second angular displacement sensor (i.e., the first sensor) changes, the cutting platform is in contact with the ground, and the reading of the second angular displacement sensor is recorded as... The reading of the second sensor is At this point, the actual soil pressure and soil settlement are both 0.

[0045] In step 210, with the cutting platform in contact with the ground, the platform is controlled to descend freely, meaning it continues to descend due to its own weight. During this process, soil settlement can be expressed as: , , ;in, The height of the cutting platform as obtained by the second sensor during its free descent. The height of the cutting platform is obtained by the second sensor when the cutting platform is in contact with the ground; The displacement of the lower base plate assembly of the cutter table, as acquired by the first sensor during the free descent of the cutter table. The displacement of the lower base plate assembly of the cutting platform is obtained by the first sensor when the cutting platform is in contact with the ground. By acquiring soil settlement and the pressure of the cutting platform on the ground at multiple points, multiple sets of data pairs of actual soil pressure and soil settlement can be obtained, which constitute the first data pair.

[0046] It should be noted that when the cutting table is in contact with the ground, the contouring amount of the contouring plate is 0, which is the reading of the first sensor. =0, then the above soil settlement can be expressed as: .

[0047] In some embodiments, when the cutting platform is in contact with the ground, controlling the free descent of the cutting platform is used to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent of the cutting platform, to obtain a first data pair, including: First, with the cutting platform in contact with the ground, control the free descent of the cutting platform; In this embodiment, when the cutting platform is in contact with the ground, the platform is controlled to continue descending due to its own weight.

[0048] Then, during the process of the cutting platform descending to the maximum contour position, when the cutting platform reaches the preset position, the cutting platform is controlled to stop free descent, and the data pair of the actual soil pressure and soil settlement at the current position is obtained to obtain the data pair of the free descent segment; In this embodiment, the maximum contouring position is the maximum displacement of the lower base plate assembly of the cutting table, which can be predetermined. Specifically, it can be obtained through a first sensor. For example, in the above example, the first sensor is an angle sensor. The maximum contouring of the lower base plate is detected by the intermediate angle sensor, thereby converting it into the maximum displacement of the cutting table. When the reading of the first sensor reaches the maximum contouring reading, the cutting table has descended to the maximum contouring position. The aforementioned preset positions can be multiple preset positions. For example, it can be 'a' points taken at equal intervals before descending to the set limit position of the cutter and the contouring plate. The value of 'a' can be determined according to the actual situation. When the cutting table reaches each preset position, the cutting table is first controlled to stop free descent, and then the data pairs of the actual soil pressure and soil settlement at the current position are obtained. Then, the free descent of the cutting table is controlled again, and multiple data pairs are obtained in this way. Among them, soil settlement can be represented as... The pressure exerted by the cutting platform on the ground can be expressed as .

[0049] Finally, based on the data pairs from the free descent segment, the first data pair is obtained.

[0050] In this embodiment, the data pair of the free descent segment can be used as the first data pair.

[0051] By controlling the cutting platform to descend freely while it is in contact with the ground, and stopping the free descent when the platform reaches the preset position during its descent to the maximum contour position, the data pairs of actual soil pressure and soil settlement at the current position are obtained. This ensures the reliability of the data pairs obtained during the free descent phase and helps to obtain accurate first data pairs.

[0052] In some embodiments, the method further includes: after obtaining the data pair of the free descent segment, continuing to control the free descent of the cutting platform for a preset time, obtaining the data pair of the actual soil pressure and soil settlement of the cutting platform at the current position, and obtaining a third data pair; In this embodiment, the preset duration can be determined according to actual conditions, for example, 10 seconds, to ensure that the cutter head descends to its lowest position under its own weight. After obtaining the data pair of the free descent segment, wait for the preset duration t, at which point the cutter head stops descending and reaches its lowest position under its own weight. The data pair of actual soil pressure and soil settlement at the current position of the cutter head can be recorded; specifically, the readings of the first sensor can be recorded. The reading of the second sensor is At this time, soil subsidence The pressure of the cutting platform on the ground is (in (where the weight is the cutting table weight), thus obtaining the third data pair.

[0053] Accordingly, obtaining the first data pair based on the data pair of the free descent segment includes obtaining the first data pair based on the data pair of the free descent segment and the third data pair.

[0054] In this embodiment, the data pairs from the free descent segment and the third data pair can be combined to obtain the first data pair.

[0055] After obtaining the data pair of the free descent segment, the cutter platform is controlled to descent freely for a preset time. Then, the actual soil pressure and soil settlement data of the cutter platform at the current position are obtained. Combined with the data pair of the free descent segment, a first data pair is obtained. This first data pair includes the data when the cutter platform descends to the position of maximum contouring, making the first data pair more comprehensive and helping to obtain a more accurate first relationship.

[0056] In step 220, after the cutting platform stops freely descending, pressure can continue to be applied to the cutting platform to make it continue to descend. Applying pressure to the cutting platform sequentially based on multiple pressure parameters can be achieved by supplying oil to the hydraulic cylinder controlling the lifting and lowering of the cutting platform to apply control pressure. These pressure parameters can refer to preset pressure values. For example, in the example of the cutting platform lifting and lowering control system, oil can be supplied to the rod chamber of the cutting platform bridge cylinder 11 by a hydraulic pump to apply control pressure to the ground. The pressure in the rod chamber is monitored by a pressure sensor, and data pairs of actual soil pressure and soil settlement are obtained when the pressure values ​​are preset as b. The value of b can be set according to actual needs; for example, b is 4, meaning that data pairs of actual soil pressure and soil settlement are obtained when the pressure values ​​are pa1, pa2, pa3, and pa4 respectively. Specifically, the reading of the first sensor can be recorded as pa1, pa2, pa3, and pa4 respectively. The reading of the second sensor is (in Soil subsidence The pressure of the cutting platform on the ground is ,in For the rod chamber pressure of the bridge hydraulic cylinder, This refers to the rod-side cavity area of ​​the bridge-type hydraulic cylinder.

[0057] It should be noted that the above-mentioned data on the actual soil pressure and soil settlement under various pressure parameters can be obtained by first stopping the application of control pressure to the ground, then obtaining the data on the actual soil pressure and soil settlement, and then continuing to apply control pressure to the ground after obtaining the data.

[0058] In some embodiments, when the cutting platform stops freely descending, applying pressure to the cutting platform sequentially based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, and obtaining a second data pair, includes: When the cutting platform stops descending freely, after controlling the free descent of the cutting platform for a preset time, pressure is applied to the cutting platform sequentially based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, thus obtaining a second data pair.

[0059] In this embodiment, when the header stops freely descending, the header descent button can be operated. After waiting for a preset time, pressure is sequentially applied to the header based on multiple pressure parameters. The preset time can be determined based on actual conditions to ensure the header descends to its lowest position under its own weight. By waiting for the preset time and then sequentially applying pressure to the header based on multiple pressure parameters, data pairs of actual soil pressure and soil settlement under each pressure parameter are obtained. This ensures that the second data pair is based on data obtained under pressure applied to the header, making the second data pair more reliable.

[0060] In step 230, after obtaining the first and second data pairs, the relationship between the actual soil pressure and soil settlement can be established using these data pairs, thus obtaining the first relationship. This establishment can be achieved through training a model, curve fitting, linear interpolation, or by establishing a tabular correspondence.

[0061] In some embodiments, obtaining the first relationship based on the first data pair and the second data pair includes: performing curve fitting on the first data pair and the second data pair to obtain the first relationship.

[0062] In this embodiment, curve fitting can be achieved using existing techniques, which will not be elaborated further. For example, a soil compressive stress-settlement characteristic curve can be plotted using the first and second data pairs. By performing curve fitting on the first and second data pairs, the first relationship can be obtained quickly, and the calculation is simple and convenient.

[0063] It should be noted that the above self-tuning process can be fully automatic or semi-automatic. For example, the user controls the descent of the cutting platform and manually or automatically collects the actual soil pressure P and soil settlement s at each location point.

[0064] To facilitate the explanation of the solution, the above-mentioned cutting platform lifting control system will be used as an example below. Please refer to [link / reference]. Figure 2 Based on the cutting platform's overpass cylinder and the cutting platform's lower base plate (contour plate) applying different pressures P to the ground, the soil settlement s is calculated by detecting the cutting platform height sensor and the second angle sensor, and the soil pressure-settlement characteristic curve is plotted. The process includes the following steps: 1. Enable soil deformation modulus self-tuning control mode; 2. Turn on Yb1, and slowly lower the cutting table until the reading of the second angular displacement sensor changes. Then turn off Yb1 and record the reading of the second angular displacement sensor. Height displacement sensor reading The second angular displacement sensor calculates the distance between the cutter and the contour plate by detecting the contour amount of the contour plate. The contour plate is in contact with the ground. The height displacement sensor is used to measure the height of the cutter above the ground, at which time soil settlement occurs. ; 3. Continue to turn on Yb1. Due to its own weight, the cutting table continues to descend. Before it reaches the set limit position between the cutting blade and the contour plate, take 'a' points at equal intervals. Turn off Yb1 and record the readings of the second angular displacement sensor. Height displacement sensor readings (in At this time, soil subsidence The pressure of the cutting platform on the ground is (in Let k be the weight of the contour plate, and k be the stiffness of the contour plate's torsion spring. (The area of ​​interaction between the contour plate and the ground). 4. Continue to operate Yb1 and wait for the preset time t until the cutting table stops descending. Record the reading of the second angular displacement sensor. Height displacement sensor readings At this time, soil subsidence The pressure of the cutting platform on the ground is (in (weight of the cutting table); 5. Keep Yb1 open and simultaneously open Ya3 ​​to supply oil to the rod chamber of the overhead crane cylinder 11 via the hydraulic pump, applying control pressure to the ground. Monitor the rod chamber pressure using a pressure sensor. When the pressure values ​​are pa1, pa2, pa3, and pa4 (the number of pressure values ​​b can be adjusted according to actual needs), close Ya3 and record the reading of the second angular displacement sensor. Height displacement sensor readings (in At this time, soil subsidence The pressure of the cutting platform on the ground is (in For the rod chamber pressure of the bridge hydraulic cylinder, (area of ​​the rod-side chamber of the bridge-type hydraulic cylinder). 6. Plot the soil compressive pressure-settlement characteristic curve as follows: Figure 3 As shown, Figure 3 The diagram illustrates the soil pressure-settlement characteristics curve according to an embodiment of this application.

[0065] Please refer to Figure 4 , Figure 4 The schematic diagram illustrates a flow chart of a header control method according to an embodiment of this application. Based on the same inventive concept, this embodiment provides a header control method, including the following steps: Step 310: Obtain the soil compaction depth; In this embodiment, the soil compaction depth can be determined based on actual conditions or actual agronomic requirements. For example, the soil compaction depth of the cutting platform can be set as 's' based on local soybean agronomic requirements, thus obtaining the soil compaction depth.

[0066] Step 320: Based on the first relationship and the soil compaction depth, determine the required soil pressure. The first relationship records the relationship between the actual soil pressure and soil settlement. In this embodiment, the first relationship records the relationship between the actual soil pressure and soil settlement. By substituting the soil compaction depth into the soil settlement, the corresponding actual soil pressure is obtained, i.e., the required soil pressure. The aforementioned first relationship can be predetermined, determined using the method described in the above embodiment, or determined by other methods; this embodiment does not impose any limitations.

[0067] Step 330: Based on the required soil pressure, perform ground contour control on the cutting platform.

[0068] In this embodiment, after determining the required soil pressure, the actual soil pressure can be made to match the required soil pressure by controlling the profile of the cutting platform.

[0069] The required soil pressure is determined based on the first relationship and the soil compaction depth. The first relationship records the relationship between the actual soil pressure and soil settlement, so that the required soil pressure can be adapted to different soil types. Based on the required soil pressure, the cutting platform is subjected to ground contour control, which can realize soil adaptive automatic contour control, greatly reducing the problems of inconsistent machine harvesting rates caused by geological differences in different regions and environments, and heavy reliance on the operator's experience with the harvester.

[0070] In some embodiments, the ground contour control of the cutting platform based on the required soil pressure includes: First, based on the required soil pressure, the initial shaping force is determined; In this embodiment, the initial conforming force, i.e., the initial force of the spring plate, can be determined using the formula... The calculation yielded that, The pressure required for the soil, The area of ​​interaction between the molding board and the ground. For the weight of the profiling plate, For the stiffness of the torsion spring of the profile plate, The height of the cutter above the ground can be preset according to actual conditions. This refers to the soil compaction depth. This represents the initial displacement of the spring plate. This is the initial conforming force.

[0071] Then, the actual distance between the cutting blade and the bottom plate is obtained in real time; In this embodiment, the height of the cutter from the bottom plate can be obtained by the first sensor.

[0072] Then, based on the soil compaction depth and the preset cutter height above the ground, the expected height is determined; In this embodiment, the aforementioned expected height is the sum of the soil compaction depth and the preset cutter height above the ground, i.e. .

[0073] Then, based on the actual distance between the cutting blade and the lower base plate and the expected height, the contour control direction of the cutting table is determined; In this embodiment, when the actual distance between the cutter and the bottom plate is less than the expected height, i.e. When the actual height of the cutter blade from the bottom plate is greater than the expected height, it indicates that the cutting platform needs to be raised; when the actual height of the cutter blade from the bottom plate is greater than the expected height, it indicates that the cutting platform needs to be raised. When this occurs, it indicates that the lowering of the cutting platform needs to be controlled.

[0074] Finally, based on the contour control direction of the cutting platform and the initial contour force, ground contour control is performed on the cutting platform.

[0075] In this embodiment, after determining the contour control direction and the initial contour force, the cutting table can be controlled so that the actual cutting distance from the bottom plate is equal to the expected height.

[0076] By acquiring the actual contour measurement in real time and obtaining the initial force of the spring plate to adapt to different soil conditions, closed-loop control can be performed based on the measured distance between the cutter and the bottom plate height and the expected height to achieve precise control of ground contouring.

[0077] For clarity on the proposed solution, please refer to [link / reference]. Figure 2 The following section uses the above-mentioned cutting platform lifting control system as an example to illustrate the process of automatic contour control, including the following steps: 1. Set the cutter height above the ground based on local soybean agronomic requirements. Soil compaction depth at the cutting platform ; 2. Obtain the required soil pressure based on the soil compressive pressure-settlement characteristic curve. ; 3. Set the initial force of the spring plate ; 4. Detect the distance between the cutting table and the spring plate using the second angular displacement sensor. When the height is less than the set value When the system activates Ya1 to control the cutting table to rise; when the contouring amount exceeds the set value... At that time, the system activates Yb1 to control the lowering of the cutting platform.

[0078] This embodiment also provides a working machine, including a cutting table; The operating machinery uses the above-mentioned self-tuning method to self-tun the cutting platform; and / or the operating machinery uses the above-mentioned cutting platform control method to perform ground contour control on the cutting platform.

[0079] In this embodiment, the aforementioned harvesting machinery can be various types of harvesting machinery. By acquiring data pairs of actual soil pressure and soil settlement during the free descent of the header and the application of pressure to the header after it stops descent, the relationship between actual soil pressure and soil settlement can be accurately established, without relying on human experience, making the header self-tuning more accurate. This header self-tuning method can detect the actual soil pressure and soil settlement in different regions and environments. For different regions and environments, corresponding relationships between actual soil pressure and soil settlement can be established, thereby greatly reducing the problem of inconsistent machine harvesting rates caused by geological differences in different regions and environments, and helping to improve the consistency of harvesting efficiency under different soil types.

[0080] Please refer to Figure 5 , Figure 5 This schematically illustrates a structural diagram of a header self-tuning device according to an embodiment of the present application. This embodiment provides a header self-tuning device, including a first control module 410, a second control module 420, and a self-tuning module 430, wherein: The first control module 410 is used to control the free descent of the cutting platform when it is in contact with the ground, so as to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent of the cutting platform, and obtain the first data pair. The second control module 420 is used to apply pressure to the cutting platform sequentially based on multiple pressure parameters when the cutting platform stops freely descending, so as to obtain a data pair of actual soil pressure and soil settlement under each pressure parameter, and obtain a second data pair. The self-tuning module 430 is used to obtain a first relationship based on the first data pair and the second data pair in order to complete the self-tuning of the cutter.

[0081] The self-tuning device for the cutting platform includes a processor and a memory. The first control module 410, the second control module 420, and the self-tuning module 430 are all stored in the memory as program units. The processor executes the program units stored in the memory to achieve the corresponding functions.

[0082] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and the cutter self-tuning can be achieved by adjusting kernel parameters.

[0083] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0084] Please refer to Figure 6 , Figure 6 A schematic diagram of a header control device according to an embodiment of this application is shown. This embodiment also provides a header control device, including an acquisition module 510, a determination module 520, and a control module 530, wherein: Module 510 is used to obtain the soil compaction depth; The determination module 520 is used to determine the required soil pressure based on the first relationship and the soil compaction depth, wherein the first relationship records the relationship between the actual soil pressure and soil settlement. The control module 530 is used to perform ground contour control on the cutting platform based on the required soil pressure.

[0085] The cutting platform control device includes a processor and a memory. The acquisition module 510, determination module 520 and control module 530 are all stored in the memory as program units. The processor executes the program units stored in the memory to realize the corresponding functions.

[0086] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and the cutter control is achieved by adjusting the kernel parameters.

[0087] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0088] This invention provides a machine-readable storage medium storing a program that, when executed by a processor, implements the above-described method.

[0089] This invention provides a processor for running a program, wherein the program executes the above-described method during runtime.

[0090] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown in the figure, the computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a cutter self-tuning method and / or a cutter control method. The display screen A04 can be a liquid crystal display (LCD) or an e-ink display. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0091] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0092] In one embodiment, the apparatus provided in this application can be implemented as a computer program, and the computer program can be implemented as follows: Figure 7 It runs on the computer device shown. The computer device's memory can store the various program modules that make up the device, for example, Figure 5 The first control module 410, the second control module 420, and the self-tuning module 430 are shown. Figure 6 The acquisition module 510, determination module 520, and control module 530 are shown. The computer program comprised of these modules causes the processor to execute the steps of the methods in the various embodiments of this application described in this specification.

[0093] Figure 7 The computer device shown can be used as follows Figure 5 The first control module 410 in the cutter self-tuning device shown executes step 210. The computer device can execute step 220 via the second control module 420. The computer device can execute step 230 via the self-tuning module 430.

[0094] Figure 7 The computer device shown can be used as follows Figure 6 The acquisition module 510 in the cutter control device shown executes step 310. The computer device can execute step 320 via the determination module 520. The computer device can execute step 330 via the control module 530.

[0095] This application provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the above-described method by executing the instructions stored in the memory. When the processor executes the instructions, it performs the following steps: With the cutting platform in contact with the ground, the cutting platform is controlled to descend freely in order to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent of the cutting platform, and obtain the first data pair; When the cutting platform stops descending freely, pressure is applied to the cutting platform sequentially based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, thus obtaining a second data pair. Based on the first data pair and the second data pair, a first relationship is obtained to complete the self-tuning of the cutting platform.

[0096] In one embodiment, when the cutting platform stops freely descending, pressure is sequentially applied to the cutting platform based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, thus obtaining a second data pair, including: When the cutting platform stops descending freely, after controlling the free descent of the cutting platform for a preset time, pressure is applied to the cutting platform sequentially based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, thus obtaining a second data pair.

[0097] In one embodiment, when the cutting platform is in contact with the ground, controlling the free descent of the cutting platform is used to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent process, resulting in a first data pair, including: With the cutting platform in contact with the ground, the cutting platform is controlled to descend freely; During the process of the cutting platform descending to the maximum contour position, when the cutting platform reaches the preset position, the cutting platform is controlled to stop free descent, and the data pair of the actual soil pressure and soil settlement at the current position is obtained to obtain the data pair of the free descent segment; Based on the data pairs from the free descent segment, the first data pair is obtained.

[0098] In one embodiment, it also includes: After obtaining the data pair of the free descent segment, the cutter platform is controlled to descent freely for a preset time. Then, the data pair of the actual soil pressure and soil settlement at the current position of the cutter platform is obtained to obtain the third data pair. The first data pair obtained based on the data pair from the free descent segment includes: Based on the data pair of the free descent segment and the third data pair, the first data pair is obtained.

[0099] In one embodiment, obtaining the first relationship based on the first data pair and the second data pair includes: Curve fitting is performed on the first data pair and the second data pair to obtain the first relationship.

[0100] In one embodiment, a first sensor and a second sensor are provided on the cutting table; The soil settlement is calculated based on the displacement of the cutter bottom plate assembly obtained by the first sensor and the height displacement of the cutter obtained by the second sensor.

[0101] In one embodiment, the soil compaction depth is obtained; Based on the first relationship and the soil compaction depth, the required soil pressure is determined. The first relationship records the relationship between the actual soil pressure and soil settlement. Based on the required soil pressure, the cutting platform is controlled by ground contouring.

[0102] In one embodiment, the ground contour control of the cutting platform based on the required soil pressure includes: Based on the required soil pressure, the initial conforming force is determined; Real-time acquisition of the actual distance between the cutting blade and the bottom plate; Based on the soil compaction depth and the preset cutter height above the ground, the expected height is determined; Based on the actual distance between the cutting blade and the lower base plate and the expected height, the contour control direction of the cutting table is determined; Based on the contour control direction of the cutting platform and the initial contour force, ground contour control is performed on the cutting platform.

[0103] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0105] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0107] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0108] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0109] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0110] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0111] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for self-tuning a cutting platform, characterized in that, include: With the cutting platform in contact with the ground, the cutting platform is controlled to descend freely in order to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent of the cutting platform, and obtain the first data pair; When the cutting platform stops descending freely, pressure is applied to the cutting platform sequentially based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, thus obtaining a second data pair. Based on the first data pair and the second data pair, a first relationship is obtained to complete the self-tuning of the cutting platform.

2. The self-tuning method for the cutting platform according to claim 1, characterized in that, When the cutting platform stops freely descending, pressure is sequentially applied to the cutting platform based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, resulting in a second data pair, including: When the cutting platform stops descending freely, after controlling the free descent of the cutting platform for a preset time, pressure is applied to the cutting platform sequentially based on multiple pressure parameters to obtain data pairs of actual soil pressure and soil settlement under each pressure parameter, thus obtaining a second data pair.

3. The self-tuning method for the cutting platform according to claim 1, characterized in that, With the cutting platform in contact with the ground, the platform is controlled to descend freely to obtain multiple sets of data pairs on the actual soil pressure and soil settlement during the free descent process, resulting in a first data pair, including: With the cutting platform in contact with the ground, the cutting platform is controlled to descend freely; During the process of the cutting platform descending to the maximum contour position, when the cutting platform reaches the preset position, the cutting platform is controlled to stop free descent, and the data pair of the actual soil pressure and soil settlement at the current position is obtained to obtain the data pair of the free descent segment; Based on the data pairs from the free descent segment, the first data pair is obtained.

4. The self-tuning method for the cutting platform according to claim 3, characterized in that, Also includes: After obtaining the data pair of the free descent segment, the cutter platform is controlled to descent freely for a preset time. Then, the data pair of the actual soil pressure and soil settlement at the current position of the cutter platform is obtained to obtain the third data pair. The first data pair obtained based on the data pair from the free descent segment includes: Based on the data pair of the free descent segment and the third data pair, the first data pair is obtained.

5. The self-tuning method for the cutting platform according to claim 1, characterized in that, The step of obtaining the first relationship based on the first data pair and the second data pair includes: Curve fitting is performed on the first data pair and the second data pair to obtain the first relationship.

6. The self-tuning method for the cutting platform according to claim 1, characterized in that, The cutting platform is equipped with a first sensor and a second sensor; The soil settlement is calculated based on the displacement of the cutter bottom plate assembly obtained by the first sensor and the height displacement of the cutter obtained by the second sensor.

7. A method for controlling a cutting table, characterized in that, include: Obtain the soil compaction depth; Based on the first relationship and the soil compaction depth, the required soil pressure is determined. The first relationship records the relationship between the actual soil pressure and soil settlement. Based on the required soil pressure, the cutting platform is controlled by ground contouring.

8. The cutting table control method according to claim 7, characterized in that, The ground contour control of the cutting platform based on the required soil pressure includes: Based on the required soil pressure, the initial conforming force is determined; Real-time acquisition of the actual distance between the cutting blade and the bottom plate; Based on the soil compaction depth and the preset cutter height above the ground, the expected height is determined; Based on the actual distance between the cutting blade and the lower base plate and the expected height, the contour control direction of the cutting table is determined; Based on the contour control direction of the cutting platform and the initial contour force, ground contour control is performed on the cutting platform.

9. A self-tuning device for a cutting platform, characterized in that, include: The first control module is used to control the free descent of the cutting platform when it is in contact with the ground, so as to obtain multiple sets of data pairs of actual soil pressure and soil settlement during the free descent of the cutting platform, and obtain the first data pair. The second control module is used to apply pressure to the cutting platform sequentially based on multiple pressure parameters when the cutting platform stops descending freely, so as to obtain a data pair of actual soil pressure and soil settlement under each pressure parameter, and obtain a second data pair. The self-tuning module is used to obtain a first relationship based on the first data pair and the second data pair in order to complete the self-tuning of the cutter.

10. A cutting table control device, characterized in that, include: The acquisition module is used to obtain the soil compaction depth; The determination module is used to determine the required soil pressure based on a first relationship and the soil compaction depth, wherein the first relationship records the relationship between the actual soil pressure and soil settlement. The control module is used to perform ground contour control on the cutting platform based on the required soil pressure.

11. A type of operating machinery, characterized in that, Including the cutting platform; The operating machinery uses the header self-tuning method according to any one of claims 1-6 to self-tun the header; and / or The operating machinery uses the cutting platform control method described in any one of claims 7-8 to perform ground contour control on the cutting platform.

12. A machine-readable storage medium storing instructions thereon, characterized in that, This instruction is used to cause the machine to perform the method according to any one of claims 1 to 8.

13. An electronic device, characterized in that, The electronic device includes: At least one processor; A memory connected to the at least one processor; The memory stores instructions executable by the at least one processor, which implements the method of any one of claims 1 to 8 by executing the instructions stored in the memory.

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