WO2022205944A1 - 一种采集头转速控制方法、系统、装置及介质 - Google Patents
一种采集头转速控制方法、系统、装置及介质 Download PDFInfo
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- WO2022205944A1 WO2022205944A1 PCT/CN2021/132033 CN2021132033W WO2022205944A1 WO 2022205944 A1 WO2022205944 A1 WO 2022205944A1 CN 2021132033 W CN2021132033 W CN 2021132033W WO 2022205944 A1 WO2022205944 A1 WO 2022205944A1
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- rotational speed
- speed
- vehicle speed
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- head
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- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000012800 visualization Methods 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 14
- 229920000742 Cotton Polymers 0.000 abstract description 28
- 238000003306 harvesting Methods 0.000 abstract description 24
- 230000001276 controlling effect Effects 0.000 description 34
- 230000000875 corresponding effect Effects 0.000 description 34
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/08—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of cotton
- A01D46/085—Control or measuring arrangements specially adapted for cotton harvesters
Definitions
- the present application relates to the technical field of agricultural machinery control, and in particular, to a method, system, device and medium for controlling the rotational speed of a collecting head.
- the cotton picker is a commonly used large-scale agricultural harvesting machine. It is mainly used for cotton harvesting in large cotton fields. Due to the high efficiency of the cotton picker, a lot of labor is saved and the work efficiency of cotton picking is improved. Among them, the collection head of the cotton picker is the main working part of the cotton picker, so the rotation speed of the collection head is the key to affecting the cleaning rate and picking efficiency of the cotton picker.
- the speed control method of the collecting head mainly selects different crops through the display screen, and determines the target speed according to the corresponding relationship between each crop and each speed.
- the rotation speed of the collecting head can no longer be adjusted. Therefore, when the rotation speed of the collecting head is fixed, the excessively fast speed of the cotton picker will lead to the problem of the reduction of the harvest rate, so the harvest rate of the crops will be reduced. , reducing the practicality of the cotton picker.
- the purpose of the present application is to provide a method for controlling the rotation speed of the collecting head, so as to improve the harvesting rate of crops and improve the practicability of the cotton picker.
- the purpose of the present application is to further provide a speed control system, device and medium of a collection head.
- the present application provides a method for controlling the rotational speed of a collection head, including:
- the acquisition head rotary pump is controlled to match the actual rotational speed with the first target rotational speed.
- the method further includes:
- the acquisition head rotary pump is controlled to reduce the actual rotational speed to zero.
- the method before determining the first target rotation speed corresponding to the current vehicle speed according to the first correspondence, the method further includes:
- the travel pump is controlled to match the current vehicle speed with the target vehicle speed.
- the method further includes:
- the acquisition head rotary pump is controlled to match the actual rotational speed with the second target rotational speed.
- control of the collection head to rotate the pump so that the actual rotational speed matches the first target rotational speed specifically:
- an adjustment signal is sent to the rotary pump of the acquisition head, so that the rotary pump of the acquisition head controls the actual rotation speed to match the first target rotation speed according to the adjustment signal.
- the method includes:
- an alarm signal is sent to the visualization device, so as to display the alarm signal on the visualization interface.
- the present application also provides a speed control system for a collection head, including: a speed sensor, a vehicle speed sensor, a collection head rotary pump, and a connection with the rotation speed sensor, the vehicle speed sensor and the collection head rotary pump the controller;
- the controller is configured to preset a first correspondence between the vehicle speed and the rotational speed, obtain the current vehicle speed sent by the vehicle speed sensor and the actual rotational speed sent by the rotational speed sensor, and determine the relationship with the vehicle according to the first correspondence. For the first target rotation speed corresponding to the current vehicle speed, the rotary pump of the collecting head is controlled to match the actual rotation speed with the first target rotation speed.
- the present application also provides a speed control device for a collection head, including:
- a first setting module used to preset a first correspondence between the vehicle speed and the rotational speed
- the first acquisition module is used to acquire the current vehicle speed and the actual rotation speed
- a first determining module configured to determine a first target rotational speed corresponding to the current vehicle speed according to the first correspondence
- the first control module is used for controlling the rotary pump of the acquisition head to match the actual rotational speed with the first target rotational speed.
- the present application also provides a speed control device for a collection head, including:
- the processor is configured to implement the steps of the above-mentioned method for controlling the rotational speed of the acquisition head when the computer program is executed.
- the present application also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned method for controlling the rotational speed of the acquisition head is realized. A step of.
- a first correspondence between the vehicle speed and the rotational speed is preset, and after obtaining the current vehicle speed and the actual rotational speed, the first target rotational speed corresponding to the current vehicle speed is determined according to the first correspondence, and The rotary pump of the collecting head is controlled to match the actual rotation speed with the first target rotation speed. Since the first correspondence between the vehicle speed and the rotation speed is preset, the rotation speed of the collecting head can be adjusted according to the vehicle speed in the process of collecting crops, which avoids the problem that the harvest rate of crops is reduced due to excessive vehicle speed at the same rotation speed. Therefore, the harvesting rate of crops is improved, and the practicability of the cotton picker is improved.
- a collection head rotational speed control system, device and medium provided by the present application correspond to the above-mentioned collection head rotational speed control method, and the effects are the same as above.
- FIG. 1 is a flowchart of a method for controlling the rotational speed of a collection head provided by an embodiment of the present application
- FIG. 3 is a graph of a difference between an actual rotational speed and a first target rotational speed and an output current provided by an embodiment of the present application
- FIG. 4 is a graph of a handle position and vehicle speed according to an embodiment of the present application.
- FIG. 5 is a schematic structural diagram of a speed control system for a collection head provided by an embodiment of the present application.
- FIG. 6 is a schematic structural diagram of a device for controlling the rotational speed of a collection head provided by an embodiment of the application;
- FIG. 7 is a schematic structural diagram of another apparatus for controlling the rotational speed of a collection head according to an embodiment of the present application.
- the core of the present application is to provide a method for controlling the rotation speed of the collecting head, which is used to improve the harvesting rate of crops and improve the practicability of the cotton picker.
- the core of the present application is to further provide a speed control system, device and medium for a collection head.
- FIG. 1 is a flowchart of a method for controlling the rotational speed of a collection head according to an embodiment of the present application. As shown in Figure 1, based on the controller, the method includes:
- S12 Determine a first target rotation speed corresponding to the current vehicle speed according to the first correspondence.
- the current vehicle speed is collected by the vehicle speed sensor, and the actual rotation speed is collected by the rotation speed sensor.
- the vehicle speed sensor can be installed on the collection head or the cotton picker, and the rotation speed sensor can be installed on the side of the collection head.
- FIG. 2 is a graph of vehicle speed and rotational speed according to an embodiment of the present application.
- Nmin for the corresponding rotation speed when the vehicle speed is 0, so as to ensure that the collection head of the cotton picker can still collect cotton when the vehicle speed is 0.
- V1 the threshold V1
- the corresponding rotation speed The speed will no longer increase with the increase of the vehicle speed. While ensuring the clean rate of the cotton picker, it avoids the problem that the collector head of the cotton picker is damaged due to too fast rotation speed when the cotton picker is blocked.
- N1 is the rotational speed corresponding to the vehicle speed
- a is the ratio of the rotational speed to the vehicle speed
- V is the vehicle speed
- Nmin is the minimum rotational speed
- Nmax is the maximum rotational speed.
- S13 controlling the rotary pump of the collection head to match the actual rotational speed with the first target rotational speed is specifically:
- the collecting head rotary pump controls the actual rotation speed according to the adjustment signal to match the first target rotation speed.
- the collecting head rotating pump drives the hydraulic motor according to the adjustment signal, and the hydraulic motor drives the collecting head to rotate so that the actual rotation speed matches the first target rotation speed. match.
- the type of the adjustment signal is not limited, and its specific type matches the type of the rotary pump of the collection head.
- the adjustment signal is the output current.
- FIG. 3 is a graph of a difference between an actual rotation speed and a first target rotation speed and an output current according to an embodiment of the present application.
- the larger the difference between the actual rotation speed and the first target rotation speed the larger the output current and the faster the rate of change of the output current; the smaller the difference, the smaller the output current and the rate of change of the output current.
- the slower the speed the larger the difference between the actual rotation speed and the first target rotation speed, the higher the speed at which the controller controls the actual rotation speed to match the first target rotation speed, and the smaller the difference, the higher the controller's speed. control precision.
- I is the output current
- b, c, d, and e are the cubic term coefficient, quadratic term coefficient, primary term coefficient and constant term, respectively
- ⁇ N is the difference between the actual rotational speed and the first target rotational speed.
- a first correspondence between the vehicle speed and the rotational speed is preset, and after obtaining the current vehicle speed and the actual rotational speed, the first target rotational speed corresponding to the current vehicle speed is determined according to the first correspondence, and The rotary pump of the collecting head is controlled to match the actual rotation speed with the first target rotation speed. Since the first corresponding relationship between the vehicle speed and the rotation speed is preset, the rotation speed of the collecting head can be adjusted according to the vehicle speed during the harvesting of crops, which avoids the problem that the harvest rate of crops is reduced due to the excessively fast vehicle speed at the same rotation speed. Therefore, the harvesting rate of crops is improved, and the practicability of the cotton picker is improved.
- the method for controlling the rotational speed of the collecting head further includes:
- the current pressure of the pump driven by the collection head is acquired, and when the current pressure exceeds a preset threshold, the collection head is controlled to rotate the pump so that the actual rotation speed drops to zero.
- the pressure sensor is used to collect the current pressure of the above-mentioned collection head driving the pump, and send it to the controller.
- the controller 13 is used to control the rotation pump of the acquisition head to reduce the actual rotation speed to zero when the current pressure exceeds the preset threshold.
- the controller is connected to the visualization device, wherein the visualization device includes a visualization interface, and the method for controlling the rotational speed of the acquisition head further includes:
- the alarm signal may include a preset threshold and current pressure.
- controller and the visualization device are connected through a controller area network (Controller Area Network, CAN), a communication interface RS232 or RS485, an Ethernet (Ethernet), and a communication protocol Modbus-TCP.
- controller area network Controller Area Network, CAN
- communication interface RS232 or RS485 an Ethernet (Ethernet)
- Ethernet an Ethernet
- Modbus-TCP a communication protocol Modbus-TCP.
- the controller and the collection head driving pump are connected to the pressure sensor, it is possible to judge whether the collection head is abnormal through the pressure sensor, and at the same time, when the collection head works abnormally, it is possible to take the The protection measures that the actual rotation speed drops to zero, thus improving the safety of the cotton picker during use, and also improving the service life of the collecting head.
- the second correspondence between the handle position and the vehicle speed is preset, the target handle position is obtained, the corresponding target vehicle speed is determined according to the second correspondence, and the travel pump is controlled to match the current vehicle speed with the target vehicle speed.
- FIG. 4 is a graph of handle position and vehicle speed according to an embodiment of the present application.
- the handle position is positively correlated with the vehicle speed, so in a specific implementation, the vehicle speed can be controlled by the handle position.
- the formula of handle position and vehicle speed is as follows:
- V is the vehicle speed
- H is the handle position
- m is the proportional coefficient
- the cotton picker can be controlled to travel according to user needs (the above control travel pump to match the current vehicle speed with the target vehicle speed), thus further improving the practicability of the method for controlling the rotational speed of the collecting head.
- User experience the above control travel pump to match the current vehicle speed with the target vehicle speed
- the method for controlling the rotational speed of the acquisition head further includes:
- the third correspondence between the handle position and the rotation speed is preset, and the current handle position is acquired in the case of receiving the state signal sent by the button device indicating the current parking state, and the corresponding second target rotation is determined according to the third correspondence speed, control the pickup head to rotate the pump to match the actual rotational speed with the second target rotational speed.
- the button device is also used to send a driving state signal representing the current driving state to the controller, so that the controller can enter the step of obtaining the current vehicle speed and the actual rotation speed according to the driving state signal.
- the handle position is positively correlated with the rotation speed.
- the controller is connected with the handle and the security inspection device through the Controller Area Network (CAN), the communication interface RS232 or RS485, the Ethernet (Ethernet), and the communication protocol Modbus-TCP.
- CAN Controller Area Network
- RS232 or RS485 the communication interface RS232 or RS485, the Ethernet (Ethernet)
- Ethernet the Ethernet
- Modbus-TCP the communication protocol Modbus-TCP.
- the controller when it receives a state signal representing the current parking state, it can also receive the current pressure of the pump driven by the collection head sent by the pressure sensor, and control the collection when the current pressure exceeds a preset threshold.
- the head spins the pump to bring the actual rotational speed to zero.
- the rotation speed of the acquisition head when the controller is connected to the button device, when the state signal representing the parking state is received, the rotation speed of the acquisition head can be controlled by the position of the handle, so it is beneficial to The practicability of the method for controlling the rotation speed of the collecting head is further improved by quickly removing the crop debris blocked on the collecting head when the cotton picker is in a parked state.
- FIG. 5 is a schematic structural diagram of a rotational speed control system of a collection head provided by an embodiment of the present application.
- the speed control system of the collection head includes: a speed sensor 10 , a vehicle speed sensor 11 , a collection head rotary pump 12 , and a controller 13 connected to the rotation speed sensor 10 , the vehicle speed sensor 11 and the collection head rotary pump 12 .
- the controller 13 is used to preset the first correspondence between the vehicle speed and the rotational speed, obtain the current vehicle speed sent by the vehicle speed sensor 11 and the actual rotational speed sent by the rotational speed sensor 10, and determine the first target corresponding to the current vehicle speed according to the first correspondence Rotation speed, control the acquisition head to rotate the pump 12 to match the actual rotation speed with the first target rotation speed.
- the collection head rotational speed control system includes a rotational speed sensor, a vehicle speed sensor, a collection head rotary pump, and a controller connected to the rotational speed sensor, the vehicle speed sensor and the collection head rotational pump, wherein the controller is used to preset the vehicle speed
- the first corresponding relationship with the rotation speed after the current vehicle speed and the actual rotation speed are obtained, the first target rotation speed corresponding to the current vehicle speed is determined according to the first correspondence relationship, and the rotary pump of the collecting head is controlled to make the actual rotation speed and the first target rotation speed. Speed match.
- the rotation speed of the collecting head can be adjusted according to the vehicle speed during the harvesting of crops, which avoids the problem that the harvest rate of crops is reduced due to the excessively fast vehicle speed at the same rotation speed. Therefore, the harvesting rate of crops is improved, and the practicability of the cotton picker is improved.
- the method for controlling the rotational speed of the acquisition head is described, and the present application also provides an embodiment corresponding to the apparatus for controlling the rotational speed of the acquisition head. It should be noted that this application describes the embodiments of the device part from two perspectives, one is based on the perspective of functional modules, and the other is based on the perspective of hardware.
- FIG. 6 is a schematic structural diagram of a device for controlling rotation speed of a collection head according to an embodiment of the present application. As shown in Figure 6, based on the perspective of functional modules, the device includes:
- the first setting module 20 is configured to preset a first correspondence between the vehicle speed and the rotation speed.
- the first obtaining module 21 is used to obtain the current vehicle speed and the actual rotational speed.
- the first determination module 22 is configured to determine the first target rotational speed corresponding to the current vehicle speed according to the first correspondence.
- the first control module 23 is used to control the rotary pump of the acquisition head to match the actual rotation speed with the first target rotation speed.
- it also includes:
- the second acquisition module is configured to acquire the current pressure of the pump driven by the acquisition head.
- the second control module is configured to control the rotation pump of the acquisition head to reduce the actual rotation speed to zero when the current pressure exceeds the preset threshold.
- the second setting module is used to preset the second corresponding relationship between the handle position and the vehicle speed.
- the third acquisition module is used to acquire the position of the target handle.
- the second determining module is configured to determine the corresponding target vehicle speed according to the second corresponding relationship.
- the third control module is used for controlling the travel pump to match the current vehicle speed with the target vehicle speed.
- the third setting module is used to preset the third correspondence between the handle position and the rotation speed.
- the fourth obtaining module is configured to obtain the current handle position in the case of receiving a state signal that is sent by the key device and indicates that the vehicle is currently in a parking state.
- the third determining module is configured to determine the corresponding second target rotation speed according to the third corresponding relationship.
- the fourth control module is used to control the rotary pump of the acquisition head to match the actual rotation speed with the second target rotation speed.
- the sending module is configured to send an alarm signal to the visualization device when the current pressure exceeds a preset threshold, so as to display the alarm signal on the visualization interface.
- a first correspondence between the vehicle speed and the rotational speed is preset, and after obtaining the current vehicle speed and the actual rotational speed, the first target rotational speed corresponding to the current vehicle speed is determined according to the first correspondence , and control the rotary pump of the collection head to match the actual rotation speed with the first target rotation speed. Since the first corresponding relationship between the vehicle speed and the rotation speed is preset, the rotation speed of the collecting head can be adjusted according to the vehicle speed during the harvesting of crops, which avoids the problem that the harvest rate of crops is reduced due to the excessively fast vehicle speed at the same rotation speed. Therefore, the harvesting rate of crops is improved, and the practicability of the cotton picker is improved.
- FIG. 7 is a schematic structural diagram of another apparatus for controlling the rotational speed of a collection head according to an embodiment of the present application. As shown in Figure 7, based on the hardware structure, the device includes:
- the processor 31 is configured to implement the steps of the method for controlling the rotational speed of the acquisition head in the above embodiment when executing the computer program.
- the processor 31 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like.
- the processor 31 may use at least one hardware form among digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). accomplish.
- the processor 31 may also include a main processor and a co-processor.
- the main processor is a processor used to process data in the wake-up state, also called a central processing unit (CPU);
- the co-processor is a A low-power processor for processing data in a standby state.
- the processor 31 may be integrated with a graphics processor (Graphics Processing Unit, GPU), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen.
- the processor 31 may further include an artificial intelligence (Artificial Intelligence, AI) processor, where the AI processor is used to process computing operations related to machine learning.
- AI Artificial Intelligence
- Memory 30 may include one or more computer-readable storage media, which may be non-transitory. Memory 30 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash storage devices. In this embodiment, the memory 30 is at least used to store the following computer program 301 , where, after the computer program 301 is loaded and executed by the processor 31 , the relevant steps of the method for controlling the rotational speed of the acquisition head disclosed in any of the foregoing embodiments can be implemented. In addition, the resources stored in the memory 30 may also include an operating system 302, data 303, etc., and the storage mode may be short-term storage or permanent storage. The operating system 302 may include Windows, Unix, Linux, and the like. The data 303 may include, but is not limited to, the data involved in the method for controlling the rotational speed of the acquisition head, and the like.
- the speed control device of the acquisition head may further include a display screen 32 , an input/output interface 33 , a communication interface 34 , a power supply 35 and a communication bus 36 .
- FIG. 7 does not constitute a limitation on the rotational speed control device of the acquisition head, and may include more or less components than those shown in the drawings.
- the device for controlling the rotation speed of the acquisition head includes a memory and a processor.
- the processor executes a program stored in the memory, the processor can implement the following method: preset a first correspondence between the vehicle speed and the rotation speed, obtain the current vehicle speed and the actual speed After the rotation speed is determined, the first target rotation speed corresponding to the current vehicle speed is determined according to the first correspondence, and the rotary pump of the collecting head is controlled to match the actual rotation speed with the first target rotation speed. Since the first corresponding relationship between the vehicle speed and the rotation speed is preset, the rotation speed of the collecting head can be adjusted according to the vehicle speed during the harvesting of crops, which avoids the problem that the harvest rate of crops is reduced due to the excessively fast vehicle speed at the same rotation speed. Therefore, the harvesting rate of crops is improved, and the practicability of the cotton picker is improved.
- the present application also provides an embodiment corresponding to a computer-readable storage medium.
- a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the steps described in the foregoing method embodiments are implemented.
- the methods in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium.
- the technical solutions of the embodiments of the present application can be embodied in the form of software products in essence, or the parts that make contributions to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage In the medium, all or part of the steps of the methods described in the various embodiments of the present application are performed.
- the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .
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Abstract
一种采集头转速控制方法、系统、装置及介质，其中方法包括，预先设置车速与旋转速度的第一对应关系，获取当前车速和实际旋转速度后，依据第一对应关系确定与当前车速对应的第一目标旋转速度，并控制采集头旋转泵使实际旋转速度与第一目标旋转速度匹配。由于预先设置车速与旋转速度的第一对应关系，因此在采集农作物过程中能够根据车速调整采集头的旋转速度，避免了在同一旋转速度下，过快的车速导致农作物的采净率下降的问题，故提高了农作物的采净率，提高了采棉机的实用性。
Description
本申请要求于2021年4月2日提交中国专利局、申请号为202110361684.8、发明名称为“一种采集头转速控制方法、系统、装置及介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及农业机械控制技术领域，特别是涉及一种采集头转速控制方法、系统、装置及介质。
采棉机是现有常用的一种大型农用收获机器，主要用于大型棉田棉花的采收工作，由于采棉机的高效率，节约了大量的劳动力同时提高了采摘棉花的工作效率。其中，采棉机的采集头作为采棉机的主要作业部件，因此采集头的转速是影响采棉机的采净率和采摘效率的关键。
目前，采集头转速控制方法主要是通过显示屏选择不同的农作物，根据各农作物与各转速的对应关系确定目标转速。但由于在选择目标农作物后，采集头的转速无法再进行调整，因此在采集头转速固定时，过快的采棉机车速将会导致采净率下降的问题，故降低了农作物的采净率，降低了采棉机的实用性。
由此可见，如何提高农作物的采净率、提高采棉机的实用性是本领域技术人员亟待解决的问题。
发明内容
本申请的目的是提供一种采集头转速控制方法，用以提高农作物的采净率、提高采棉机的实用性。本申请的目的是还提供一种采集头转速控制系统、装置及介质。
为解决上述技术问题，本申请提供一种采集头转速控制方法，包括：
预先设置车速与旋转速度的第一对应关系；
获取当前车速以及实际旋转速度；
根据所述第一对应关系确定与所述当前车速对应的第一目标旋转速度；
控制采集头旋转泵以使所述实际旋转速度与所述第一目标旋转速度匹配。
优选的，在控制器压力传感器连接的情况下，其中所述压力传感器设置于采集头驱动泵上，所述方法还包括：
获取所述采集头驱动泵的当前压力；
在所述当前压力超过预设阈值的情况下，控制所述采集头旋转泵以使所述实际旋转速度降为零。
优选的，所述根据所述第一对应关系确定与所述当前车速对应的第一目标旋转速度前，还包括：
预先设置手柄位置与所述车速的第二对应关系；
获取目标手柄位置；
根据所述第二对应关系确定对应的目标车速；
控制所述行驶泵以使所述当前车速与所述目标车速匹配。
优选的，在控制器与按键装置连接的情况下，所述方法还包括：
预先设置所述手柄位置与所述旋转速度的第三对应关系；
在接收到所述按键装置发送的表征当前处于驻车状态的状态信号的情况下，获取当前手柄位置；
根据所述第三对应关系确定对应的第二目标旋转速度；
控制所述采集头旋转泵以使所述实际旋转速度与所述第二目标旋转速度匹配。
优选的，所述控制采集头旋转泵以使所述实际旋转速度与所述第一目标旋转速度匹配，具体为：
计算所述实际旋转速度与所述第一目标旋转速度间的差值；
根据所述差值向所述采集头旋转泵发送调节信号，以便于所述采集头旋转泵根据所述调节信号控制所述实际旋转速度与所述第一目标旋转速度匹配。
优选的，在所述控制器与可视化装置连接的情况下，其中所述可视化 装置包含有可视化界面，所述方法包括：
在所述当前压力超过预设阈值的情况下，向所述可视化装置发送告警信号，以便于在所述可视化界面上显示所述告警信号。
为解决上述技术问题，本申请还提供一种采集头转速控制系统，包括：转速传感器、车速传感器、采集头旋转泵、以及与所述转速传感器、所述车速传感器和所述采集头旋转泵连接的控制器；
所述控制器，用于预先设置车速与旋转速度的第一对应关系，获取所述车速传感器发送的当前车速以及所述转速传感器发送的实际旋转速度，根据所述第一对应关系确定与所述当前车速对应的第一目标旋转速度，控制所述采集头旋转泵以使所述实际旋转速度与所述第一目标旋转速度匹配。
为解决上述技术问题，本申请还提供一种采集头转速控制装置，包括：
第一设置模块，用于预先设置车速与旋转速度的第一对应关系；
第一获取模块，用于获取当前车速以及实际旋转速度；
第一确定模块，用于根据所述第一对应关系确定与所述当前车速对应的第一目标旋转速度；
第一控制模块，用于控制采集头旋转泵以使所述实际旋转速度与所述第一目标旋转速度匹配。
为解决上述技术问题，本申请还提供一种采集头转速控制装置，包括：
存储器，用于存储计算机程序；
处理器，用于执行所述计算机程序时实现如上所述的采集头转速控制方法的步骤。
为解决上述技术问题，本申请还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如上所述的采集头转速控制方法的步骤。
本申请所提供的采集头转速控制方法，预先设置车速与旋转速度的第一对应关系，获取当前车速和实际旋转速度后，依据第一对应关系确定与当前车速对应的第一目标旋转速度，并控制采集头旋转泵使实际旋转速度与第一目标旋转速度匹配。由于预先设置车速与旋转速度的第一对应关系， 因此在采集农作物过程中能够根据车速调整采集头的旋转速度，避免了在同一旋转速度下，过快的车速导致农作物的采净率下降的问题，故提高了农作物的采净率，提高了采棉机的实用性。
此外，本申请提供的一种采集头转速控制系统、装置及介质，与上述采集头转速控制方法对应，效果同上。
为了更清楚地说明本申请实施例，下面将对实施例中所需要使用的附图做简单的介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种采集头转速控制方法的流程图；
图2为本申请实施例提供的一种车速与旋转速度的曲线图；
图3为本申请实施例提供的一种实际旋转速度和第一目标旋转速度间的差值与输出电流的曲线图；
图4为本申请实施例提供的一种手柄位置与车速的曲线图；
图5为本申请实施例提供的一种采集头转速控制系统的结构示意图；
图6为本申请实施例提供的一种采集头转速控制装置的结构示意图；
图7为本申请实施例提供的另一种采集头转速控制装置的结构示意图。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下，所获得的所有其他实施例，都属于本申请保护范围。
本申请的核心是提供一种采集头转速控制方法，用以提高农作物的采净率、提高采棉机的实用性。本申请的核心是还提供一种采集头转速控制 系统、装置及介质。
为了使本技术领域的人员更好地理解本申请方案，下面结合附图和具体实施方式对本申请作进一步的详细说明。
需要说明的是，本申请提供的一种采集头转速控制方法、系统、装置及介质可以应用于各种采集农作物的采集机器，为了便于本领域技术人员的理解，下文将以采棉机为例进行详细的说明。
图1为本申请实施例提供的一种采集头转速控制方法的流程图。如图1所示，基于控制器，该方法包括：
S10：预先设置车速与旋转速度的第一对应关系。
S11：获取当前车速以及实际旋转速度。
S12：根据第一对应关系确定与当前车速对应的第一目标旋转速度。
S13：控制采集头旋转泵以使实际旋转速度与第一目标旋转速度匹配。
需要说明的是，当前车速具体是通过车速传感器采集得到，实际旋转速度时通过转速传感器采集得到，车速传感器可安装于采集头或采棉机上，转速传感器可安装于采集头侧面。
图2为本申请实施例提供的一种车速与旋转速度的曲线图。如图2所示，在车速为0时对应的旋转速度存在初值Nmin，以此保证在车速为0时采棉机的采集头仍能够采集棉花，在车速大于阈值V
1时，对应的旋转速度将不在随车速的增大而增大，在保证采棉机的采净率的同时，避免了采棉机的采集头在发生堵塞时因转速太快而导致采集头损坏的问题。
如图2所示，车速与旋转速度之间的对应关系如下式所示：
其中，N
1为与车速对应的旋转速度，a为旋转速度与车速的比值，V为车速，N
min为最小旋转速度，N
max为最大旋转速度。
作为优选的实施例，为了便于控制实际旋转速度达到第一目标旋转速度，S13：控制采集头旋转泵以使实际旋转速度与第一目标旋转速度匹配具体为：
计算实际旋转速度与第一目标旋转速度间的差值，根据差值向采集头旋转泵发送调节信号，以便于采集头旋转泵根据调节信号控制实际旋转速度与第一目标旋转速度匹配。其中，采集头旋转泵根据调节信号控制实际旋转速度与第一目标旋转速度匹配具体为：采集头旋转泵根据调节信号驱动液压马达，液压马达带动采集头旋转使得实际旋转速度与第一目标旋转速度匹配。
需要说明的是，调节信号的类型不做限制，其具体类型与采集头旋转泵的类型匹配，例如当采集头旋转泵的类型为电磁阀时，调节信号为输出电流。
图3为本申请实施例提供的一种实际旋转速度和第一目标旋转速度间的差值与输出电流的曲线图。如图3所示，实际旋转速度和第一目标旋转速度间的差值越大，输出电流越大，输出电流的变化率越快；差值越小，输出电流越小，输出电流的变化率越慢，因此能够在实际旋转速度和第一目标旋转速度间的差值越大时，提高控制器控制实际旋转速度与第一目标旋转速度匹配的速度，在差值越小时，提高控制器的控制精度。
如图3所示，车速与旋转速度之间的对应关系如下式所示：
I＝bΔN
3+cΔN
2+dΔN+e；
其中，I为输出电流，b、c、d、e分别为三次项系数、二次项系数、一次项系数以及常数项，ΔN为实际旋转速度和第一目标旋转速度间的差值。
本申请所提供的采集头转速控制方法，预先设置车速与旋转速度的第一对应关系，获取当前车速和实际旋转速度后，依据第一对应关系确定与当前车速对应的第一目标旋转速度，并控制采集头旋转泵使实际旋转速度与第一目标旋转速度匹配。由于预先设置车速与旋转速度的第一对应关系，因此在采集农作物过程中能够根据车速调整采集头的旋转速度，避免了在同一旋转速度下，过快的车速导致农作物的采净率下降的问题，故提高了农作物的采净率，提高了采棉机的实用性。
在上述实施例的基础上，在控制器和采集头驱动泵与压力传感器连接的情况下，采集头转速控制方法还包括：
获取采集头驱动泵的当前压力，在当前压力超过预设阈值的情况下，控制采集头旋转泵以使实际旋转速度降为零。
其中，压力传感器用于采集上述采集头驱动泵的当前压力，并发送至控制器。控制器13用于在当前压力超过预设阈值的情况下，控制采集头旋转泵以使实际旋转速度降为零。
为了提高用户的使用体验感，作为优选的实施例，在控制器与可视化装置连接的情况下，其中可视化装置包含有可视化界面，采集头转速控制方法还包括：
在当前压力超过预设阈值的情况下，向可视化装置发送告警信号，以便于在可视化界面上显示告警信号。其中，告警信号可包含有预设阈值和当前压力。
其中，控制器与可视化装置通过控制器局域网络(Controller Area Network,CAN)、通讯接口RS232或RS485、以太网(Ethernet)、通讯协议Modbus-TCP进行连接。
本申请实施例所提供的采集头转速控制方法，在控制器和采集头驱动泵与压力传感器连接的情况下，能够通过压力传感器判断采集头是否工作异常，同时在采集头工作异常时能够采取将实际旋转速度降为零的保护措施，因此提高了采棉机在使用过程中的安全性，同时也提高了采集头的使用寿命。
在上述实施例的基础上，S12前，还包括：
预先设置手柄位置与车速的第二对应关系，获取目标手柄位置，根据第二对应关系确定对应的目标车速，控制行驶泵以使当前车速与目标车速匹配。
图4为本申请实施例提供的一种手柄位置与车速的曲线图。如图4所示，手柄位置与车速呈正相关，因此在具体实施中可以通过手柄位置控制车辆速度。其中，手柄位置与车速的公式如下：
V＝mH；
式中，V为车速，H为手柄位置，m为比例系数。
可以理解的是，通过与手柄和行驶泵，能够控制采棉机按照用户需求进行行驶(上述控制行驶泵以使当前车速与目标车速匹配)，因此进一步提高了采集头转速控制方法的实用性以及用户的使用体验感。
在上述实施例的基础上，在控制器与按键装置连接的情况下，采集头转速控制方法还包括：
预先设置手柄位置与旋转速度的第三对应关系，在接收到按键装置发送的表征当前处于驻车状态的状态信号的情况下，获取当前手柄位置，根据第三对应关系确定对应的第二目标旋转速度，控制采集头旋转泵以使实际旋转速度与第二目标旋转速度匹配。
可以理解的是，在具体实施中，按键装置还用于向控制器发送表征当前处于行车状态的行车状态信号，以便于控制器根据所述行车状态信号进入获取当前车速以及实际旋转速度的步骤。
需要说明的是，手柄位置与旋转速度正相关。其中，控制器与手柄和安检装置通过控制器局域网络(Controller Area Network，CAN)、通讯接口RS232或RS485、以太网(Ethernet)、通讯协议Modbus-TCP进行连接。
进一步的，在控制器接收到表征当前处于驻车状态的状态信号的情况下，还能够接收压力传感器发送的采集头驱动泵的当前压力，并在当前压力超过预设阈值的情况下，控制采集头旋转泵以使实际旋转速度降为零。
本申请实施例所提供的采集头转速控制方法，在控制器与按键装置连接的情况下，在接收到表征驻车状态的状态信号时，能够通过手柄位置控制采集头的旋转速度，因此有利于通过采棉机处于驻车状态下，快速的去除阻塞在采集头的农作物碎片等，进一步提高了采集头转速控制方法的实用性。
图5为本申请实施例提供的一种采集头转速控制系统的结构示意图。 如图5所示，采集头转速控制系统包括：转速传感器10，车速传感器11，采集头旋转泵12，以及与转速传感器10、车速传感器11和采集头旋转泵12连接的控制器13。
控制器13，用于预先设置车速与旋转速度的第一对应关系，获取车速传感器11发送的当前车速以及转速传感器10发送的实际旋转速度，根据第一对应关系确定与当前车速对应的第一目标旋转速度，控制采集头旋转泵12以使实际旋转速度与第一目标旋转速度匹配。
由于系统部分的实施例与方法部分的实施例相互对应，因此系统部分的实施例请参见系统部分的实施例的描述，这里暂不赘述。
本申请实施例所提供的采集头转速控制系统，包括转速传感器、车速传感器、采集头旋转泵、以及与转速传感器、车速传感器和采集头旋转泵连接的控制器，其中，控制器用于预先设置车速与旋转速度的第一对应关系，获取当前车速和实际旋转速度后，依据第一对应关系确定与当前车速对应的第一目标旋转速度，并控制采集头旋转泵使实际旋转速度与第一目标旋转速度匹配。由于预先设置车速与旋转速度的第一对应关系，因此在采集农作物过程中能够根据车速调整采集头的旋转速度，避免了在同一旋转速度下，过快的车速导致农作物的采净率下降的问题，故提高了农作物的采净率，提高了采棉机的实用性。
在上述实施例中，对于采集头转速控制方法进行了描述，本申请还提供采集头转速控制装置对应的实施例。需要说明的是，本申请从两个角度对装置部分的实施例进行描述，一种是基于功能模块的角度，另一种是基于硬件的角度。
图6为本申请实施例提供的一种采集头转速控制装置的结构示意图。如图6所示，基于功能模块的角度，该装置包括：
第一设置模块20，用于预先设置车速与旋转速度的第一对应关系。
第一获取模块21，用于获取当前车速以及实际旋转速度。
第一确定模块22，用于根据第一对应关系确定与当前车速对应的第一目标旋转速度。
第一控制模块23，用于控制采集头旋转泵以使实际旋转速度与第一目标旋转速度匹配。
由于装置部分的实施例与方法部分的实施例相互对应，因此装置部分的实施例请参见方法部分的实施例的描述，这里暂不赘述。
作为优选的实施例，还包括：
第二获取模块，用于获取采集头驱动泵的当前压力。
第二控制模块，用于在当前压力超过预设阈值的情况下，控制采集头旋转泵以使实际旋转速度降为零。
还包括：
第二设置模块，用于预先设置手柄位置与车速的第二对应关系。
第三获取模块，用于获取目标手柄位置。
第二确定模块，用于根据第二对应关系确定对应的目标车速。
第三控制模块，用于控制行驶泵以使当前车速与目标车速匹配。
还包括：
第三设置模块，用于预先设置手柄位置与旋转速度的第三对应关系。
第四获取模块，用于在接收到按键装置发送的表征当前处于驻车状态的状态信号的情况下，获取当前手柄位置。
第三确定模块，用于根据第三对应关系确定对应的第二目标旋转速度。
第四控制模块，用于控制采集头旋转泵以使实际旋转速度与第二目标旋转速度匹配。
还包括：
发送模块，用于在当前压力超过预设阈值的情况下，向可视化装置发送告警信号，以便于在可视化界面上显示告警信号。
本申请实施例所提供的采集头转速控制装置，预先设置车速与旋转速度的第一对应关系，获取当前车速和实际旋转速度后，依据第一对应关系确定与当前车速对应的第一目标旋转速度，并控制采集头旋转泵使实际旋转速度与第一目标旋转速度匹配。由于预先设置车速与旋转速度的第一对应关系，因此在采集农作物过程中能够根据车速调整采集头的旋转速度，避免了在同一旋转速度下，过快的车速导致农作物的采净率下降的问题， 故提高了农作物的采净率，提高了采棉机的实用性。
图7为本申请实施例提供的另一种采集头转速控制装置的结构示意图。如图7所示，基于硬件结构的角度，该装置包括：
存储器30，用于存储计算机程序；
处理器31，用于执行计算机程序时实现如上述实施例中采集头转速控制方法的步骤。
其中，处理器31可以包括一个或多个处理核心，比如4核心处理器、8核心处理器等。处理器31可以采用数字信号处理(Digital Signal Processing，DSP)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)、可编程逻辑阵列(Programmable Logic Array，PLA)中的至少一种硬件形式来实现。处理器31也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称中央处理器(Central Processing Unit，CPU)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器31可以在集成有图像处理器(Graphics Processing Unit，GPU)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器31还可以包括人工智能(Artificial Intelligence，AI)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器30可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器30还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。本实施例中，存储器30至少用于存储以下计算机程序301，其中，该计算机程序301被处理器31加载并执行之后，能够实现前述任一实施例公开的采集头转速控制方法的相关步骤。另外，存储器30所存储的资源还可以包括操作系统302和数据303等，存储方式可以是短暂存储或者永久存储。其中，操作系统302可以包括Windows、Unix、Linux等。数据303可以包括但不限于采集头转速控制方法中涉及的数据等。
在一些实施例中，采集头转速控制装置还可包括有显示屏32、输入输出接口33、通信接口34、电源35以及通信总线36。
本领域技术人员可以理解，图7中示出的结构并不构成对采集头转速控制装置的限定，可以包括比图示更多或更少的组件。
本申请实施例提供的采集头转速控制装置，包括存储器和处理器，处理器在执行存储器存储的程序时，能够实现如下方法：预先设置车速与旋转速度的第一对应关系，获取当前车速和实际旋转速度后，依据第一对应关系确定与当前车速对应的第一目标旋转速度，并控制采集头旋转泵使实际旋转速度与第一目标旋转速度匹配。由于预先设置车速与旋转速度的第一对应关系，因此在采集农作物过程中能够根据车速调整采集头的旋转速度，避免了在同一旋转速度下，过快的车速导致农作物的采净率下降的问题，故提高了农作物的采净率，提高了采棉机的实用性。
最后，本申请还提供一种计算机可读存储介质对应的实施例。计算机可读存储介质上存储有计算机程序，计算机程序被处理器执行时实现如上述方法实施例中记载的步骤。
可以理解的是，如果上述实施例中的方法以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上对本申请所提供的一种采集头转速控制方法、系统、装置及介质进行了详细介绍。说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下， 还可以对本申请进行若干改进和修饰，这些改进和修饰也落入本申请权利要求的保护范围内。
还需要说明的是，在本说明书中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
Claims (10)
- 一种采集头转速控制方法，其特征在于，包括：预先设置车速与旋转速度的第一对应关系；获取当前车速以及实际旋转速度；根据所述第一对应关系确定与所述当前车速对应的第一目标旋转速度；控制采集头旋转泵以使所述实际旋转速度与所述第一目标旋转速度匹配。
- 根据权利要求1所述的采集头转速控制方法，其特征在于，在控制器压力传感器连接的情况下，其中所述压力传感器设置于采集头驱动泵上，所述方法还包括：获取所述采集头驱动泵的当前压力；在所述当前压力超过预设阈值的情况下，控制所述采集头旋转泵以使所述实际旋转速度降为零。
- 根据权利要求1或2所述的采集头转速控制方法，其特征在于，所述根据所述第一对应关系确定与所述当前车速对应的第一目标旋转速度前，还包括：预先设置手柄位置与所述车速的第二对应关系；获取目标手柄位置；根据所述第二对应关系确定对应的目标车速；控制所述行驶泵以使所述当前车速与所述目标车速匹配。
- 根据权利要求3所述的采集头转速控制方法，其特征在于，在控制器与按键装置连接的情况下，所述方法还包括：预先设置所述手柄位置与所述旋转速度的第三对应关系；在接收到所述按键装置发送的表征当前处于驻车状态的状态信号的情况下，获取当前手柄位置；根据所述第三对应关系确定对应的第二目标旋转速度；控制所述采集头旋转泵以使所述实际旋转速度与所述第二目标旋转速度匹配。
- 根据权利要求1所述的采集头转速控制方法，其特征在于，所述控制采集头旋转泵以使所述实际旋转速度与所述第一目标旋转速度匹配，具体为：计算所述实际旋转速度与所述第一目标旋转速度间的差值；根据所述差值向所述采集头旋转泵发送调节信号，以便于所述采集头旋转泵根据所述调节信号控制所述实际旋转速度与所述第一目标旋转速度匹配。
- 根据权利要求2所述的采集头转速控制方法，其特征在于，在所述控制器与可视化装置连接的情况下，其中所述可视化装置包含有可视化界面，所述方法包括：在所述当前压力超过预设阈值的情况下，向所述可视化装置发送告警信号，以便于在所述可视化界面上显示所述告警信号。
- 一种采集头转速控制系统，其特征在于，包括：转速传感器、车速传感器、采集头旋转泵、以及与所述转速传感器、所述车速传感器和所述采集头旋转泵连接的控制器；所述控制器，用于预先设置车速与旋转速度的第一对应关系，获取所述车速传感器发送的当前车速以及所述转速传感器发送的实际旋转速度，根据所述第一对应关系确定与所述当前车速对应的第一目标旋转速度，控制所述采集头旋转泵以使所述实际旋转速度与所述第一目标旋转速度匹配。
- 一种采集头转速控制装置，其特征在于，包括：第一设置模块，用于预先设置车速与旋转速度的第一对应关系；第一获取模块，用于获取当前车速以及实际旋转速度；第一确定模块，用于根据所述第一对应关系确定与所述当前车速对应的第一目标旋转速度；第一控制模块，用于控制采集头旋转泵以使所述实际旋转速度与所述第一目标旋转速度匹配。
- 一种采集头转速控制装置，其特征在于，包括：存储器，用于存储计算机程序；处理器，用于执行所述计算机程序时实现如权利要求1至6任意一项所述的采集头转速控制方法的步骤。
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至6任意一项所述的采集头转速控制方法的步骤。
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