Load power control method, device and control equipment

Abstract

The embodiments of the present application provide a load power control method, device and control equipment, which relate to the field of agricultural machinery control technology. The method includes: when the harvesting machinery is in the starting operation state, the speed collected by the preset speed sensor is obtained, and it is judged whether the state of the harvesting machinery meets the preset power increase condition of the engine. If it does, the engine power increase state is entered, and the output power of the engine is increased and adjusted until the speed collected after the power increase adjustment is within the corresponding preset speed range; if the real-time load of the engine has reached the preset overload entry condition after the power increase adjustment, the overload holding state is entered; when the preset overload timer has not expired, if it is monitored that the state of the engine meets the preset overload exit condition, then exit and re-enter the starting operation state. As a result, the present application realizes the temporary power boost function of the harvesting machinery, and improves the operation efficiency and service life.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery control technology, and in particular to a load power control method, device and control equipment. Background Art

[0002] With the rapid development of harvesting machinery, in order to meet the diversification of operating functions on harvesting machinery, the demand for power control in harvesting machinery is becoming more and more numerous and complex.

[0003] In the prior art, in most operating scenarios, harvesting machinery can only operate based on the rated power, and there is no need for a temporary power boost function.

[0004] However, in most operating scenarios of harvesting machinery, it is very likely to encounter some problems of insufficient power, which makes it impossible to meet the actual operating needs of the operating scenario, and may even cause damage to the parts in the harvesting machinery, affecting both the operating efficiency and the service life of the harvesting machinery. Summary of the Invention

[0005] One of the objectives of this application is to provide a load power control method that can prevent a harvester from experiencing insufficient engine output power, thereby ensuring stable operation of the harvester. This method can improve both the harvester's operating efficiency and its service life. Furthermore, this application also provides a load power control device and a control apparatus.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0007] In a first aspect, an embodiment of the present application provides a load power control method, the method comprising:

[0008] When the harvesting machine is in a starting operation state, obtaining a rotation speed collected by a preset rotation speed sensor in the harvesting machine;

[0009] determining, based on the rotational speed, whether the state of the harvesting machine satisfies a preset power increase condition for an engine in the harvesting machine;

[0010] If the preset power increase condition is met, the engine power increase state is entered, and in the engine power increase state, the output power of the engine is increased and adjusted until the speed collected after the power increase adjustment is within the corresponding preset speed range;

[0011] If the real-time load of the engine has reached the preset overload entry condition after the power increase adjustment, the overload holding state is entered;

[0012] In the overload holding state, and before the preset overload timer expires, if it is monitored that the state of the engine meets the preset overload exit condition, the overload holding state is exited and the initial operation state is re-entered.

[0013] Optionally, the rotation speed includes: the engine rotation speed collected by a rotation speed sensor of the engine, and the rotation speed of at least one working machine collected by a rotation speed sensor of at least one working machine in the harvesting machine;

[0014] The step of determining whether the state of the harvesting machine satisfies a preset power increase condition of the engine in the harvesting machine based on the rotational speed includes:

[0015] Determining whether a decrease in the engine speed and the at least one working machine speed within N consecutive first cycles exceeds a preset speed change threshold; wherein N is an integer greater than or equal to 2;

[0016] If the decrease in the engine speed and the at least one working machine speed exceeds the preset speed change threshold within the N consecutive first cycles, it is determined that the state of the harvesting machine meets the preset power increase condition;

[0017] If the decrease in the engine speed and the at least one working machine speed within the N consecutive first cycles does not exceed the preset speed change threshold, it is determined that the state of the harvesting machine does not meet the preset power increase condition.

[0018] Optionally, if the preset power increase condition is met, then entering an engine power increase state, and in the engine power increase state, increasing and adjusting the output power of the engine until the speed collected after the power increase adjustment is within a corresponding preset speed range, this step includes:

[0019] If the preset power increase condition is met, the real-time accumulated load of the engine in the N consecutive first cycles is obtained, and the engine power increase state is entered;

[0020] In the engine power increasing state, the amount to be adjusted is calculated according to the real-time load accumulation and a preset increase weight; the preset increase weight is any value greater than 1;

[0021] The output power of the engine is increased and adjusted according to the amount to be adjusted until all rotational speeds collected after the power increase adjustment are within the corresponding preset rotational speed range.

[0022] Optionally, the amount to be adjusted is a single torque increase amplitude, and the step of increasing the output power of the engine according to the amount to be adjusted until all speeds collected after the power increase adjustment are within a corresponding preset speed range includes:

[0023] According to the single torque increase amplitude, the output power of the engine is increased by performing torque increase adjustment on the engine until all speeds collected after the torque increase adjustment are within the corresponding preset speed range; or

[0024] The amount to be adjusted is a single power increase value, and the output power of the engine is increased and adjusted according to the single power increase value until all speeds collected after the torque increase adjustment are within the corresponding preset speed range.

[0025] Optionally, in the overload holding state and before the preset overload timer expires, if it is monitored that the state of the engine meets a preset overload exit condition, the method further includes:

[0026] In the overload holding state, and before the preset overload timer expires, determining whether the engine speed is within a preset engine speed range for N consecutive second cycles;

[0027] In the overload holding state, and before the preset overload timer expires, determining whether the real-time load of the engine is less than a first preset overload exit threshold;

[0028] If the engine speed is within the preset engine speed range for N consecutive second periods, and the real-time load of the engine is less than the preset overload exit threshold, it is determined that the state of the engine meets the preset overload exit condition.

[0029] Optionally, the method further includes:

[0030] In the overload holding state, if the overload switch has been turned off or the preset overload timer has expired, the overload holding state is exited and the vehicle enters a deceleration state;

[0031] In the vehicle deceleration state, the engine speed is set to a second preset overload exit threshold, and a target speed adjustment amount is determined according to the current speed of the harvesting machine;

[0032] According to the target vehicle speed adjustment amount, the harvesting machine is controlled to perform deceleration adjustment until the speed collected after the deceleration adjustment is within the corresponding preset speed range.

[0033] Optionally, the step of determining the target speed adjustment amount according to the current speed of the harvesting machine includes:

[0034] According to the current vehicle speed, a preset correspondence between a vehicle speed range and a vehicle speed adjustment amount is adopted to determine that the vehicle speed adjustment amount corresponding to the target vehicle speed range in which the current vehicle speed is located is the target vehicle speed adjustment amount.

[0035] Optionally, the method further includes:

[0036] After the rotation speed collected after the deceleration adjustment is within the corresponding preset rotation speed range, the system re-enters the initial operation state.

[0037] In a second aspect, an embodiment of the present application further provides a load power control device, the device comprising:

[0038] An acquisition module, configured to acquire a rotational speed collected by a preset rotational speed sensor in the harvesting machine when the harvesting machine is in a starting operation state;

[0039] a judgment module, configured to judge, based on the rotational speed, whether the state of the harvesting machine satisfies a preset power increase condition of an engine in the harvesting machine;

[0040] an adjustment module, configured to enter an engine power increase state if the preset power increase condition is met, and in the engine power increase state, increase and adjust the output power of the engine until the speed collected after the power increase adjustment is within a corresponding preset speed range;

[0041] an overload entry module, configured to enter an overload holding state if the real-time load of the engine has reached a preset overload entry condition after the power increase adjustment;

[0042] The overload exit module is used to exit the overload holding state and re-enter the operating state if it is monitored that the state of the engine meets the preset overload exit condition before the preset overload timer expires in the overload holding state.

[0043] In a third aspect, an embodiment of the present application further provides a control device comprising: a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement any load power control method described in the first aspect.

[0044] Compared with the prior art, this application has the following beneficial effects:

[0045] An embodiment of the present application provides a load power control method, which can judge whether the state of the harvesting machine meets the preset power increase condition by the speed collected by the preset speed sensor of the harvesting machine in the working state, thereby realizing automatic judgment of whether the engine needs to increase power adjustment based on the speed of the harvesting machine. At the same time, it also realizes the conditional judgment of whether power increase is needed based on the working state of the harvesting machine in the actual working state; if the preset power increase condition is met, the output power of the engine can be increased and adjusted so that the speed collected after the power increase adjustment is within the corresponding preset speed range, and when the real-time load of the engine has reached the preset overload entry condition after the power increase adjustment, the harvesting machine enters the overload holding state, thereby realizing automatic judgment by increasing the power of the engine to enter the overload holding state; and in the overload holding state, the overload switch of the harvesting machine is turned on, and the preset overload timer is started. Before the preset overload timer expires, if it is monitored that the state of the engine meets the preset overload exit condition, the overload holding state is exited and the working state is re-entered, thereby realizing automatic exit from the overload holding state when the preset overload timer has not expired.

[0046] Therefore, the load power control method provided in the present application enables the harvesting machinery to enter the overload holding state through temporary power boost in combination with the actual speed obtained when in operation, thereby avoiding the occurrence of insufficient power of the harvesting machinery in the actual operation scenario, ensuring the stable operation of the harvesting machinery, and improving the operation efficiency of the harvesting machinery, as well as the service life and automation performance of the harvesting machinery.

[0047] At the same time, in the load power control method provided in the present application, since no parts of the harvesting machine are added, there is no need to increase the engine cost of the harvesting machine, thereby reducing the power control cost of the harvesting machine.

[0048] Accordingly, the load power control device and the control equipment provided by the present application have the beneficial effects of the above-mentioned load power control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 A schematic structural diagram of a power control system in a harvesting machine provided in an embodiment of the present application;

[0051] Figure 2 An example process of a load power control method provided in an embodiment of the present application Figure 1 ;

[0052] Figure 3 An example process of a load power control method provided in an embodiment of the present application Figure 2 ;

[0053] Figure 4 An example process of a load power control method provided in an embodiment of the present application Figure 3 ;

[0054] Figure 5 An example process of a load power control method provided in an embodiment of the present application Figure 4 ;

[0055] Figure 6 An example process of a load power control method provided in an embodiment of the present application Figure 5 ;

[0056] Figure 7 A schematic structural diagram of a load power control device provided in an embodiment of the present application;

[0057] Figure 8 A schematic diagram of the structure of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0059] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without making any creative efforts shall fall within the scope of protection of the present application.

[0060] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0061] In the description of this application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the invented product is usually placed when in use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0062] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0063] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other; the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0064] Since the harvesting machinery can only switch to the overload state in a fixed period and does not have a temporary power boost function, it is easy for the engine power to be insufficient, resulting in low operating efficiency of the harvesting machinery and thus reducing the service life of the harvesting machinery. The embodiment of the present application provides a load power control method, device and control equipment to flexibly control the current state of the harvesting machinery and the preset power increase conditions, and determine whether the harvesting machinery can enter the overload holding state to achieve a temporary power boost of the harvesting machinery, which can not only improve the operating efficiency of the harvesting machinery, but also increase the service life of the harvesting machinery.

[0065] An embodiment of the present application provides a load power control method, which can be applied to an operation scenario where a harvesting machine is in operation and has corresponding harvesting operation requirements. This embodiment is not limited and can be set according to actual conditions.

[0066] In order to clearly describe the load power control method provided in the embodiment of the present application, an exemplary application scenario of the load power control method for a harvesting machine is first described in detail with reference to the accompanying drawings. Figure 1 This is a schematic diagram of the structure of a power control system in a harvesting machine provided in an embodiment of the present application. The harvesting machine may include: an engine and at least one working machine. The engine may be a device that provides power to the harvesting machine, such as a diesel engine, an internal combustion engine or a gasoline engine, etc., which is not limited here and can be set according to actual conditions. At the same time, the engine of the harvesting machine is connected to the power of each working machine, and at least one working machine may include, for example: a harvesting table auger, a bridge, a feeding acceleration roller and a threshing drum, etc., which is not limited here and can be set according to actual conditions. Figure 1As shown, the power control system 100 in the harvesting machinery includes: a vehicle control unit 110 and an engine control unit 120.

[0067] The vehicle control unit 110 is a VCU (vehicle controller unit), which serves as the powertrain controller for the entire harvester. To ensure proper movement during operation, the harvester may also include at least one motion module, such as wheels and axles. These are not limited here and can be configured based on actual needs.

[0068] Optionally, the vehicle speed sensor 111 may be installed on a motion module in the harvester. The specific installation location is not limited here, and is used to collect the real-time travel speed of the harvester, that is, the vehicle speed. At the same time, the speed sensor of the working machine may be installed on a rotating component of the corresponding working machine of the harvester to collect the real-time operating speed of the harvester. The speed sensor of the corresponding working machine may include a cutting table auger speed sensor, a bridge speed sensor, a feed acceleration roller speed sensor, and a threshing drum speed sensor, etc., which are not limited here.

[0069] The engine control unit 120 is an electronic control unit (ECU), an electronic device that controls engine operation. To ensure the normal operation of the harvester's engine, the motion module in the harvester can also be equipped with a torque acquisition device 121, an engine speed sensor 122, and a load acquisition device 123. The torque acquisition device 121 is used to acquire the change in the torque of the harvester's engine, that is, to obtain the engine's acceleration capability; the engine speed sensor 122 is used to acquire the number of revolutions per minute of the engine crankshaft, which is related to the number of work operations of the harvester within a preset time or the size of the engine's output power, that is, the engine's output power can change with different speeds; the load acquisition device 123 is used to collect the real-time load of the harvester's engine when the engine speed sensor 122 remains unchanged, and observe the relationship between other performance parameters of the harvester and the change in real-time load.

[0070] When the harvesting machinery is operating normally, the vehicle control unit 110 and the engine control unit 120 are communicatively connected, and the vehicle speed data collected by the vehicle speed sensor 111 and the speed data collected by the speed sensor 112 of the operating machinery can be transmitted to the VCU, and the collected vehicle speed data and the speed data of the operating machinery can be transmitted to the ECU through the VCU; at the same time, the torque data collected by the torque acquisition device 121, the engine speed data collected by the engine speed sensor 122, and the real-time load data collected by the load acquisition device 123 are all transmitted to the ECU, and then the ECU controls the engine based on all the collected data.

[0071] An embodiment of the present application proposes a power control system in a harvesting machinery. Through communication between the vehicle control unit and the engine control unit, the vehicle speed data and the speed data of the working machinery collected by the vehicle control unit can be transmitted to the engine control unit. The engine control unit can then combine the collected torque data, engine speed data and real-time load data with the data collected by the vehicle control unit to realize flexible control of the engine by the power control system in the harvesting machinery.

[0072] The load power control method provided in the above embodiment of the present application is explained and illustrated in detail below with reference to the accompanying drawings. Figure 2 An example process of a load power control method provided in an embodiment of the present application Figure 1 This method can be used as follows Figure 1 The engine control unit 120 in the power control system 100 in the harvesting machine shown in FIG. Figure 2 As shown, the load power control method includes the following steps:

[0073] S210: When the harvesting machine is in a starting operation state, obtain a rotation speed collected by a preset rotation speed sensor in the harvesting machine.

[0074] The preset rotation speed sensor may include at least one of an engine rotation speed sensor and a working machine rotation speed sensor.

[0075] Before executing S210, when the engine of the harvester is started, the harvester is in the starting state, the main transmission clutch and the header clutch are controlled to engage, and the hand throttle of the harvester is adjusted so that the engine speed reaches the preset engine reference speed. In this case, the harvester enters the starting operation state. The preset engine reference speed can be, for example, 2200 rpm, which is not limited here and can be selected according to actual conditions. Among them, the preset engine reference speed is the engine maximum power speed. The engine maximum power speed of each product is different and is not limited here. For example, the engine maximum power speed can be 2150 rpm or 2100 rpm.

[0076] It should be noted that, in the above embodiment, the main transmission clutch is used to control the operation and disconnection of the harvesting machinery, and the cutting table clutch is used to control the operation and disconnection of the cutting table and the conveying trough.

[0077] S220: Determine, based on the rotational speed, whether the state of the harvesting machine satisfies a preset power increase condition of the engine in the harvesting machine.

[0078] In a possible implementation, the speed collected in step S210 can be used to determine whether the harvester is currently experiencing a power shortage. If the harvester is currently experiencing a power shortage, a temporary power boost to the engine is required to ensure the machine's operational needs. Therefore, it can be determined that the harvester's engine meets the preset power increase condition. Conversely, if the speed determines that the harvester is not currently experiencing a power shortage, it can be determined that the harvester's engine does not require a temporary power boost, i.e., it does not meet the preset power increase condition.

[0079] S230: If the preset power increase condition is met, the engine power increase state is entered, and in the engine power increase state, the output power of the engine is increased and adjusted until the speed collected after the power increase adjustment is within the corresponding speed range.

[0080] Specifically, if the preset power increase conditions are met, it can be determined that the engine power is no longer sufficient to meet the current operating needs of the operating machinery, and the engine needs to be temporarily powered up. In this case, the harvesting machinery can enter the engine power increase state, and in the engine power increase state, the engine output power can be increased and adjusted. When the engine output power is increased and adjusted, the speed collected by the preset speed sensor can be obtained in real time, and it can be determined whether the speed collected by the preset speed sensor after the power increase adjustment is within the corresponding preset speed range. If the speed collected by the preset speed sensor after the power increase adjustment is still not within the corresponding preset speed range, the engine power increase adjustment needs to continue until the speed collected after the power increase adjustment is within the corresponding preset speed range.

[0081] The corresponding preset speed range described above refers to the preset speed range of the rotating component corresponding to the preset speed sensor. For example, if the preset speed sensor is an engine speed sensor, the preset speed range corresponding to the preset speed sensor can be a preset engine speed range, such as 2150 rpm to 2250 rpm. For example, if the preset speed sensor is a speed sensor for a working machine, the preset speed range corresponding to the preset speed sensor can be a preset speed range for the working machine. The preset speed ranges corresponding to the speed sensors of different working machines may vary. For example, if the preset speed sensor is a cutter auger speed sensor, the preset speed range corresponding to the cutter auger speed sensor can be 1848 rpm to 1968 rpm; if the preset speed sensor is a bridge speed sensor, the preset speed range corresponding to the bridge speed sensor can be 462 rpm to 492 rpm; if the preset speed sensor is a feed accelerator roller speed sensor, the preset speed range corresponding to the feed accelerator roller speed sensor can be 745 rpm to 795 rpm; and if the preset speed sensor is a threshing drum speed sensor, the preset speed range corresponding to the threshing drum speed sensor can be 841 rpm to 901 rpm.

[0082] It should be noted that the specific values ​​of the preset speed range corresponding to the above-mentioned preset speed sensors can be calibrated, which mainly depends on the fluctuation performance of the speed sensors of the engines related to the harvesting machinery and the speed sensors of the operating machinery. The greater the volatility, the higher the speed; the smaller the volatility, the lower the speed.

[0083] S240: If the real-time load of the engine after the power increase adjustment has reached the preset overload entry condition, the overload holding state is entered.

[0084] Specifically, when the speed collected after power increase adjustment is within the corresponding preset speed range, the real-time load of the engine can also be obtained, and it is determined whether the real-time load of the engine after power increase adjustment has reached the preset overload entry condition.

[0085] The preset overload entry condition may be, for example, that the real-time load reaches a preset load threshold. The real-time load of the engine may be the ratio of the real-time output power of the engine to the preset rated power. For example, if the real-time load of the engine after power increase adjustment is 50 kWH and the preset load threshold is 40 kWH, then if the real-time load of the engine after power increase adjustment is greater than or equal to the preset load threshold, i.e., the real-time load (e.g., 50 kWH) is greater than the preset load threshold (e.g., 40 kWH), then it may be determined that the preset overload entry condition has been met.

[0086] Since the harvester's overload switch is closed by default, it will only automatically open when the harvester is in the overload hold state, and the preset overload timer will be activated. The preset overload timer is the maximum permissible duration t of the harvester's overload hold state, for example, t = 1 hour, or 3600 seconds. This maximum permissible duration complies with the standard duration for an engine in an overload state as specified in GB / T21404-2008. Furthermore, once the preset overload timer's available duration t reaches 0s, it remains in effect until the harvester re-enters the overload hold state.

[0087] It should be noted that the initial operating state mentioned in the embodiment of the present application is actually the normal operating state of the harvesting machine, but it is not the only operating state. In other words, the overload holding state of the harvesting machine is also a special operating state under overload.

[0088] S250: In the overload holding state, and before the preset overload timer expires, if the monitored engine state satisfies the preset overload exit condition, then exit the overload holding state and re-enter the starting operation state.

[0089] Specifically, after entering the overload holding state, the engine state can be detected in real time, and it can be determined whether the detected engine state meets the preset overload exit condition. When the engine state meets the preset overload exit condition, the overload holding state is exited and the starting operation state is re-entered.

[0090] The embodiment of the present application provides a load power control method, which can judge whether the state of the harvesting machine meets the preset power increase condition by the speed collected by the preset speed sensor of the harvesting machine in the initial working state, and realize automatic judgment on whether the engine needs to increase power adjustment based on the speed of the harvesting machine. At the same time, it also realizes the conditional judgment of whether power increase is required based on the working state of the harvesting machine in the actual working state; if the preset power increase condition is met, the output power of the engine can be increased and adjusted so that the speed collected after the power increase adjustment is within the corresponding preset speed range, and when the real-time load of the engine after the power increase adjustment has reached the preset overload entry condition, the harvesting machine Entering the overload holding state, realizing automatic judgment of entering the overload holding state by increasing the power of the engine, so that the engine can output power or torque within a certain range exceeding the preset calibrated power or torque in a short time, and the power or torque meets the engine standard; and in the overload holding state, turning on the overload switch of the harvester and starting the preset overload timer, before the preset overload timer expires, if the state of the engine is monitored to meet the preset overload exit condition, then exiting the overload holding state and re-entering the working state, realizing automatic exit of the overload holding state when the preset overload timer has not expired, and realizing automatic recognition of the overload working state in the engine standard. Thus, the load power control method provided by the present application realizes that the harvester enters the overload holding state by temporarily increasing the power in the working state in combination with the actual speed, avoiding the occurrence of insufficient power in the harvester in the actual working scene, ensuring the stable operation of the harvester, and improving the working efficiency of the harvester and the service life of the harvester and the automation performance of the harvester. At the same time, in the load power control method provided in the present application, since no parts of the harvesting machine are added, there is no need to increase the engine cost of the harvesting machine, thereby reducing the power control cost of the harvesting machine.

[0091] Optionally, in the above step S210, in some embodiments of the present application, the rotational speed includes: the engine rotational speed collected by the engine rotational speed sensor, and the rotational speed of at least one working machine collected by the rotational speed sensor of at least one working machine in the harvesting machine.

[0092] As described in step S210 above, refer to Figure 1 The speed may include the real-time speeds respectively collected by the engine speed sensor 122 and the work machine speed sensor 112. The real-time speed collected by the engine speed sensor 122 satisfies the preset engine speed range in step S230, such as 2150 rpm to 2250 rpm.

[0093] As described above, the speed sensor 112 of the operating machine may include a cutter auger speed sensor, a bridge speed sensor, a feed acceleration roller speed sensor, and a threshing drum speed sensor, etc., without limitation here. Similarly, the real-time speed collected by the speed sensor 112 of the operating machine also meets the preset speed range of the operating machine in step S230 above. For example, taking the cutter auger speed sensor in the speed sensor 112 of the operating machine as an example, the preset speed range is 1848rpm to 1968rpm; the preset speed ranges of the speeds collected by the speed sensors of the remaining operating machines are not repeated here.

[0094] The load power control method provided in the above embodiment of the present application is explained and illustrated in detail below with reference to the accompanying drawings. Figure 3 An example process of a load power control method provided in an embodiment of the present application Figure 2 .like Figure 3 As shown, judging whether the state of the harvesting machine satisfies the preset power increase condition of the engine in the harvesting machine according to the rotation speed may include:

[0095] S310: Determine whether the decrease in the engine speed and the speed of at least one working machine within N consecutive first cycles exceeds a preset speed change threshold.

[0096] Wherein, N is an integer greater than or equal to 2.

[0097] Specifically, based on the preset speed range of the rotating component corresponding to the preset speed sensor in step S230, a determination is made as to whether the decrease in the engine speed and the speed of the at least one working machine over N consecutive first cycles exceeds a preset speed change threshold. If so, step S320 is executed; if not, step S330 is executed. The preset speed change thresholds for the engine speed and the at least one working machine speed can be set based on actual circumstances. For example, the preset speed change threshold for the engine speed can be set to 50 rpm.

[0098] At least one preset speed change threshold of the working machine speed, wherein the reference Figure 1 Taking the cutter auger speed sensor in the speed sensor 112 of the operating machinery as an example, the preset speed change threshold of the cutter auger speed can be selected as 60rpm; taking the bridge speed sensor in the speed sensor 112 of the operating machinery as an example, the preset speed change threshold of the bridge speed can be selected as 15rpm; taking the feeding acceleration roller speed sensor in the speed sensor 112 of the operating machinery as an example, the preset speed change threshold of the feeding acceleration roller speed can be selected as 25rpm; taking the threshing drum speed sensor in the speed sensor 112 of the operating machinery as an example, the preset speed change threshold of the threshing drum speed can be selected as 30rpm.

[0099] It should be noted that the specific numerical values ​​of the above-mentioned embodiments of the preset speed change threshold of the engine speed and the preset speed change threshold of the working machine speed should not be understood as limitations on the present application. In other examples or implementation methods or embodiments, they can be selected according to the present application and are not specifically limited here.

[0100] S320: If the engine speed and at least one working machine speed have one or more speeds whose decrease in speed exceeds the preset speed change threshold within N consecutive first cycles, it is determined that the state of the harvesting machine meets the preset power increase condition.

[0101] Specifically, when one or more of the engine speed and at least one working machine speed decreases by more than a preset speed change threshold within N consecutive first cycles, that is, when the engine speed decreases by more than the preset speed change threshold within N consecutive first cycles, it is determined that the state of the harvesting machinery meets the preset power increase condition; or, when one or more of the at least one working machine speed decreases by more than the preset speed change threshold within N consecutive first cycles, it is determined that the state of the harvesting machinery meets the preset power increase condition.

[0102] S330: If the decrease in the engine speed and the speed of at least one working machine within N consecutive first cycles does not exceed the preset speed change threshold, it is determined that the state of the harvesting machine does not meet the preset power increase condition.

[0103] Specifically, when one or more of the engine speed and at least one working machine speed has a decrease amplitude that does not exceed the preset speed change threshold within N consecutive first cycles, that is, when the engine speed has a decrease amplitude that does not exceed the preset speed change threshold within N consecutive first cycles, it is determined that the state of the harvesting machinery does not meet the preset power increase condition; or, when one or more of the at least one working machine speed has a decrease amplitude that does not exceed the preset speed change threshold within N consecutive first cycles, it is determined that the state of the harvesting machinery does not meet the preset power increase condition.

[0104] The embodiment of the present application proposes a load power control method. By determining whether the decrease in the engine speed and the speed of at least one working machine within N consecutive first cycles exceeds a preset speed change threshold, if one or more of the engine speed and the speed of at least one working machine within N consecutive first cycles decreases by more than the preset speed change threshold, the state of the harvesting machine is determined to meet the preset power increase condition. If the decrease in the engine speed and the speed of at least one working machine within N consecutive first cycles does not exceed the preset speed change threshold, the state of the harvesting machine is determined to not meet the preset power increase condition. Thus, the load power control method provided by the present application realizes automatic determination of whether the engine needs to increase power adjustment based on the speed of the harvesting machine, thereby controlling the operation state of the harvesting machine to be stable, and realizing automatic and efficient operation of the harvesting machine.

[0105] The load power control method provided in the above embodiment of the present application is explained and illustrated in detail below with reference to the accompanying drawings. Figure 4 An example process of a load power control method provided in an embodiment of the present application Figure 3 .like Figure 4 As shown, in the above method, if the preset power increase condition is met, the engine power increase state is entered, and in the engine power increase state, the output power of the engine is increased and adjusted until the speed collected after the power increase adjustment is within the corresponding preset speed range. This step may include:

[0106] S410: If the preset power increase condition is met, the real-time load accumulation of the engine in N consecutive first cycles is obtained, and the engine power increase state is entered.

[0107] Specifically, when it is determined that the state of the harvesting machine meets the preset power increase condition of the engine in the harvesting machine, continue to refer to Figure 1 , when the engine speed N is fixed, the load collection device 123 can collect the real-time load of the engine and compare the real-time load of the engine at the current moment with the real-time load of the engine at the moment before the current moment, thereby obtaining the accumulated real-time load of the engine in N consecutive first cycles. Alternatively, the real-time load of the engine of the harvesting machinery can also be calculated by calculating the output power P of the engine or the torque M of the engine, thereby calculating the real-time load of the engine. Among them, the output power P of the engine or the torque M of the engine satisfies the formula (1):

[0108] P=N*(M / 9550) (1)

[0109] Wherein, N is the speed collected by the engine speed sensor.

[0110] It can be seen that the engine's output power P is proportional to the engine's torque M, that is, the engine's output power P changes with changes in the engine's torque M. Therefore, the engine's real-time torque can be collected by the torque collection device 121, and the engine's output power P can be calculated. Based on the engine's real-time load in step S240, it can be seen that the engine's real-time load is the ratio of the engine's real-time output power to the preset rated power. The engine's real-time load can then be calculated, and by comparing the current engine's real-time load with the engine's real-time load at the moment before the current moment, the accumulated real-time load of the engine over N consecutive first cycles can be obtained.

[0111] S420: When the engine power is increased, the amount to be adjusted is calculated according to the real-time load accumulation and the preset increase weight.

[0112] The preset increase weight W is any value greater than 1. The preset increase weight W can be set according to actual conditions. For example, the preset increase weight W can be 1.3. In the embodiment of the present application, the minimum value of the preset increase weight W can be 1.

[0113] In a possible implementation, the amount to be adjusted STEP2 can be calculated using the following formula (2) based on the real-time load accumulation amount STEP1 and the preset increase weight W.

[0114] STEP2=STEP1*W (2)

[0115] As can be seen, when the preset weight increase W is fixed, the variable to be adjusted STEP2 is proportional to the real-time load accumulation STEP1. That is, the variable to be adjusted STEP2 changes with the real-time load accumulation STEP1. Therefore, the faster the real-time load accumulation STEP1 changes, that is, the faster the engine torque M responds, the smaller the adjustment amount of the variable to be adjusted STEP2.

[0116] It should be noted that the above specific numerical examples of the preset increase weight W should not be understood as limiting the present application. Other examples, implementation methods, or embodiments can be selected according to the present application and are not specifically limited here.

[0117] S430: Increase and adjust the output power of the engine according to the amount to be adjusted, until all speeds collected after the power increase and adjustment are within the corresponding preset speed range.

[0118] Specifically, as the real-time load accumulation STEP1 changes in response to the engine torque M, the calculated variable to be adjusted STEP2 also changes accordingly. Based on the variable to be adjusted STEP2, the engine output power P is adjusted incrementally until all speeds acquired after the power increase and adjustment are within a corresponding preset speed range. This speed range is described in step S230 and will not be further described here.

[0119] The embodiment of the present application proposes a load power control method. When the state of the harvesting machine satisfies the preset power increase condition of the engine in the harvesting machine, the real-time load accumulation of the engine in N consecutive first cycles is obtained, and the engine enters the engine power increase state. In the engine power increase state, the adjustment amount to be adjusted is calculated based on the real-time load accumulation amount and the preset increase weight. Based on the adjustment amount to be adjusted, the output power of the engine is increased and adjusted until all speeds collected after the power increase adjustment are within the corresponding preset speed range. Therefore, the load power control method provided by the present application realizes the conditional judgment of the need for power increase based on the working state of the harvesting machine under the actual working state, ensures the stable operation of the harvesting machine, and realizes the automatic and efficient operation of the harvesting machine.

[0120] Furthermore, in some embodiments of the present application, the amount to be adjusted is a single torque increase amplitude. Based on the amount to be adjusted, the output power of the engine is increased and adjusted until all speeds collected after the power increase adjustment are within the corresponding preset speed range. This step may include:

[0121] According to the single torque increase amplitude, the engine output power is increased by adjusting the engine torque until all speeds collected after the torque increase adjustment are within the corresponding preset speed range; or

[0122] The amount to be adjusted is the single power increase value. According to the single power increase value, the output power of the engine is increased and adjusted until all speeds collected after the torque increase adjustment are within the corresponding preset speed range.

[0123] Specifically, when the variable to be adjusted STEP2 is a single torque increase amplitude, the engine torque M is adjusted by performing torque increase adjustment on the engine according to the single torque increase amplitude STEP2. In other words, the engine output power P can be calculated according to the above formula (1) to perform real-time power increase adjustment on the engine output power until all speeds collected after the torque increase adjustment are within the corresponding preset speed range. The fact that all speeds collected are within the corresponding preset speed range has been explained in the above step S230 and will not be repeated here.

[0124] Optionally, when the amount to be adjusted STEP2 is a single power increase value, the output power P of the engine is increased and adjusted according to the single power increase value STEP2. In this way, the increased output power P of the engine can be obtained by adding the single power increase value STEP2 in each cycle to the output power P of the engine. 后 , and the output power P 后 Adjust until all speeds collected after torque increase adjustment are within the corresponding preset speed range.

[0125] The embodiment of the present application proposes a load power control method, which increases and adjusts the engine's output power by performing torque increase adjustment on the engine according to a single torque increase amplitude, until all speeds collected after the torque increase adjustment are within a corresponding preset speed range; or, the amount to be adjusted is a single power increase value; according to the single power increase value, the engine's output power is increased and adjusted until all speeds collected after the torque increase adjustment are within a corresponding preset speed range. Therefore, the load power control method provided by the present application adjusts the engine's output power so that all corresponding speeds are within a corresponding preset speed range, thereby ensuring that the harvesting machinery can operate normally and stably when the load power of the harvesting machinery is insufficient.

[0126] Furthermore, the load power control method provided in the above embodiment of the present application is explained and illustrated in detail below in conjunction with the accompanying drawings. Figure 5 An example process of a load power control method provided in an embodiment of the present application Figure 4 .like Figure 5 As shown, in the overload holding state, and before the preset overload timer expires, if the monitored engine state satisfies the preset overload exit condition, the method further includes:

[0127] S510. In the overload holding state and before the preset overload timer expires, determine whether the engine speed is within the preset engine speed range for N consecutive second cycles; at the same time, determine whether the real-time load of the engine is less than the first preset overload exit threshold; if both judgment conditions are met at the same time, execute step S620.

[0128] The preset engine speed range is the maximum and minimum usage limits of the effective power formulated according to the purpose of the engine, and can be set according to actual conditions. For example, the preset engine speed range can be 2200rpm±50rpm. Figure 1The first preset overload exit threshold is when the harvesting machinery is in an overload holding state and before the preset overload timer expires, the real-time load collected by the load collection device 123 meets 95% of the normal load, then the real-time load is deemed to be the first preset overload exit threshold, wherein the first preset overload exit threshold can be set according to actual conditions and is not restricted here.

[0129] Specifically, when the harvesting machinery is in an overload holding state and the preset overload timer has not reached 0 hours, it is determined whether the engine speed is within the preset engine speed range for N consecutive second cycles; at the same time, it is determined whether the real-time load of the engine is less than the first preset overload exit threshold; if both judgment conditions are met at the same time, step S620 is executed.

[0130] S520: If the engine speed is within the preset engine speed range for N consecutive second periods, and the real-time load of the engine is less than the preset overload exit threshold, it is determined that the engine state meets the preset overload exit condition.

[0131] Specifically, when it is determined that the engine speed is within the preset engine speed range for N consecutive second cycles; and it is determined that the real-time load of the engine is less than the first preset overload exit threshold, that is, when the two judgment conditions are met at the same time, it is determined that the state of the engine meets the preset overload exit condition, that is, the harvesting machinery can exit the overload holding state.

[0132] The embodiment of the present application proposes a load power control method. In an overload holding state, and before a preset overload timer expires, the method determines whether the engine speed is within a preset engine speed range for N consecutive second cycles; and determines whether the real-time load of the engine is less than a first preset overload exit threshold. If the engine speed is within the preset engine speed range for N consecutive second cycles and the real-time load of the engine is less than the preset overload exit threshold, the engine state is determined to meet the preset overload exit condition. Thus, the load power control method provided by the present application, by determining the real-time load of the engine, automatically exits the overload holding state before the preset overload timer expires, thereby ensuring that the operation state of the harvesting machinery can be carried out stably and realizing automatic and efficient operation of the harvesting machinery.

[0133] In order to clearly describe the load power control method provided in the embodiment of the present application, the load power control method provided in the above embodiment of the present application is first explained and illustrated in detail with reference to the accompanying drawings. Figure 6 An example process of a load power control method provided in an embodiment of the present application Figure 5 .like Figure 6 As shown, the load power control method further includes:

[0134] S610: In the overload holding state, if the overload switch has been turned off or the preset overload timer has expired, the overload holding state is exited and the vehicle enters a deceleration state.

[0135] Specifically, in the overload holding state, the overload switch has been closed. The closing method can be manual or automatic, and the harvester can be set according to actual conditions. If the overload switch has been manually closed in the overload holding state, the harvester directly exits the overload holding state and enters the vehicle deceleration state. If, in the overload holding state, the engine output power P is increased and adjusted according to the amount to be adjusted STEP2 so that the real-time load of the engine reaches 100%, but at this time, the monitored engine speed and the speed of the working machine do not reach the corresponding preset speed range, the overload switch is automatically closed, and the harvester exits the overload holding state and enters the vehicle deceleration state.

[0136] Alternatively, when in the overload holding state, the preset overload timer has expired, the harvesting machine automatically exits the overload holding state and directly enters the vehicle driving deceleration state.

[0137] S620: When the entire vehicle is in a decelerating state, the engine speed is set to a second preset overload exit threshold, and a target speed adjustment amount is determined according to the current speed of the harvesting machine.

[0138] Among them, the second preset overload exit threshold is the overload torque exit threshold when the harvesting machinery is in the vehicle deceleration state, which can be set according to actual conditions. For example, the second preset overload exit threshold can be selected as 85%.

[0139] Specifically, when the harvesting machinery is in a state of vehicle deceleration, the engine speed is set to a second preset overload exit threshold, and the target speed adjustment amount is determined according to the current speed of the harvesting machinery.

[0140] S630: Control the harvesting machine to perform deceleration adjustment according to the target speed adjustment amount until the speed collected after the deceleration adjustment is within the corresponding preset speed range.

[0141] Specifically, based on the target speed adjustment value obtained in step S620, the harvester is controlled to perform vehicle deceleration adjustment until the engine speed corresponding to the current speed of the harvester, as measured after the deceleration adjustment, reaches a second preset overload exit threshold. The remaining speeds measured after the deceleration adjustment are monitored to be within a corresponding preset speed range. This preset speed range is described in step S230 and will not be further described here.

[0142] The embodiment of the present application proposes a load power control method. In the overload holding state, when the overload switch is turned off and the preset overload timer has expired, the overload holding state is exited and the vehicle enters a deceleration state. In the vehicle deceleration state, the engine speed is set to a second preset overload exit threshold, and a target speed adjustment amount is determined based on the current speed of the harvesting machine. Based on the target speed adjustment amount, the harvesting machine is controlled to perform deceleration adjustment until the speed collected after the deceleration adjustment is within the corresponding preset speed range. Thus, the load power control method provided by the present application can reduce the vehicle speed after the engine first increases the torque, thereby improving the operating efficiency of the harvesting machine.

[0143] Optionally, in the above step S620, in some embodiments of the present application, the target speed adjustment amount is determined according to the current speed of the harvesting machine. This step may include:

[0144] According to the current vehicle speed, the corresponding relationship between the preset vehicle speed range and the vehicle speed adjustment amount is adopted to determine the vehicle speed adjustment amount corresponding to the target vehicle speed range where the current vehicle speed is located as the target vehicle speed adjustment amount.

[0145] Specifically, according to the current speed of the harvesting machinery, a preset correspondence between the speed range and the speed adjustment amount is adopted. This correspondence satisfies the condition that the faster the current speed of the harvesting machinery, the greater the speed adjustment amount is reduced each time. Therefore, the speed adjustment amount corresponding to the target speed range where the current speed is located is the target speed adjustment amount.

[0146] The corresponding relationship between the preset vehicle speed range and the vehicle speed adjustment amount can be shown in Table 1 below.

[0147]

[0148] Among them, the minimum value of the current speed of the harvesting machinery is 0 km / h, that is, the entire harvesting machinery stops moving forward.

[0149] It should be noted that in the embodiment of Table 1, which shows the correspondence between the preset vehicle speed range and the vehicle speed adjustment amount, all specific values ​​can be calibrated and should not be construed as limiting the present application. Other examples, implementations, or embodiments may be selected based on the present application and are not specifically limited herein.

[0150] For example, continue to refer to Figure 1When the harvester is in a state of vehicle deceleration, the current speed is 5 km / h. It can be seen from Table 1 that the speed adjustment amount each time is 0.3 km / h. The speed adjustment amount corresponding to the target speed range of the current speed of 4.7 km / h is the target speed adjustment amount, and then gradually decreases in sequence. During the current speed decrease process of the harvester, the power control system 100 in the harvester collects the respective rotational speeds and determines whether the collected rotational speeds are within the corresponding preset speed range.

[0151] Optionally, in step SS620, in some embodiments of the present application, the load power control method further includes:

[0152] After the speed collected after deceleration adjustment is within the corresponding preset speed range, the operation state is re-entered.

[0153] Specifically, continue to refer to Figure 1 After the whole harvester is decelerated and adjusted, the power control system 100 in the harvester collects the respective rotational speeds and determines whether the collected rotational speeds are within the corresponding preset rotational speed range. When the power control system 100 in the harvester collects the respective rotational speeds within the corresponding preset rotational speed range, the state of the harvester re-enters the operating state to re-detect whether the harvester is in an overloaded state and determine whether the load power of the harvester is insufficient, thereby controlling the operating state of the harvester to be stable and realizing automatic and efficient operation of the harvester. At the same time, since no parts of the harvester are added, the engine cost of the harvester does not need to be increased, thereby reducing the cost of power control of the harvester.

[0154] The embodiment of the present application provides a load power control method, which can achieve precise control of the operation of the harvester by classifying the operating states of the entire machine, such as the start-up state of the harvester, the operating state of the harvester, the engine power increase state of the harvester, the deceleration state of the harvester, and the overload holding state of the harvester, distinguishing the engine action in different operating states, and determining whether the speed of the harvester in the operating state meets the preset power increase condition, thereby determining whether the power increase condition is required based on the working state of the harvester in the actual operating state, and then reducing the overall speed of the harvester when the preset overload timer of the harvester in the overload holding state has expired or the overload switch has been turned off, thereby reducing damage to the harvester, extending the service life of the harvester, and improving the operating efficiency of the harvester. In particular, a first preset overload exit threshold (such as 95%) when the harvester is in the overload holding state and a second preset overload exit threshold (such as 85%) when the harvester is in the deceleration state are used to increase the stability of the power control system in the harvester and reduce the switching frequency of the power control system in the harvester.

[0155] Based on the same inventive concept, a load power control device is also provided in an embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned load power control method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0156] Figure 7 This is a structural diagram of a load power control device provided in an embodiment of the present application. Figure 7 As shown, the load power control device 70 of the harvesting machine is specifically used for:

[0157] An acquisition module 71 is used to acquire a rotation speed collected by a preset rotation speed sensor in the harvester when the harvester is in operation;

[0158] A judgment module 72 is used to judge whether the state of the harvesting machine meets the preset power increase condition of the engine in the harvesting machine according to the rotation speed;

[0159] The adjustment module 73 is configured to enter an engine power increase state if a preset power increase condition is met, and in the engine power increase state, increase and adjust the output power of the engine until the speed collected after the power increase adjustment is within a corresponding preset speed range;

[0160] An overload entry module 74 is used to enter the engine if the real-time load of the engine after the power increase adjustment has reached a preset overload entry condition;

[0161] The overload exit module 75 is used to exit the overload holding state and re-enter the working state if the engine status is monitored to meet the preset overload exit condition before the preset overload timer expires in the overload holding state.

[0162] Alternatively, in an optional embodiment, the rotation speed includes: an engine rotation speed acquired by a rotation speed sensor of the engine, and a rotation speed of at least one working machine acquired by a rotation speed sensor of at least one working machine in the harvesting machine;

[0163] The judgment module 72 is specifically used for:

[0164] Determining whether a decrease in the engine speed and the speed of at least one working machine within N consecutive first cycles exceeds a preset speed change threshold; wherein N is an integer greater than or equal to 2;

[0165] If the decrease in the engine speed and the speed of at least one of the working machine speeds exceeds a preset speed change threshold within N consecutive first cycles, it is determined that the state of the harvesting machine meets the preset power increase condition;

[0166] If the decrease in the engine speed and the speed of at least one working machine within N consecutive first cycles does not exceed the preset speed change threshold, it is determined that the state of the harvesting machine does not meet the preset power increase condition.

[0167] Optionally, in an optional implementation manner, the adjustment module 73 is specifically configured to:

[0168] If the preset power increase condition is met, the real-time load accumulation of the engine in N consecutive first cycles is obtained, and the engine power increase state is entered;

[0169] When the engine power increases, the amount to be adjusted is calculated based on the real-time load accumulation and the preset increase weight; the preset increase weight is any value greater than 1;

[0170] The output power of the engine is increased and adjusted according to the amount to be adjusted until all speeds collected after the power increase adjustment are within the corresponding preset speed range.

[0171] Optionally, in an optional implementation manner, the adjustment module 73 is specifically configured to:

[0172] According to the single torque increase amplitude, the engine output power is increased by adjusting the engine torque until all speeds collected after the torque increase adjustment are within the corresponding preset speed range; or

[0173] The amount to be adjusted is the single power increase value. According to the single power increase value, the output power of the engine is increased and adjusted until all speeds collected after the torque increase adjustment are within the corresponding preset speed range.

[0174] Optionally, in an optional implementation manner, the judgment module 72 is further configured to:

[0175] In the overload holding state, and before the preset overload timer expires, determining whether the engine speed is within the preset engine speed range for N consecutive second cycles;

[0176] In the overload holding state, and before the preset overload timer expires, determining whether the real-time load of the engine is less than a first preset overload exit threshold;

[0177] If the engine speed is within the preset engine speed range for N consecutive second periods and the real-time load of the engine is less than the preset overload exit threshold, it is determined that the engine state meets the preset overload exit condition.

[0178] Optionally, in an optional embodiment, the overload exit module 75 is further configured to:

[0179] In the overload holding state, if the overload switch has been turned off and the preset overload timer has expired, the overload holding state will be exited and the vehicle will enter the deceleration state;

[0180] When the vehicle is in a decelerating state, the engine speed is set to a second preset overload exit threshold, and a target speed adjustment amount is determined according to the current speed of the harvesting machine;

[0181] According to the target vehicle speed adjustment amount, the harvesting machinery is controlled to perform deceleration adjustment until the harvested speed after deceleration adjustment is within the corresponding preset speed range.

[0182] Optionally, in an optional implementation manner, the overload exit module 75 is specifically configured to:

[0183] According to the current vehicle speed, the corresponding relationship between the preset vehicle speed range and the vehicle speed adjustment amount is adopted to determine the vehicle speed adjustment amount corresponding to the target vehicle speed range where the current vehicle speed is located as the target vehicle speed adjustment amount.

[0184] Optionally, in an optional embodiment, the overload exit module 75 is further configured to:

[0185] After the speed collected after deceleration adjustment is within the corresponding preset speed range, the operation state is re-entered.

[0186] It should be noted that for details not disclosed in the load power control device of the embodiment of the present application, please refer to the details disclosed in the load power control method of the embodiment of the present application, and the details will not be repeated here.

[0187] The above modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more microprocessors, or one or more field-programmable gate arrays (FPGAs). For another example, when a module is implemented by scheduling program code through a processing element, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0188] Figure 8 A schematic diagram of the structure of a control device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the control device 80 may include: a memory 81 and a processor 82. The memory 81 stores machine-readable instructions executable by the processor 82. When the control device 80 is running, the above-mentioned machine-readable instructions are executed. The processor 82 communicates with the memory 81 through a bus. The processor 82 is used to execute the steps of the load power control method in the above-mentioned embodiment.

[0189] The memory 81, processor 82, and bus components are electrically connected to each other, directly or indirectly, to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines. The mobile storage device includes at least one software function module that can be stored in the form of software or firmware in the memory 81 or embedded in the operating system (OS) of the control device 80. The processor 82 is used to execute the executable modules stored in the memory 81, such as the software function modules and computer programs included in the method for controlling the load power of the mobile storage medium.

[0190] Among them, the memory 81 can be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable read-only memory (EEPROM), etc.

[0191] Optionally, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes the steps of the method for controlling the load power of a mobile storage medium in the above embodiment. The specific implementation methods and technical effects are similar and will not be further described here.

[0192] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0193] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A load power control method, It is characterized in that The method comprises: When the harvesting machine is in a starting operation state, obtaining a rotation speed collected by a preset rotation speed sensor in the harvesting machine; According to the rotation speed, determining whether the state of the harvesting machine satisfies a preset power increase condition of an engine in the harvesting machine; If the preset power increase condition is met, the engine power increase state is entered, and in the engine power increase state, the output power of the engine is increased and adjusted until the speed collected after the power increase adjustment is within the corresponding preset speed range; If the real-time load of the engine has reached the preset overload entry condition after the power increase adjustment, the overload holding state is entered; In the overload holding state, and before the preset overload timer expires, if it is monitored that the state of the engine meets the preset overload exit condition, then exit the overload holding state and re-enter the starting operation state; The rotation speed includes: the engine rotation speed collected by the rotation speed sensor of the engine, and the rotation speed of at least one working machine collected by the rotation speed sensor of at least one working machine in the harvesting machine; The step of judging whether the state of the harvesting machine satisfies a preset power increase condition of the engine in the harvesting machine according to the rotation speed comprises: Determining whether the decrease in the engine speed and the at least one working machine speed in N consecutive first cycles exceeds a preset speed change threshold; wherein N is an integer greater than or equal to 2; If the decrease in the engine speed and the at least one working machine speed exceeds the preset speed change threshold value during the N consecutive first cycles, it is determined that the state of the harvesting machine meets the preset power increase condition; If the decrease in the engine speed and the at least one working machine speed within the N consecutive first cycles does not exceed the preset speed change threshold, it is determined that the state of the harvesting machine does not meet the preset power increase condition; If the preset power increase condition is met, the engine power increase state is entered, and in the engine power increase state, the output power of the engine is increased and adjusted until the speed collected after the power increase adjustment is within the corresponding preset speed range. This step includes: If the preset power increase condition is met, the real-time load accumulation of the engine in N consecutive first cycles is obtained, and the engine power increase state is entered; In the engine power increase state, the amount to be adjusted is calculated according to the real-time load accumulation and the preset increase weight; the preset increase weight is any value greater than 1; The output power of the engine is increased and adjusted according to the amount to be adjusted, until all the rotation speeds collected after the power increase adjustment are within the corresponding preset rotation speed range.

2. The method according to claim 1, It is characterized in that The amount to be adjusted is a single torque increase amplitude. The step of increasing the output power of the engine according to the amount to be adjusted until all speeds collected after the power increase adjustment are within the corresponding preset speed range includes: According to the single torque increase amplitude, the output power of the engine is increased and adjusted by performing torque increase adjustment on the engine until all speeds collected after the torque increase adjustment are within the corresponding preset speed range; or, The amount to be adjusted is a single increase in power value. The output power of the engine is increased and adjusted according to the single power increase value until all rotation speeds collected after the torque increase adjustment are within the corresponding preset rotation speed range.

3. The method according to claim 1, It is characterized in that In the overload holding state, and before the preset overload timer expires, if it is monitored that the state of the engine meets the preset overload exit condition, the method further includes: In the overload holding state, and before the preset overload timer expires, determining whether the engine speed is within a preset engine speed range for N consecutive second cycles; In the overload holding state, and before the preset overload timer expires, determining whether the real-time load of the engine is less than a first preset overload exit threshold; If the engine speed is within the preset engine speed range for N consecutive second cycles, and the real-time load of the engine is less than the preset overload exit threshold, it is determined that the state of the engine satisfies the preset overload exit condition.

4. The method according to claim 1, It is characterized in that The method further comprises: In the overload holding state, if the overload switch has been turned off or the preset overload timer has expired, the overload holding state is exited and the vehicle enters a deceleration state; In the deceleration state of the whole vehicle, the speed of the engine is set to a second preset overload exit threshold, and a target speed adjustment amount is determined according to the current speed of the harvesting machine; According to the target vehicle speed adjustment amount, the harvesting machine is controlled to perform deceleration adjustment until the speed collected after the deceleration adjustment is within the corresponding preset speed range.

5. The method according to claim 4, It is characterized in that The step of determining the target speed adjustment amount according to the current speed of the harvesting machine comprises: According to the current vehicle speed, a preset correspondence between a vehicle speed range and a vehicle speed adjustment amount is adopted to determine that a vehicle speed adjustment amount corresponding to a target vehicle speed range within which the current vehicle speed is located is the target vehicle speed adjustment amount.

6. The method according to claim 4, It is characterized in that The method further comprises: After the rotation speed collected after the deceleration adjustment is within the corresponding preset rotation speed range, the initial operation state is re-entered.

7. A load power control device, It is characterized in that The device comprises: An acquisition module, used for acquiring a rotation speed collected by a preset rotation speed sensor in the harvester when the harvester is in a starting operation state; A judgment module, used for judging whether the state of the harvesting machine satisfies a preset power increase condition of an engine in the harvesting machine according to the rotation speed; an adjustment module, configured to enter an engine power increase state if the preset power increase condition is met, and in the engine power increase state, increase and adjust the output power of the engine until the speed collected after the power increase adjustment is within a corresponding preset speed range; An overload entry module, used to enter an overload holding state if the real-time load of the engine has reached a preset overload entry condition after the power increase adjustment; An overload exit module, used for, in the overload holding state and before the preset overload timer expires, if it is monitored that the state of the engine meets the preset overload exit condition, then exiting the overload holding state and re-entering the starting operation state; The rotation speed includes: the engine rotation speed collected by the rotation speed sensor of the engine, and the rotation speed of at least one working machine collected by the rotation speed sensor of at least one working machine in the harvesting machine; The judgment module is specifically used to: judge whether the decrease range of the engine speed and the at least one working machine speed in N consecutive first cycles exceeds a preset speed change threshold; wherein N is an integer greater than or equal to 2; if one or more of the engine speed and the at least one working machine speed has a decrease range in the N consecutive first cycles that exceeds the preset speed change threshold, it is determined that the state of the harvesting machinery meets the preset power increase condition; if the decrease range of the engine speed and the at least one working machine speed in the N consecutive first cycles does not exceed the preset speed change threshold, it is determined that the state of the harvesting machinery does not meet the preset power increase condition; Among them, the adjustment module is specifically used to: if the preset power increase condition is met, obtain the real-time load accumulation of the engine in N consecutive first cycles and enter the engine power increase state; in the engine power increase state, calculate the amount to be adjusted according to the real-time load accumulation and the preset increase weight; the preset increase weight is any value greater than 1; according to the amount to be adjusted, increase and adjust the output power of the engine until all the speeds collected after the power increase adjustment are within the corresponding preset speed range.

8. A control device, It is characterized in that include: A processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the load power control method described in any one of claims 1-6.

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