Agricultural harvesting machinery control method, device and equipment and readable storage medium

Abstract

The invention relates to an agricultural harvesting machine control method, device and equipment and a readable storage medium, and belongs to the technical field of agricultural harvesting machineries, and the method comprises the steps: obtaining a working mode of an agricultural harvesting machine in response to a selection trigger action of a worker for the working mode of the agricultural harvesting machine, the working mode is a harvesting mode or a road transfer mode, the harvesting mode represents an operation mode that the agricultural harvesting machine performs crop harvesting in a field, and the road transfer mode represents an operation mode that the agricultural harvesting machine runs on a road and does not perform crop harvesting; and based on the working mode, the maximum rotating speed interval of an engine of the agricultural harvesting machine, the maximum displacement of a hydraulic pump and the maximum displacement of a hydraulic motor are determined, so that the rotating speed of the engine is limited according to the maximum rotating speed interval, the displacement of the hydraulic pump is limited according to the maximum displacement of the hydraulic pump, and the displacement of the hydraulic motor is limited according to the maximum displacement of the hydraulic motor. The method has the effect of reducing the oil consumption of the agricultural harvesting machine.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural harvesting machinery, and in particular to a control method, device, equipment and readable storage medium for agricultural harvesting machinery. Background Art

[0002] In recent years, with the accelerated advancement of agricultural modernization, agricultural harvesting machinery, as an important equipment in agricultural production, has become the focus of industry attention in terms of performance and efficiency improvement.

[0003] At present, existing agricultural harvesting machinery also has many limitations in terms of engine speed control, fan cooling system and machine load adjustment.

[0004] When agricultural harvesting machinery is operating, the engine speed is generally designed based on the rated engine speed. According to the needs of actual working conditions, the engine speed is constant near the maximum speed during harvesting operations. At the same time, the gearbox of agricultural harvesting machinery has fewer gears, generally only 3-4 forward gears. In order to ensure the vehicle speed, the engine also works near the maximum speed during road transfer, resulting in high fuel consumption. This not only deviates from the engine's optimal fuel consumption speed range, but also causes accessories such as water pumps and air compressors to run at high speed with the engine, generating a large amount of useless power consumption. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an agricultural harvesting machinery control method, device, equipment and readable storage medium, aiming to solve at least one of the above-mentioned technical problems.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] In the first aspect, the present application provides an agricultural harvesting machinery control method, which adopts the following technical solution:

[0008] A method for controlling agricultural harvesting machinery, including:

[0009] In response to a triggering action of a worker selecting a working mode of an agricultural harvester, the working mode of the agricultural harvester is obtained, wherein the working mode is a harvesting mode or a road transfer mode, wherein the harvesting mode represents an operating mode in which the agricultural harvester harvests crops in a field, and the road transfer mode represents an operating mode in which the agricultural harvester travels on a road and does not harvest crops;

[0010] Based on the working mode, the maximum speed range of the engine, the maximum displacement of the hydraulic pump and the maximum displacement of the hydraulic motor of the agricultural harvesting machinery are determined to limit the speed of the engine according to the maximum speed range, limit the displacement of the hydraulic pump according to the maximum displacement of the hydraulic pump, and limit the displacement of the hydraulic motor according to the maximum displacement of the hydraulic motor.

[0011] The beneficial effect of the present invention is that the agricultural harvesting machinery can intelligently adjust the engine speed and the maximum displacement of the hydraulic pump and the hydraulic motor according to the working mode, so that the engine of the agricultural harvesting machinery maintains an operating speed close to the optimal fuel consumption area in the harvesting mode and the road transfer mode, thereby effectively reducing the fuel consumption of the entire machine.

[0012] Based on the above technical solution, the present invention can also be improved as follows.

[0013] Further, based on the working mode, determining the maximum speed range of the engine, the maximum displacement of the pump and the maximum displacement of the motor of the agricultural harvesting machinery includes:

[0014] When the working mode is the harvesting mode, the maximum speed range of the engine is adjusted to the first speed range, and the maximum displacement of the hydraulic pump and the hydraulic motor are adjusted to the same set value;

[0015] When the working mode is the road transfer mode, the maximum speed range of the engine is adjusted to the second speed range, and the maximum displacement of the hydraulic pump is adjusted to the first set value, and the maximum displacement of the hydraulic motor is adjusted to the second set value, the first set value is greater than the second set value, and the lower limit value of the first speed range is greater than the upper limit value of the second speed range.

[0016] The beneficial effects of adopting the above further scheme are: when the agricultural harvester is in the harvesting mode, the engine's maximum speed range is adjusted to the first speed range, and the maximum displacements of the hydraulic pump and the hydraulic motor are adjusted to the same set value, ensuring that the engine operates at a speed close to the optimal fuel consumption area, while ensuring that the speed of the working parts of the whole machine remains unchanged; when the agricultural harvester is in the road transfer mode, the engine's maximum speed range is adjusted to the second speed range, and the maximum displacement of the hydraulic pump is greater than the maximum displacement of the hydraulic motor, further reducing the engine speed so that it falls into the optimal fuel consumption speed area, effectively reducing the fuel consumption of the whole machine.

[0017] Furthermore, when the working mode of the agricultural harvester is a harvesting mode, the method further includes:

[0018] Acquire in real time the operating parameter information of the engine of the agricultural harvester and the operating speed of the agricultural harvester, wherein the operating parameter information includes the current operating power, the current speed and the current output torque, and the operating speed represents the speed of the agricultural harvester when operating;

[0019] Determining whether the current engine power meets the operation requirements of the agricultural harvesting machinery;

[0020] If not, judging whether the current performance curve corresponding to the current operating power is the highest gear performance curve or the lowest gear performance curve based on preset performance information, wherein the performance information includes performance curves of multiple gears, and the performance curve of each gear respectively represents the relationship between the speed and output torque of the engine at different powers;

[0021] If the current performance curve is neither the highest gear performance curve nor the lowest gear performance curve, the target operating power of the engine of the agricultural harvesting machinery is determined based on the operating speed, the current performance curve, the current speed, the current output torque and preset performance control rules, and the current operating power of the engine is adjusted according to the target operating power.

[0022] The beneficial effect of adopting the above further scheme is: when the agricultural harvesting machinery is in the harvesting mode, the operating parameter information such as the current operating power, speed and output torque of the engine is obtained in real time, and it is judged whether these parameters meet the power requirements of the current operation, ensuring that the engine always remains in the best working state during the harvesting process, avoiding energy waste and reduced operating efficiency caused by excess or insufficient power.

[0023] When the current operating power does not meet the power demand, the preset performance information and the performance curves of multiple gears are used to intelligently determine whether the current performance curve is the highest gear or the lowest gear. If it is not one of these two extreme gears, a more appropriate target operating power is determined based on the current state and the current performance curve, combined with the preset performance control rules. This intelligent gear adjustment mechanism ensures that the engine dynamically adjusts power output according to actual needs during the harvesting process, improving operating efficiency and fuel economy.

[0024] By adjusting the engine power in real time to keep it in a state that meets the operation requirements but is not excessive, the harvesting efficiency of agricultural harvesting machinery can be significantly improved and useless power consumption can be reduced. At the same time, it avoids operation interruption or speed reduction due to insufficient power, maintains operation efficiency, and improves the economy of engine use and the overall performance stability of the machinery.

[0025] Further, the determining whether the current engine power meets the operation requirements of the agricultural harvesting machinery includes:

[0026] Based on the operating speed and the current performance curve, determining a set speed range and a set torque range for the engine to operate at the current operating power;

[0027] If the current speed of the engine is within the set speed range, and the current output torque is within the set torque range, it is determined that the current operating power meets the operation requirements of the agricultural harvesting machinery;

[0028] Otherwise, it is determined that the current operating power does not meet the operating requirements of the agricultural harvesting machinery.

[0029] The beneficial effect of adopting the above further scheme is: by judging in real time whether the current operating power of the engine meets its power demand, the engine can be ensured to run smoothly under different operating conditions, avoiding the situation of excess or insufficient power, thereby improving the fuel economy and operating efficiency of the engine. Specifically, by comparing the current speed and output torque with the preset range, the engine operating state is effectively monitored to ensure that the engine always works within the optimal performance range.

[0030] Further, the target operating power of the engine of the agricultural harvester is determined based on the operating speed, the current performance curve, the current speed, the current output torque and a preset performance control rule, including:

[0031] Determining a set speed range and a set torque range for the engine to operate at a current operating power based on the operating speed and the current performance curve;

[0032] When the current output torque is less than the lower limit of the set torque range, determining that the operating power corresponding to the next gear performance curve of the current performance curve is the target operating power of the engine of the agricultural harvester, and the next gear performance curve is a performance curve corresponding to the next gear of the current gear corresponding to the current performance curve;

[0033] When the current speed is less than the lower limit of the set speed range, the operating power corresponding to the previous gear performance curve of the current performance curve is determined as the target operating power of the engine of the agricultural harvesting machinery, and the previous gear performance curve is the performance curve corresponding to the previous gear of the current gear corresponding to the current performance curve.

[0034] The beneficial effect of adopting the above further scheme is: when the current output torque of the engine is less than the lower limit of the set torque range, it means that the current load of the agricultural harvesting machinery is large. At this time, by adjusting the current operating power of the engine to the operating power corresponding to the next gear performance curve, the engine speed is prevented from rapidly dropping and stalling due to excessive load, so that the engine can provide corresponding power support under different working conditions. When the current speed is less than the lower limit of the set speed range, it means that the current load of the agricultural harvesting machinery is small. At this time, by adjusting the current operating power of the engine to the operating power corresponding to the previous gear performance curve, the engine power is avoided to be excessive, thereby further reducing the fuel consumption of the whole machine and improving fuel economy.

[0035] Furthermore, if the target performance curve is a highest gear performance curve or a lowest gear performance curve, the method further includes:

[0036] When the target performance curve is a highest gear performance curve and the current speed of the engine is lower than a preset speed threshold, controlling the operating speed of the agricultural harvester to decrease to a set first operating speed threshold;

[0037] When the target performance curve is the lowest gear performance curve and the current output torque of the engine is less than a preset output torque threshold, the operating speed of the agricultural harvester is controlled to increase to a set second operating speed threshold.

[0038] The beneficial effect of adopting the above further scheme is: when the agricultural harvesting machinery has been adjusted to the highest gear performance curve through the intelligent power adjustment function, if the load of the whole machine continues to increase, the engine speed will decrease or even stall. To avoid this situation, the travel speed of the whole machine is automatically reduced to ensure the normal operation of the whole machine, thereby avoiding insufficient power caused by too low engine speed; when the agricultural harvesting machinery has been adjusted to the lowest gear performance curve through the intelligent power adjustment function, if the engine load rate is determined to be low through the current output torque of the engine, the travel speed of the whole machine is automatically increased to ensure the harvesting effect while maximizing the performance of the engine, reducing energy waste, facilitating the engine to maintain a stable working state in a complex operating environment, and optimizing the fuel economy of the whole machine.

[0039] Further, when the agricultural harvesting machinery is running, the method further comprises:

[0040] Acquiring temperature information of the agricultural harvesting machinery, wherein the temperature information includes coolant temperature, intercooler temperature and hydraulic oil temperature;

[0041] Based on the temperature information, determining a gear position of a fan of the agricultural harvesting machine, wherein the gear position is set to at least three gears;

[0042] The step of determining the gear position of the fan of the agricultural harvesting machine based on the temperature information includes:

[0043] When the coolant temperature is not greater than a first coolant temperature threshold, the intercooler temperature is not greater than a first intercooler temperature threshold, and the hydraulic oil temperature is not greater than a first hydraulic oil temperature threshold, the fan of the agricultural harvester is controlled to be in the first gear;

[0044] When the coolant temperature is greater than a first coolant temperature threshold and not greater than a second coolant temperature threshold, and the intercooler temperature is greater than a first intercooler temperature threshold and not greater than a second intercooler temperature threshold, and the hydraulic oil temperature is greater than a first hydraulic oil temperature and not greater than a second hydraulic oil temperature threshold, the gear position of the fan of the agricultural harvesting machine is controlled to be the second gear position;

[0045] When the coolant temperature is greater than the second coolant temperature threshold and not greater than the third coolant temperature threshold, and the intercooler temperature is greater than the second intercooler temperature threshold and not greater than the third intercooler temperature threshold, and the hydraulic oil temperature is greater than the second hydraulic oil temperature and not greater than the third hydraulic oil temperature threshold, the gear position of the fan of the agricultural harvesting machinery is controlled to be the third gear position;

[0046] When the coolant temperature is not less than a fourth coolant temperature threshold, the gear position for controlling the fan of the agricultural harvester is a reverse gear position, and the reverse gear position represents a gear position for controlling the fan to reverse to achieve fan self-cleaning.

[0047] The beneficial effect of adopting the above further scheme is that the fan gear can be automatically adjusted according to the difference in coolant temperature, intercooler temperature and hydraulic oil temperature, so that the fan can switch between the first gear, the second gear and the third gear, thereby accurately controlling the air volume and reducing the consumption of useless power. By setting a suitable gear switching temperature, the fan can be operated at a small angle or an intermediate angle as much as possible, so as to achieve low-energy operation of the fan, which is conducive to further reducing the fuel consumption of the harvesting machinery. At the same time, the fan blade reversal function can be integrated, and impurities adsorbed on the radiator and its outer protective mesh cover can be removed in time, which is more conducive to reducing the temperature of the cooling medium of the cooling system, so that the fan can continue to operate at low energy consumption, forming a virtuous circle.

[0048] In a second aspect, the present application provides an agricultural harvesting machinery control device, which adopts the following technical solution:

[0049] A control device for agricultural harvesting machinery, comprising:

[0050] an acquisition module, configured to acquire the working mode of the agricultural harvester in response to a triggering action selected by a staff member for the working mode of the agricultural harvester, wherein the working mode is a harvesting mode or a road transfer mode, wherein the harvesting mode represents an operating mode in which the agricultural harvester harvests crops in a field, and the road transfer mode represents an operating mode in which the agricultural harvester travels on a road and does not harvest crops;

[0051] A determination module is used to determine the maximum speed range of the engine, the maximum displacement of the hydraulic pump and the maximum displacement of the hydraulic motor of the agricultural harvesting machinery based on the working mode, so as to limit the speed of the engine according to the maximum speed range, limit the displacement of the hydraulic pump according to the maximum displacement of the hydraulic pump, and limit the displacement of the hydraulic motor according to the maximum displacement of the hydraulic motor.

[0052] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0053] An electronic device comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the agricultural harvesting machinery control method described in any one of the first aspects.

[0054] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0055] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute the agricultural harvesting machinery control method described in any one of the first aspects.

[0056] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A schematic flow chart of a method for controlling an agricultural harvesting machine provided by an embodiment of the present invention;

[0058] Figure 2 A control flow chart of a working mode of an agricultural harvesting machine provided by one embodiment of the present invention;

[0059] Figure 3 A schematic diagram of an engine performance curve of an agricultural harvesting machine provided by an embodiment of the present invention;

[0060] Figure 4 A flow chart of intelligent load control of an agricultural harvesting machine provided by one embodiment of the present invention;

[0061] Figure 5 A fan gear control flow chart of an agricultural harvesting machine provided by one embodiment of the present invention;

[0062] Figure 6 A structural block diagram of an agricultural harvesting machinery control device provided by one embodiment of the present invention;

[0063] Figure 7 A structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0064] The present application is further described in detail below in conjunction with the accompanying drawings.

[0065] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0067] An embodiment of the present application provides an agricultural harvesting machinery control method, which is applied to an agricultural harvesting machinery control system. The system includes a control mechanism, an engine, a hydraulic pump, a hydraulic motor and a fan, and the engine, the hydraulic pump, the hydraulic motor and the fan are all connected to the control mechanism.

[0068] Among them, the engine is the core component of agricultural production machinery and is responsible for providing power. The engine includes an engine controller ECU, an accelerator pedal, a speed sensor and a torque sensor. The engine controller ECU is used to receive signals and control the operating power of the engine, the accelerator pedal is used to adjust the throttle opening, the speed sensor is used to monitor the current speed of the engine, and the torque sensor is used to detect the current output torque of the engine.

[0069] The hydraulic pump and hydraulic motor constitute the main part of the hydraulic travel system. The hydraulic pump includes a pump body and a pump controller. The pump controller controls the output displacement of the pump body after receiving the signal. The hydraulic motor includes a motor body and a motor controller. The motor controller adjusts the displacement of the motor body according to the command.

[0070] The fan includes fan blades, a fan controller, multiple temperature sensors and a fan gear adjustment component. The fan blades can be adjusted at multiple angles through the fan controller to achieve multi-level air volume adjustment. The temperature sensors are installed at the coolant outlet, in the intercooler, and on the return pipe of the hydraulic oil tank. The fan gear adjustment component is driven by a stepper motor to achieve blade angle adjustment.

[0071] The agricultural harvesting machinery control method provided in the embodiment of the present application can be applied to any application scenario where agricultural harvesting machinery needs to be controlled. The solution provided in the embodiment of the present invention can be executed by an electronic device with a data processing function, such as a control mechanism with a data processing function installed on a tractor, and the control mechanism includes a vehicle control unit VCU (Vehicle Control Unit).

[0072] The present application embodiment provides a possible implementation method, such as Figure 1 As shown, a method for controlling an agricultural harvesting machine is provided, comprising steps S1 to S2:

[0073] Step S1, in response to a triggering action of a worker selecting a working mode of an agricultural harvester, obtaining the working mode of the agricultural harvester, wherein the working mode is a harvesting mode or a road transfer mode, wherein the harvesting mode represents an operating mode in which the agricultural harvester harvests crops in a field, and the road transfer mode represents an operating mode in which the agricultural harvester travels on a road and does not harvest crops;

[0074] Step S2, based on the working mode, determines the maximum speed range of the engine of the agricultural harvesting machinery, the maximum displacement of the hydraulic pump and the maximum displacement of the hydraulic motor, so as to limit the speed of the engine according to the maximum speed range, limit the displacement of the hydraulic pump according to the maximum displacement of the hydraulic pump, and limit the displacement of the hydraulic motor according to the maximum displacement of the hydraulic motor.

[0075] In an embodiment of the present application, a worker selects the working mode of the agricultural harvester through an operation button on the agricultural harvester, and the vehicle controller VCU receives the signal from the operation button and calculates and processes it to generate a control signal.

[0076] Specifically, the vehicle controller VCU determines the maximum speed range of the engine, the maximum displacement of the pump, and the maximum displacement of the motor of the agricultural harvester based on the working mode, including:

[0077] When the working mode is the harvesting mode, the maximum speed range of the engine is adjusted to the first speed range, and the maximum displacement of the hydraulic pump and the hydraulic motor are adjusted to the same set value;

[0078] When the working mode is the road transfer mode, the maximum speed range of the engine is adjusted to the second speed range, and the maximum displacement of the hydraulic pump is adjusted to the first set value, and the maximum displacement of the hydraulic motor is adjusted to the second set value, the first set value is greater than the second set value, and the lower limit value of the first speed range is greater than the upper limit value of the second speed range.

[0079] In the implementation manner of the present application, the first speed range is (1700-1900) r / min, and the second speed range is (1400-1600) r / min.

[0080] As an example, Figure 2 As shown in the figure, when the agricultural harvester is in the harvesting mode, the vehicle controller VCU sets the maximum engine speed range to (1700-1900) r / min, and adjusts the maximum displacement of the hydraulic pump and the hydraulic motor to the same set value, and the whole vehicle performs harvesting operations. In the road transfer mode, the vehicle controller VCU sets the maximum engine speed range to (1400-1600) r / min, and makes the maximum displacement setting value of the hydraulic pump greater than the maximum displacement setting value of the hydraulic motor, and the whole vehicle performs road transfer.

[0081] Agricultural harvesting machinery can intelligently adjust the engine speed and the maximum displacement of the hydraulic pump and hydraulic motor according to the working mode, so that the engine of the agricultural harvesting machinery maintains an operating speed close to the optimal fuel consumption area in the harvesting mode and road transfer mode, effectively reducing the fuel consumption of the entire machine.

[0082] When the agricultural harvester is in harvesting mode, the engine's maximum speed range is adjusted to the first speed range, and the maximum displacements of the hydraulic pump and the hydraulic motor are adjusted to the same set value, ensuring that the engine operates at a speed close to the optimal fuel consumption area while ensuring that the speed of the working parts of the entire machine remains unchanged; when the agricultural harvester is in road transfer mode, the engine's maximum speed range is adjusted to the second speed range, and the maximum displacement of the hydraulic pump is greater than the maximum displacement of the hydraulic motor, further reducing the engine speed so that it falls into the optimal fuel consumption speed area, effectively reducing the fuel consumption of the entire machine.

[0083] As an optional implementation of the embodiment of the present application, the agricultural harvesting machinery control method also includes an intelligent power adjustment method.

[0084] Specifically, when the working mode of the agricultural harvester is a harvesting mode, the method further includes:

[0085] Step S11, obtaining in real time the operating parameter information of the engine of the agricultural harvester and the operating speed of the agricultural harvester, wherein the operating parameter information includes the current operating power, the current speed and the current output torque, and the operating speed represents the speed of the agricultural harvester when operating;

[0086] Step S12, determining whether the current engine power meets the operation requirements of the agricultural harvesting machinery;

[0087] In an embodiment of the present application, the integrated controller VCU is preset with performance information, which includes performance curves of multiple gears corresponding to different operating powers, and the performance curve of each gear respectively represents the relationship between the engine speed and output torque at different powers.

[0088] Further, judging whether the current engine power meets the operation requirements of the agricultural harvesting machinery includes:

[0089] The integrated controller VCU determines the set speed range and the set torque range for the engine to operate at the current operating power according to the operating speed and the current performance curve corresponding to the current operating power;

[0090] If the current speed of the engine is within the set speed range, and the current output torque is within the set torque range, it is determined that the current operating power meets the operation requirements of the agricultural harvesting machinery;

[0091] Otherwise, it is determined that the current operating power does not meet the operating requirements of the agricultural harvesting machinery.

[0092] Step S13: if not satisfied, judging whether the current performance curve corresponding to the current operating power is the highest gear performance curve or the lowest gear performance curve based on the preset performance information;

[0093] In the embodiment of the present application, as an example, Figure 3 As shown, the vehicle controller VCU has three built-in performance curves, namely performance curve 1, performance curve 2 and performance curve 3. Performance curve 1 is the highest gear performance curve, and performance curve 3 is the lowest gear performance curve. It is determined whether the current performance curve corresponding to the current operating power is performance curve 1 or performance curve 3. If it is performance curve 1 or performance curve 3, it is determined that the current performance curve corresponding to the current operating power is the highest gear performance curve or the lowest gear performance curve. Otherwise, it is determined that the current performance curve corresponding to the current operating power is not the highest gear performance curve or the lowest gear performance curve.

[0094] Step S14, if the current performance curve is neither the highest gear performance curve nor the lowest gear performance curve, then based on the operating speed, the current performance curve, the current speed, the current output torque and preset performance control rules, the target operating power of the engine of the agricultural harvesting machinery is determined, and the current operating power of the engine is adjusted according to the target operating power.

[0095] In an embodiment of the present application, the target operating power of the engine of the agricultural harvester is determined based on the operating speed, the current performance curve, the current speed, the current output torque and a preset performance control rule, including:

[0096] Determining a set speed range and a set torque range for the engine to operate at a current operating power based on the operating speed and the current performance curve;

[0097] When the current output torque is less than the lower limit of the set torque range, determining that the operating power corresponding to the next gear performance curve of the current performance curve is the target operating power of the engine of the agricultural harvester, and the next gear performance curve is a performance curve corresponding to the next gear of the current gear corresponding to the current performance curve;

[0098] When the current speed is less than the lower limit of the set speed range, the operating power corresponding to the previous gear performance curve of the current performance curve is determined as the target operating power of the engine of the agricultural harvesting machinery, and the previous gear performance curve is the performance curve corresponding to the previous gear of the current gear corresponding to the current performance curve.

[0099] In the embodiment of the present application, the example in step S13 is continued as an example. Figure 3 As shown, in the initial state, the engine works according to the operating power corresponding to performance curve 2. Assuming that the engine works at operating point 2 on performance curve 2, when the load of the whole machine is small, the torque output by the engine is less than the torque value of operating point 2. When the output torque of the engine drops to the torque value of operating point 3, the vehicle controller VCU controls the engine to jump to performance curve 3, that is, to work according to the operating power corresponding to performance curve 3. On the contrary, when the load of the whole machine is large, the torque value of operating point 2 cannot meet the needs of the whole machine, forcing the current speed of the engine to decrease. When the current speed of the engine drops to -50rpm below the speed of operating point 2, the engine automatically jumps to performance curve 1, that is, to work according to the operating power corresponding to performance curve 1. In this way, the engine can output corresponding power according to the needs of the whole machine, avoiding excessive fuel consumption of the whole vehicle caused by excess power.

[0100] By adjusting the engine power in real time to keep it in a state that meets the operation requirements but is not excessive, the harvesting efficiency of agricultural harvesting machinery can be significantly improved and useless power consumption can be reduced. At the same time, it avoids operation interruption or speed reduction due to insufficient power, maintains operation efficiency, and improves the economy of engine use and the overall performance stability of the machinery.

[0101] When the current output torque of the engine is less than the lower limit of the set torque range, it means that the current load of the agricultural harvesting machinery is large. At this time, by adjusting the current operating power of the engine to the operating power corresponding to the next gear performance curve, the engine speed is prevented from rapidly dropping and stalling due to excessive load, so that the engine can provide corresponding power support under different working conditions. When the current speed is less than the lower limit of the set speed range, it means that the current load of the agricultural harvesting machinery is small. At this time, by adjusting the current operating power of the engine to the operating power corresponding to the previous gear performance curve, the engine power is avoided to be excessive, thereby further reducing the fuel consumption of the whole machine and improving fuel economy.

[0102] As an optional implementation of the embodiment of the present application, Figure 4 As shown, if the target performance curve is the highest gear performance curve or the lowest gear performance curve, the agricultural harvesting machinery control method also includes an intelligent load control method, which includes:

[0103] When the target performance curve is a highest gear performance curve and the current speed of the engine is lower than a preset speed threshold, controlling the operating speed of the agricultural harvester to decrease to a set first operating speed threshold;

[0104] When the target performance curve is the lowest gear performance curve and the current output torque of the engine is less than a preset output torque threshold, the operating speed of the agricultural harvester is controlled to increase to a set second operating speed threshold.

[0105] In the embodiment of the present application, when the agricultural harvesting machinery has been adjusted to the highest gear performance curve through the intelligent power adjustment function, if the load of the whole machine continues to increase, the engine speed will decrease or even stall. To avoid this situation, the travel speed of the whole machine is automatically reduced to ensure the normal operation of the whole machine, thereby avoiding insufficient power caused by too low engine speed; when the agricultural harvesting machinery has been adjusted to the lowest gear performance curve through the intelligent power adjustment function, if the engine load rate is determined to be low through the current output torque of the engine, the travel speed of the whole machine is automatically increased to ensure the harvesting effect while maximizing the performance of the engine, reducing energy waste, facilitating the engine to maintain a stable working state in a complex operating environment, and optimizing the fuel economy of the whole machine.

[0106] It should be noted that the first operating speed threshold is determined based on a combination of factors such as mechanical performance, crop type, soil conditions, etc., to ensure that the engine can still operate stably at the highest gear while maintaining a certain harvesting efficiency. The second operating speed threshold is also determined based on a combination of factors such as mechanical performance, crop type, soil conditions, etc., to ensure that the engine can achieve a high harvesting efficiency at the lowest gear.

[0107] As an optional implementation of the embodiment of the present application, the agricultural harvesting machinery control method also includes a fan control method, and the fan control method includes:

[0108] When the agricultural harvester is running, obtaining temperature information of the agricultural harvester, the temperature information including coolant temperature, intercooler temperature and hydraulic oil temperature;

[0109] Based on the temperature information, determining a gear position of a fan of the agricultural harvesting machine, wherein the gear position is set to at least three gears;

[0110] Specifically, determining the gear position of the fan of the agricultural harvesting machine based on the temperature information includes:

[0111] When the coolant temperature is not greater than a first coolant temperature threshold, the intercooler temperature is not greater than a first intercooler temperature threshold, and the hydraulic oil temperature is not greater than a first hydraulic oil temperature threshold, the fan of the agricultural harvester is controlled to be in the first gear. The different gears of the fan represent the ability of the fan to adjust the air volume. The higher the gear of the fan, the greater the air volume of the fan.

[0112] When the coolant temperature is greater than a first coolant temperature threshold and not greater than a second coolant temperature threshold, and the intercooler temperature is greater than a first intercooler temperature threshold and not greater than a second intercooler temperature threshold, and the hydraulic oil temperature is greater than a first hydraulic oil temperature and not greater than a second hydraulic oil temperature threshold, the gear position of the fan of the agricultural harvesting machine is controlled to be the second gear position;

[0113] When the coolant temperature is greater than the second coolant temperature threshold and not greater than the third coolant temperature threshold, and the intercooler temperature is greater than the second intercooler temperature threshold and not greater than the third intercooler temperature threshold, and the hydraulic oil temperature is greater than the second hydraulic oil temperature and not greater than the third hydraulic oil temperature threshold, the gear position of the fan of the agricultural harvesting machinery is controlled to be the third gear position;

[0114] When the coolant temperature is not less than a fourth coolant temperature threshold, the gear position for controlling the fan of the agricultural harvester is a reverse gear position, and the reverse gear position represents a gear position for controlling the fan to reverse to achieve fan self-cleaning.

[0115] It should be noted that the fan gear position is an empirical value set based on the debugging of different models of agricultural harvesting machinery.

[0116] As an example, Figure 5As shown, taking a three-speed adjustable fan as an example, when working, the temperature sensor sends a temperature signal to the vehicle controller VCU, and the vehicle controller VCU controls the action of the fan gear adjustment component to adjust the fan gear. The fan gear is in the third gear at the initial position. When the coolant temperature is ≤T1, the intercooler temperature is ≤T1', and the hydraulic oil temperature is ≤T1", the fan is in the first gear; when T1 is less than the coolant temperature ≤T2, T1' is less than the intercooler temperature ≤T2', and T1" is less than the hydraulic oil temperature ≤T2", the fan is in the second gear; when T2 is less than the coolant temperature ≤T3, T2' is less than the intercooler temperature ≤T3', and T2" is less than the hydraulic oil temperature ≤T3", the fan is in the third gear. The temperature range of the coolant, intercooler and hydraulic oil during the operation of agricultural harvesting machinery is collected, and the values ​​of T1, T2, T1', T2', T3, and T3' are set according to the temperature range to ensure that the fan is concentrated in the middle and low gears for most of the time, reduce fan loss, and achieve the purpose of reducing fuel consumption. At the same time, the blade reversal gear is set. When the coolant temperature is ≥T4, the fan blades are reversed, and the fan blows back to blow away the impurities adsorbed on the radiator and its outer protective mesh cover.

[0117] Figure 6 A schematic structural diagram of an agricultural harvesting machinery control device 200 provided as an embodiment of the present invention.

[0118] like Figure 6 The agricultural harvesting machinery control device 200 comprises:

[0119] The acquisition module 201 is used for acquiring the working mode of the agricultural harvester in response to the triggering action of the selection of the working mode of the agricultural harvester by the staff, wherein the working mode is a harvesting mode or a road transfer mode, wherein the harvesting mode represents the working mode of the agricultural harvester harvesting crops in the field, and the road transfer mode represents the working mode of the agricultural harvester driving on the road and not harvesting crops;

[0120] The determination module 202 is used to determine the maximum speed range of the engine, the maximum displacement of the hydraulic pump and the maximum displacement of the hydraulic motor of the agricultural harvesting machinery based on the working mode, so as to limit the speed of the engine according to the maximum speed range, limit the displacement of the hydraulic pump according to the maximum displacement of the hydraulic pump, and limit the displacement of the hydraulic motor according to the maximum displacement of the hydraulic motor.

[0121] In one example, the module in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0122] For another example, when the modules in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0123] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0124] Figure 7 This is a structural block diagram of an electronic device 300 according to an embodiment of the present application.

[0125] like Figure 7 As shown, the electronic device 300 includes a processor 301 and a memory 302 , and may further include one or more of an information input / information output (I / O) interface 303 and a communication component 304 .

[0126] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned agricultural harvesting machinery control method; the memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method used to operate on the electronic device 300, and data related to the application. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), programmable read-only memory (Programmable Read-Only Memory, PROM), read-only memory (Read-Only Memory, ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0127] The I / O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.

[0128] The communication bus 305 may include a path to transmit information between the above components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0129] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the agricultural harvesting machinery control method given in the above embodiment.

[0130] The computer-readable storage medium provided in the embodiment of the present application is introduced below. The computer-readable storage medium described below and the agricultural harvesting machinery control method described above can be referenced to each other.

[0131] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned agricultural harvesting machinery control method are implemented.

[0132] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0133] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0134] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A method for controlling agricultural harvesting machinery, characterized in that: include: In response to a triggering action of a worker selecting a working mode of an agricultural harvester, the working mode of the agricultural harvester is obtained, wherein the working mode is a harvesting mode or a road transfer mode, wherein the harvesting mode represents an operating mode in which the agricultural harvester harvests crops in a field, and the road transfer mode represents an operating mode in which the agricultural harvester travels on a road and does not harvest crops; Based on the working mode, the maximum speed range of the engine, the maximum displacement of the hydraulic pump and the maximum displacement of the hydraulic motor of the agricultural harvesting machinery are determined to limit the speed of the engine according to the maximum speed range, limit the displacement of the hydraulic pump according to the maximum displacement of the hydraulic pump, and limit the displacement of the hydraulic motor according to the maximum displacement of the hydraulic motor.

2. The agricultural harvesting machinery control method according to claim 1, characterized in that: The determining, based on the working mode, the maximum speed range of the engine, the maximum displacement of the pump and the maximum displacement of the motor of the agricultural harvesting machinery comprises: When the working mode is the harvesting mode, the maximum speed range of the engine is adjusted to the first speed range, and the maximum displacement of the hydraulic pump and the hydraulic motor are adjusted to the same set value; When the working mode is the road transfer mode, the maximum speed range of the engine is adjusted to the second speed range, and the maximum displacement of the hydraulic pump is adjusted to the first set value, and the maximum displacement of the hydraulic motor is adjusted to the second set value, the first set value is greater than the second set value, and the lower limit value of the first speed range is greater than the upper limit value of the second speed range.

3. The agricultural harvesting machinery control method according to claim 1, characterized in that: When the working mode of the agricultural harvester is a harvesting mode, the method further includes: Acquire in real time the operating parameter information of the engine of the agricultural harvester and the operating speed of the agricultural harvester, wherein the operating parameter information includes the current operating power, the current speed and the current output torque, and the operating speed represents the speed of the agricultural harvester when operating; Determining whether the current engine power meets the operation requirements of the agricultural harvesting machinery; If not, judging whether the current performance curve corresponding to the current operating power is the highest gear performance curve or the lowest gear performance curve based on preset performance information, wherein the performance information includes performance curves of multiple gears, and the performance curve of each gear respectively represents the relationship between the speed and output torque of the engine at different powers; If the current performance curve is neither the highest gear performance curve nor the lowest gear performance curve, the target operating power of the engine of the agricultural harvesting machinery is determined based on the operating speed, the current performance curve, the current speed, the current output torque and preset performance control rules, and the current operating power of the engine is adjusted according to the target operating power.

4. The agricultural harvesting machinery control method according to claim 3, characterized in that: The determining whether the current engine power meets the operation requirements of the agricultural harvesting machinery includes: Determining a set speed range and a set torque range for the engine to operate at a current operating power based on the operating speed and the current performance curve; If the current speed of the engine is within the set speed range, and the current output torque is within the set torque range, it is determined that the current operating power meets the operation requirements of the agricultural harvesting machinery; Otherwise, it is determined that the current operating power does not meet the operating requirements of the agricultural harvesting machinery.

5. The agricultural harvesting machinery control method according to claim 3, characterized in that: The determining of the target operating power of the engine of the agricultural harvesting machinery based on the operating speed, the current performance curve, the current rotation speed, the current output torque and a preset performance control rule comprises: Determining a set speed range and a set torque range for the engine to operate at a current operating power based on the operating speed and the current performance curve; When the current output torque is less than the lower limit of the set torque range, determining that the operating power corresponding to the next gear performance curve of the current performance curve is the target operating power of the engine of the agricultural harvester, and the next gear performance curve is a performance curve corresponding to the next gear of the current gear corresponding to the current performance curve; When the current speed is less than the lower limit of the set speed range, the operating power corresponding to the previous gear performance curve of the current performance curve is determined as the target operating power of the engine of the agricultural harvesting machinery, and the previous gear performance curve is the performance curve corresponding to the previous gear of the current gear corresponding to the current performance curve.

6. The agricultural harvesting machinery control method according to claim 3, characterized in that: If the target performance curve is a highest gear performance curve or a lowest gear performance curve, the method further includes: When the target performance curve is a highest gear performance curve and the current speed of the engine is lower than a preset speed threshold, controlling the operating speed of the agricultural harvester to decrease to a set first operating speed threshold; When the target performance curve is the lowest gear performance curve and the current output torque of the engine is less than a preset output torque threshold, the operating speed of the agricultural harvester is controlled to increase to a set second operating speed threshold.

7. The agricultural harvesting machinery control method according to claim 1, characterized in that: When the agricultural harvesting machine is running, the method further comprises: Acquiring temperature information of the agricultural harvesting machinery, wherein the temperature information includes coolant temperature, intercooler temperature and hydraulic oil temperature; Based on the temperature information, determining a gear position of a fan of the agricultural harvesting machine, wherein the gear position is set to at least three gears; The step of determining the gear position of the fan of the agricultural harvesting machine based on the temperature information includes: When the coolant temperature is not greater than a first coolant temperature threshold, the intercooler temperature is not greater than a first intercooler temperature threshold, and the hydraulic oil temperature is not greater than a first hydraulic oil temperature threshold, the fan of the agricultural harvester is controlled to be in the first gear; When the coolant temperature is greater than a first coolant temperature threshold and not greater than a second coolant temperature threshold, and the intercooler temperature is greater than a first intercooler temperature threshold and not greater than a second intercooler temperature threshold, and the hydraulic oil temperature is greater than a first hydraulic oil temperature and not greater than a second hydraulic oil temperature threshold, the gear position of the fan of the agricultural harvesting machine is controlled to be the second gear position; When the coolant temperature is greater than the second coolant temperature threshold and not greater than the third coolant temperature threshold, and the intercooler temperature is greater than the second intercooler temperature threshold and not greater than the third intercooler temperature threshold, and the hydraulic oil temperature is greater than the second hydraulic oil temperature and not greater than the third hydraulic oil temperature threshold, the gear position of the fan of the agricultural harvesting machinery is controlled to be the third gear position; When the coolant temperature is not less than a fourth coolant temperature threshold, the gear position for controlling the fan of the agricultural harvester is a reverse gear position, and the reverse gear position represents a gear position for controlling the fan to reverse to achieve fan self-cleaning.

8. An agricultural harvesting machinery control device, characterized in that: include: an acquisition module, configured to acquire the working mode of the agricultural harvester in response to a triggering action selected by a staff member for the working mode of the agricultural harvester, wherein the working mode is a harvesting mode or a road transfer mode, wherein the harvesting mode represents an operating mode in which the agricultural harvester harvests crops in a field, and the road transfer mode represents an operating mode in which the agricultural harvester travels on a road and does not harvest crops; A determination module is used to determine the maximum speed range of the engine, the maximum displacement of the hydraulic pump and the maximum displacement of the hydraulic motor of the agricultural harvesting machinery based on the working mode, so as to limit the speed of the engine according to the maximum speed range, limit the displacement of the hydraulic pump according to the maximum displacement of the hydraulic pump, and limit the displacement of the hydraulic motor according to the maximum displacement of the hydraulic motor.

9. An electronic device, characterized in that: comprising a processor coupled to a memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The method comprises a computer program or an instruction, and when the computer program or the instruction is executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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