Crop supply control method and device of harvester, electronic equipment and medium

Abstract

The invention provides a crop supply control method and device for a harvester, electronic equipment and a medium, and the method comprises the steps: recognizing whether the operation state of the harvester meets a supply stop condition or not, the operation state comprising the height position of a header of the harvester and the gear of a header handle of the harvester; when the running state of the harvester meets the supply stopping condition, the working state of a threshing clutch of the harvester is recognized, and whether the harvester meets the automatic clutch condition or not is judged according to the recognized working state; if the automatic clutch condition is met, a threshing supply chain clutch of the harvester is controlled to be in a separated state to stop operation of a threshing supply chain of the harvester, so that supply of crops from the header to a threshing cylinder of the harvester is interrupted, and the threshing cylinder is kept to continue threshing operation. According to the invention, the fuel oil energy consumption in the harvesting process is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of harvesters, and in particular to a crop supply control method, device, electronic equipment and medium for a harvester. Background Art

[0002] As a key machine for rice harvesting, the working performance, safety and energy efficiency of rice harvesters are directly related to the comprehensive economic benefits of agriculture. With the development of intelligent agricultural machinery, the requirements for rice combine harvesters in these aspects are increasing. Although the existing technical solutions have widely introduced electrification and automation technologies, there are still deficiencies in safety and energy saving.

[0003] When the rice harvester turns or stops working, the cutting table needs to be lifted. After the cutting table is lifted, the threshing supply chain should be stopped to ensure safety. However, the cutting table of the existing harvester is not connected to the threshing supply chain, which not only poses a safety hazard but also increases fuel consumption. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a crop supply control method, device, electronic equipment and medium for a harvester, so as to automatically stop the operation of the threshing supply chain of the harvester when the harvester's cutting table is raised to the highest point, thereby achieving the effect of reducing fuel energy consumption during the harvesting process.

[0005] In the first aspect, the present application provides a crop supply control method for a harvester, the method comprising: identifying whether the operating state of the harvester satisfies a stop supply condition, the operating state including the height position of the harvester's cutting table and the gear position of the harvester's cutting table handle; when the operating state of the harvester satisfies the stop supply condition, identifying the working state of the threshing clutch of the harvester, and judging whether the harvester satisfies an automatic clutch condition based on the identified working state; if the automatic clutch condition is met, controlling the threshing supply chain clutch of the harvester to be in a disengaged state to stop the operation of the threshing supply chain of the harvester, so as to interrupt the supply of crops from the cutting table to the threshing drum of the harvester, and keep the threshing drum to continue the threshing operation.

[0006] In a possible embodiment, the threshing clutch motor of the harvester controls the tensioning and loosening of the threshing clutch cable and the threshing supply chain cable through a cam, and a main clutch position sensor is arranged on the cam, the threshing clutch cable is used to control the engagement and disengagement of the threshing clutch, the threshing supply chain cable is used to control the engagement and disengagement of the threshing supply chain clutch, and the main clutch position sensor is used to detect the rotation position of the cam, wherein the working state of the threshing clutch is identified in the following manner: receiving a first position signal of the main clutch position sensor; when it is identified that the cam is in the first position according to the first position signal, determining that the threshing clutch and the threshing supply chain clutch are both in a disengaged state; when it is identified that the cam is in the second position according to the first position signal, determining that the threshing clutch and the threshing supply chain clutch are both in an engaged state; when it is identified that the cam is in the third position according to the first position signal, determining that the threshing clutch is in an engaged state, and the threshing supply chain clutch is in a disengaged state.

[0007] In a possible implementation, whether the harvester meets the automatic clutch condition is determined in the following manner: when the threshing clutch is in an engaged state, it is determined that the harvester meets the automatic clutch condition; when the threshing clutch is in a disengaged state, it is determined that the harvester does not meet the automatic clutch condition.

[0008] In one possible embodiment, whether the operating state of the harvester satisfies the stop supply condition is identified in the following manner: when it is monitored that the height position of the harvesting table reaches the upper limit and the harvesting table handle is in the harvesting gear, it is determined that the harvester satisfies the stop supply condition; when it is monitored that the height position of the harvesting table does not reach the upper limit and / or the harvesting table handle is not in the harvesting gear, it is determined that the harvester does not satisfy the stop supply condition.

[0009] In a possible embodiment, the threshing supply chain clutch of the harvester is controlled to be in a disengaged state in the following manner: the threshing clutch motor is controlled to operate so that the cam is in the third position to tighten the threshing supply chain pull wire so that the threshing supply chain clutch is in a disengaged state.

[0010] In a possible embodiment, it also includes: identifying whether the operating state of the harvester satisfies the start supply condition, the start supply condition includes that the position of the header reaches the lowest limit and the header handle is in the harvesting gear; when the harvester satisfies the start supply condition, identifying the working state of the threshing clutch, and judging whether the harvester satisfies the automatic clutch condition according to the identified working state; if the automatic clutch condition is met, controlling the threshing clutch motor to operate so that the cam is in the second position, so that the threshing supply chain clutch is in the engaged state, so as to drive the threshing supply chain to move, so as to supply the crop from the header to the threshing drum, and keep the threshing drum to continue the threshing operation.

[0011] In a possible embodiment, it also includes: when it is monitored that the height position of the cutting table reaches the upper limit, controlling the cutting table speed change motor of the harvester to rotate in the reverse direction so as to reduce the rotation speed of the cutting table; when it is monitored that the rotation speed of the cutting table is zero, controlling the cutting table speed change motor to stop rotating in the reverse direction; or, when it is monitored that the height position of the cutting table reaches the lower limit, controlling the cutting table speed change motor of the harvester to rotate in the forward direction so as to increase the rotation speed of the cutting table; when it is monitored that the rotation speed of the cutting table is a preset speed, controlling the cutting table speed change motor to stop rotating in the forward direction.

[0012] In a second aspect, the present application provides a crop supply control device for a harvester, the device comprising: an identification module for identifying whether the operating state of the harvester satisfies a stop supply condition, the operating state comprising the height position of the harvester's cutting table and the gear position of the harvester's cutting table handle; a judgment module for identifying the working state of the harvester's threshing clutch when the operating state of the harvester satisfies the stop supply condition, and judging whether the harvester satisfies an automatic clutch condition based on the identified working state; an execution module for controlling the threshing supply chain clutch of the harvester to be in a disengaged state if the automatic clutch condition is met, to stop the operation of the threshing supply chain of the harvester, so as to interrupt the supply of crops from the cutting table to the threshing drum of the harvester, and keep the threshing drum to continue the threshing operation.

[0013] In a third aspect, the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above method are performed.

[0014] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and the computer program executes the steps of the above method when executed by a processor.

[0015] The present application provides a crop supply control method, device, electronic device and medium for a harvester, the method comprising: identifying whether the operation state of the harvester satisfies the stop supply condition, the operation state including the height position of the harvester's header and the gear position of the harvester's header handle; when the operation state of the harvester satisfies the stop supply condition, identifying the working state of the harvester's threshing clutch, and judging whether the harvester satisfies the automatic clutch condition according to the identified working state; if the automatic clutch condition is satisfied, controlling the harvester's threshing supply chain clutch to be in a disengaged state to stop the operation of the harvester's threshing supply chain, so as to interrupt the supply of crops from the header to the harvester's threshing drum, and keep the threshing drum to continue the threshing operation. Through the present application, the operation of the harvester's threshing supply chain is automatically stopped when the harvester's header is lifted to the highest point, reducing the fuel energy consumption during the harvesting process.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. 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 related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A flow chart of a crop supply control method for a harvester provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of the structure of the automatic clutch device provided in an embodiment of the present application;

[0020] Figure 3 A flow chart for controlling the start of crop supply provided by an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of a crop supply control device for a harvester provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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 only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0024] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied to a harvester.

[0025] Research has found that the performance of rice harvesters, as key machinery for rice harvesting, is directly related to the economic benefits of agriculture. With the development of intelligent agricultural machinery, the requirements for rice combine harvesters are increasing, especially in terms of workability, safety and energy efficiency. Although the existing technical solutions have introduced electrification and automation, there are still deficiencies in safety and low power consumption. Specifically, when the rice harvester turns or does not need to work, it is usually necessary to lift the header. In this case, if the header is not needed for feeding and conveying transmission, the driver needs to manually close the header clutch or manually reduce the throttle to reduce the header speed. This operation method is not only cumbersome, but also increases the difficulty of the driver's operation and easily causes mental fatigue to the driver. For the sake of convenience, many drivers choose to keep the header running continuously, which greatly increases fuel consumption. In addition, when the semi-feeding rice machine is harvesting, if the header is raised, in order to ensure safety, it is also necessary to manually stop the delivery of the threshing supply chain. However, there is no associated control between the existing harvester header and the threshing supply chain, which increases safety hazards and fuel consumption. For the existing rice harvester header clutch technology, when the rice machine turns or does not need to operate, it is also necessary to lift the header and manually close the header clutch or reduce the header speed. When the rice machine enters the normal operating area or prepares for operation, it is necessary to lower the header and manually start the header clutch or increase the throttle to increase the header speed. There is no special control for the threshing supply chain. As long as the threshing clutch is in the engaged state, the chain will keep running.

[0026] Based on this, the embodiments of the present application provide a crop supply control method, device, electronic device and medium for a harvester, which can automatically stop the operation of the harvester's threshing supply chain when the harvester's header is raised to the highest point, and close the clutch of the header, thereby achieving the effect of reducing fuel energy consumption during the harvesting process.

[0027] See also Figure 1 , Figure 1 This is a flow chart of a crop supply control method for a harvester provided in an embodiment of the present application. Figure 1 As shown in the figure, the crop supply control method of the harvester provided in the embodiment of the present application includes:

[0028] S101. Identify whether the operating status of the harvester satisfies the supply stop condition.

[0029] Here, the operating state includes the height position of the harvester's cutting table and the gear position of the harvester's cutting table handle. The cutting table is a component on the harvester used for cutting crops, usually located at the front of the harvester.

[0030] In a preferred example of the present application, whether the operating state of the harvester satisfies the stop supply condition is identified in the following manner: when it is monitored that the height position of the harvester has reached the upper limit and the harvester handle is in the harvesting gear, it is determined that the harvester satisfies the stop supply condition; when it is monitored that the height position of the harvester has not reached the upper limit and / or the harvester handle is not in the harvesting gear, it is determined that the harvester does not satisfy the stop supply condition.

[0031] Here, when the header handle is in the harvesting gear position, it means that the header has been activated or set to a state for harvesting operations. The height of the header can be detected based on the header height sensor, and the height change of the header can be detected based on the change in the voltage value of the header height sensor.

[0032] S102. When the operating state of the harvester meets the supply stop condition, identify the working state of the threshing clutch of the harvester, and determine whether the harvester meets the automatic clutch condition based on the identified working state.

[0033] In a preferred example of the present application, the threshing clutch and the threshing supply chain can be controlled to engage and disengage according to the automatic clutch device, such as Figure 2 As shown, Figure 2 A schematic diagram of the structure of the automatic clutch device provided in an embodiment of the present application.

[0034] The automatic clutch structure includes: a main clutch position sensor 110 , a threshing clutch motor 120 , a cam 130 , a threshing clutch pull wire 140 and a threshing supply chain pull wire 150 .

[0035] Specifically, the threshing clutch motor 120 of the harvester controls the tension and relaxation of the threshing clutch cable 140 and the threshing supply chain cable 150 through the cam 130, and a main clutch position sensor 110 is arranged on the cam 130. The threshing clutch cable 140 is used to control the engagement and separation of the threshing clutch, and the threshing supply chain cable 150 is used to control the engagement and separation of the threshing supply chain clutch. The main clutch position sensor 110 is used to detect the rotation position of the cam 130. The main clutch position sensor 110 of the harvester is installed in the main clutch box and is used to accurately monitor the position change of the cam 130 through voltage changes. The rotation speed of the threshing supply chain is detected in real time by a special rotation speed sensor. The threshing clutch motor 120 works in coordination with the header variable speed motor. They not only provide an H-bridge current output with adjustable duty cycle, but also communicate with the whole machine controller through the CAN line to ensure precise control. Since the motor has built-in electrical energy storage devices and mechanical energy storage components (such as the inertia of the rotor), when a high-frequency pulse voltage (PWM) is applied, the torque generated by the motor is mainly determined by the average value of the pulse voltage. Therefore, by adjusting the duty cycle of the PWM signal, the average voltage of the motor can be flexibly controlled, thereby affecting its speed: the duty cycle increases, the average voltage increases, and the motor speed increases; conversely, the duty cycle decreases, the average voltage decreases, and the motor speed slows down.

[0036] In the embodiment of the present application, a motor drive module is configured for the threshing clutch motor 120 and the header speed motor respectively. The two motor drive modules receive signals from the vehicle controller. These signals mainly include two parts: one is the direction control signal that controls the output polarity of the H-bridge, which determines the rotation direction of the motor; the other is the pulse signal that controls the amplitude of the PWM duty cycle, which affects the speed of the motor. Specifically, the vehicle controller communicates with the two motor drive modules through CAN signals. When the controller outputs a positive polarity direction control signal and a PWM pulse signal of a corresponding duty cycle, the motor will rotate in the positive direction; if a negative polarity direction control signal and a PWM pulse signal of a corresponding duty cycle are output, the motor will rotate in the negative direction; if a stop control signal is output and a PWM signal with a zero pulse is provided, the motor will stop rotating.

[0037] In an embodiment of the present application, in order to ensure that the vehicle controller can accurately send different instructions to each module, each motor control module is assigned a unique ID. In this way, when the controller sends a CAN message, it can distinguish and send the corresponding message content according to the module ID, thereby achieving precise control of different motors.

[0038] As an example, if the harvester battery is a 12V power supply, the negative pole 0V represents 0, and the positive pole 12V represents 1, then the physical wiring address of the threshing clutch motor 120 drive module is 00, and the corresponding ID is A; the physical wiring address of the header speed motor drive module is 01, and the corresponding ID is B. Therefore, the vehicle controller sends different message instructions according to different ID addresses to control the actions of the threshing clutch motor 120 and the header speed motor respectively to complete the corresponding functions.

[0039] The states of the threshing clutch and the threshing supply chain clutch are determined according to the first position signal of the main clutch position sensor 110 of the receiving harvester. When the cam 130 is identified to be in the first position according to the first position signal, it is determined that the threshing clutch and the threshing supply chain clutch are both in the disengaged state; when the cam 130 is identified to be in the second position according to the first position signal, it is determined that the threshing clutch and the threshing supply chain clutch are both in the engaged state; when the cam 130 is identified to be in the third position according to the first position signal, it is determined that the threshing clutch is in the engaged state and the threshing supply chain clutch is in the disengaged state.

[0040] In a preferred example of the present application, whether the harvester meets the automatic clutch condition is determined in the following manner: when the threshing clutch is in an engaged state, it is determined that the harvester meets the automatic clutch condition; when the threshing clutch is in a disengaged state, it is determined that the harvester does not meet the automatic clutch condition.

[0041] S103. If the automatic clutch condition is met, the threshing supply chain clutch of the harvester is controlled to be in a disengaged state to stop the operation of the threshing supply chain of the harvester, so as to interrupt the supply of crops from the cutting table to the threshing drum of the harvester and keep the threshing drum to continue the threshing operation.

[0042] Here, when the automatic clutch conditions are met, the harvester will send a signal to the actuator of the threshing supply chain clutch (such as a solenoid valve, a motor, etc.), instructing it to perform a separation operation. After receiving the signal, the actuator will drive the mechanical components inside the clutch (such as a clutch plate, a pressure plate, etc.) to separate, thereby cutting off the power transmission of the threshing supply chain. As the threshing supply chain clutch separates, the threshing supply chain will lose its power source and will therefore stop running. This operation effectively interrupts the supply of crops from the harvesting table to the harvester's threshing drum, avoiding unnecessary energy consumption and crop losses. In addition, although the threshing supply chain has stopped running, the harvester's threshing drum will usually continue to operate. This is because the operation of the threshing drum is a key part of the threshing operation. It is responsible for threshing the crops delivered to it. By keeping the threshing drum running, it can be ensured that the crops that have been delivered to the threshing drum can be effectively processed.

[0043] Specifically, the control of the entire threshing supply chain is ultimately completed by the forward and reverse rotation of the threshing clutch motor 120. During this process, the PWM signal of the motor is composed of a fixed duty cycle and different direction signals. When in forward rotation, the threshing clutch motor 120 driving module outputs a PWM signal composed of a duty cycle of n1% and a positive polarity, and when in reverse rotation, the threshing clutch motor 120 driving module outputs a PWM signal composed of a duty cycle of n1% and a negative polarity.

[0044] Figure 3 A flow chart for controlling the start of crop supply provided in an embodiment of the present application.

[0045] S201. Identify whether the operating status of the harvester satisfies the conditions for starting supply.

[0046] Here, the supply start condition is that the position of the header reaches the lowest limit and the header handle is in the harvesting gear position.

[0047] As an example, the position of the cutting platform reaches the lowest limit when the harvester is just started, and the threshing clutch and the threshing supply chain are converted from not working to starting to work, that is, the cam 130 rotates from the first position to the second position, so that the threshing clutch and the threshing supply chain clutch are converted from being in a disengaged state to being in a coupled state.

[0048] Alternatively, the harvester may need to start harvesting after a rest, that is, the cam 130 rotates from the third position to the second position, so that the threshing clutch is in an engaged state and the threshing supply chain clutch is in a disengaged state, converting the threshing clutch and the threshing supply chain clutch to be in an engaged state.

[0049] The conversion implementation principle of the two states is the same, so this application will not repeat it again. The following will take the rotation of the cam 130 from the third position to the second position as an example for introduction.

[0050] S202: When the harvester meets the conditions for starting to supply, the working state of the threshing clutch is identified, and whether the harvester meets the automatic clutch conditions is determined according to the identified working state.

[0051] S203. If the automatic clutch condition is met, the threshing clutch motor 120 is controlled to operate so that the cam 130 is in the second position, so that the threshing supply chain clutch is in a coupled state, so as to drive the threshing supply chain to move, so as to supply the crops from the harvesting table to the threshing drum, and keep the threshing drum to continue the threshing operation.

[0052] In a preferred example of the present application, when it is monitored that the height position of the cutting table reaches the upper limit, the cutting table speed change motor of the harvester is controlled to rotate in the reverse direction to reduce the rotation speed of the cutting table. When it is monitored that the rotation speed of the cutting table is zero, the cutting table speed change motor is controlled to stop rotating in the reverse direction.

[0053] Alternatively, when it is detected that the height position of the cutting table reaches the lowest limit, the cutting table speed change motor of the harvester is controlled to rotate forward to increase the rotation speed of the cutting table. When it is detected that the rotation speed of the cutting table is a preset speed, the cutting table speed change motor is controlled to stop rotating forward.

[0054] Here, the upper and lower limits refer to the upper and lower limit positions of the header height adjustment. The upper limit is the highest position that the header can rise to, and the lower limit is the lowest position that the header can fall to. The header variable speed motor is the motor or engine used to drive the header to rotate on the harvester. By changing the speed of the motor, the rotation speed of the header can be controlled, thereby adjusting the harvesting efficiency and crop collection effect. The header rotation speed refers to the rotation rate of the header around its axis when working. The header rotation speed can be controlled by the header variable speed motor to adapt to different harvesting conditions. The preset speed is a target header rotation speed set before the harvester is operated.

[0055] In the embodiment of the present application, the control of the cutting speed of the cutting table is mainly achieved through the action of the cutting table speed-changing motor. The motor is connected to the sector gear and cooperates with the HST hydraulic stepless speed-changing structure of the cutting table through a metal connecting rod, so that the rotation speed of the cutting table can be flexibly adjusted in the low-speed and high-speed ranges. In the process of controlling the cutting speed of the cutting table, the forward and reverse rotation of the cutting table speed-changing motor plays a key role. The PWM signal received by the motor consists of a fixed duty cycle (n2%) and different direction signals. When the motor needs to be forward, the cutting table speed-changing motor drive module will output a PWM signal consisting of a n2% duty cycle and positive polarity; and when the motor needs to be reversed, the cutting table speed-changing motor drive module will output a PWM signal consisting of a n2% duty cycle and negative polarity. Through such signal control, the cutting table speed-changing motor can accurately adjust the rotation speed of the cutting table to meet different harvesting requirements.

[0056] Specifically, when the driver pulls up the header lifting handle, the header rises. When the header reaches the upper limit setting value detected by the header height sensor, the header speed motor rotates in the opposite direction, which drives the HST connecting rod to move in the opposite direction, reducing the output flow of the header HST hydraulic pump, thereby reducing the header output torque and reducing the header rotation speed. When the header speed sensor feedback is zero, the motor stops rotating in the opposite direction.

[0057] When the driver pushes the header lifting handle forward, the header descends. When the header reaches the lower limit setting value detected by the header height sensor, the header speed motor rotates forward, which drives the HST connecting rod to move forward, increasing the output flow of the header HST hydraulic pump, thereby increasing the header output torque and increasing the header rotation speed. When the header speed sensor feedback is the set speed, the motor stops rotating forward.

[0058] As an example, the upper and lower limits of the header height (unit: mm) follow Hmax-Hmin=50. The interval coefficient can be set in the user settings to change the height of the automatic clutch interval. The increase or decrease coefficient is -x~x, and the actual corresponding increase or decrease height is -50x~50x. The initial coefficient is 0, and the initial automatic clutch interval is Hmin0~Hmax0. The relationship between the upper and lower limits of the automatic clutch is: (Hmax0±50x)-(Hmin0±50x)=50. Assuming that the initial interval of the header is 290mm~340mm, after changing the coefficient to -1, the calculated interval is 240mm~290mm.

[0059] Based on the same inventive concept, the embodiment of the present application also provides a crop supply control device for a harvester corresponding to the crop supply control method for a harvester. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the crop supply control method for the harvester 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.

[0060] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of the crop supply control device of the harvester provided in the embodiment of the present application. Figure 4 As shown in FIG. , the crop supply control device 300 of the harvester includes:

[0061] The identification module 301 is used to identify whether the operating state of the harvester meets the supply stop condition, and the operating state includes the height position of the harvester's cutting table and the gear position of the harvester's cutting table handle.

[0062] The judgment module 302 is used to identify the working state of the threshing clutch of the harvester when the operating state of the harvester meets the stop supply condition, and judge whether the harvester meets the automatic clutch condition according to the identified working state.

[0063] The execution module 303 is used to control the threshing supply chain clutch of the harvester to be in a disengaged state if the automatic clutch condition is met, so as to stop the operation of the threshing supply chain of the harvester, interrupt the supply of crops from the harvesting table to the threshing drum of the harvester, and keep the threshing drum to continue the threshing operation.

[0064] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0065] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 as well as Figure 2 The specific implementation of the steps of the crop supply control method for the harvester in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0066] 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 computer program can execute the above-mentioned Figure 1 and Figure 3 The specific implementation of the steps of the crop supply control method for the harvester in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0067] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0068] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, 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 communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0069] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0070] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0071] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as 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.

[0072] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A crop supply control method for a harvester, characterized in that: The method comprises: Identify whether the operating state of the harvester satisfies the supply stop condition, wherein the operating state includes the height position of the harvester's header and the gear position of the harvester's header handle; When the operating state of the harvester meets the supply stop condition, identifying the working state of the threshing clutch of the harvester, and judging whether the harvester meets the automatic clutch condition according to the identified working state; If the automatic clutch condition is met, the threshing supply chain clutch of the harvester is controlled to be in a disengaged state to stop the operation of the threshing supply chain of the harvester, so as to interrupt the supply of crops from the cutting table to the threshing drum of the harvester and keep the threshing drum to continue the threshing operation.

2. The method according to claim 1, characterized in that The threshing clutch motor of the harvester controls the tension and relaxation of the threshing clutch cable and the threshing supply chain cable through a cam, and a main clutch position sensor is arranged on the cam. The threshing clutch cable is used to control the engagement and separation of the threshing clutch, and the threshing supply chain cable is used to control the engagement and separation of the threshing supply chain clutch. The main clutch position sensor is used to detect the rotation position of the cam. Wherein, the working state of the threshing clutch is identified in the following manner: receiving a first position signal of the master clutch position sensor; When the cam is identified to be in the first position according to the first position signal, determining that both the threshing clutch and the threshing supply chain clutch are in a disengaged state; When the cam is identified to be in the second position according to the first position signal, determining that both the threshing clutch and the threshing supply chain clutch are in a coupled state; When it is recognized that the cam is in the third position according to the first position signal, it is determined that the threshing clutch is in the engaged state and the threshing supply chain clutch is in the disengaged state.

3. The method according to claim 2, characterized in that Whether the harvester meets the automatic clutch condition is determined by the following method: When the threshing clutch is in the engaged state, determining that the harvester meets the automatic clutch condition; When the threshing clutch is in a disengaged state, it is determined that the harvester does not meet the automatic clutch condition.

4. The method according to claim 1, characterized in that: The following methods are used to identify whether the harvester's operating status meets the supply stop conditions: When it is detected that the height position of the header reaches the upper limit and the header handle is in the harvesting gear position, determining that the harvester meets the supply stop condition; When it is monitored that the height position of the header has not reached the upper limit, and / or the header handle is not in the harvesting gear, it is determined that the harvester does not meet the supply stop condition.

5. The method according to claim 2, characterized in that: The threshing supply chain clutch of the harvester is controlled to be in a disengaged state by: The threshing clutch motor is controlled to operate so that the cam is at the third position, so that the threshing supply chain pull line is tightened, so that the threshing supply chain clutch is in a disengaged state.

6. The method according to claim 3, characterized in that Also includes: Identify whether the operation state of the harvester satisfies the start supply condition, wherein the start supply condition includes that the position of the header reaches the lowest limit and the header handle is in the harvesting gear position; When the harvester meets the start supply condition, identifying the working state of the threshing clutch, and judging whether the harvester meets the automatic clutch condition according to the identified working state; If the automatic clutch condition is met, the threshing clutch motor is controlled to operate so that the cam is in the second position, and the threshing supply chain clutch is in an engaged state, so as to drive the threshing supply chain to move, so as to supply the crops from the harvesting table to the threshing drum, and keep the threshing drum to continue the threshing operation.

7. The method according to claim 1, characterized in that Also includes: When it is detected that the height position of the cutting table reaches the upper limit, the cutting table speed-changing motor of the harvester is controlled to rotate in the reverse direction so as to reduce the rotation speed of the cutting table; When it is detected that the rotation speed of the header is zero, controlling the header speed-changing motor to stop reverse rotation; or, When it is detected that the height position of the header reaches the lowest limit, the header speed-changing motor of the harvester is controlled to rotate forward so as to increase the rotation speed of the header; When it is detected that the rotation speed of the header is a preset speed, the header speed-changing motor is controlled to stop forward rotation.

8. A crop supply control device for a harvester, characterized in that: The device comprises: An identification module, used to identify whether the operating state of the harvester meets the supply stop condition, wherein the operating state includes the height position of the harvester's header and the gear position of the harvester's header handle; A judgment module, used for identifying the working state of the threshing clutch of the harvester when the operating state of the harvester meets the supply stop condition, and judging whether the harvester meets the automatic clutch condition according to the identified working state; The execution module is used to control the threshing supply chain clutch of the harvester to be in a disengaged state if the automatic clutch condition is met, so as to stop the operation of the threshing supply chain of the harvester, interrupt the supply of crops from the cutting table to the threshing drum of the harvester, and keep the threshing drum to continue the threshing operation.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 1 to 7 are executed.

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