Speed regulation method and device for harvesting machine and harvesting machine

Abstract

The embodiment of the invention provides a speed regulation method and device for a harvesting machine and the harvesting machine. The method comprises the steps that after the harvesting machine starts walking operation, the first current rotating speed and the first current power of a roller motor are determined; judging whether the roller motor reaches a first working capability upper limit according to the first current rotating speed and the first current power; under the condition that the roller motor does not reach the first working capability upper limit, determining a second current rotating speed of the engine and a second current power of the harvesting part; judging whether the harvesting component reaches a second working capability upper limit according to the second current rotating speed and the second current power; under the condition that the harvesting component does not reach the second working capability upper limit, the target rotating speed of the walking motor is determined according to the first current power and the second current power; the rotating speed of the walking motor is adjusted according to the target rotating speed, so that the working capacity of the mechanical part and the roller motor is maximized, the harvesting speed is increased, the harvester is prevented from being blocked, and the working efficiency of the harvesting machine is maximized.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical control, and in particular to a speed regulation method and device for a harvesting machine and the harvesting machine. Background Art

[0002] At present, the working efficiency of harvesting machinery such as combine harvesters is affected by the regional terrain, crop types and crop growth characteristics. For example, crops grow well in some areas, but not so well in others. When driving at the same speed, there is a large difference in the feeding amount between the two, which makes the harvesting machinery less efficient. Moreover, if the harvesting load suddenly increases during the harvesting process, it is easy for components to get stuck, reducing the efficiency of the harvesting machinery.

[0003] The prior art adds several speed sensors to the working shafts of the operating equipment of each harvesting machine, and adjusts the control signal of the walking speed of the harvesting machine through the speed detection signal detected by the speed sensor and the speed threshold of the corresponding working shaft, thereby ensuring that the overall load of the harvesting machine is in a good state. However, this method requires adding sensors to each operating equipment, which requires a large cost, and it is difficult to make the drum motor and mechanical parts work in the optimal power range. The speed of the harvesting machine is slow, and the adjusted walking speed may cause the harvesting machine to exceed its harvesting capacity and cause component blockage, thereby reducing the operating efficiency of the harvesting machine. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a speed regulation method and device for a harvester and a harvester, so as to solve the problem of low operating efficiency of the harvester in the prior art.

[0005] In order to achieve the above object, the first aspect of the present invention provides a speed regulation method for a harvesting machine, the harvesting machine comprising a travel motor, a drum motor, a harvesting component and an engine for driving the harvesting component, the speed regulation method comprising:

[0006] After the harvesting machine starts the walking operation, determining a first current speed and a first current power of the drum motor;

[0007] determining whether the drum motor has reached a first working capacity upper limit according to a first current rotation speed and a first current power;

[0008] When the drum motor does not reach the first working capacity upper limit, determining a second current speed of the engine and a second current power of the harvesting component;

[0009] Determining whether the harvesting component has reached a second working capacity upper limit according to the second current rotation speed and the second current power;

[0010] When the harvesting component does not reach the second working capacity upper limit, determining the target speed of the travel motor according to the first current power and the second current power;

[0011] Adjust the speed of the travel motor according to the target speed.

[0012] In an embodiment of the present invention, judging whether the drum motor has reached the first working capacity upper limit based on the first current speed and the first current power includes: obtaining a first target speed of the drum motor, and determining a first maximum available power of the drum motor; determining that the drum motor has reached the first working capacity upper limit when it is determined that a first speed difference between the first current speed and the first target speed is greater than a first speed threshold, and a first duration for which the first current power reaches the first maximum available power reaches a first duration; determining that the drum motor has not reached the first working capacity upper limit when the first speed difference is less than or equal to the first speed threshold, or the first current power does not reach the first maximum available power, or the first duration does not reach the first duration.

[0013] In an embodiment of the present invention, the speed regulation method further includes: obtaining a first target speed of the drum motor when the drum motor reaches a first working capacity upper limit; and determining a target speed of the travel motor according to a first speed difference between the first current speed and the first target speed.

[0014] In an embodiment of the present invention, judging whether the harvesting component has reached the second working capacity upper limit based on the second current speed and the second current power includes: obtaining the second target speed of the engine, and determining the second maximum available power of the harvesting component; when it is determined that the second speed difference between the second current speed and the second target speed is greater than the second speed threshold, and the second duration for which the second current power reaches the second maximum available power reaches the second duration, determining that the harvesting component has reached the second working capacity upper limit; when the second speed difference is less than or equal to the second speed threshold, or the second current power does not reach the second maximum available power, or the second duration is less than or equal to the second duration, determining that the harvesting component has not reached the second working capacity upper limit.

[0015] In an embodiment of the present invention, the speed regulation method further includes: when the harvesting component reaches the upper limit of the working capacity, obtaining the second target speed of the engine; and determining the target speed of the travel motor according to the second speed difference between the second current speed and the second target speed.

[0016] In an embodiment of the present invention, when the harvesting component has not reached the second working capacity upper limit, determining the target speed of the walking motor at the current moment according to the first current power and the second current power includes: determining the first maximum available power of the drum motor, and the second maximum available power of the harvesting component; determining a first power difference between the first maximum available power and the first current power, and determining a second power difference between the second maximum available power and the second current power; judging whether it is necessary to accelerate the speed of the walking motor according to the first power difference and the second power difference; and determining the target speed of the walking motor at the current moment according to the result of judging whether it is necessary to accelerate the speed of the walking motor.

[0017] In an embodiment of the present invention, judging whether it is necessary to accelerate the speed of the walking motor based on the first power difference and the second power difference includes: when the first power difference is greater than the first power threshold, or the second power difference is greater than the second power threshold, determining that it is necessary to accelerate the speed of the walking motor; when the first power difference is less than or equal to the first power threshold, and the second power difference is less than or equal to the second power threshold, determining that it is not necessary to accelerate the speed of the walking motor.

[0018] In an embodiment of the present invention, determining the target speed of the walking motor at the current moment based on the result of judging whether the walking motor needs to be speed-regulated includes: when the result is that the walking motor needs to be accelerated, determining the speed regulation coefficient for the speed of the walking motor according to the first power difference and / or the second power difference; determining the target speed of the walking motor at the current moment based on the determined speed regulation coefficient and the target speed of the walking motor at the previous moment; when the result is that the walking motor does not need to be accelerated, determining the target speed of the walking motor at the current moment to be the target speed of the walking motor at the previous moment.

[0019] A second aspect of the present invention provides a speed regulating device for a harvesting machine, the speed regulating device comprising:

[0020] a memory configured to store instructions;

[0021] The processor is configured to call instructions from the memory and implement the above-mentioned speed regulation method for the harvesting machine when executing the instructions.

[0022] A third aspect of the present invention provides a harvesting machine, comprising:

[0023] Traveling mechanism, used to drive the harvesting machinery to travel;

[0024] Travel motor, used to drive the travel mechanism;

[0025] a drum machine for performing threshing operations;

[0026] Drum motor, used to drive the drum machine to operate;

[0027] A harvesting component, used for performing harvesting operations;

[0028] Generators, used to provide electrical energy;

[0029] an engine for driving the harvesting components and the generator;

[0030] A speed sensor, used for collecting a first current speed of the drum motor and a second current speed of the engine;

[0031] The above-mentioned speed regulating device for harvesting machinery.

[0032] Through the above technical scheme, after the harvesting machine starts the walking operation, the first current speed and the first current power of the drum motor are determined; whether the drum motor has reached the first working capacity upper limit is judged according to the first current speed and the first current power; when the drum motor has not reached the first working capacity upper limit, the second current speed of the engine and the second current power of the harvesting component are determined; whether the harvesting component has reached the second working capacity upper limit is judged according to the second current speed and the second current power; when the harvesting component has not reached the second working capacity upper limit, the target speed of the walking motor is determined according to the first current power and the second current power; the speed of the walking motor is adjusted according to the target speed, so that the working capacity of the mechanical parts and the drum motor is maximized, the harvesting speed of the harvesting machine is improved, and the blockage of the harvester caused by overload operation of the mechanical parts or the drum motor is avoided, so that the harvesting machine can achieve maximum working efficiency during the harvesting process.

[0033] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0035] Figure 1 A schematic diagram of a process flow of a speed regulating method for a harvesting machine according to an embodiment of the present invention is shown;

[0036] Figure 2 A schematic diagram of a process flow of a speed regulating method for a harvesting machine according to another embodiment of the present invention is shown;

[0037] Figure 3 A schematic diagram of a harvesting machine according to an embodiment of the present invention is schematically shown;

[0038] Figure 4The internal structure of a computer device according to an embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] Figure 1 The flowchart of the speed regulation method for a harvesting machine according to an embodiment of the present invention is schematically shown. Figure 1 As shown, in one embodiment of the present invention, a speed regulation method for a harvesting machine is provided, comprising the following steps:

[0042] Step 101: After the harvester starts the walking operation, determine the first current rotation speed and the first current power of the drum motor.

[0043] The harvesting machine includes a travel motor, a drum motor, a harvesting part, and an engine for driving the harvesting part. The travel motor can be used to drive the travel mechanism of the harvesting machine, thereby driving the harvesting machine to travel. The drum motor can be used to drive the drum machine of the harvesting machine to move, and the drum machine is used to perform threshing operations during harvesting operations. The harvesting part refers to the parts related to the harvesting machine to perform harvesting operations, and the harvesting part may include a header, a bridge, and a chopper. The engine can be used to drive the harvesting part.

[0044] The harvesting machinery of this embodiment includes traditional harvesting machinery and new energy harvesting machinery used in the field of harvesting machinery, such as towed new energy combine harvesters, self-propelled new energy combine harvesters and backpack new energy combine harvesters, etc. The energy used by the new energy combine harvesters may include fuel cells, hybrid power and hydrogen energy; in addition, the harvesting machinery of this embodiment is also an intelligent networked vehicle, which may include a sensor / perception system, a communication system, etc., which collects vehicle operation data and vehicle surrounding environment information through the sensor / perception system in the vehicle, and realizes network connection with other vehicles and the cloud through the communication system, and shares the collected vehicle operation data, vehicle surrounding environment information, etc. to the cloud and other authorized vehicles to realize data sharing, remote analysis, intelligent driving and other operations.

[0045] The harvesting machine may also include a walking operating handle. The user may operate the walking operating handle in the cab, and the processor may obtain an opening signal of the walking operating handle, and compare the handle opening carried by the opening signal with a preset opening. If the handle opening is less than the preset opening, it may be that the driver accidentally touches the walking operating handle and has no intention to make the harvesting machine walk, and the opening signal may be determined to be invalid. If the handle opening is greater than or equal to the preset opening, it may be determined that the opening signal is valid, and at this time, the harvesting machine starts the walking operation.

[0046] After the harvester starts the walking operation, the processor can determine the first current speed and the first current power of the drum motor. The first current speed refers to the speed of the drum motor at the current moment, which can be obtained based on the speed sensor. The speed sensor for monitoring the first current speed can be installed on the drum motor or in other locations suitable for monitoring the speed of the drum motor. The first current power can be determined based on the first current torque and the first current speed of the drum motor.

[0047] Step 102: Determine whether the drum motor reaches a first working capacity upper limit according to the first current rotation speed and the first current power.

[0048] The processor can determine whether the drum motor has reached a first working capacity upper limit according to the first current speed and the first current power. The first working capacity upper limit refers to the maximum working capacity that the drum motor can reach. The current working capacity of the drum motor, that is, the working capacity performance, is represented by the first current speed and the first current power of the drum motor, so as to determine whether the drum motor has reached the first working capacity upper limit.

[0049] In an embodiment of the present invention, judging whether the drum motor has reached the first working capacity upper limit based on the first current speed and the first current power includes: obtaining a first target speed of the drum motor, and determining a first maximum available power of the drum motor; determining that the drum motor has reached the first working capacity upper limit when it is determined that a first speed difference between the first current speed and the first target speed is greater than a first speed threshold, and a first duration for which the first current power reaches the first maximum available power reaches a first duration; determining that the drum motor has not reached the first working capacity upper limit when the first speed difference is less than or equal to the first speed threshold, or the first current power does not reach the first maximum available power, or the first duration does not reach the first duration.

[0050] The first working capacity upper limit of the drum motor is characterized by the first target speed and the first maximum available power of the drum motor. The processor can obtain the first target speed of the drum motor and determine the first maximum available power of the drum motor. The first target speed can be customized in advance and can be obtained in real time when the harvesting machine speed is adjusted. The first maximum available power of the drum motor can be determined according to the rated torque and rated speed of the drum motor.

[0051] The processor can determine the first speed difference between the first current speed and the first target speed, and can determine whether the first speed difference is greater than the first speed threshold, determine whether the first current power reaches the first maximum available power, and determine whether the first duration of reaching the first maximum available power reaches the first duration. Among them, the first speed threshold and the first duration can be customized according to actual conditions. For example, the first speed threshold can be any value between 100rpm and 1000rpm, or any value between 50rpm and 2000rpm. The first duration refers to the safe duration of continuous operation of the drum motor, which is used to protect the drum motor. The first duration can be set to any value between 0.1s and 30s, preferably any value between 1s and 10s, to better protect the drum motor.

[0052] If the first speed difference is greater than the first speed threshold, and the first current power reaches the first maximum available power for a first duration, at this time, the speed and operating power of the drum motor are close to the target values, and the processor can determine that the drum motor has reached the first working capacity upper limit.

[0053] If the first speed difference is less than or equal to the first speed threshold, at this time, the speed of the drum motor has not reached or is too different from the target value, and the drum motor has not operated to a state where it can exert its maximum working capacity. The processor can determine that the drum motor has not reached the first working capacity upper limit.

[0054] If the first current power does not reach the first maximum available power, at this time, the operating power of the drum motor has not reached or is too different from the target value, and the drum motor has not operated to a state where it can exert its maximum working capacity. The processor can determine that the drum motor has not reached the first working capacity upper limit.

[0055] If the first duration of the first current power reaching the first maximum available power does not reach the first duration, at this time, the operating power of the drum motor is at the first maximum available power for a short time, and the drum motor does not operate to a state where it can exert its maximum working capacity, the processor can determine that the drum motor has not reached the first working capacity upper limit.

[0056] Step 103: When the drum motor has not reached the first working capacity upper limit, determine a second current rotation speed of the engine and a second current power of the harvesting component.

[0057] When the drum motor does not reach the first working capacity upper limit, the processor can determine the second current speed of the engine and the second current power of the harvesting component. The second current speed refers to the speed of the engine at the current moment, which can be obtained based on the speed sensor. The speed sensor for monitoring the second current speed can be installed on the engine or in other locations suitable for monitoring the speed of the engine.

[0058] The second current power refers to the power of the mechanical component at the current moment. In addition to driving the harvesting component, the engine can also drive the generator included in the harvesting machine, and the second current power of the harvesting component can be determined according to the current power of the engine and the current power of the generator. Specifically, the current power of the engine and the current power of the generator can be determined according to the corresponding torque and speed, and the power difference between the current power of the engine and the current power of the generator can be determined as the second current power of the harvesting component.

[0059] Step 104: Determine whether the harvesting component has reached the second working capacity upper limit according to the second current rotation speed and the second current power.

[0060] The processor can determine whether the harvesting component has reached the second working capacity upper limit according to the second current speed and the second current power. The second working capacity upper limit refers to the maximum working capacity that the harvesting component can reach. The current working capacity of the harvesting component is calculated by the second current speed of the engine and the second current power of the harvesting component, so as to determine whether the harvesting component has reached the second working capacity upper limit. In an embodiment of the present invention, judging whether the harvesting component has reached the second working capacity upper limit according to the second current speed and the second current power includes: obtaining the second target speed of the engine and determining the second maximum available power of the harvesting component; determining that the harvesting component has reached the second working capacity upper limit when the second speed difference between the second current speed and the second target speed is greater than the second speed threshold and the second continuous time when the second current power reaches the second maximum available power reaches the second time; determining that the harvesting component has not reached the second working capacity upper limit when the second speed difference is less than or equal to the second speed threshold, or the second current power does not reach the second maximum available power, or the second continuous time is less than or equal to the second time.

[0061] The second upper limit of the working capacity of the harvesting component is characterized by the second target speed of the engine and the second maximum available power of the harvesting component. The processor can obtain the second target speed of the engine and determine the second maximum available power of the harvesting component. The second target speed can be a customized configuration in advance, and the processor can obtain it in real time when the harvesting machine speed is adjusted. The second maximum available power of the harvesting component can be determined based on the maximum power of the engine and the actual power of the generator. Specifically, the power difference between the maximum power of the engine and the actual power of the generator can be determined as the maximum available power of the harvesting component.

[0062] The processor can determine the second speed difference between the second current speed and the second target speed, and can determine whether the second speed difference is greater than the second speed threshold, and determine whether the second current power reaches the second maximum available power, and determine whether the second duration of reaching the second maximum available power reaches the second duration. Among them, the second speed threshold and the second duration can be customized according to actual conditions. For example, the second speed threshold can be any value between 100rpm and 1000rpm, or any value between 50rpm and 2000rpm. The second duration refers to the safe duration of continuous operation of the harvesting component, which is used to protect the harvesting component.

[0063] If the second speed difference is greater than the second speed threshold, and the second current power reaches the second maximum available power for a second duration, at this time, the speed and operating power of the mechanical component are close to the target value, and the processor can determine that the mechanical component has reached the second working capacity upper limit.

[0064] If the second speed difference is less than or equal to the second speed threshold, at this time, the speed of the mechanical component has not reached or is too different from the target value, and the mechanical component has not operated to a state where it can exert its maximum working capacity. The processor can determine that the mechanical component has not reached the second working capacity upper limit.

[0065] If the second current power does not reach the second maximum available power, at this time, the operating power of the mechanical component has not reached or is too different from the target value, and the mechanical component has not operated to a state where it can exert its maximum working capacity. The processor can determine that the mechanical component has not reached the second working capacity upper limit.

[0066] If the second duration of the second current power reaching the second maximum available power does not reach the second duration, at this time, the operating power of the mechanical component is at the second maximum available power for a short time, and the mechanical component does not operate to a state where it can exert its maximum working capacity, the processor can determine that the mechanical component has not reached the second working capacity upper limit.

[0067] Step 105: When the harvesting component has not reached the second working capacity upper limit, a target rotation speed of the travel motor is determined according to the first current power and the second current power.

[0068] When the harvesting component has not reached the second working capacity upper limit, the drum motor and the harvesting component have not been running to the state where they can exert their maximum working capacity. In order to maximize the working capacity of the drum motor and the harvesting component and improve the operating efficiency of the harvesting machinery, the processor can determine whether the drum motor and the harvesting component are in a suitable working power range based on the first current power and the second current power, thereby determining whether it is necessary to accelerate the speed of the travel motor and determine the target speed of the travel motor.

[0069] In an embodiment of the present invention, when the harvesting component has not reached the second working capacity upper limit, determining the target speed of the walking motor at the current moment according to the first current power and the second current power includes: determining the first maximum available power of the drum motor, and the second maximum available power of the harvesting component; determining a first power difference between the first maximum available power and the first current power, and determining a second power difference between the second maximum available power and the second current power; judging whether it is necessary to accelerate the speed of the walking motor according to the first power difference and the second power difference; and determining the target speed of the walking motor at the current moment according to the result of judging whether it is necessary to accelerate the speed of the walking motor.

[0070] When the harvesting component does not reach the second working capacity upper limit, the processor may determine the first maximum available power of the drum motor and the second maximum available power of the harvesting component. The first maximum available power of the drum motor may be determined according to the rated torque and rated speed of the drum motor. The second maximum available power of the harvesting component may be determined according to the maximum power of the engine and the actual power of the generator. Specifically, the power difference between the maximum power of the engine and the actual power of the generator may be determined as the maximum available power of the harvesting component.

[0071] The processor may determine a first power difference between the first maximum available power and the first current power, and determine a second power difference between the second maximum available power and the second current power. The processor may determine whether it is necessary to accelerate the speed of the travel motor according to the first power difference and the second power difference. For example, it may determine whether it is necessary to accelerate the speed of the travel motor according to the interval in which the first power difference is located and the interval in which the second power difference is located.

[0072] In an embodiment of the present invention, judging whether it is necessary to accelerate the speed of the walking motor based on the first power difference and the second power difference includes: when the first power difference is greater than the first power threshold, or the second power difference is greater than the second power threshold, determining that it is necessary to accelerate the speed of the walking motor; when the first power difference is less than or equal to the first power threshold, and the second power difference is less than or equal to the second power threshold, determining that it is not necessary to accelerate the speed of the walking motor.

[0073] If the first power difference is greater than the first power threshold, the drum motor is not in the appropriate working power range at this time, and the first current power of the drum motor does not reach the first maximum available power. The processor can determine that the travel motor needs to be accelerated and the operating power of the drum motor needs to be increased, so that the available power of the drum motor can be maximized to achieve the purpose of improving the working efficiency. If the second power difference is greater than the second power threshold, the harvesting component is not in the appropriate working power range at this time, and the second current power of the harvesting component does not reach the second maximum available power. The processor can determine that the travel motor needs to be accelerated and the operating power of the harvesting component needs to be increased, so that the available power of the harvesting component can be maximized to achieve the purpose of improving the working efficiency.

[0074] If the first power difference is less than or equal to the first power threshold, and the second power difference is less than or equal to the second power threshold, the drum motor and the harvesting component are both in a suitable operating power range, and the processor can determine that there is no need to accelerate the travel motor.

[0075] In one embodiment, if the first power difference is greater than the first power threshold and the second power difference is greater than the second power threshold, the drum motor and the harvesting component are not in a suitable operating power range at this time, and the processor can determine that the travel motor needs to be accelerated.

[0076] The processor can determine the target speed of the walking motor at the current moment according to the result of determining whether the walking motor needs to be accelerated. If it is determined that the walking motor needs to be accelerated, the target speed of the walking motor at the previous moment can be increased to obtain the target speed of the walking motor at the current moment. If it is determined that the walking motor does not need to be accelerated, the target speed of the walking motor at the current moment can be determined to be the target speed of the walking motor at the previous moment.

[0077] In an embodiment of the present invention, determining the target speed of the walking motor at the current moment based on the result of judging whether the walking motor needs to be speed-regulated includes: when the result is that the walking motor needs to be accelerated, determining the speed regulation coefficient for the speed of the walking motor according to the first power difference and / or the second power difference; determining the target speed of the walking motor at the current moment based on the determined speed regulation coefficient and the target speed of the walking motor at the previous moment; when the result is that the walking motor does not need to be accelerated, determining the target speed of the walking motor at the current moment to be the target speed of the walking motor at the previous moment.

[0078] If it is determined that the travel motor needs to be accelerated and the speed regulation is determined under the condition that the first power difference is greater than the first power threshold, the processor can determine the speed regulation coefficient for the rotation speed of the travel motor according to the first power difference. If it is determined that the travel motor needs to be accelerated and the speed regulation is determined under the condition that the second power difference is greater than the second power threshold, the processor can determine the speed regulation coefficient for the rotation speed of the travel motor according to the second power difference.

[0079] If it is determined that the walking motor needs to be accelerated and the speed regulation is determined under the condition that the first power difference is greater than the first power threshold and the second power difference is greater than the second power threshold, the processor can determine the speed regulation coefficient for the rotation speed of the walking motor according to the first power difference and the second power difference. Specifically, in this case, the processor can select the minimum value from the first power difference and the second power difference, and thus determine the speed regulation coefficient for the rotation speed of the walking motor according to the selected minimum value.

[0080] The processor may determine the target speed of the walking motor at the current moment according to the determined speed coefficient and the target speed of the walking motor at the previous moment. When determining the speed coefficient according to the corresponding power difference, the relationship table of the speed coefficient of the corresponding power difference and the speed of the walking motor may be traversed, and the speed coefficient corresponding to the corresponding power difference may be matched therefrom, and the target speed of the walking motor at the current moment may be determined according to the matched speed coefficient and the target speed of the walking motor at the previous moment. Specifically, the product of the matched speed coefficient and the target speed of the walking motor at the previous moment may be determined as the target speed of the walking motor at the current moment.

[0081] If it is determined that there is no need to accelerate the speed of the travel motor, the processor may determine that the target speed of the travel motor at the current moment is the target speed of the travel motor at the previous moment.

[0082] In an embodiment of the present invention, the speed regulation method further includes: obtaining a first target speed of the drum motor when the drum motor reaches a first working capacity upper limit; and determining a target speed of the travel motor according to a first speed difference between the first current speed and the first target speed.

[0083] When the drum motor reaches the first working capacity upper limit, in order to avoid the drum motor overload operation causing the harvesting machinery to be blocked, the harvesting machinery needs to be slowed down and speed-regulated. At this time, the processor can obtain the first target speed of the drum motor. Among them, the first target speed can be customized in advance and can be obtained in real time when the harvesting machinery is adjusted. The processor can determine the target speed of the travel motor according to the first speed difference between the first current speed and the first target speed. Specifically, the processor can traverse the relationship table between the drum speed difference and the speed regulation coefficient of the travel motor, obtain the speed regulation coefficient that matches the first speed difference, determine the product between the first speed regulation coefficient and the target speed of the travel motor at the previous moment, and obtain the target speed of the travel motor.

[0084] In an embodiment of the present invention, the speed regulation method further includes: when the harvesting component reaches the upper limit of the working capacity, obtaining the second target speed of the engine; and determining the target speed of the travel motor according to the second speed difference between the second current speed and the second target speed.

[0085] When the harvesting components reach the upper limit of their working capacity, in order to avoid the harvesting machinery being blocked due to overload of the harvesting components, the harvesting machinery needs to be slowed down and the speed adjusted. At this time, the processor can obtain the second target speed of the engine, wherein the second target speed can be customized in advance and can be obtained in real time when the harvesting machinery is adjusted. The processor can determine the target speed of the travel motor according to the second speed difference between the second current speed and the second target speed. Specifically, the processor can traverse the relationship table between the engine speed difference and the speed control coefficient of the travel motor, obtain the speed control coefficient that matches the second speed difference, determine the product of the second speed control coefficient and the target speed of the travel motor at the previous moment, and obtain the target speed of the travel motor.

[0086] Step 106: Adjust the speed of the travel motor according to the target speed.

[0087] The processor can adjust the speed of the travel motor according to the target speed. When the drum motor or mechanical component reaches the corresponding upper limit of the working capacity, it is necessary to decelerate the travel motor, and the processor can adjust the speed of the travel motor based on the target speed after deceleration. When both the drum motor and the mechanical component have not reached the corresponding upper limit of the working capacity, and the power of the drum motor or the harvesting component is not in the appropriate working power range, it is necessary to accelerate the speed of the travel motor, and the processor can adjust the speed of the travel motor based on the target speed after acceleration. When both the drum motor and the mechanical component have not reached the corresponding upper limit of the working capacity, and the power of the drum motor and the harvesting component is in the appropriate working power range, it is not necessary to accelerate the speed of the travel motor. At this time, the processor can continue to control the travel motor to run at the speed of the previous moment.

[0088] like Figure 2 As shown, a flow chart of another speed regulation method for a harvesting machine is provided.

[0089] After receiving the effective opening signal of the walking control handle of the harvesting machine, it is judged that the current working power of the drum and mechanical parts exceeds the upper limit of the component capacity, and the walking is controlled to slow down. Specifically, the actual power P of the engine can be calculated EngAct and the maximum available power P EngMax , the actual power of the generator P GenAct And the actual power P of the drum motor 1Act and the maximum available power P 1Max , and calculate the actual power P of the mechanical components 2Act and the maximum available power P 2Max Among them, the maximum available power of the mechanical components P 2Max is the maximum available power of the engine P EngMax The actual power P of the generator GenAct The difference between .

[0090] After that, the actual speed n of the drum motor can be calculated Act With the target speed n Targ The speed difference Δn between them is used to determine whether the speed difference Δn exceeds the speed threshold N1, and the actual power P of the drum motor can be determined. 1Act Maintain the maximum available power P 1Max Whether the duration t1 exceeds the time threshold T1. If the speed difference Δn exceeds the speed threshold N1, and the duration t1 exceeds the time threshold T1, it is determined that the drum motor has reached the maximum working capacity, and the walking deceleration is controlled, and the deceleration flag 1 is set to valid. The speed coefficient K1 is determined according to the speed difference Δn, and the current target speed of the walking motor is obtained according to the speed coefficient K1, and the walking motor is adjusted.

[0091] If the speed difference Δn does not exceed the speed threshold N1, or the duration t1 does not exceed the time threshold T1, it is determined that the drum motor has not reached the maximum working capacity. At this time, it can be determined whether the harvesting component has reached the maximum working capacity. Specifically, the actual speed n of the engine can be calculated EngAct With the target speed n EngTarg The speed difference Δn Eng , determine the speed difference Δn Eng Whether it exceeds the threshold N2, and judge the actual power P of the mechanical component 2Act Maintain the maximum available power P of the mechanical components 2Max Whether the time t2 exceeds the time threshold T2.

[0092] If the speed difference Δn Eng If the threshold N2 is exceeded and the time t2 exceeds the time threshold T2, it is determined that the harvesting component has reached its maximum working capacity, and the walking deceleration is controlled, and the deceleration flag 2 is set to be valid. Eng Determine the speed coefficient K2, and obtain the current target speed of the travel motor according to the speed coefficient K2, and decelerate the travel motor. Eng If the threshold value N2 is not exceeded, or the time t2 is not exceeded the time threshold value T2, it is determined that the harvesting component has not reached the maximum working capacity. At this time, it can be determined whether it is necessary to control the walking acceleration.

[0093] When judging whether it is necessary to control the walking acceleration, the maximum available power P of the drum motor can be calculated. 1Max The actual power P of the drum motor 1Act The power difference ΔP1 between them is determined, and whether the power difference ΔP1 is greater than the threshold P1 can be used to calculate the maximum available power P of the mechanical component. 2Max The actual power P of the mechanical components 2Act or determines whether the power difference ΔP2 is greater than a threshold value P2.

[0094] If the power difference ΔP1 is greater than the threshold value P1, but the power difference ΔP2 is less than or equal to the threshold value P2, the drum motor is not in the appropriate working power range, the walking acceleration is controlled, the acceleration mark is set to valid, and the speed coefficient K3 is determined according to the power difference ΔP1, and the current target speed of the walking motor is obtained according to the speed coefficient K3, and the walking motor is accelerated. If the power difference ΔP1 is less than or equal to the threshold value P1, and the power difference ΔP2 is greater than the threshold value P2, the mechanical component is not in the appropriate working power range, the walking acceleration is controlled, the acceleration mark is set to valid, and the speed coefficient K3 is determined according to the power difference ΔP2, and the current target speed of the walking motor is obtained according to the speed coefficient K3, and the walking motor is accelerated.

[0095] If the power difference ΔP1 is greater than the threshold value P1, and the power difference ΔP2 is greater than the threshold value P2, the drum motor and mechanical components are not in the appropriate working power range, the walking acceleration is controlled, the acceleration flag is set to valid, and the speed coefficient K3 is determined according to the minimum value of the power difference ΔP1 and the power difference ΔP2, and the current target speed of the walking motor is obtained according to the speed coefficient K3, and the walking motor is accelerated. If the power difference ΔP1 is less than or equal to the threshold value P1, and the power difference ΔP2 is less than or equal to the threshold value P2, the drum motor and mechanical components are both in the appropriate working power range, the effective acceleration flag and deceleration flag are not output, the walking motor maintains the current speed, and the harvesting machine maintains the current speed.

[0096] Through the above technical scheme, after the harvesting machine starts the walking operation, the first current speed and the first current power of the drum motor are determined; whether the drum motor has reached the first working capacity upper limit is judged according to the first current speed and the first current power; when the drum motor has not reached the first working capacity upper limit, the second current speed of the engine and the second current power of the harvesting component are determined; whether the harvesting component has reached the second working capacity upper limit is judged according to the second current speed and the second current power; when the harvesting component has not reached the second working capacity upper limit, the target speed of the walking motor is determined according to the first current power and the second current power; the speed of the walking motor is adjusted according to the target speed, so that the working capacity of the mechanical parts and the drum motor is maximized, the harvesting speed of the harvesting machine is improved, and the blockage of the harvester caused by overload operation of the mechanical parts or the drum motor is avoided, so that the harvesting machine can achieve maximum working efficiency during the harvesting process.

[0097] Figure 1 and 2 FIG. 1 is a flow chart of a speed regulation method for a harvesting machine in one embodiment. It should be understood that although Figure 1 and 2The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 and 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0098] In one embodiment, a speed regulating device for a harvesting machine is provided, comprising:

[0099] a memory configured to store instructions;

[0100] The processor is configured to call instructions from the memory and implement the above-mentioned speed regulation method for the harvesting machine when executing the instructions.

[0101] In an embodiment of the present invention, a harvesting machine is provided, comprising:

[0102] Traveling mechanism, used to drive the harvesting machinery to travel;

[0103] Travel motor, used to drive the travel mechanism;

[0104] a drum machine for performing threshing operations;

[0105] Drum motor, used to drive the drum machine to operate;

[0106] A harvesting component, used for performing harvesting operations;

[0107] Generators, used to provide electrical energy;

[0108] an engine for driving the harvesting components and the generator;

[0109] A speed sensor, used for collecting a first current speed of the drum motor and a second current speed of the engine;

[0110] Speed ​​regulating device for harvesting machinery.

[0111] The travel motor can be used to drive the travel mechanism of the harvester, thereby driving the harvester to travel. The drum motor can be used to drive the drum machine of the harvester, and the drum machine is used to perform threshing operations during harvesting operations. Harvesting parts refer to parts related to harvesting operations performed by the harvester, and the harvesting parts may include a header, a bridge, and a chopper. A generator is used to provide electrical energy. The engine can be used to drive the harvesting parts and the generator. A speed sensor is used to collect a first current speed of the drum motor and a second current speed of the engine.

[0112] In one embodiment, the harvesting machine may further include a walking operating handle. The user may operate the walking operating handle in the cab, and the processor may obtain an opening signal of the walking operating handle, and compare the handle opening carried by the opening signal with a preset opening. If the handle opening is less than the preset opening, it may be that the driver accidentally touches the walking operating handle and has no intention to make the harvesting machine walk, and the opening signal may be determined to be invalid. If the handle opening is greater than or equal to the preset opening, it may be determined that the opening signal is valid, and at this time, the harvesting machine starts the walking operation.

[0113] In one embodiment, the harvesting machine may further include a display screen, which may be used to display a picture of the harvesting machine performing a harvesting operation, for example, the operation area in front of the harvesting machine and the environment around the harvesting machine, etc. The display screen may facilitate operators to predict the current harvesting situation and intervene in the operation of the harvesting machine, thereby further improving the operation efficiency of the harvesting machine.

[0114] like Figure 3 As shown, a schematic diagram of a harvesting machine is provided.

[0115] The harvesting machine includes a vehicle controller, a travel operating handle, a display screen, a battery management system, a high-voltage distribution box, a power battery, a motor controller 1, a travel motor, a motor controller 2, a drum motor, a motor controller 3, a reel motor, a motor controller 4, a fan motor, a generator controller, an engine controller, a generator, an engine, and harvesting parts such as a header, a bridge, and a chopper. The harvesting machine uses the engine, the generator, and the power battery as energy sources.

[0116] Among them, the vehicle controller is connected to the travel operating handle through a hard wire. The vehicle controller is connected to the display screen, battery management system, motor controller 1, motor controller 2, motor controller 3, motor controller 4, generator controller and engine controller through CAN communication. The engine is mechanically connected to the generator and harvesting components such as the header, bridge and chopper. The power battery, generator controller, motor controller 1, motor controller 2, motor controller 3, and motor controller 4 are all connected to the high-voltage distribution box and are all connected through a power supply. The generator controller is connected to the generator through a power supply. The motor controller 1 is connected to the travel motor through a power supply. The motor controller 2 is connected to the drum motor through a power supply. The motor controller 3 is connected to the reel motor through a power supply. The motor controller 4 is connected to the fan motor through a power supply.

[0117] The motor controller 1 is used to control the operation of the travel motor, which is used to drive the travel mechanism to make the harvester move. The motor controller 2 is used to control the operation of the drum motor, which is used to drive the drum machine to perform threshing operations. The motor controller 3 is used to control the operation of the reel motor, which is used to drive the reel mechanism to move. The motor controller 4 is used to control the operation of the fan motor, which is used to drive the fan mechanism to move.

[0118] In one embodiment, a storage medium is provided, on which a program is stored, and when the program is executed by a processor, the above-mentioned speed regulation method for a harvesting machine is implemented.

[0119] In one embodiment, a processor is provided, and the processor is used to run a program, wherein the program executes the above-mentioned speed regulation method for a harvesting machine when it is run.

[0120] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the speed of the travel motor. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a speed regulation method for a harvesting machine is implemented.

[0121] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, a speed regulation method for a harvesting machine is implemented. The display screen A04 of the computer device can be a liquid crystal display or an electronic ink display, and the input device A05 of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0122] An embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: after the harvesting machine starts walking operation, a first current speed and a first current power of a drum motor are determined; whether the drum motor reaches a first working capacity upper limit is judged according to the first current speed and the first current power; if the drum motor does not reach the first working capacity upper limit, a second current speed of the engine and a second current power of a harvesting component are determined; if the harvesting component reaches a second working capacity upper limit is judged according to the second current speed and the second current power; if the harvesting component does not reach the second working capacity upper limit, a target speed of the walking motor is determined according to the first current power and the second current power; and the speed of the walking motor is adjusted according to the target speed.

[0123] In one embodiment, judging whether the drum motor has reached a first upper limit of working capacity based on a first current speed and a first current power includes: obtaining a first target speed of the drum motor, and determining a first maximum available power of the drum motor; determining that the drum motor has reached a first upper limit of working capacity when it is determined that a first speed difference between the first current speed and the first target speed is greater than a first speed threshold, and a first duration for which the first current power reaches the first maximum available power reaches a first duration; determining that the drum motor has not reached the first upper limit of working capacity when the first speed difference is less than or equal to the first speed threshold, or the first current power does not reach the first maximum available power, or the first duration does not reach the first duration.

[0124] In one embodiment, the speed regulation method further includes: obtaining a first target speed of the drum motor when the drum motor reaches a first working capacity upper limit; and determining a target speed of the travel motor according to a first speed difference between a first current speed and a first target speed.

[0125] In one embodiment, judging whether the harvesting component has reached the second working capacity upper limit based on the second current speed and the second current power includes: obtaining the second target speed of the engine and determining the second maximum available power of the harvesting component; determining that the harvesting component has reached the second working capacity upper limit when it is determined that the second speed difference between the second current speed and the second target speed is greater than the second speed threshold, and the second duration for which the second current power reaches the second maximum available power reaches the second duration; determining that the harvesting component has not reached the second working capacity upper limit when the second speed difference is less than or equal to the second speed threshold, or the second current power does not reach the second maximum available power, or the second duration is less than or equal to the second duration.

[0126] In one embodiment, the speed regulation method further includes: when the harvesting component reaches the upper limit of the working capacity, obtaining the second target speed of the engine; and determining the target speed of the travel motor according to the second speed difference between the second current speed and the second target speed.

[0127] In one embodiment, when the harvesting component has not reached the second working capacity upper limit, determining the target speed of the walking motor at the current moment according to the first current power and the second current power includes: determining the first maximum available power of the drum motor, and the second maximum available power of the harvesting component; determining a first power difference between the first maximum available power and the first current power, and determining a second power difference between the second maximum available power and the second current power; judging whether it is necessary to accelerate the speed of the walking motor according to the first power difference and the second power difference; and determining the target speed of the walking motor at the current moment according to the result of judging whether it is necessary to accelerate the speed of the walking motor.

[0128] In one embodiment, judging whether it is necessary to accelerate the speed of the walking motor based on the first power difference and the second power difference includes: when the first power difference is greater than the first power threshold, or the second power difference is greater than the second power threshold, determining that it is necessary to accelerate the speed of the walking motor; when the first power difference is less than or equal to the first power threshold, and the second power difference is less than or equal to the second power threshold, determining that it is not necessary to accelerate the speed of the walking motor.

[0129] In one embodiment, determining the target speed of the walking motor at the current moment based on the result of judging whether the walking motor needs to be speed-regulated includes: when the result is that the walking motor needs to be accelerated and the speed is regulated, determining the speed regulation coefficient for the speed of the walking motor according to the first power difference and / or the second power difference; determining the target speed of the walking motor at the current moment according to the determined speed regulation coefficient and the target speed of the walking motor at the previous moment; when the result is that the walking motor does not need to be accelerated and the speed is regulated, determining the target speed of the walking motor at the current moment to be the target speed of the walking motor at the previous moment.

[0130] The invention also provides a computer program product which, when executed on a data processing device, is suitable for executing a program for initializing the steps of a speed regulation method for a harvesting machine.

[0131] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0132] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0133] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0134] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0135] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0136] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0137] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0138] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0139] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A speed regulation method for a harvesting machine, characterized in that: The harvesting machine includes a travel motor, a drum motor, a harvesting component and an engine for driving the harvesting component, and the speed regulation method includes: After the harvesting machine starts walking operation, determining a first current rotation speed and a first current power of the drum motor; determining whether the drum motor reaches a first working capacity upper limit according to the first current speed and the first current power; When the drum motor does not reach the first working capacity upper limit, determining a second current speed of the engine and a second current power of the harvesting component; determining whether the harvesting component has reached a second working capacity upper limit according to the second current speed and the second current power; When the harvesting component does not reach the second working capacity upper limit, determining a target speed of the travel motor according to the first current power and the second current power; The rotation speed of the travel motor is adjusted according to the target rotation speed.

2. The speed regulating method for a harvesting machine according to claim 1, characterized in that: The determining, according to the first current rotation speed and the first current power, whether the drum motor reaches a first working capacity upper limit comprises: Acquiring a first target rotation speed of the drum motor and determining a first maximum available power of the drum motor; When it is determined that a first speed difference between the first current speed and the first target speed is greater than a first speed threshold, and a first duration for which the first current power reaches the first maximum available power reaches a first duration, it is determined that the drum motor reaches a first working capacity upper limit; When the first speed difference is less than or equal to the first speed threshold, or the first current power does not reach the first maximum available power, or the first duration does not reach the first duration, it is determined that the drum motor does not reach the first working capacity upper limit.

3. The speed regulation method for a harvesting machine according to claim 1, characterized in that: The speed regulation method further comprises: When the drum motor reaches the first working capacity upper limit, obtaining a first target speed of the drum motor; The target speed of the travel motor is determined according to a first speed difference between the first current speed and the first target speed.

4. The speed regulation method for a harvesting machine according to claim 1, characterized in that: The determining, according to the second current rotation speed and the second current power, whether the harvesting component has reached the second working capacity upper limit comprises: Acquiring a second target speed of the engine and determining a second maximum available power of the harvesting component; When it is determined that a second speed difference between the second current speed and the second target speed is greater than a second speed threshold, and the second current power reaches the second maximum available power for a second duration, it is determined that the harvesting component reaches a second working capacity upper limit; When the second speed difference is less than or equal to the second speed threshold, or the second current power does not reach the second maximum available power, or the second duration is less than or equal to the second duration, it is determined that the harvesting component has not reached the second working capacity upper limit.

5. The speed regulating method for a harvesting machine according to claim 1, characterized in that: The speed regulation method further comprises: When the harvesting component reaches an upper limit of its working capacity, obtaining a second target speed of the engine; The target speed of the travel motor is determined according to a second speed difference between the second current speed and the second target speed.

6. The speed regulating method for a harvesting machine according to claim 1, characterized in that: When the harvesting component does not reach the second working capacity upper limit, determining the target speed of the travel motor according to the first current power and the second current power includes: determining a first maximum available power of the drum motor, and a second maximum available power of the harvesting component; Determining a first power difference between the first maximum available power and the first current power, and determining a second power difference between the second maximum available power and the second current power; Determining whether it is necessary to accelerate the speed of the travel motor according to the first power difference and the second power difference; The target speed of the travel motor at the current moment is determined according to the result of judging whether the travel motor needs to be accelerated and regulated.

7. The speed regulating method for a harvesting machine according to claim 6, characterized in that: The determining whether the travel motor needs to be accelerated and adjusted according to the first power difference and the second power difference comprises: When the first power difference is greater than a first power threshold, or the second power difference is greater than a second power threshold, it is determined that the travel motor needs to be accelerated: When the first power difference is less than or equal to the first power threshold, and the second power difference is less than or equal to the second power threshold, it is determined that there is no need to accelerate the speed of the travel motor.

8. The speed regulating method for a harvesting machine according to claim 6, characterized in that: The step of determining the target speed of the travel motor at the current moment according to the result of judging whether the travel motor needs to be speed-regulated comprises: When the result is that the travel motor needs to be accelerated, a speed regulation coefficient for the rotation speed of the travel motor is determined according to the first power difference and / or the second power difference; Determining a target speed of the travel motor at the current moment according to the determined speed regulation coefficient and the target speed of the travel motor at the previous moment; When the result shows that there is no need to accelerate the speed of the travel motor, the target speed of the travel motor at the current moment is determined to be the target speed of the travel motor at the previous moment.

9. A speed regulating device for a harvesting machine, characterized in that: The speed regulating device comprises: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the speed regulation method for a harvesting machine according to any one of claims 1 to 8 when executing the instructions.

10. A harvesting machine, characterized in that: include: Traveling mechanism, used to drive the harvesting machinery to travel; Travel motor, used to drive the travel mechanism; a drum machine for performing threshing operations; Drum motor, used to drive the drum machine to operate; A harvesting component, used for performing harvesting operations; Generators, used to provide electrical energy; An engine for driving the harvesting unit and the generator; A speed sensor, used for collecting a first current speed of the drum motor and a second current speed of the engine; The speed regulating device for a harvesting machine according to claim 9.

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