Operating speed self-adaptive control system of wheat harvester

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a working speed self-adaptive control system of a wheat harvester, which comprises a calculation module, a data processing module, an execution module, an execution object, a working speed measurement module, a working condition feedback module and an automatic driving module, the vehicle-mounted computer is used for receiving and calculating the operation speed under the ideal load, and the data processing module is in two-way communication connection with the calculation module. In the invention, an ideal operation speed instruction is transmitted to the speed controller through the vehicle-mounted computer, the speed controller adjusts the operation speed of the threshing cylinder and the crawler wheel by automatically adjusting the opening degree of the proportional valve, the speed measuring module collects the operation speed information, and the vehicle-mounted computer compares the ideal operation speed with the actual operation speed. When the expected operation speed is different from the actual operation speed, the actual operation speed is adjusted in time, and the operation efficiency of the harvester is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to an operating speed adaptive control system for a wheat harvester. Background Art

[0002] The operating speed of the wheat harvester mainly includes the driving speed of the harvester driven by the crawler wheels and the rotation speed of the threshing drum. If the speed of the threshing drum is too low, the wheat may not be threshed thoroughly, leaving more husks and straw. If the speed of the threshing drum is too high, the wheat grains may be damaged. When the driving speed of the harvester is too fast, the threshing drum may malfunction due to excessive load torque, such as blockage, overheating, etc., and the speed of the threshing drum will also be reduced, which is not conducive to the wheat being fully rubbed and beaten in the threshing drum.

[0003] When operating a wheat harvester, the operator needs to pay close attention to the working status of the machine in order to match the driving speed with the rotation speed of the threshing drum. At present, the operator mainly relies on personal experience, comprehensively adjusts various performance parameters, and manually adjusts the operating speed by vision and hearing. When working in a field with undulating terrain, going uphill will automatically reduce the driving speed, and going downhill will increase the driving speed, resulting in changes in the amount of wheat harvested at the threshing drum. Manual adjustment of the operating speed is inefficient and has a large time lag, and the driving speed and the rotation speed of the threshing drum cannot be automatically adjusted according to the terrain in time. When the harvester is stuck in the field, most harvesters require the operator to operate the machine to get out of trouble, and it is not easy to achieve automatic control of the driving speed of the harvester to get out of trouble. Summary of the invention

[0004] The object of the present invention is to provide an operating speed adaptive control system for a wheat harvester to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An operating speed adaptive control system for a wheat harvester, comprising a calculation module, a data processing module, an execution module, an execution object, an operating speed measurement module, an operating condition feedback module and an automatic driving module;

[0007] A calculation module, the calculation module includes an onboard computer, the onboard computer is used to receive and calculate the operating speed under an ideal load;

[0008] A data processing module is bidirectionally connected to the computing module for communication, and is used to convert the operation speed control instruction of the computing module into a pulse control signal, and transmit the control signal to the execution module;

[0009] An execution module is connected to the data processing module for transmitting a pulse control signal to an execution object so that the execution object operates at an operation speed under an ideal load;

[0010] An execution object is connected to the execution module in communication, wherein the execution object includes a threshing drum and a track wheel, wherein the threshing drum rotates to thresh wheat, and the track wheel rotates to provide a travel speed for the harvester, and the operating speeds of the threshing drum and the track wheel are both controlled by the execution module;

[0011] An operation speed measurement module is connected to the execution object in communication, and the operation speed measurement module is connected to the data processing module in communication, and the operation speed measurement module is used to transmit the measured actual operation speed information to the data processing module;

[0012] An operating condition feedback module is communicatively connected to the calculation module and is used to detect the operating state of the harvester. The operating condition feedback module includes a gyroscope and a torque sensor;

[0013] The autonomous driving module is connected to the computing module in a two-way communication manner to assist the operator in achieving automatic cruise driving and single-person escape of the harvester.

[0014] Furthermore, the on-board computer includes a touch screen, and the percentage of the main threshing drum speed under ideal load compared to the maximum drum speed can be manually confirmed through the touch screen during the first harvest.

[0015] Furthermore, the execution module includes a proportional valve and an engine, and the engine speed is regulated by adjusting the opening of the proportional valve, and the operating speed of the threshing drum and the track wheel is regulated by controlling the engine speed.

[0016] Furthermore, the gyroscope is fixedly mounted at the middle position of the bottom of the harvester to detect the pitch and roll state of the harvester, and the torque sensor is used to detect the torque of the threshing drum.

[0017] Further, the autonomous driving module includes:

[0018] Laser rangefinders, which are multiple in number and are fixed on the bottom of both sides of the harvester to measure the distance between the harvester and the ground;

[0019] A voice control module, the voice control module comprising a microphone;

[0020] There are multiple visual cameras, which are evenly installed and fixed on the sides of the harvester;

[0021] There are multiple laser radars, which are installed on the roof, front and rear beams, and rearview mirrors of the wheat harvester;

[0022] The vehicle-mounted attitude sensor is used to detect the movement status of the wheat harvester.

[0023] Furthermore, the voice control module also includes a voice recognition processor and an environmental noise sensor.

[0024] Further, the data processing module includes:

[0025] A speed collection unit, which is in communication connection with the operation speed measurement module, and is used to collect operation speed data of the operation speed measurement module;

[0026] The speed controller is communicatively connected between the execution module and the calculation module.

[0027] Furthermore, the speed acquisition unit transmits the operation speed data information to the on-board computer in the form of a pulse signal, and the speed controller is used to transmit the operation speed information transmitted from the on-board computer to the execution module.

[0028] Furthermore, the operation speed measuring module comprises a metal proximity sensor and an engine speed sensor, wherein the metal proximity sensor is used to detect the speed of the threshing drum, and the engine speed sensor is used to detect the speed of the engine.

[0029] Furthermore, the metal proximity sensor generates a pulse signal by detecting the change in distance or magnetic field between the metal target and the sensor. When the threshing drum rotates, the metal part on it will periodically approach and move away from the sensor, thereby triggering a pulse output of the sensor, thereby realizing the measurement of the rotation speed of the threshing drum by the metal proximity sensor.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The ideal operating speed instruction is transmitted to the speed controller through the on-board computer. The speed controller converts the ideal operating speed instruction into a pulse control signal and transmits it to the proportional valve. The proportional valve controls the engine power by automatically controlling the opening of the transmitter oil pipeline, so that the engine rotates at the ideal speed, and then the track wheels drive the harvester to move at the ideal operating speed. At the same time, the threshing drum harvests wheat at the ideal operating speed. When the wheat is relatively wet or the wheat ears are full and dense, the speed of the main threshing drum will drop rapidly. The PID algorithm is used for control. The corresponding proportional valve opening and closing degree is controlled according to the difference between the current threshing drum speed and the ideal speed. The speed of the threshing drum and the driving speed of the harvester are automatically adjusted according to the density of the wheat. That is, when the density of wheat increases, the speed of the threshing drum increases, the driving speed of the harvester decreases, and the amount of wheat fed to the threshing drum is reduced, which is convenient for the threshing drum to fully rub and hit the wheat.

[0032] 2. The rotation speed of the threshing drum can be monitored in real time through the metal proximity sensor, and the engine speed can be monitored in real time through the engine speed sensor. The rotation speed information of the threshing drum and the engine speed information are transmitted to the speed acquisition unit. The speed acquisition unit transmits the harvester operating speed information to the on-board computer. The on-board computer analyzes the actual operating speed and the expected ideal operating speed. When the actual operating speed is greater than the ideal operating speed, the on-board computer will issue a warning, and the operator can manually reduce the operating speed of the harvester. When the actual operating speed is less than the ideal operating speed, the operator can manually increase the operating speed of the harvester. When the user does not adjust the operating speed of the harvester, the on-board computer will automatically adjust the operating speed of the harvester.

[0033] 3. By installing a gyroscope on the harvester, the gyroscope can monitor the driving status of the harvester in real time. When the gyroscope detects that the harvester is in an uphill harvesting state, the operating condition feedback module transmits the uphill information of the harvester to the on-board computer. The on-board computer will send an instruction to the speed controller to increase the engine speed, so that the harvester can move forward at a constant speed during the uphill process, so that the amount of wheat fed into the threshing drum per unit time remains unchanged, and the phenomenon that the harvester's uphill driving speed decreases, resulting in a decrease in the amount of wheat fed into the threshing drum per unit time, is prevented;

[0034] When the gyroscope detects that the harvester is in a downhill harvesting state, the operating condition feedback module transmits the harvester's downhill information to the on-board computer. The on-board computer will send an instruction to the speed controller to reduce the engine speed so that the harvester can move forward at a constant speed during the downhill process, so that the amount of wheat fed into the threshing drum position per unit time remains unchanged, thereby preventing the phenomenon that the harvester's downhill speed increases, resulting in an increase in the amount of wheat fed into the threshing drum position per unit time.

[0035] 4. By installing a laser rangefinder at the bottom of the harvester, the laser rangefinder can measure the distance a between the harvester and the ground when the harvester is driving normally. When the distance value measured by the laser rangefinder is still less than the standard value a within a certain range of error, it means that the track wheel of the harvester is sunk into the soil. At the same time, the gyroscope can judge whether the front end or rear end of the track wheel of the harvester is sunk into the soil according to the pitch state of the harvester. When the harvester is in the upward state, it means that the rear end of the track wheel is sunk into the soil. When the harvester is in the downward state, it means that the front end of the track wheel is sunk into the soil, thereby automatically judging whether the reduction in the driving speed of the harvester is caused by the track wheel being sunk into the soil;

[0036] After the harvester's track wheels sink into the soil, the operator can leave the harvester and wear a microphone on his head. The user can observe how deeply the track wheels sink into the soil, and then send voice commands of "forward", "backward", "turn left", "turn right" and "stop" through the microphone, so that the on-board computer automatically controls the harvester to move in different directions. During the movement of the harvester, the operator can throw plates or other fillings under the track wheels to assist in getting out of trouble, so that one person can operate the harvester out of trouble. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is the overall system block diagram of the present invention;

[0038] Figure 2 is a system block diagram of the autonomous driving module in the present invention;

[0039] Figure 3 It is a system block diagram of the operation feedback module in the present invention;

[0040] Figure 4 It is a system block diagram of the operating speed measurement module in the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] For example, see Figure 1-Figure 4In an embodiment of the present invention, an adaptive control system for the operating speed of a wheat harvester includes a calculation module, a data processing module, an execution module, an execution object, an operating speed measurement module, an operating condition feedback module and an automatic driving module, wherein the calculation module includes an on-board computer, wherein the on-board computer is used to receive and calculate the operating speed under an ideal load, the data processing module is bidirectionally connected to the calculation module, wherein the data processing module is used to convert the operating speed control instruction of the calculation module into a pulse control signal, and transmit the control signal to the execution module, the execution module is communicatively connected to the data processing module, wherein the execution module is used to transmit the pulse control signal to the execution object, so that the execution object operates at the operating speed under the ideal load, and the execution object and the execution module communicate with each other. The execution object includes a threshing drum and a track wheel. The threshing drum rotates to thresh wheat, and the track wheel rotates to provide the travel speed of the harvester. The operating speeds of the threshing drum and the track wheel are both controlled by the execution module. The operating speed measuring module is communicated with the execution object, and the operating speed measuring module is communicated with the data processing module. The operating speed measuring module is used to transmit the measured actual operating speed information to the data processing module. The operating condition feedback module is communicated with the calculation module for detecting the operating status of the harvester. The operating condition feedback module includes a gyroscope and a torque sensor. The automatic driving module is bidirectionally communicated with the calculation module to assist the driver in realizing automatic cruise driving and single-person escape from the harvester.

[0043] Specifically, the ideal operating speed instruction manually confirmed during the first harvest is transmitted to the on-board computer through the on-board computer, and the on-board computer transmits the instruction to the speed controller. The speed controller adjusts the operating speed of the threshing drum and the track wheel by automatically adjusting the opening and closing degree of the proportional valve. The operating speed information of the threshing drum and the track wheel is reversely collected by the operating speed measurement module and transmitted to the speed acquisition unit. Then the speed acquisition unit transmits the actual operating speed information of the harvester to the on-board computer. The on-board computer compares the expected ideal operating speed with the actual operating speed, and adjusts the actual operating speed in time when the expected operating speed is different from the actual operating speed. By installing a gyroscope on the harvester, the gyroscope can monitor whether the harvester is in an uphill harvesting or downhill harvesting state, and then automatically increases the driving speed of the harvester when harvesting uphill, and automatically reduces the driving speed of the harvester when harvesting downhill, so that the amount of wheat fed into the threshing drum per unit time under different driving states of the harvester is the same, thereby ensuring the operating efficiency of the harvester and reducing the probability of machine failure caused by improper human driving.

[0044] like Figure 1As shown, in this embodiment, the on-board computer includes a touch screen. The percentage of the main threshing drum speed under ideal load compared to the maximum drum speed can be manually confirmed through the touch screen during the first harvest. The touch screen can display the operating speed of the harvester, and the user can also control the actual operating speed of the harvester through the touch screen, so that the actual operating speed of the harvester during automatic driving is the same as or close to the expected ideal operating speed.

[0045] like Figure 1 As shown, in this embodiment, the execution module includes a proportional valve and an engine. The engine speed is regulated by adjusting the opening of the proportional valve, and then the operating speed of the threshing drum and the track wheel is regulated by controlling the engine speed. When the speed of the threshing drum decreases, the opening of the proportional valve is reduced to reduce the driving speed. When the speed of the threshing drum increases, the opening of the proportional valve is increased to increase the vehicle speed. Farmers can set an ideal cruising speed and maintain a constant speed under normal working conditions. When the fullness of the wheat ears is average, the speed of the main threshing drum will decrease. The algorithm adopts PID control to control the corresponding proportional valve opening according to the difference between the current threshing drum speed and the ideal speed.

[0046] like Figure 3 As shown, in this embodiment, the gyroscope is installed and fixed at the middle position of the bottom of the harvester to detect the pitch and roll state of the harvester. When the harvester is traveling upward, the driving power of the track wheels can be appropriately increased to increase the driving speed. When the harvester is traveling downward, the driving power of the track wheels can be appropriately reduced to reduce the driving speed. After the harvester sinks into the soil, the on-board computer can automatically determine which specific side of the track wheel of the harvester is sunk into the soil based on the roll data fed back by the gyroscope, and then can focus on increasing the driving horsepower of the track wheel on the side that is sunk into the soil, so as to facilitate the harvester to escape.

[0047] In this embodiment, the torque sensor is used to detect the torque of the threshing drum. After the on-board computer transmits the ideal speed command to the threshing drum, if the rotation speed of the threshing drum is still lower than the ideal value, the on-board computer can receive the torque value from the torque sensor to determine whether the threshing drum is blocked by straw or entangled, which increases the rotation resistance of the threshing drum.

[0048] like Figure 1 As shown, in this embodiment, the data processing module includes a speed acquisition unit that is communicatively connected to the operating speed measurement module. The speed acquisition unit transmits the operating speed data information to the on-board computer in the form of a pulse signal. The speed acquisition unit is used to collect the operating speed data of the operating speed measurement module. The execution module and the calculation module are communicated by a speed controller, and the speed controller is used to transmit the operating speed information transmitted from the on-board computer to the execution module.

[0049] like Figure 4As shown, in this embodiment, the operating speed measuring module includes a metal proximity sensor and an engine speed sensor. The metal proximity sensor is used to detect the rotation speed of the threshing drum, and the engine speed sensor is used to detect the rotation speed of the engine.

[0050] In this embodiment, the metal proximity sensor generates a pulse signal by detecting the change in distance or magnetic field between the metal target and the sensor. When the threshing drum rotates, the metal part on it will periodically approach and move away from the sensor, thereby triggering a pulse output of the sensor, thereby realizing the measurement of the rotation speed of the threshing drum by the metal proximity sensor.

[0051] In this embodiment, the metal proximity sensor can be a Hall sensor, an eddy current displacement sensor, etc. The metal target object is the metal part on the threshing drum. The time interval between two adjacent pulses, that is, the pulse period, is calculated. Based on the pulse period and the geometric parameters of the threshing drum (such as diameter, rotation speed, etc.), the actual rotation speed of the threshing drum is calculated.

[0052] Embodiment 2, based on embodiment 1, is to realize automatic driving to get out of trouble and automatic driving to turn of a wheat harvester.

[0053] like Figure 1 and Figure 2 As shown, in this embodiment, the automatic driving module includes multiple laser rangefinders, a voice control module, multiple visual cameras, multiple laser radars and a vehicle-mounted attitude sensor. The multiple laser rangefinders are respectively installed and fixed on the bottom of both sides of the harvester to measure the distance between the harvester and the ground. The voice control module includes a microphone, a voice recognition processor and an ambient noise sensor. The vehicle-mounted attitude sensor mainly calculates the direction and angle of the object by measuring the acceleration and angular velocity of the object. It is mainly composed of an accelerometer, a gyroscope and a magnetometer. The accelerometer measures the linear acceleration of the object, the gyroscope measures the rotational angular velocity of the object, and the magnetometer measures the change of the earth's magnetic field. The direction and angle of the object can be calculated by data fusion of these sensors.

[0054] In this embodiment, the laser rangefinder can measure the distance a of the harvester from the ground when it is driving normally. When the harvester sinks into the soil, the laser rangefinder can detect the distance b of the harvester from the ground. The larger the difference between a and b, the deeper the track wheel is sunk into the soil. The on-board computer can control the engine to operate at an appropriate power during the escape process based on the transmitted information about the difference between a and b, so that the engine power can meet the movement of the track wheel in the soil. The user can leave the harvester, observe the ground conditions, and then use voice commands to control the harvester to move forward, backward, turn left or right through a microphone on the head, so that the operator can observe the movement of the track wheel while controlling the harvester track wheel to move in different directions by voice, which helps the harvester to escape quickly.

[0055] In this embodiment, a combination of lidar and visual cameras can be used to avoid obstacles. The visual camera captures environmental images and uses image processing algorithms to identify obstacles, such as ridges, electric poles, and graves. The lidar calculates the distance of the obstacle by emitting a laser beam and measuring the time it takes for it to reflect back. The lidar can provide accurate three-dimensional structural information and has strong anti-interference capabilities to the environment. The data of the visual sensor and the lidar are fused to complement each other's advantages. Through algorithm processing, the data of the two sensors are integrated into more complete and reliable environmental perception information to facilitate the harvester to automatically avoid obstacles and drive automatically.

[0056] In this embodiment, the automatic driving turning of the wheat harvester mainly includes the following processes:

[0057] S1: The onboard computer controls the wheat harvester to stop harvesting and raise the header to prevent the divider, running wheels or tracks from crushing the unharvested wheat, causing missed harvesting losses;

[0058] S2: Reversing or circling. During specific operations, the onboard computer selects a turning method based on the actual situation of the plot transmitted by the visual camera and the laser radar. It can be reverse turning or circling right-angle turning;

[0059] S3: A proportional valve can be used to control the hydraulic system, thereby controlling the walking speed and steering of the harvester. The proportional valve can be an electromagnetic proportional valve. The on-board computer controls the displacement of the variable hydraulic pump through the electromagnetic proportional valve, thereby controlling the speed of the variable hydraulic motor to achieve the forward and steering functions of the harvester.

[0060] S4: Control the turning angle and speed. During a right-angle turn, the proportional valve can adjust the turning angle according to the feedback from the vehicle-mounted attitude sensor to ensure an accurate 90° turn or other angle turn. At the same time, by controlling the proportional valve, the speed of the hydraulic motor can be adjusted to control the speed of the harvester during the turn, ensuring a smooth and accurate turn.

[0061] S5: Single forward and backward turning method. In some cases, the harvester will use a single forward and backward turning method to complete a right-angle turn. This method includes the harvester harvesting crops along a straight path planned by the on-board computer, stopping after reaching the turning point, and then turning and moving forward or backward at a certain angle to complete the set angle turn;

[0062] S6: The direct turning method is to harvest crops directly along the planned straight path according to the lateral deviation and heading deviation, and make a 90° turn directly after reaching the turning point. The turning angle is fed back to the on-board computer through the on-board attitude sensor.

[0063] Through the above method, the oil flow rate and pressure in the hydraulic system are accurately controlled by the proportional valve, so that the precise automatic control of the operating speed and turning angle of the wheat harvester can be achieved, thereby improving the operating efficiency and safety.

[0064] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0065] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. The operating speed adaptive control system of a wheat harvester is characterized by: It includes a calculation module, a data processing module, an execution module, an execution object, an operation speed measurement module, an operation condition feedback module and an automatic driving module; A calculation module, the calculation module includes an onboard computer, the onboard computer is used to receive and calculate the operating speed under an ideal load; A data processing module is bidirectionally connected to the computing module for communication, and is used to convert the operation speed control instruction of the computing module into a pulse control signal, and transmit the control signal to the execution module; An execution module is connected to the data processing module for transmitting a pulse control signal to an execution object so that the execution object operates at an operation speed under an ideal load; An execution object is connected to the execution module in communication, wherein the execution object includes a threshing drum and a track wheel, wherein the threshing drum rotates to thresh wheat, and the track wheel rotates to provide a travel speed for the harvester, and the operating speeds of the threshing drum and the track wheel are both controlled by the execution module; An operation speed measurement module is connected to the execution object in communication, and the operation speed measurement module is connected to the data processing module in communication, and the operation speed measurement module is used to transmit the measured actual operation speed information to the data processing module; An operating condition feedback module is communicatively connected with the calculation module and is used to detect the operating state of the harvester. The operating condition feedback module includes a gyroscope and a torque sensor; The autonomous driving module is connected to the computing module in a two-way communication manner to assist the operator in achieving automatic cruise driving and single-person escape of the harvester.

2. The operating speed adaptive control system of a wheat harvester according to claim 1, characterized in that: The on-board computer includes a touch screen, and the percentage of the main threshing drum speed under ideal load compared to the maximum drum speed can be manually confirmed through the touch screen during the first harvest.

3. The operating speed adaptive control system of a wheat harvester according to claim 1, characterized in that: The execution module comprises a proportional valve and an engine. The engine speed is regulated by adjusting the opening of the proportional valve, and the operating speed of the threshing drum and the track wheel is regulated by controlling the engine speed.

4. The operating speed adaptive control system of a wheat harvester according to claim 1, characterized in that: The gyroscope is installed and fixed at the middle position of the bottom of the harvester to detect the pitch and roll state of the harvester, and the torque sensor is used to detect the torque of the threshing drum.

5. The operating speed adaptive control system of a wheat harvester according to claim 1, characterized in that: The autonomous driving module comprises: Laser rangefinders, which are multiple in number and are fixed on the bottom of both sides of the harvester to measure the distance between the harvester and the ground; A voice control module, the voice control module comprising a microphone; There are multiple visual cameras, which are evenly installed and fixed around the harvester; There are multiple laser radars, which are installed on the roof, front and rear beams, and rearview mirrors of the wheat harvester.

6. The operating speed adaptive control system of a wheat harvester according to claim 5, characterized in that: The voice control module also includes a voice recognition processor and an ambient noise sensor.

7. The operating speed adaptive control system of a wheat harvester according to claim 1, characterized in that: The data processing module comprises: A speed collection unit, which is in communication connection with the operation speed measurement module, and is used to collect operation speed data of the operation speed measurement module; The speed controller is communicatively connected between the execution module and the calculation module.

8. The operating speed adaptive control system of a wheat harvester according to claim 7, characterized in that: The speed acquisition unit transmits the operating speed data information to the on-board computer in the form of a pulse signal, and the speed controller is used to transmit the operating speed information transmitted from the on-board computer to the execution module.

9. The operating speed adaptive control system of a wheat harvester according to claim 1, characterized in that: The operating speed measuring module comprises a metal proximity sensor and an engine speed sensor. The metal proximity sensor is used to detect the speed of the threshing drum, and the engine speed sensor is used to detect the speed of the engine.

10. The operating speed adaptive control system of a wheat harvester according to claim 9, characterized in that: The metal proximity sensor generates a pulse signal by detecting the change in distance or magnetic field between the metal target and the sensor. When the threshing drum rotates, the metal part on it will periodically approach and move away from the sensor, thereby triggering the pulse output of the sensor, thereby realizing the measurement of the rotation speed of the threshing drum using the metal proximity sensor.

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