Vehicle speed control method and device of harvester, electronic equipment and storage medium

Abstract

The invention provides a vehicle speed control method and device of a harvester, electronic equipment and a storage medium. The vehicle speed control method comprises the steps that the rotating speed of each specific component in multiple specific components of the current harvester is obtained; determining a target vehicle speed of the harvester based on a mapping relation between the rotating speed of each of the plurality of specific components and the vehicle speed of the harvester; weighting the rotating speed of each specific component in the plurality of specific components of the current harvester to obtain a feed quantity detection value of the current harvester; on the basis of a preset calibration range in which the feeding quantity detection value is located, the current compensation current of the harvester walking pump is determined; based on the compensation current and the target vehicle speed, a walking pump of the harvester is adjusted, so that the current vehicle speed of the harvester reaches the target vehicle speed. By the adoption of the technical scheme, the harvester is kept in the optimal feeding state, the adaptive capacity of the system to various parameter changes and external disturbance can be improved, and it is guaranteed that a vehicle is in a good operation state all the time.

Description

Technical Field

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

[0002] With the rapid development of agricultural mechanization in my country, the efficiency requirements of harvesters are constantly increasing. The feed amount is a key parameter that affects the performance and efficiency of grain harvesting operations. Its size has a significant impact on machine load, operating efficiency and failure rate. Accurate detection of real-time feed amount is crucial for harvester operation regulation. Due to the harsh and special working environment of the harvester, the various differences and changes in soil and crops will directly affect the real-time feed amount, resulting in unstable operating status and increased failure rate. Stable feed amount is an important condition for its efficient operation. At present, the operating status of the harvester mainly depends on the operator's operation, which requires the operator to have rich experience and adjust the feed amount and operating speed by paying attention to the noise of components.

[0003] However, as agricultural machinery becomes increasingly larger and more efficient, relying solely on the operator's senses for adjustments is far from meeting actual operational needs. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a vehicle speed control method, device, electronic device and storage medium for a harvester. The present application can make corresponding adjustments in real time according to the dynamic changes of the feed amount, so that the harvester can be kept in the optimal feeding state, thereby obtaining maximum work efficiency. At the same time, it can also improve the system's adaptability to various parameter changes and external disturbances, ensuring that the vehicle is always in a good operating state.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling the speed of a harvester, the method comprising:

[0007] Obtaining the rotation speed of each specific component among multiple specific components of the current harvester;

[0008] Determine a target vehicle speed of the harvester based on a mapping relationship between a rotation speed of each specific component among the multiple specific components and a vehicle speed of the harvester;

[0009] Performing weighted processing on the rotation speed of each specific component among multiple specific components of the current harvester to obtain a feeding amount detection value of the current harvester;

[0010] Based on the preset calibration range of the feed amount detection value, determining the compensation current of the current harvester travel pump;

[0011] Based on the compensation current and the target vehicle speed, the travel pump of the harvester is adjusted so that the current vehicle speed of the harvester reaches the target vehicle speed.

[0012] Preferably, the mapping relationship between the rotation speed of each specific component in the plurality of specific components and the harvester speed is obtained by the following steps:

[0013] When the harvester is in a stable operating gear, the rotation speed of each of the multiple specific components corresponding to the harvester in an empty state and a cutting state and the vehicle speed of the harvester are respectively obtained;

[0014] The rotation speed of each specific component of the harvester corresponding to the no-load state and the cutting state and the vehicle speed of the harvester are analyzed and fitted to obtain a mapping relationship between the rotation speed of each specific component of the multiple specific components and the vehicle speed of the harvester.

[0015] Preferably, the weighted processing of the rotation speed of each specific component among the multiple specific components of the current harvester to obtain the feeding amount detection value of the current harvester includes:

[0016] Determine the weight of the rotation speed of each specific component of a plurality of specific components of the harvester relative to the feed amount detection;

[0017] Based on the specific gravity and the rotation speed of each specific component of the multiple specific components of the harvester, the current feed amount detection value of the harvester is determined.

[0018] Preferably, adjusting the travel pump of the harvester based on the compensation current and the target vehicle speed so that the current vehicle speed of the harvester reaches the target vehicle speed includes:

[0019] Determine the current of the harvester travel pump corresponding to the target vehicle speed;

[0020] The compensation current is determined as a current adjustment step, and based on the current and the current adjustment step, the current speed of the harvester reaches the target speed.

[0021] In a second aspect, an embodiment of the present application further provides a vehicle speed control device for a harvester, the vehicle speed control device comprising:

[0022] An acquisition module is used to acquire the rotation speed of each specific component among multiple specific components of the current harvester;

[0023] A target speed determination module determines a target speed of the harvester based on a mapping relationship between a rotation speed of each specific component of a plurality of specific components and a speed of the harvester;

[0024] The feeding amount detection module performs weighted processing on the rotation speed of each specific component of the current harvester to obtain the feeding amount detection value of the current harvester;

[0025] A compensation current determination module determines the compensation current of the current harvester travel pump based on the preset calibration range of the feed amount detection value;

[0026] The travel pump adjustment module adjusts the travel pump of the harvester based on the compensation current and the target vehicle speed so that the current vehicle speed of the harvester reaches the target vehicle speed.

[0027] Preferably, the target speed determination module obtains the mapping relationship between the rotation speed of each specific component in the plurality of specific components and the harvester speed through the following steps:

[0028] When the harvester is in a stable operating gear, the rotation speed of each of the multiple specific components corresponding to the harvester in an empty state and a cutting state and the vehicle speed of the harvester are respectively obtained;

[0029] The rotation speed of each specific component of the harvester corresponding to the no-load state and the cutting state and the vehicle speed of the harvester are analyzed and fitted to obtain a mapping relationship between the rotation speed of each specific component of the multiple specific components and the vehicle speed of the harvester.

[0030] Preferably, the feeding amount detection module is specifically used for:

[0031] Determine the weight of the rotation speed of each specific component of a plurality of specific components of the harvester relative to the feed amount detection;

[0032] Based on the specific gravity and the rotation speed of each specific component of the multiple specific components of the harvester, the current feed amount detection value of the harvester is determined.

[0033] Preferably, the travel pump adjustment module is specifically used for:

[0034] Determine the current of the harvester travel pump corresponding to the target vehicle speed;

[0035] The compensation current is determined as a current adjustment step, and based on the current and the current adjustment step, the current speed of the harvester reaches the target speed.

[0036] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the harvester speed control method described in the first aspect or any possible implementation manner of the first aspect.

[0037] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of controlling the speed of the harvester as described in the first aspect or any possible implementation manner of the first aspect are executed.

[0038] The embodiments of the present application provide a method, device, electronic device and storage medium for controlling the speed of a harvester. First, the rotation speeds of multiple specific components of the current harvester are obtained, and the target speed is determined using the mapping relationship between the component rotation speed and the vehicle speed. The component rotation speeds are weighted to obtain the feed amount detection value. Then, the compensation current of the travel pump is determined according to the preset calibration range of the feed amount detection value. Finally, the travel pump is adjusted based on the compensation current and the target vehicle speed, so that the speed of the harvester reaches the target vehicle speed. In this way, the present application can make corresponding adjustments to the vehicle speed in real time according to the dynamic changes in the feed amount, so that the harvester is kept in the best feeding state, thereby obtaining the maximum work efficiency. At the same time, it can also improve the system's ability to adapt to various parameter changes and external disturbances, and ensure that the vehicle is always in a good operating state.

[0039] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A flow chart of a harvester speed control method provided in an embodiment of the present application is shown;

[0042] Figure 2 A schematic structural diagram of a vehicle speed control device for a harvester provided in an embodiment of the present application is shown;

[0043] Figure 3 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0044] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0045] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0046] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario requiring vehicle speed control technology. The embodiments of the present application are not limited to specific application scenarios. Any scheme using the vehicle speed control method and device of the harvester provided by the embodiments of the present application is within the protection scope of the present application.

[0047] With the rapid development of agricultural mechanization in my country, the efficiency requirements of harvesters are constantly increasing. The feed amount is a key parameter that affects the performance and efficiency of grain harvesting operations. Its size has a significant impact on machine load, operating efficiency and failure rate. Accurate detection of real-time feed amount is crucial for harvester operation regulation. Due to the harsh and special working environment of the harvester, the various differences and changes in soil and crops will directly affect the real-time feed amount, resulting in unstable operating status and increased failure rate. Stable feed amount is an important condition for its efficient operation. At present, the operating status of the harvester mainly depends on the operator's operation, which requires the operator to have rich experience and adjust the feed amount and operating speed by paying attention to the noise of components. However, at a time when agricultural machinery is becoming increasingly large-scale and efficient, adjustment based solely on the operator's senses is far from meeting actual operational needs.

[0048] In response to the above problems, the embodiments of the present application provide a harvester speed control method, device, electronic device and storage medium. The present application can make corresponding adjustments in real time according to the dynamic changes of the feed amount, so that the harvester can be kept in the optimal feeding state, thereby obtaining maximum work efficiency. At the same time, it can also improve the system's adaptability to various parameter changes and external disturbances, ensuring that the vehicle is always in a good operating state.

[0049] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.

[0050] Figure 1 A flow chart of a method for controlling the speed of a harvester provided in an embodiment of the present application.

[0051] As a key parameter, the feed amount has a vital impact on the operation performance and efficiency. If the feed amount is too small, the harvester will face the problem of insufficient load, which will significantly reduce the operation efficiency; on the contrary, if the feed amount is too large, the harvester will be in an overloaded operation state, and may even cause blockage and various faults. Therefore, accurate and real-time detection of the feed amount of the harvester can provide a reliable basis for the operation regulation of the harvester, which is of great significance for improving the efficiency of harvesting operations. The operating environment of the harvester is complex and special. Whether it is dry land or paddy field, even in the same operation plot, the ups and downs and flatness of the soil are difficult to maintain uniformity. At the same time, there are also large differences in crops in terms of density, growth trend and moisture content. When the harvester is operating, the differences and changes of the above factors will directly affect the real-time feed amount of the harvester, which will lead to the instability of the operation state of the harvester and even greatly increase the failure rate of the machine. According to the feed amount data obtained by the test, the running speed of the harvester is adjusted accordingly to ensure that the harvester is always maintained in the best feeding state.

[0052] like Figure 1 As shown in Figure 1 As shown, the vehicle speed control method of the harvester provided in the embodiment of the present application includes the following steps:

[0053] Step S101, obtaining the rotation speed of each specific component among multiple specific components of the current harvester.

[0054] Here, as an example, the specific components include: a cutter drive shaft, an axial flow drum and an engine. In the present application, a drive shaft sensor is provided on the cutter drive shaft, and the drive shaft sensor probe is aligned with the center of the bridge shaft pulley to detect the pressure on the outlet bottom plate and the speed of the bridge driving shaft. The drive shaft sensor can select a non-contact normally open Hall speed sensor, which is not limited here. An axial flow drum speed sensor is provided on the axial flow drum, and the speed sensor probe is aligned with the center of the threshing drum shaft to detect the speed of the axial flow drum. As an example, both the drive shaft sensor and the axial flow drum speed sensor can select a non-contact normally open Hall speed sensor, which is not limited here.

[0055] Step S102, determining the target speed of the harvester based on the mapping relationship between the rotation speed of each specific component among the multiple specific components and the speed of the harvester.

[0056] Here, the mapping relationship between the rotation speed of each specific component in the multiple specific components and the harvester speed is obtained through the following steps:

[0057] First, when the harvester is in a stable operating gear, the rotation speed of each of the multiple specific components corresponding to the harvester in the no-load state and the cutting state and the speed of the harvester are obtained respectively. Here, as an example, the present application sets four cutting states, and the cutting states include: 1 / 4 cutting, 1 / 2 cutting, 3 / 4 cutting, and full cutting. The rotation speed of each of the multiple specific components corresponding to the no-load state, 1 / 4 cutting state, 1 / 2 cutting state, 3 / 4 cutting state, and full cutting state and the speed of the harvester are obtained respectively.

[0058] Then, the speed of each specific component of the harvester in the no-load state and the cutting state is analyzed and fitted to obtain the mapping relationship between the speed of each specific component in the multiple specific components and the speed of the harvester. Here, the corresponding relationship images between the cutting table drive shaft speed, the axial flow drum speed, the engine speed and the vehicle speed are drawn respectively, and the Pearson coefficient between the cutting table drive shaft speed, the axial flow drum speed, the engine speed and the vehicle speed is determined. After the above five analyses, the simulink tool is used to select the data obtained from the five analyses as the variable values ​​of the X-axis and the Y-axis respectively, and then the tool blocks provided in the tool are used to complete the table lookup and curve fitting operation to obtain the mapping relationship between the speed of each specific component in the multiple specific components and the speed of the harvester.

[0059] Regarding step S102, in this step, based on experience and experimental analysis, the weights of the harvester's speed of the header drive shaft, the axial flow drum, and the engine speed are determined, and finally the harvester's target speed is obtained.

[0060] Step S103, performing weighted processing on the rotation speed of each specific component of the multiple specific components of the current harvester to obtain a feed amount detection value of the current harvester.

[0061] Here, the feed amount detection value is a comprehensive speed value reflecting the feed amount situation.

[0062] Here, regarding step S103, when it is specifically implemented, as an example, it includes the following steps:

[0063] First, the proportion of the rotation speed of each specific component among a plurality of specific components of the harvester relative to the feed amount detection is determined.

[0064] Then, based on the specific gravity and the rotation speed of each of the multiple specific parts of the harvester, the feed amount detection value of the current harvester is determined. Here, the rotation speed of each of the multiple specific parts of the harvester is multiplied by the specific gravity, and the multiplied results are added to obtain the feed amount detection value of the current harvester. As an example, suppose that after a large number of experimental analyses, it is determined that the proportion of the cutter drive shaft speed in the feed amount detection is 0.3, the proportion of the axial flow drum speed is 0.4, and the proportion of the engine speed is 0.3. When the cutter drive shaft speed is 1200 rpm, the axial flow drum speed is 1000 rpm, and the engine speed is 1600 rpm, a comprehensive speed value is obtained by weighted calculation (1200×0.3+1000×0.4+1600×0.3) to reflect the feed amount situation.

[0065] Step S104, determining the compensation current of the current harvester travel pump based on the preset calibration range of the feed amount detection value.

[0066] Here, the comprehensive speed value corresponding to the rated feed amount is set in the no-load state, 1 / 4 cutting state, 1 / 2 cutting state, 3 / 4 cutting state and full-width state, and different compensation currents are set between the no-load state and the 1 / 4 cutting state, between the 1 / 4 cutting state and the 1 / 2 cutting state, between the 1 / 2 cutting state and the 3 / 4 cutting state, and between the 3 / 4 cutting state and the full-width state. Different compensation currents are set because: the load of the harvester varies significantly under different cutting states. From no-load to full-width, as the cutting width increases, the workload of the harvester gradually increases, and the travel pump needs to provide greater pressure and flow to meet the work requirements. The size of the compensation current needs to be adjusted according to the degree of load change to ensure that the travel pump can adapt to different workloads and maintain stable operation of the system. As an example, in the no-load state, the comprehensive speed value corresponding to the rated feed amount is set to 800 rpm; in the 1 / 4 cutting state, the comprehensive speed value corresponding to the rated feed amount is set to 1000 rpm; in the 1 / 2 cutting state, the comprehensive speed value corresponding to the rated feed amount is set to 1200 rpm; in the 3 / 4 cutting state, the comprehensive speed value corresponding to the rated feed amount is set to 1400 rpm; in the full-width state, the comprehensive speed value corresponding to the rated feed amount is set to 1600 rpm. Between no-load and 1 / 4 cutting width states, the compensation current is set to 1.5A, because from no-load to 1 / 4 cutting width, a small amount of rice begins to enter the harvesting system, and the load increases slightly. The travel pump needs to increase the pressure and flow appropriately. The compensation current of 1.5A can enable the travel pump to meet the working requirements of this stage; between 1 / 4 cutting width and 1 / 2 cutting width states, the compensation current is set to 2.5A. At this time, the amount of harvested rice increases, the load further increases, and the travel pump needs to provide greater pressure and flow, so the compensation current is increased accordingly; the compensation current between 1 / 2 cutting width and 3 / 4 cutting width states is set to 3.5A, and the compensation current between 3 / 4 cutting width and full width states is set to 4.5A. As the cutting width continues to increase, the rice feeding amount continues to increase, the harvester workload increases significantly, and the pressure and flow required by the travel pump also continue to increase. By gradually increasing the compensation current, it is ensured that the travel pump can adapt to the load changes under different cutting widths and keep the entire harvesting system running stably. If the feed amount detection value of the front harvester is in the range of 1000 rpm to 1200 rpm, the compensation current of the current harvester travel pump is 2.5A.

[0067] In the embodiment of the present application, if the current comprehensive speed is lower than the comprehensive speed corresponding to the target speed of the harvester, it indicates that the feed amount is higher than the rated feed amount corresponding to the target speed of the harvester. This is because too many crops enter the harvester, which increases the load of the machine and requires each component to bear greater working pressure. If the current comprehensive speed is higher than the comprehensive speed corresponding to the target speed of the harvester, it indicates that the feed amount is lower than the rated feed amount corresponding to the target speed of the harvester. This is because fewer crops enter the harvester, the load of the machine is smaller, and the working pressure of each component is relatively small, so it can operate more easily, thereby increasing the comprehensive speed.

[0068] Step S105, based on the compensation current and the target vehicle speed, adjusting the travel pump of the harvester so that the current vehicle speed of the harvester reaches the target vehicle speed.

[0069] Regarding step S105, when it is specifically implemented, as an example, it includes the following steps:

[0070] First, the current of the harvester travel pump corresponding to the target vehicle speed is determined.

[0071] Then, the compensation current is determined as the current adjustment step, and based on the current and the current adjustment step, the current speed of the harvester reaches the target speed. As an example, if the target speed is 5 km / h, the corresponding current of the harvester travel pump is 10 amps. At this time, it is assumed that according to the current cutting state of the harvester (for example, from the 1 / 2 cutting state to the 3 / 4 cutting state), the compensation current is 3.5 amps, and the 3.5 amps are determined as the current adjustment step. The system will adjust the travel pump of the harvester according to the adjustment step, gradually increase the current of the travel pump, starting from the current current value, and increase by 2 amps each time until the current harvester speed gradually increases and finally stabilizes to the target speed of 5 km / h, thereby ensuring that the harvester can operate stably at a suitable speed under different cutting states, and achieve efficient harvesting operations.

[0072] An embodiment of the present application provides a method for controlling the vehicle speed of a harvester. Through the method, the vehicle speed can be adjusted in real time according to the dynamic changes in the feed amount, so that the harvester can be kept in the optimal feeding state, thereby obtaining maximum work efficiency. At the same time, it can also improve the system's ability to adapt to various parameter changes and external disturbances, ensuring that the vehicle is always in a good operating state.

[0073] Based on the same application concept, the embodiment of the present application also provides a harvester speed control device corresponding to the harvester speed control method provided in the above embodiment. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the harvester speed control method in the above embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0074] See also Figure 2 , Figure 2 A schematic structural diagram of a vehicle speed control device for a harvester provided in an embodiment of the present application.

[0075] like Figure 2 As shown in the figure, the vehicle speed control device 210 of the harvester provided in the embodiment of the present application comprises:

[0076] An acquisition module 211 is used to acquire the rotation speed of each specific component among multiple specific components of the current harvester;

[0077] The target speed determination module 212 determines the target speed of the harvester based on the mapping relationship between the rotation speed of each specific component of the plurality of specific components and the speed of the harvester;

[0078] The feeding amount detection module 213 performs weighted processing on the rotation speed of each specific component of the current harvester to obtain a feeding amount detection value of the current harvester;

[0079] A compensation current determination module 214 determines the compensation current of the current harvester travel pump based on the preset calibration range within which the feed amount detection value is located;

[0080] The travel pump adjustment module 215 adjusts the travel pump of the harvester based on the compensation current and the target vehicle speed so that the current vehicle speed of the harvester reaches the target vehicle speed.

[0081] Preferably, the target speed determination module 212 obtains the mapping relationship between the rotation speed of each specific component in the plurality of specific components and the harvester speed through the following steps:

[0082] When the harvester is in a stable operating gear, the rotation speed of each of the multiple specific components corresponding to the harvester in an empty state and a cutting state and the vehicle speed of the harvester are respectively obtained;

[0083] The rotation speed of each specific component of the harvester corresponding to the no-load state and the cutting state and the vehicle speed of the harvester are analyzed and fitted to obtain a mapping relationship between the rotation speed of each specific component of the multiple specific components and the vehicle speed of the harvester.

[0084] Preferably, the feeding amount detection module 213 is specifically used for:

[0085] Determine the weight of the rotation speed of each specific component of a plurality of specific components of the harvester relative to the feed amount detection;

[0086] Based on the specific gravity and the rotation speed of each specific component of the multiple specific components of the harvester, the current feed amount detection value of the harvester is determined.

[0087] Preferably, the travel pump adjustment module 215 is specifically used for:

[0088] Determine the current of the harvester travel pump corresponding to the target vehicle speed;

[0089] The compensation current is determined as the current adjustment step length, and based on the current and the current adjustment step length, the current speed of the harvester reaches the target speed.

[0090] An embodiment of the present application provides a vehicle speed control device for a harvester. Through the device, the vehicle speed can be adjusted in real time according to the dynamic changes of the feed amount, so that the harvester can be kept in the optimal feeding state, thereby obtaining maximum work efficiency. At the same time, it can also improve the system's adaptability to various parameter changes and external disturbances, ensuring that the vehicle is always in a good operating state.

[0091] See also Figure 3 , Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0092] like Figure 3 As shown in , the electronic device 300 includes a processor 310 , a memory 320 and a bus 330 .

[0093] The memory 320 stores machine-readable instructions executable by the processor 310. When the electronic device 300 is running, the processor 310 communicates with the memory 320 via the bus 330. When the machine-readable instructions are executed by the processor 310, the above-mentioned Figure 1 The specific implementation of the steps of the grain unloading method of the harvester in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0094] The present application also provides a computer-readable storage medium on which a computer program is stored. The computer program can be executed as described above when the processor runs it. Figure 1 The specific implementation of the steps of the grain unloading method of the harvester in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0095] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0096] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0097] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0098] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0099] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling the speed of a harvester, characterized in that: The vehicle speed control method comprises: Obtaining the rotation speed of each specific component among multiple specific components of the current harvester; Determine a target vehicle speed of the harvester based on a mapping relationship between a rotation speed of each specific component among the multiple specific components and a vehicle speed of the harvester; Performing weighted processing on the rotation speed of each specific component among multiple specific components of the current harvester to obtain a feeding amount detection value of the current harvester; Based on the preset calibration range of the feed amount detection value, determining the compensation current of the current harvester travel pump; Based on the compensation current and the target vehicle speed, the travel pump of the harvester is adjusted so that the current vehicle speed of the harvester reaches the target vehicle speed.

2. The vehicle speed control method according to claim 1, characterized in that: The mapping relationship between the rotation speed of each specific component in the multiple specific components and the harvester speed is obtained by the following steps: When the harvester is in a stable operating gear, the rotation speed of each of the multiple specific components corresponding to the harvester in an empty state and a cutting state and the vehicle speed of the harvester are respectively obtained; The rotation speed of each specific component of the harvester corresponding to the no-load state and the cutting state and the vehicle speed of the harvester are analyzed and fitted to obtain a mapping relationship between the rotation speed of each specific component of the multiple specific components and the vehicle speed of the harvester.

3. The vehicle speed control method according to claim 1, characterized in that: The weighted processing of the rotation speed of each specific component among the multiple specific components of the current harvester to obtain the feeding amount detection value of the current harvester includes: Determine the weight of the rotation speed of each specific component of a plurality of specific components of the harvester relative to the feed amount detection; Based on the specific gravity and the rotation speed of each specific component of the multiple specific components of the harvester, the current feed amount detection value of the harvester is determined.

4. The vehicle speed control method according to claim 1, characterized in that: The step of adjusting the travel pump of the harvester based on the compensation current and the target vehicle speed so that the current vehicle speed of the harvester reaches the target vehicle speed includes: Determine the current of the harvester travel pump corresponding to the target vehicle speed; The compensation current is determined as the current adjustment step length, and based on the current and the current adjustment step length, the travel pump of the harvester is adjusted so that the current speed of the harvester reaches the target speed.

5. A speed control device for a harvester, characterized in that: The vehicle speed control device comprises: An acquisition module is used to acquire the rotation speed of each specific component among multiple specific components of the current harvester; A target speed determination module determines a target speed of the harvester based on a mapping relationship between a rotation speed of each specific component of a plurality of specific components and a speed of the harvester; The feeding amount detection module performs weighted processing on the rotation speed of each specific component of the current harvester to obtain the feeding amount detection value of the current harvester; A compensation current determination module determines the compensation current of the current harvester travel pump based on the preset calibration range of the feed amount detection value; The travel pump adjustment module adjusts the travel pump of the harvester based on the compensation current and the target vehicle speed so that the current vehicle speed of the harvester reaches the target vehicle speed.

6. The vehicle speed control device according to claim 5, characterized in that: The target speed determination module obtains the mapping relationship between the rotation speed of each specific component in the plurality of specific components and the harvester speed through the following steps: When the harvester is in a stable operating gear, the rotation speed of each of the multiple specific components corresponding to the harvester in an empty state and a cutting state and the vehicle speed of the harvester are respectively obtained; The rotation speed of each specific component of the harvester corresponding to the no-load state and the cutting state and the vehicle speed of the harvester are analyzed and fitted to obtain a mapping relationship between the rotation speed of each specific component of the multiple specific components and the vehicle speed of the harvester.

7. The vehicle speed control device according to claim 5, characterized in that: The feeding amount detection module is specifically used for: Determine the weight of the rotation speed of each specific component of a plurality of specific components of the harvester relative to the feed amount detection; Based on the specific gravity and the rotation speed of each specific component of the multiple specific components of the harvester, the current feed amount detection value of the harvester is determined.

8. The vehicle speed control device according to claim 5, characterized in that: The travel pump adjustment module is specifically used for: Determine the current of the harvester travel pump corresponding to the target vehicle speed; The compensation current is determined as the current adjustment step length, and based on the current and the current adjustment step length, the travel pump of the harvester is adjusted so that the current speed of the harvester reaches the target speed.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. When the machine-readable instructions are run by the processor, the steps of the method for controlling the speed of a harvester as described in any one of claims 1 to 4 are executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for controlling the speed of a harvester as described in any one of claims 1 to 4 are executed.

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