A vehicle speed control method and device of a harvester, an electronic device, and a storage medium

Abstract

The application provides a vehicle speed control method and device of a harvester, electronic equipment and a storage medium. The vehicle speed control method comprises: acquiring the rotation speed of each specific component in a plurality of specific components of a current harvester; determining a target vehicle speed of the harvester based on a mapping relationship between the rotation speed of each specific component in the plurality of specific components and the vehicle speed of the harvester; performing weighted processing on the rotation speed of each specific component in the plurality of specific components of the current harvester to obtain a feeding amount detection value of the current harvester; determining a compensation current of a walking pump of the current harvester based on a preset calibration range in which the feeding amount detection value is located; and adjusting the walking pump of the harvester based on the compensation current and the target vehicle speed, so that the vehicle speed of the current harvester reaches the target vehicle speed. The technical solution of the application can keep the harvester in an optimal feeding state, improve the adaptive ability of the system to various parameter changes and external disturbances, and ensure that the vehicle is always in a good working state.

Description

Technical Field

[0001] The present application relates to the field of vehicle speed control technology, 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, harvester efficiency requirements are constantly increasing. Feed rate, a key parameter affecting the performance and efficiency of grain harvesting operations, significantly impacts machine load, operating efficiency, and failure rate. Accurately detecting real-time feed rate is crucial for regulating harvester operations. Due to the harsh and unique operating environment of harvesters, the various differences and variations in soil and crops directly affect the real-time feed rate, leading to unstable operation and increased failure rates. Stable feed rate is crucial for efficient operation. Currently, harvester operation is primarily controlled by the operator, who requires extensive experience and the ability to adjust feed rate and operating speed by monitoring component noise.

[0003] However, as agricultural machinery becomes increasingly larger and more efficient, relying solely on the operator's senses for adjustments is far from enough to meet 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 to the vehicle speed 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 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 comprises:

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

[0008] determining a target speed of the harvester based on a mapping relationship between a rotation speed of each of the plurality of specific components and a speed of the harvester;

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

[0010] Determining a current compensation current of a current harvester travel pump based on a preset calibration range within which the feed amount detection value is located;

[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 plurality of specific components corresponding to the harvester in an empty state and a cutting state and the 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 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 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 feed amount detection value of the current harvester includes:

[0016] Determine the proportion 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 rotational speed of each specific component of the multiple specific components of the harvester, a current feed amount detection value of the harvester is determined.

[0018] Preferably, the 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] Determining the current of the harvester travel pump corresponding to the target vehicle speed;

[0020] The compensation current is determined as the current adjustment step size, and based on the current and the current adjustment step size, 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, which determines a target speed of the harvester based on a mapping relationship between a rotation speed of each specific component of the 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, which determines the compensation current of the current harvester travel pump based on the feed amount detection value being within a preset calibration range;

[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 a 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 plurality of specific components corresponding to the harvester in an empty state and a cutting state and the 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 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 speed of the harvester.

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

[0031] Determine the proportion 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 rotational speed of each specific component of the multiple specific components of the harvester, a current feed amount detection value of the harvester is determined.

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

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

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

[0036] In a third aspect, an embodiment of the present application further 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 of the first aspect.

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

[0038] The embodiment of the present application provides a method, device, electronic device and storage medium for controlling the speed of a harvester. First, by obtaining the rotational speed of multiple specific components of the current harvester, the target speed is determined using the mapping relationship between the component rotational speed and the vehicle speed. At the same time, the component rotational speed is 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, ensuring 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 given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without 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 harvester speed control device 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] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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 illustration 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 to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this 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 of the embodiments. The components of the embodiments of the present application generally 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 claimed application, but merely represents 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 are within 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 scope of protection of this application.

[0047] With the rapid development of agricultural mechanization in my country, the efficiency requirements for harvesters are constantly increasing. Feed rate is a key parameter affecting 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 rate is crucial for harvester operation control. Due to the harsh and special working environment of harvesters, the various differences and changes in soil and crops will directly affect the real-time feed rate, resulting in unstable operating status and increased failure rate. Stable feed rate is an important condition for its efficient operation. At present, the operating status of harvesters mainly depends on the operation of the operator, who needs to have rich experience and adjust the feed rate and operating speed by paying attention to the noise of components. However, in the current era of increasingly large-scale and efficient agricultural machinery, relying solely on the operator's senses for adjustment 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 to the vehicle speed in real time according to the dynamic changes in the feed amount, so that the harvester remains 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 understanding of the present application, the technical solutions provided in the present application are described in detail below in conjunction with specific embodiments.

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

[0051] Feed rate, as a key parameter, has a crucial impact on harvester performance and efficiency. If the feed rate is too low, the harvester will be underloaded, significantly reducing operating efficiency. Conversely, if the feed rate is too high, the harvester will be overloaded, potentially causing blockages and various malfunctions. Therefore, accurate and real-time monitoring of the harvester's feed rate provides a reliable basis for operational control and is crucial for improving harvesting efficiency. Harvesters operate in a complex and unique environment. Whether in dryland or paddy fields, even within the same plot, soil undulations and flatness are difficult to maintain uniformly. Furthermore, crops vary significantly in density, growth patterns, and moisture content. These variations and changes in these factors directly impact the harvester's real-time feed rate during operation, leading to unstable operating conditions and even significantly increased machine failure rates. Harvester speed is adjusted accordingly based on the feed rate data collected, ensuring optimal feed conditions are always maintained.

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

[0053] Step S101, obtaining the rotational 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 be 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 be non-contact normally open Hall speed sensors, which are not limited here.

[0055] Step S102: determining a target speed of the harvester based on a mapping relationship between the rotation speed of each specific component among a plurality of 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 rotational speed of each of the multiple specific components corresponding to the harvester in both the no-load and cropping states, as well as the harvester's vehicle speed, are obtained. Here, as an example, this application provides four cropping states: 1 / 4 cropping, 1 / 2 cropping, 3 / 4 cropping, and full cropping. The rotational speed of each of the multiple specific components corresponding to the no-load, 1 / 4 cropping, 1 / 2 cropping, 3 / 4 cropping, and full cropping states, as well as the harvester's vehicle speed, are obtained.

[0058] Then, the speed of each of the multiple specific components corresponding to the harvester in the no-load and cutting states was analyzed and fitted to obtain a mapping relationship between the speed of each of the multiple specific components and the harvester's speed. Here, the corresponding relationship images between the harvester's drive shaft speed, axial flow drum speed, engine speed, and vehicle speed were plotted, and the Pearson coefficient between the harvester's drive shaft speed, axial flow drum speed, engine speed, and vehicle speed was determined. After the above five analyses, the Simulink tool was used to select the data obtained from the five analyses as the variable values ​​of the X-axis and Y-axis respectively. Then, the tool's built-in tool blocks were used to complete the table lookup and curve fitting operation, resulting in a mapping relationship between the speed of each of the multiple specific components and the harvester's speed.

[0059] Regarding step S102, in this step, based on experience and experimental analysis, the weights of the harvester's drive shaft speed, axial flow drum speed, and engine speed to the harvester's speed are determined, and ultimately 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, a proportion of the rotation speed of each of the plurality of specific components of the harvester relative to the feed amount detection is determined.

[0064] Then, based on the specific gravity and the rotational speed of each specific component among the multiple specific components of the harvester, the feed amount detection value of the current harvester is determined. Here, the rotational speed of each specific component among the multiple specific components 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 current compensation current of the harvester travel pump based on the preset calibration range of the feed amount detection value.

[0066] Here, the integrated speed values ​​corresponding to the rated feed amount are set in the no-load state, 1 / 4 cutting width state, 1 / 2 cutting width state, 3 / 4 cutting width state, and full cutting width state. Different compensation currents are set between the no-load state and the 1 / 4 cutting width state, between the 1 / 4 cutting width state and the 1 / 2 cutting width state, between the 1 / 2 cutting width state and the 3 / 4 cutting width state, and between the 3 / 4 cutting width state and the full cutting width state. The different compensation currents are set because the load of the harvester varies significantly in different cutting width states. From no-load to full cutting width, the workload of the harvester gradually increases as the cutting width 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 cutting state, the comprehensive speed value corresponding to the rated feed amount is set to 1600 rpm. Between the no-load and 1 / 4 swath states, the compensation current is set to 1.5A. This is because from no-load to 1 / 4 swath, a small amount of rice begins to enter the harvesting system, and the load increases slightly. The travel pump needs to increase its pressure and flow appropriately. The compensation current of 1.5A can enable the travel pump to meet the working requirements of this stage. Between the 1 / 4 swath and 1 / 2 swath states, the compensation current is set to 2.5A. At this time, the amount of rice harvested increases, and the load further increases. The travel pump needs to provide greater pressure and flow, so the compensation current is increased accordingly. The compensation current is set to 3.5A between the 1 / 2 swath and 3 / 4 swath states, and the compensation current is set to 4.5A between the 3 / 4 swath and full swath states. As the swath continues to increase, the rice feed amount continues to increase, the harvester's workload increases significantly, and the pressure and flow required by the travel pump also continue to increase. By gradually increasing the compensation current, the travel pump can adapt to the load changes under different swaths, maintaining stable operation of the entire harvesting system. 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 an 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 withstand 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, the travel pump of the harvester is adjusted 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, the following steps are included:

[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 kilometers per hour, 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 these 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 kilometers per hour, thereby ensuring that the harvester can operate stably at an appropriate speed under different cutting states, and achieve efficient harvesting operations.

[0072] An embodiment of the present application provides a method for controlling the 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 adaptability 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 speed control device for a harvester provided in an embodiment of the present application.

[0075] like Figure 2 As shown in FIG, a harvester speed control device 210 provided in an embodiment of the present application includes:

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

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

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

[0079] The compensation current determination module 214 determines the compensation current of the current harvester travel pump based on the feed amount detection value being within a preset calibration range;

[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 plurality of specific components corresponding to the harvester in an empty state and a cutting state and the 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 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 speed of the harvester.

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

[0085] Determine the proportion 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 rotational speed of each specific component of the multiple specific components of the harvester, a current feed amount detection value of the harvester is determined.

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

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

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

[0090] An embodiment of the present application provides a speed control device for a harvester. Through the device, 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 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 FIG, 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 harvester grain unloading method in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0094] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps of the harvester grain unloading method 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 this 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[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 functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, 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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0099] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection 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 rotational speed of each specific component among a plurality of specific components of the current harvester; wherein the specific components include: a header drive shaft, an axial flow drum, and an engine; determining a target speed of the harvester based on a mapping relationship between a rotation speed of each of the plurality of specific components and a speed of the harvester; Performing weighted processing on the rotation speed of each specific component of the current harvester to obtain a feed amount detection value of the current harvester; Determining a current compensation current of a current harvester travel pump based on a preset calibration range within which the feed amount detection value is located; 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; 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: When the harvester is in a stable operating gear, the rotation speed of each of the plurality of specific components corresponding to the harvester in an empty state and a cutting state and the speed of the harvester are respectively obtained; Analyzing and fitting the rotation speed of each of the multiple specific components corresponding to the harvester in an empty state and a cutting state and the speed of the harvester to obtain a mapping relationship between the rotation speed of each of the multiple specific components and the speed of the harvester; The weighted processing of the rotation speed of each specific component of the current harvester to obtain the feed amount detection value of the current harvester includes: Determine the proportion 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 rotational speed of each specific component of the multiple specific components of the harvester, a current feed amount detection value of the harvester is determined.

2. 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: Determining 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 to make the current speed of the harvester reach the target speed.

3. A speed control device for a harvester, characterized in that: The vehicle speed control device comprises: An acquisition module is provided for acquiring the rotational speed of each specific component among a plurality of specific components of the current harvester; wherein the specific components include: a header drive shaft, an axial flow drum, and an engine; a target speed determination module, which determines a target speed of the harvester based on a mapping relationship between a rotation speed of each specific component of the 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, which determines the compensation current of the current harvester travel pump based on the feed amount detection value being within a preset calibration range; A 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; The target speed determination module obtains a mapping relationship between the rotation speed of each of the multiple 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 plurality of specific components corresponding to the harvester in an empty state and a cutting state and the speed of the harvester are respectively obtained; Analyzing and fitting the rotation speed of each of the multiple specific components corresponding to the harvester in an empty state and a cutting state and the speed of the harvester to obtain a mapping relationship between the rotation speed of each of the multiple specific components and the speed of the harvester; The feeding amount detection module is specifically used for: Determine the proportion 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 rotational speed of each specific component of the multiple specific components of the harvester, a current feed amount detection value of the harvester is determined.

4. The vehicle speed control device according to claim 3, characterized in that: The travel pump adjustment module is specifically used for: Determining 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 to make the current speed of the harvester reach the target speed.

5. 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 processor is running, the machine-readable instructions execute the steps of the harvester speed control method as described in any one of claims 1 to 2.

6. 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 the processor, the steps of the harvester speed control method as described in any one of claims 1 to 2 are executed.

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