A method, device, electronic device and medium for controlling the height of a harvester header

Abstract

The present application provides a method, device, electronic device, and medium for controlling the height of a harvester header. The method includes: upon receiving a harvester header adjustment command, determining whether a height limit is required for the harvester header; if a height limit is required for the harvester header, determining the current movement speed of the harvester header based on the current height of the harvester header; determining the current braking advance of the harvester header based on a mapping relationship between the movement speed and a preset unit braking advance; and adjusting the current height of the harvester header based on the braking advance. The technical solution of the present application not only enables precise control of header limits, but also ensures that the header limit response of vehicles of the same batch or type remains consistent under different operating conditions and actuator motion characteristics.

Description

Technical Field

[0001] The present application relates to the technical field of harvester cutting platform height control, and in particular to a harvester cutting platform height control method, device, electronic equipment and medium. Background Art

[0002] With the widespread use of electronic and electrical equipment in the field of agricultural machinery, the operating status of each working component can be collected with the help of sensor equipment, and through the analysis and calculation of the electronic control unit, it can be fed back to the operator in real time. During the operation of the harvester, the operator needs to pay close attention to multiple sets of parameters and status related to the harvesting operation, and the precise control of the height of the header is particularly critical. Usually, the user pre-sets the upper and lower limits of the header height to ensure that the header is always harvesting within a safe height range to prevent damage to the ground due to the header height being too low, or missing crops due to the header height being too high.

[0003] However, factors such as the layout of the header actuator, differences in actuator response, differences in the installation position of the header height sensor, and harvesting load make it difficult for the harvester to accurately achieve header limit. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a method, device, electronic equipment and medium for controlling the height of a harvester's cutting table, which can not only achieve precise control of the cutting table limit, but also ensure that the cutting table limit response of vehicles of the same batch or type can be consistent under different operating conditions and motion characteristics of the actuator.

[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 height of a harvester header, the method comprising:

[0007] When receiving a harvester header adjustment command, determining whether there is a height limit requirement for the harvester header;

[0008] If the harvester header has a height limit requirement, the current movement speed of the harvester header is determined based on the current height of the harvester header;

[0009] Determining the braking advance amount of the current harvester header based on the mapping relationship between the movement speed and the preset unit braking advance amount;

[0010] Based on the braking advance amount, the height of the harvester's cutting platform at the current moment is adjusted.

[0011] Preferably, if there is a height limit requirement for the harvester header, the current movement speed of the harvester header is determined based on the height of the harvester header at the current moment, including:

[0012] If the harvester header has a height limit requirement, obtain the current height of the harvester header;

[0013] Obtain the height of the harvester header at the previous moment that is a preset time interval from the current moment;

[0014] The height of the harvester header at the current moment is calculated as the difference from the height of the harvester header at the previous moment to obtain the height difference between the harvester header at the current moment and the previous moment;

[0015] The quotient of the height difference and the preset time period is determined as the current movement speed of the harvesting and cutting platform.

[0016] Preferably, the determining of the braking advance amount of the current harvester header based on the mapping relationship between the movement speed and the preset unit braking advance amount includes:

[0017] Determining the preset unit braking advance amount corresponding to the movement speed based on a mapping relationship between the movement speed and the preset unit braking advance amount;

[0018] The product of the movement speed and the preset unit braking advance amount corresponding to the movement speed is determined as the braking advance amount of the current harvester header.

[0019] Preferably, adjusting the height of the harvester header at the current moment based on the braking advance amount includes:

[0020] Determining whether the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount;

[0021] If the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount, then the movement of the current harvester header is stopped;

[0022] If the height of the harvester cutting platform at the current moment is greater than the sum of the height of the harvester cutting platform at the current moment and the braking advance, the movement of the current harvester cutting platform is maintained to adjust the height of the harvester cutting platform at the current moment.

[0023] In a second aspect, an embodiment of the present application further provides a height control device for a harvester header, the height control device comprising:

[0024] A height limit requirement judgment module, when receiving a harvester header adjustment command, determines whether the harvester header needs to be height limited;

[0025] The cutting platform movement speed calculation module determines the current movement speed of the harvester cutting platform based on the current height of the harvester cutting platform if there is a height limit requirement for the harvester cutting platform;

[0026] A braking advance amount determination module is configured to determine the braking advance amount of the current harvester header based on a mapping relationship between the movement speed and the preset unit braking advance amount;

[0027] The header height adjustment module adjusts the height of the harvester header at the current moment based on the braking advance amount.

[0028] Preferably, the header movement speed calculation module is specifically used to:

[0029] If the harvester header has a height limit requirement, obtain the current height of the harvester header;

[0030] Obtain the height of the harvester header at the previous moment that is a preset time interval from the current moment;

[0031] The height of the harvester header at the current moment is calculated as the difference from the height of the harvester header at the previous moment to obtain the height difference between the harvester header at the current moment and the previous moment;

[0032] The quotient of the height difference and the preset time period is determined as the current movement speed of the harvesting and cutting platform.

[0033] Preferably, the braking advance determination module is specifically configured to:

[0034] Determining the preset unit braking advance amount corresponding to the movement speed based on a mapping relationship between the movement speed and the preset unit braking advance amount;

[0035] The product of the movement speed and the preset unit braking advance amount corresponding to the movement speed is determined as the braking advance amount of the current harvester header.

[0036] Preferably, the header height adjustment module is specifically used to:

[0037] Determining whether the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount;

[0038] If the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount, then the movement of the current harvester header is stopped;

[0039] If the height of the harvester cutting platform at the current moment is greater than the sum of the height of the harvester cutting platform at the current moment and the braking advance, the movement of the current harvester cutting platform is maintained to adjust the height of the harvester cutting platform at the current moment.

[0040] 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 height control method of the harvester cutting table described in the first aspect or any possible embodiment of the first aspect.

[0041] 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 height of the harvester cutting table as described in the first aspect or any possible embodiment of the first aspect are executed.

[0042] The embodiments of the present application provide a method, device, electronic device, and medium for controlling the height of a harvester header. Upon receiving a harvester header adjustment command, the method first determines whether the header requires a height limit. If so, the header's movement speed is determined based on the current header height. The braking lead is then determined based on a mapping between the movement speed and a preset unit braking lead. Finally, the current header height is adjusted based on this braking lead. This method not only enables precise control of header limits but also ensures that the header limit responses of vehicles from the same batch or type remain consistent under different operating conditions and actuator motion characteristics.

[0043] 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

[0044] 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.

[0045] Figure 1 One of the flow charts of a method for controlling the height of a harvester header provided by an embodiment of the present application is shown;

[0046] Figure 2 The second flowchart of the method for controlling the height of a harvester header provided by an embodiment of the present application is shown;

[0047] Figure 3 The third flowchart of the method for controlling the height of a harvester header provided by an embodiment of the present application is shown;

[0048] Figure 4 A schematic structural diagram of a height control device for a harvester header provided in an embodiment of the present application is shown;

[0049] Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0050] 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.

[0051] 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.

[0052] 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 harvester header height control. The embodiments of the present application are not limited to specific application scenarios. Any scheme using the harvester header height control method and device provided by the embodiments of the present application is within the scope of protection of the present application.

[0053] With the widespread use of electronic and electrical equipment in the field of agricultural machinery, the operating status of each working component can be collected with the help of sensor equipment, and through the analysis and calculation of the electronic control unit, it can be fed back to the operator in real time. During the operation of the harvester, the operator needs to pay close attention to multiple sets of parameters and status related to the harvesting operation, and the precise control of the height of the header is particularly critical. Normally, the user pre-sets the upper and lower limits of the header height to ensure that the header is always harvesting within a safe height range to prevent damage to the ground due to the header height being too low, or crops being missed due to the header height being too high. However, factors such as the layout of the header actuator, differences in the actuator response, differences in the installation position of the header height sensor, and the harvesting load make it difficult for the harvester to accurately achieve header limits.

[0054] In response to the above problems, the embodiments of the present application provide a method, device, electronic equipment and medium for controlling the height of a harvester's cutting table, which can not only achieve precise control of the cutting table limit, but also ensure that the cutting table limit response of vehicles of the same batch or type can be consistent under different operating conditions and motion characteristics of the actuator.

[0055] 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.

[0056] See also Figure 1 , Figure 1 This is one of the flow charts of a method for controlling the height of a harvester cutting table provided in an embodiment of the present application.

[0057] like Figure 1 As shown in , the method for controlling the height of a harvester header provided in an embodiment of the present application includes the following steps:

[0058] Step S101: When a harvester header adjustment command is received, it is determined whether there is a height limit requirement for the harvester header.

[0059] Here, the height limit includes: an upper limit and a lower limit. The harvester is provided with an upward adjustment switch and a downward adjustment switch for adjusting the height of the harvester cutting table. The user can control the up and down movement of the harvester cutting table by operating the cutting table height adjustment switch. As an example, when the user operates the cutting table height adjustment switch, the cutting table height adjustment switch will send an adjustment instruction for the harvester cutting table to the vehicle controller. Subsequently, the vehicle controller will determine whether there is a height limit requirement for the harvester cutting table based on relevant parameters and the current operating status. The present application is provided with a display terminal. Through the display terminal, the user can set the upper and lower limit height values ​​of the cutting table by himself. At the same time, the display terminal can also display the height value of the harvester cutting table to the user in real time.

[0060] Step S102: If there is a height limit requirement for the harvester cutting platform, the current movement speed of the harvester cutting platform is determined based on the height of the harvester cutting platform at the current moment.

[0061] Here, if there is no height limit requirement for the harvester cutting platform, the height of the harvester cutting platform at the current moment will not be adjusted.

[0062] Next, we will combine Figure 2 Describes how to determine the current movement speed of the harvester's header based on the current height of the harvester's header.

[0063] See also Figure 2 , Figure 2 This is the second flow chart of a method for controlling the height of a harvester cutting table provided in an embodiment of the present application.

[0064] like Figure 2 As shown in FIG, regarding step S102, in a specific implementation, as an example, the following steps may be included:

[0065] Step S1021: If there is a height limit requirement for the harvester cutting platform, the height of the harvester cutting platform at the current moment is obtained.

[0066] Here, the present application installs an angle sensor between the harvester's header bridge and the machine body to measure the angular position relationship between the header bridge and the machine body and feed it back to the vehicle controller. The vehicle controller then interprets the angle feedback signal from the angle sensor as a header height signal and feeds it back to the display. The basic principle of determining the harvester's header height using an angle sensor is that when the harvester's header height changes, the angle sensor deforms accordingly. The angle sensor interprets the deformation as a voltage or resistance value and feeds it back to the vehicle controller. Based on the received feedback value, the vehicle controller further interprets the signal as a specific height value and then feeds the height value back to the display terminal. The following uses a voltage-type sensor as an example to illustrate this basic principle: a voltage-type sensor typically has two brackets, one end of which is fixed to the machine body and the other end is attached to the bridge. The vertical change of the header height is achieved by the up and down movement of the bridge. As the header moves, the angle between the two brackets changes accordingly. This angle change has a one-to-one correspondence with the feedback voltage value of the voltage-type sensor. During actual operation, the voltage sensor will feed back the corresponding voltage value generated by the angle change to the vehicle controller. After receiving the voltage value feedback, the vehicle controller will analyze the received voltage value according to the correspondence between the voltage range value signal determined by the angle sensor during the installation and calibration process and the height of the harvester's cutting table, thereby obtaining the height value of the cutting table.

[0067] Step S1022, obtaining the height of the harvester's cutting platform at the previous moment that is a preset time period away from the current moment.

[0068] Step S1023, calculating the difference between the height of the harvester cutting platform at the current moment and the height of the harvester cutting platform at the previous moment, to obtain the height difference between the harvester cutting platform at the current moment and the previous moment.

[0069] Step S1024: The quotient of the height difference and the preset time period is determined as the current movement speed of the harvester header. Control of the up and down movement of the harvester header.

[0070] Here, if the current movement speed of the harvester cutting table is a negative value, the harvester cutting table moves downward, and if the current movement speed of the harvester cutting table is a positive value, the harvester cutting table moves upward.

[0071] The following describes steps S1021 to S1024 with reference to specific examples.

[0072] For example, suppose a harvester's header requires a height limit, and the preset time period is 2 seconds. At the 10th second, the header's height is measured to be 60 cm. At the 8th second, 2 seconds before the current moment, the header's height was 50 cm. Subtracting the header heights at these two times yields a height difference of 10 cm. Dividing this 10 cm height difference by the preset time period of 2 seconds confirms that the header's current speed is 5 cm / second and that it is moving upward.

[0073] See again Figure 1 , step S103, determining the braking advance amount of the current harvester header based on the mapping relationship between the movement speed and the preset unit braking advance amount.

[0074] Here, the braking advance is the distance corresponding to the braking operation being initiated in advance before the harvester header reaches the target position (including the upper limit and / or lower limit). The preset unit braking advance is the braking advance corresponding to the unit movement speed. The braking advance of the current harvester header is determined based on the following reasons: due to the influence of inertia and other related factors, the moving parts cannot stop moving immediately after receiving the braking command, but will continue to move a certain distance under the action of inertia before stopping. The braking advance is related to the movement speed of the harvester header and the load of the harvester header. When the harvester header moves faster, due to the greater inertia, a larger braking advance is required to ensure that it stops accurately at the target position; when the harvester header is heavily loaded, its movement inertia will also increase, and it is also necessary to increase the braking advance accordingly to ensure that it stops accurately at the target position.

[0075] Regarding step S103, in specific implementation, as an example, the following steps may be included:

[0076] First, based on the mapping relationship between the movement speed and the preset unit braking lead, the preset unit braking lead corresponding to the movement speed is determined. In practical applications, it is necessary to calibrate the movement speed and unit braking lead of the harvester header based on the specific operating conditions. For example, when the harvester header moves downward at a speed of 5 cm / s, the corresponding unit braking lead is set to 5 cm; when the harvester header moves downward at a speed of 2 cm / s, the corresponding unit braking lead is set to 1 cm.

[0077] The product of the movement speed and the preset unit braking lead corresponding to the movement speed is then determined as the current braking lead of the harvester header. Here, as an example, when the harvester header moves downward at a speed of 5 cm / s, the corresponding unit braking lead is set to 2 cm, and the current braking lead of the harvester header is 10 cm.

[0078] Step S104: adjusting the height of the harvester's cutting platform at the current moment based on the braking advance amount.

[0079] Next, we will combine Figure 3 The invention describes how to adjust the height of the harvester's cutting platform at the current moment based on the braking advance amount.

[0080] See also Figure 3 , Figure 3 This is the third flow chart of a method for controlling the height of a harvester cutting table provided in an embodiment of the present application.

[0081] like Figure 3 As shown in step S1041, it is determined whether the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount.

[0082] Step S1042: If the height of the harvester cutting platform at the current moment is less than or equal to the sum of the height of the harvester cutting platform at the current moment and the braking advance amount, the movement of the current harvester cutting platform is stopped.

[0083] Step S1043: If the height of the harvester cutting platform at the current moment is greater than the sum of the height of the harvester cutting platform at the current moment and the braking advance, the movement of the current harvester cutting platform is maintained to adjust the height of the harvester cutting platform at the current moment.

[0084] Here, the movement of the current harvester cutting platform is maintained, and the process returns to step S102 until the height of the harvester cutting platform at the current moment is less than or equal to the sum of the height of the harvester cutting platform at the current moment and the braking advance amount, and the movement of the current harvester cutting platform is stopped.

[0085] The following describes steps S1041 to S1043 with reference to specific examples.

[0086] As an example, suppose the harvester header is descending, the lower limit height is set to 50cm, and the current height of the harvester header is 60cm. According to the mapping relationship between the current movement speed of the harvester header and the preset unit brake advance, it is calculated that the brake advance at this time is 8cm. Determine whether the current height of the harvester header, 60cm, is less than or equal to the sum of the current height of the harvester header, 60cm, and the brake advance of 8cm (i.e., 68cm). If 60cm is less than 68cm, according to the rules, the movement of the header should be stopped at this time; if the current height of the harvester header is 70cm, and 70cm is greater than 68cm, then the header should continue to move and its height should be continuously adjusted until the stop condition is met, so as to ensure that the header can accurately stop at the appropriate position.

[0087] An embodiment of the present application provides a method for controlling the height of a harvester's cutting table. Through the method, not only can precise control of the cutting table limit be achieved, but also it can be ensured that the cutting table limit response of vehicles of the same batch or type can be consistent under different operating conditions and motion characteristics of the actuator.

[0088] Based on the same application concept, the embodiment of the present application also provides a harvester cutting table height control device corresponding to the harvester cutting table height 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 cutting table height 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.

[0089] See also Figure 4 , Figure 4 A schematic structural diagram of a height control device for a harvester cutting table provided in an embodiment of the present application.

[0090] like Figure 4 As shown in FIG, the height control device 410 of the harvester header includes:

[0091] The height limit requirement judgment module 411 determines whether the harvester header needs to be height-limited when receiving a harvester header adjustment command;

[0092] The header movement speed calculation module 412 determines the current movement speed of the harvester header based on the current height of the harvester header if a height limit is required for the harvester header.

[0093] The braking advance amount determining module 413 determines the braking advance amount of the current harvester header based on the mapping relationship between the movement speed and the preset unit braking advance amount;

[0094] The header height adjustment module 414 adjusts the height of the harvester header at the current moment based on the braking advance amount.

[0095] Preferably, the header movement speed calculation module 412 is specifically used to:

[0096] If the harvester header has a height limit requirement, obtain the current height of the harvester header;

[0097] Obtain the height of the harvester header at the previous moment that is a preset time interval from the current moment;

[0098] The height of the harvester header at the current moment is calculated as the difference from the height of the harvester header at the previous moment to obtain the height difference between the harvester header at the current moment and the previous moment;

[0099] The quotient of the height difference and the preset time period is determined as the current movement speed of the harvesting and cutting platform.

[0100] Preferably, the braking advance determination module 413 is specifically configured to:

[0101] Determining the preset unit braking advance amount corresponding to the movement speed based on a mapping relationship between the movement speed and the preset unit braking advance amount;

[0102] The product of the movement speed and the preset unit braking advance amount corresponding to the movement speed is determined as the braking advance amount of the current harvester header.

[0103] Preferably, the header height adjustment module 414 is specifically used to:

[0104] Determining whether the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount;

[0105] If the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount, then the movement of the current harvester header is stopped;

[0106] If the height of the harvester cutting platform at the current moment is greater than the sum of the height of the harvester cutting platform at the current moment and the braking advance, the movement of the current harvester cutting platform is maintained to adjust the height of the harvester cutting platform at the current moment.

[0107] An embodiment of the present application provides a height control device for a harvester's cutting table. Through the device, not only can precise control of the cutting table limit be achieved, but also it can be ensured that the cutting table limit response of vehicles of the same batch or type can be consistent under different operating conditions and motion characteristics of the actuator.

[0108] See also Figure 5 , Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0109] like Figure 5 As shown in FIG, the electronic device 500 includes a processor 510, a memory 520 and a bus 530.

[0110] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 1 、 Figure 2 and Figure 3 The specific implementation of the step of controlling the height of the harvester cutting table in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0111] 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 、 Figure 2 and Figure 3 The specific implementation of the steps of the method for controlling the height of the harvester cutting table in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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 height of a harvester header, characterized in that: The height control method comprises: When receiving a harvester header adjustment command, determining whether there is a height limit requirement for the harvester header; If the harvester header has a height limit requirement, the current movement speed of the harvester header is determined based on the current height of the harvester header; Determining the braking advance amount of the current harvester header based on the mapping relationship between the movement speed and the preset unit braking advance amount; Adjusting the height of the harvester header at the current moment based on the braking advance amount; Wherein, if there is a height limit requirement for the harvester header, the movement speed of the current harvester header is determined based on the height of the harvester header at the current moment, including: If the harvester header has a height limit requirement, obtain the current height of the harvester header; Obtain the height of the harvester header at the previous moment that is a preset time interval from the current moment; The height of the harvester header at the current moment is calculated as the difference from the height of the harvester header at the previous moment to obtain the height difference between the harvester header at the current moment and the previous moment; Determine the quotient of the height difference and the preset time period as the current movement speed of the harvesting and header; The step of adjusting the height of the harvester header at the current moment based on the braking advance amount includes: Determining whether the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount; If the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount, then the movement of the current harvester header is stopped; If the height of the harvester cutting platform at the current moment is greater than the sum of the height of the harvester cutting platform at the current moment and the braking advance, the movement of the current harvester cutting platform is maintained to adjust the height of the harvester cutting platform at the current moment.

2. The height control method according to claim 1, characterized in that: The step of determining the braking advance amount of the current harvester header based on the mapping relationship between the movement speed and the preset unit braking advance amount includes: Determining the preset unit braking advance amount corresponding to the movement speed based on a mapping relationship between the movement speed and the preset unit braking advance amount; The product of the movement speed and the preset unit braking advance amount corresponding to the movement speed is determined as the braking advance amount of the current harvester header.

3. A height control device for a harvester header, characterized in that: The height control device comprises: A height limit requirement judgment module, when receiving a harvester header adjustment command, determines whether the harvester header needs to be height limited; The cutting platform movement speed calculation module determines the current movement speed of the harvester cutting platform based on the current height of the harvester cutting platform if there is a height limit requirement for the harvester cutting platform; A braking advance amount determination module is configured to determine the braking advance amount of the current harvester header based on a mapping relationship between the movement speed and the preset unit braking advance amount; A header height adjustment module adjusts the height of the harvester header at the current moment based on the braking advance amount; The cutting platform movement speed calculation module is specifically used for: If the harvester header has a height limit requirement, obtain the current height of the harvester header; Obtain the height of the harvester header at the previous moment that is a preset time interval from the current moment; The height of the harvester header at the current moment is calculated as the difference from the height of the harvester header at the previous moment to obtain the height difference between the harvester header at the current moment and the previous moment; Determine the quotient of the height difference and the preset time period as the current movement speed of the harvesting and header; The header height adjustment module is specifically used for: Determining whether the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount; If the height of the harvester header at the current moment is less than or equal to the sum of the height of the harvester header at the current moment and the braking advance amount, then the movement of the current harvester header is stopped; If the height of the harvester cutting platform at the current moment is greater than the sum of the height of the harvester cutting platform at the current moment and the braking advance, the movement of the current harvester cutting platform is maintained to adjust the height of the harvester cutting platform at the current moment.

4. The height control device according to claim 3, characterized in that: The braking advance determination module is specifically configured to: Determining the preset unit braking advance amount corresponding to the movement speed based on a mapping relationship between the movement speed and the preset unit braking advance amount; The product of the movement speed and the preset unit braking advance amount corresponding to the movement speed is determined as the braking advance amount of the current harvester header.

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, and the machine-readable instructions are executed by the processor to execute the steps of the height 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 a processor, the steps of the height control method according to any one of claims 1 to 2 are executed.

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