Grain harvester control method and device, electronic equipment and storage medium

Abstract

The invention provides a grain harvester control method and device, electronic equipment and a storage medium, and relates to the technical field of agricultural machinery intelligent control. The method comprises the steps that the current grain feeding amount is determined through a displacement sensor arranged on a gap bridge device, and the current torque of a threshing cylinder in a grain harvester is determined; a reference torque decision model is constructed based on the corresponding relation between the feeding amount and the torque; determining a reference torque range under the current grain feeding amount and the grain parameters of the fed grains by using the constructed reference torque decision model; and comparing the current torque with a reference torque range, and controlling the running speed of the grain harvester according to a torque comparison result. By adopting the control method and device of the grain harvester, the electronic equipment and the storage medium, the problem that the matching precision of the feeding amount and the running speed of the grain harvester is low in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent control of agricultural machinery. Specifically, it relates to a control method, device, electronic device, and storage medium for a grain harvester. Background Art

[0002] With the rapid development of agricultural mechanization, the requirements for the intelligence and automation of equipment are increasing day by day. As a key equipment in agricultural production, for grain harvesters, how to reduce the grain loss rate of grain harvesters and improve the working efficiency of the equipment has become an important research direction for the intelligence and automation of harvesters. For this reason, it is necessary to achieve stable control of the feeding amount in grain harvesters. Currently, the stable control method of the feeding amount is usually realized based on the adaptive adjustment link between the feeding amount and the operating speed. The adaptive adjustment link needs to use a prediction model to estimate the feeding amount, and then use the estimated feeding amount and the driving speed of the grain harvester collected by the sensor to calculate the speed deviation, so as to achieve adaptive adjustment.

[0003] However, the estimation result of the feeding amount is affected by the accuracy of the prediction model. When the accuracy of the prediction model is insufficient, it is easy to reduce the matching accuracy between the feeding amount of the grain harvester and the driving speed. At the same time, simply relying on the feeding amount and the driving speed of the grain harvester for adaptive adjustment cannot achieve precise matching between the feeding amount and the driving speed of the grain harvester. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a control method, device, electronic device, and storage medium for a grain harvester to solve the problem of low matching accuracy between the feeding amount and the driving speed of the grain harvester.

[0005] In a first aspect, an embodiment of the present application provides a control method for a grain harvester, including:

[0006] Determine the current feeding amount of the grain by using a displacement sensor arranged on the cross-bridge device, and determine the current torque of the threshing cylinder in the grain harvester;

[0007] Based on the corresponding relationship between the feeding amount and the torque, construct a reference torque decision model;

[0008] Use the reference torque decision model to determine the reference torque range under the current feeding amount of the grain and the grain parameters of the fed grain, where the grain parameters are parameters used to characterize the grain characteristics;

[0009] Compare the current torque with the reference torque range, and control the driving speed of the grain harvester according to the torque comparison result.

[0010] In an alternative embodiment, a displacement sensor disposed on the cross-bridge device is used to determine the current grain feeding amount, including: disposing a displacement sensor on the side of the front axle of the cross-bridge device of the grain harvester, and using the displacement sensor to collect the thickness value of the cross-bridge feeding layer; based on the thickness value of the cross-bridge feeding layer, determining the current grain feeding amount.

[0011] In an alternative embodiment, based on the corresponding relationship between the feeding amount and the torque, a reference torque decision model is constructed, including: constructing a relationship model between the feeding amount and the pressure of the threshing cylinder hydraulic clutch, and using grain parameters to correct the relationship model to obtain a corrected relationship model; according to the conversion relationship between the pressure of the threshing cylinder hydraulic clutch and the torque, converting the corrected relationship model into a reference torque decision model.

[0012] In an alternative embodiment, the grain parameters include the grain type and the grain humidity. Using the reference torque decision model, determining the reference torque range under the current grain feeding amount and the grain parameters of the fed grain, including: inputting the current grain feeding amount, the grain type and the grain humidity into the reference torque decision model to determine the reference torque range.

[0013] In an alternative embodiment, the current torque of the threshing cylinder in the grain harvester is determined through the following processing: disposing a torque sensor at the shaft end of the threshing cylinder of the grain harvester; using the torque sensor to collect the current torque of the threshing cylinder shaft.

[0014] In an alternative embodiment, the traveling speed of the grain harvester is controlled according to the torque comparison result, including: if the current torque exceeds the reference torque range, determining the target traveling speed according to the difference between the current torque and the reference torque in the reference torque range; adjusting the oil supply amount of the electro-hydraulic pump to the drive axle box motor through a solenoid valve so that the grain harvester travels at the target traveling speed.

[0015] In an alternative embodiment, the method further includes: using a rotation speed sensor disposed in the grain harvester to obtain the current rotation speed of the threshing cylinder shaft, and using a speed sensor to collect the current traveling speed of the grain harvester; inputting the current traveling speed, the current grain feeding amount and the grain parameters into a rotation speed prediction model to determine the reference rotation speed range; comparing the current rotation speed with the reference rotation speed range, and controlling the rotation speed of the threshing cylinder in the grain harvester according to the rotation speed comparison result.

[0016] In a second aspect, an embodiment of the present application further provides a grain harvester control device, and the device includes:

[0017] A data acquisition module, configured to use a displacement sensor disposed on the cross-bridge device to determine the current grain feeding amount and determine the current torque of the threshing cylinder in the grain harvester;

[0018] A model construction module for constructing a reference torque decision model based on the correspondence between the feeding amount and the torque.

[0019] A data prediction module for determining a reference torque range under the current feeding amount of the grain and the grain parameters of the fed grain by using the reference torque decision model, where the grain parameters are parameters used to characterize the grain characteristics.

[0020] A machine control module for comparing the current torque with the reference torque range and controlling the traveling speed of the grain harvester according to the torque comparison result.

[0021] In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the grain harvester control method as described above are executed.

[0022] 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 run by a processor, the steps of the grain harvester control method as described above are executed.

[0023] The embodiments of the present application bring the following beneficial effects:

[0024] A grain harvester control method, device, electronic device, and storage medium provided by the embodiments of the present application can directly determine the current feeding amount of the grain through a displacement sensor, improve the calculation accuracy of the feeding amount, and avoid the problem of the decrease in the matching accuracy between the feeding amount of the grain harvester and the traveling speed caused by an inaccurate feeding amount prediction model. At the same time, it can determine the reference torque range based on the current feeding amount of the grain and the grain parameters, consider the grain characteristic parameters in the control process of the traveling speed of the grain harvester, and further improve the matching accuracy between the feeding amount and the traveling speed of the grain harvester. Compared with the grain harvester control method in the prior art, the problem of low matching accuracy between the feeding amount and the traveling speed of the grain harvester is solved.

[0025] To make the above objects, features, and advantages of the present application more obvious and understandable, the following preferred embodiments are specifically described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0027] Figure 1 Shows the flowchart of the control method for a grain harvester provided by the embodiments of the present application;

[0028] Figure 2 Shows the flowchart of the construction method for a reference torque decision model provided by the embodiments of the present application;

[0029] Figure 3 Shows the structural schematic diagram of the control device for a grain harvester provided by the embodiments of the present application;

[0030] Figure 4 Shows the structural schematic diagram of the electronic device provided by the embodiments of the present application. Specific Embodiments

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of them. Usually, the components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different 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 present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by those skilled in the art without creative efforts belongs to the scope of protection of the present application.

[0032] It should be noted that before the present application was proposed, with the rapid development of agricultural mechanization, the requirements for the intelligence and automation levels of equipment have been increasing day by day. As a key equipment in agricultural production, how to reduce the grain loss rate of a grain harvester and improve the working efficiency of the equipment has become an important research direction for the intelligence and automation of harvesters. For this reason, it is necessary to achieve stable control of the feeding amount in the grain harvester. At present, the stable control method of the feeding amount is usually realized based on an adaptive adjustment link between the feeding amount and the operating speed. The adaptive adjustment link needs to use a prediction model to estimate the feeding amount, and then calculate the speed deviation by using the estimated feeding amount and the driving speed of the grain harvester collected by the sensor, so as to achieve adaptive adjustment. However, the estimation result of the feeding amount is affected by the accuracy of the prediction model. When the accuracy of the prediction model is insufficient, it is easy to reduce the matching accuracy between the feeding amount of the grain harvester and the driving speed. At the same time, the operating environment and grain type of the grain harvester will both affect the operating process of the grain harvester. Simply making an adaptive adjustment based on the feeding amount and the driving speed of the grain harvester cannot achieve the precise matching between the feeding amount and the driving speed of the grain harvester.

[0033] Based on this, the embodiment of the present application provides a control method for a grain harvester to improve the precise matching between the feeding amount and the driving speed of the grain harvester.

[0034] Please refer to Figure 1 , Figure 1 which is a flowchart of a control method for a grain harvester provided by an embodiment of the present application. As Figure 1 shown, the control method for a grain harvester provided by the embodiment of the present application includes:

[0035] Step S101, determining the current feeding amount of the grain by using a displacement sensor arranged on the cross-bridge device, and determining the current torque of the threshing cylinder in the grain harvester;

[0036] Step S102, constructing a reference torque decision model based on the corresponding relationship between the feeding amount and the torque;

[0037] Step S103, using the reference torque decision model to determine the reference torque range under the current feeding amount of the grain and the grain parameters of the fed grain;

[0038] Step S104, comparing the current torque with the reference torque range, and controlling the driving speed of the grain harvester according to the torque comparison result.

[0039] The grain harvester control method provided by the embodiments of the present application can directly determine the current feeding amount of grains through a displacement sensor, improving the calculation accuracy of the feeding amount and avoiding the problem of the decreased matching accuracy between the feeding amount and the traveling speed of the grain harvester due to the inaccurate feeding amount prediction model. At the same time, it can determine the reference torque range based on the current feeding amount of grains and the grain parameters, taking the grain characteristic parameters into consideration in the control process of the grain harvester, further improving the matching accuracy between the feeding amount and the traveling speed of the grain harvester, and solving the problem of low matching accuracy between the feeding amount and the traveling speed of the grain harvester.

[0040] For the convenience of understanding this embodiment, the following takes the application of the grain harvester control method to the vehicle-mounted controller of the grain harvester as an example to separately describe the above exemplary steps provided by the embodiments of the present application.

[0041] In step S101, a displacement sensor provided on the cross-bridge device is used to determine the current feeding amount of grains, and the current torque of the threshing cylinder in the grain harvester is determined.

[0042] In this step, a plurality of sensors are provided on the grain harvester to obtain a plurality of operating parameters of the grain harvester by using these sensors.

[0043] A displacement sensor is provided on the side of the front axle of the cross-bridge device of the grain harvester. The displacement sensor is used to collect the thickness value of the cross-bridge feeding layer in real time, and the current feeding amount of grains is determined based on the thickness value of the cross-bridge feeding layer. Among them, the displacement sensor may refer to a KTC pull-rod type displacement sensor. The current feeding amount of grains can be calculated based on the thickness value of the cross-bridge feeding layer collected by the KTC pull-rod type displacement sensor and the volume of the cross-bridge device.

[0044] Here, the current torque of the threshing cylinder in the grain harvester can be obtained through at least one of the following methods.

[0045] One method is that a tension sensor is provided at the belt of the grain harvester to collect the tension of the belt in real time by using the tension sensor. At the same time, since the torque is generated by the difference in tension on both sides of the belt, a proportional relationship model between the belt tension and the torque can be constructed, and the current tensions on both sides of the belt are collected by using the tension sensor, and the collected current tensions are input into the proportional relationship model to obtain the current torque. Among them, the torque is positively correlated with the tension difference. The larger the tension difference, the larger the torque; the smaller the tension difference, the smaller the torque.

[0046] Another method is to install a torque sensor at the end of the threshing cylinder shaft of the grain harvester, and the torque sensor is used to collect the current torque of the threshing cylinder in real time.

[0047] In step S102, a reference torque decision model is constructed based on the corresponding relationship between the feeding amount and the torque.

[0048] In this step, the reference torque decision model is used to determine the reference torque range, so as to control the traveling speed of the grain harvester by using the reference torque range.

[0049] In addition, the construction of the reference torque decision model also requires grain parameters, which are parameters used to characterize the characteristics of grains. As an example, the grain references include but are not limited to: grain humidity and grain type.

[0050] A humidity sensor is also provided on the grain harvester, and the grain humidity of the grains fed into the grain harvester is collected through the humidity sensor. The grain type can be determined by an image recognition method, or directly input into the vehicle-mounted controller.

[0051] Next, with reference to Figure 2 the construction process of the reference torque decision model will be introduced.

[0052] Figure 2 shows a flowchart of the method for constructing the reference torque decision model provided by the embodiment of the present application. As Figure 2 shown, the method for constructing the reference torque decision model includes:

[0053] Step S1021: Construct a relationship model between the feeding amount and the pressure of the threshing cylinder hydraulic clutch, and correct the relationship model by using the grain parameters to obtain a corrected relationship model.

[0054] Here, since the pressure of the threshing cylinder hydraulic clutch in the grain harvester increases monotonically when the feeding amount increases, an experimental method can be used to establish the relationship equation between the two, so as to construct the relationship model between the feeding amount and the pressure of the threshing cylinder hydraulic clutch.

[0055] At the same time, since the grain parameters will have a certain impact on the change of the pressure of the threshing cylinder hydraulic clutch. For example, when the grain humidity reaches the set interval, the pressure of the threshing cylinder hydraulic clutch will increase, and different grain types (such as millet, soybean) have different degrees of influence on the pressure change. Therefore, the grain parameters can be used to correct the relationship model between the feeding amount and the pressure of the threshing cylinder hydraulic clutch to obtain a corrected relationship model.

[0056] For example: divide the grain humidity into multiple grain humidity intervals. According to the experimental results, the interval relationship model corresponding to each grain humidity interval can be constructed. At the same time, each grain type corresponds to a correction coefficient, and this correction coefficient is added to each interval relationship model to obtain a corrected relationship model.

[0057] In step S1022, according to the conversion relationship between the pressure and torque of the threshing cylinder hydraulic clutch, the corrected relationship model is converted into a reference torque decision model.

[0058] Since the pressure of the threshing cylinder hydraulic clutch will be converted into the thrust of the hydraulic cylinder, the thrust of the hydraulic cylinder can be calculated based on the pressure of the threshing cylinder hydraulic clutch, and then the torque of the threshing cylinder can be determined according to the product of the thrust of the hydraulic cylinder and the force arm. Therefore, the conversion relationship between the pressure and torque of the threshing cylinder hydraulic clutch can be determined. According to this conversion relationship between the pressure and torque of the threshing cylinder hydraulic clutch, the corrected relationship model can be converted into a reference torque decision model, where the input of the reference torque decision model is the feeding amount and the output is the torque.

[0059] In step S103, using the reference torque decision model, the reference torque range under the current feeding amount of the grain and the grain parameters of the fed grain is determined.

[0060] A speed sensor is provided on the upper part of the hydraulic drive axle box of the combine harvester, and the current traveling speed of the combine harvester is collected by using the speed sensor.

[0061] Here, when determining the reference torque range, the current feeding amount of the grain and the collected grain parameters can be input into the reference torque decision model, and the reference torque decision model will output the reference torque range.

[0062] The reference torque range is determined in real time based on the grain parameters and the current feeding amount of the grain. This reference torque range can timely and accurately reflect the torque required for the combine harvester to be in the best operating state under the current conditions.

[0063] In this way, when the combine harvester operates with a torque exceeding this reference torque range, the working efficiency of the combine harvester will decrease and it cannot operate in the best working state.

[0064] In step S104, the current torque is compared with the reference torque range, and the traveling speed of the combine harvester is controlled according to the torque comparison result.

[0065] In this step, it is determined whether the current torque exceeds the reference torque range. If the current torque does not exceed the reference torque range, the combine harvester is controlled to continue traveling at the current traveling speed; if the current torque exceeds the reference torque range, the adaptive control program in the vehicle-mounted controller is triggered. The adaptive control program will determine the target traveling speed according to the difference between the current torque and the target reference torque in the reference torque range. Then, the vehicle-mounted controller issues a traveling speed control instruction to the traveling device solenoid valve to adjust the oil supply of the electro-hydraulic pump to the drive axle box motor through the solenoid valve, so that the combine harvester travels at the target traveling speed.

[0066] The situation where the current torque exceeds the reference torque range is divided into two cases:

[0067] In one case, the current torque is lower than the reference torque range. At this time, the lower limit value of the reference torque range or the reference torque corresponding to the preset low percentile is selected as the target reference torque. For example: calculate the difference between the upper limit and the lower limit in the reference torque range, and the sum of the product of this difference and 0.25 and the lower limit is used as the target reference torque, where 0.25 represents the low percentile. Then, according to the difference between the current torque and the target reference torque, the target driving speed is determined. At this time, the target driving speed can be calculated by a driving speed prediction model or determined according to the preset corresponding relationship between the torque difference and the driving speed.

[0068] In the other case, the current torque is higher than the reference torque range. At this time, the upper limit value of the reference torque range or the reference torque corresponding to the preset high percentile is selected as the target reference torque. For example: calculate the difference between the upper limit and the lower limit in the reference torque range, and the sum of the product of this difference and 0.75 and the lower limit is used as the target reference torque, where 0.75 represents the high percentile. Then, according to the difference between the current torque and the target reference torque, the target driving speed is determined. Similarly, the target driving speed can be calculated by a driving speed prediction model or determined according to the preset corresponding relationship between the torque difference and the driving speed.

[0069] In an example, the rotational speed of the threshing cylinder and the driving speed of the combine harvester need to be matched in real time. For example: when increasing the driving speed, it may be necessary to synchronously increase the rotational speed of the cylinder to process more crops; in the case of lodged or wet crops, it may be necessary to increase the rotational speed of the threshing cylinder while reducing the driving speed. To this end, a rotational speed sensor is set on the shaft of the threshing cylinder of the combine harvester, and the current rotational speed of the threshing cylinder shaft is collected by the rotational speed sensor. Then, the current driving speed, the current feeding amount of the grain, and the grain parameters are input into the reference rotational speed decision model to determine the reference rotational speed range, and the current rotational speed collected by the rotational speed sensor is compared with the reference rotational speed range, and the rotational speed of the threshing cylinder in the combine harvester is controlled according to the rotational speed comparison result.

[0070] For example: when the current rotational speed is not within the reference rotational speed range, if the current rotational speed is lower than the reference rotational speed range, it is necessary to increase the rotational speed of the threshing cylinder. At this time, the lower limit of the reference rotational speed range is selected as the target reference rotational speed; if the current rotational speed is higher than the reference rotational speed range, it is necessary to reduce the rotational speed of the threshing cylinder. At this time, the upper limit of the reference rotational speed range is selected as the target reference rotational speed. Then, determine the difference between the current rotational speed and the target reference rotational speed, and adjust the current rotational speed of the threshing cylinder through PID control based on this difference.

[0071] Here, since the reference rotational speed range is determined based on the real-time collected driving speed, the current grain feeding amount, and the grain parameters, the reference rotational speed range can be calculated more accurately, improving the control accuracy of the grain harvester.

[0072] Among them, the reference rotational speed decision model can be a trained neural network model. Through the reference rotational speed decision model, the optimal rotational speed range of the threshing cylinder can be determined under the current grain feeding amount and the grain type, so as to use this reference rotational speed range to achieve precise control of the threshing cylinder in the grain harvester.

[0073] Meanwhile, a display device is also provided on the grain harvester. The data collected by each sensor will be sent to the display device in real time. For example, the current driving speed of the grain harvester, the current torque value and rotational speed of the threshing cylinder shaft, and the current grain feeding amount will be displayed on the display device, so that the driver can view the various performance parameters of the grain harvester in the display device.

[0074] Based on the same inventive concept, an embodiment of the present application also provides a grain harvester control device corresponding to the grain harvester control method. Since the principle of solving problems by the device in the embodiment of the present application is similar to that of the above-mentioned grain harvester control method in the 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 elaborated.

[0075] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a grain harvester control device provided by an embodiment of the present application. As Figure 3 shown in

[0076] The grain harvester control device 200 includes:

[0077] A data acquisition module 201, configured to determine the current grain feeding amount by using a displacement sensor arranged on the cross-over device, and determine the current torque of the threshing cylinder in the grain harvester;

[0078] A model construction module 202, configured to construct a reference torque decision model based on the corresponding relationship between the feeding amount and the torque;

[0079] A data prediction module 203, configured to use the reference torque decision model to determine the reference torque range under the current grain feeding amount and the grain parameters of the fed grain, where the grain parameters are parameters used to characterize the grain characteristics;

[0080] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. AsFigure 4 As shown in Figure 4 , the electronic device 300 includes a processor 310, a memory 320, and a bus 330.

[0081] The memory 320 stores machine-readable instructions executable by the processor 310. When the electronic device 300 runs, the processor 310 communicates with the memory 320 through the bus 330. When the machine-readable instructions are executed by the processor 310, they can perform the steps of the grain harvester control method in the method embodiment as described above. Figure 1 For the specific implementation manners, reference may be made to the method embodiment, which will not be elaborated herein.

[0082] The embodiment of the present application further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, it can perform the steps of the grain harvester control method in the method embodiment as described above. Figure 1 For the specific implementation manners, reference may be made to the method embodiment, which will not be elaborated herein.

[0083] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be elaborated herein.

[0084] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For another 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0085] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0087] When the above-mentioned 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 executable by a processor. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable 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 methods described in various embodiments of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0088] Finally, it should be noted that the above-mentioned embodiments are only specific implementation manners of this application, used to illustrate the technical solutions of this application, rather than limiting them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed in this application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A control method for a grain harvester, characterized in that, The method includes: Using a displacement sensor provided on the cross-bridge device to determine the current grain feeding amount and determine the current torque of the threshing cylinder in the combine harvester; Based on the corresponding relationship between the feeding amount and the torque, constructing a reference torque decision model; Using the reference torque decision model to determine a reference torque range under the current grain feeding amount and the grain parameters of the fed grain, where the grain parameters are parameters used to characterize the grain characteristics; Comparing the current torque with the reference torque range and controlling the traveling speed of the combine harvester according to the torque comparison result.

2. The method according to claim 1, characterized in that, The using a displacement sensor provided on the cross-bridge device to determine the current grain feeding amount includes: Setting a displacement sensor on the side of the front axle of the cross-bridge device of the combine harvester and using the displacement sensor to collect the thickness value of the cross-bridge feeding layer; Based on the thickness value of the cross-bridge feeding layer, determining the current grain feeding amount.

3. The method according to claim 1, characterized in that, The constructing a reference torque decision model based on the corresponding relationship between the feeding amount and the torque includes: Constructing a relationship model between the feeding amount and the pressure of the hydraulic clutch of the threshing cylinder, and using the grain parameters to correct the relationship model to obtain a corrected relationship model; According to the conversion relationship between the pressure of the hydraulic clutch of the threshing cylinder and the torque, converting the corrected relationship model into a reference torque decision model.

4. The method according to claim 3, wherein The grain parameters include the grain type and the grain humidity. The using the reference torque decision model to determine a reference torque range under the current grain feeding amount and the grain parameters of the fed grain includes: Inputting the current grain feeding amount, the grain type, and the grain humidity into the reference torque decision model to determine the reference torque range.

5. The method according to claim 1, wherein The current torque of the threshing cylinder in the combine harvester is determined through the following processing: Setting a torque sensor at the shaft end of the threshing cylinder of the combine harvester; Using the torque sensor to collect the current torque of the threshing cylinder shaft.

6. The method according to claim 1, wherein The controlling the traveling speed of the combine harvester according to the torque comparison result includes: If the current torque exceeds the reference torque range, determining a target traveling speed according to the difference between the current torque and the reference torque in the reference torque range; Adjusting the oil supply amount of the electro-hydraulic pump to the drive axle box motor through a solenoid valve so that the combine harvester travels at the target traveling speed.

7. The method according to claim 4, wherein The method further includes: Using a rotational speed sensor provided in the combine harvester to obtain the current rotational speed of the threshing cylinder shaft and using a speed sensor to collect the current traveling speed of the combine harvester; Inputting the current traveling speed, the current grain feeding amount, and the grain parameters into a rotational speed prediction model to determine a reference rotational speed range; Comparing the current rotational speed with the reference rotational speed range and controlling the rotational speed of the threshing cylinder in the combine harvester according to the rotational speed comparison result.

8. A control device for a grain harvester, characterized in that, including: A data acquisition module for using a displacement sensor provided on the cross-bridge device to determine the current grain feeding amount and determine the current torque of the threshing cylinder shaft in the combine harvester; A model construction module for constructing a reference torque decision model based on the corresponding relationship between the feeding amount and the torque; A data prediction module, configured to use the reference torque decision model to determine a reference torque range under the current grain feeding amount of the grain and the grain parameters of the fed grain, where the grain parameters are parameters used to characterize the characteristics of the grain; A machine control module, configured to compare the current torque with the reference torque range and control the traveling speed of the grain harvester according to the torque comparison result.

9. An electronic device, characterized in that, Comprising: A processor, a memory and a bus, where the memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus, and the processor executes the machine-readable instructions to perform the steps of the grain harvester control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by the processor, it performs the steps of the grain harvester control method according to any one of claims 1 to 7.

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