32results about How to "Ensure driving stability" patented technology

The invention provides a vehicle speed adjusting method fusing road surface evenness and wheel data and related equipment, and relates to the field of intelligent control. The method comprises the following steps: acquiring a pavement image and point cloud data through monitoring equipment, determining pavement concave-convex height information and state parameters by combining the pavement image and the point cloud data, and inputting the pavement concave-convex height information and the state parameters into a pre-trained flatness evaluation model to obtain a pavement flatness grade. And when the road surface is in the uneven range, acquiring wheel data of the target vehicle, and inputting the road surface flatness grade and the wheel data into the jolting influence evaluation model to obtain jolting data. The vehicle bumping influence level is determined by combining vehicle-mounted sensor data, and then the standard vehicle speed value is determined, so that the current vehicle speed of the target vehicle is controlled, the vehicle speed is accurately adjusted according to the road surface and vehicle conditions, and the driving safety and comfort are improved.

The invention relates to the technical field of tire simulation design, in particular to a tire pattern overall rigidity calculation method and system and a computer software product. The method comprises the following specific steps: establishing a pattern node set and an other part node set, applying a pavement load and simulating a pressed state of a pattern, calculating a relation curve of displacement and counter force, calculating the overall rigidity of the pattern through a slope, and evaluating the performance of the pattern through a pattern rigidity change ratio. Whether the patterns need to be optimized and adjusted or not is judged according to the rigidity change ratio, and therefore the control performance, safety and stability of the tire are improved. The method has high precision and operability, and provides a scientific basis for design, optimization and performance analysis of tire patterns. By means of the systematic calculation process, the tire design efficiency can be effectively improved, and reliable technical support is provided for tire performance optimization.

The invention relates to a redundant dynamic braking system. The redundant dynamic braking system may include: a main braking force adjusting device configured to control a hydraulic braking device of a vehicle; a receiving unit configured to receive driving information of the vehicle; an electronically controlled brake device configured to be electrically operated to generate a braking force; and an auxiliary braking force adjusting device configured to control the hydraulic braking device and the electronic control braking device in a case where a failure occurs in the main braking force adjusting device, the auxiliary braking force adjusting device is configured to control the electronically controlled brake device by adjusting a magnitude of a current applied to the electronically controlled brake device and an application time based on a target pressure estimated using the driving information.

The invention provides a cumin inter-row harvesting device suitable for a cotton cumin interplanting mode. The cumin inter-row harvesting device comprises a divider, a harvesting and conveying device, a walking device and a control system. The walking device has an adjustable transverse working width and is used for crossing multiple rows of cotton and carrying out cross-row harvesting on multiple rows of cumin among the rows; the dividing device is arranged below the walking device and used for gathering cumin in clusters and conveying the cumin backwards. The harvesting and conveying device is distributed at the lower rear part of the dividing device and is used for cutting the divided and gathered cumin seeds and tiling the cumin seeds backwards in a harvested area; the control system is electrically connected with the dividing device, the harvesting and conveying device and the walking device and used for controlling dividing, cutting and conveying and advancing steering. The power of the whole machine is provided by a range-extended generator, and remote control is realized through a wireless remote control unit. On the premise that cotton is not damaged, cross-row efficient harvesting of multiple rows of cumin can be achieved, the structure is compact, operation is convenient and fast, labor intensity is remarkably reduced, and harvesting efficiency is improved.

The utility model provides a double track rail fastener inspection van, relates to track detection field, include: flat car, drive motor, control box and cleaning brush, the lower side of flat car is connected with the mounting plate, and the lower end of mounting plate is equipped with laser displacement sensor and CCD camera, drive motor is installed in the flat car, and the control box is equipped with the cleaning brush. The output shaft end of the driving motor is connected with a transmission shaft through a reduction gearbox, the lower end of the transmission shaft is connected with a half shaft through a differential mechanism, meanwhile, the two ends of the half shaft are connected with driving wheels through outer ball cages, the driving wheels are installed at the lower end of the flat car, the control box is installed on the upper side of the flat car, and a battery bin and a main controller are arranged in the control box. The outer side of the transmission shaft is connected with a driven shaft, the outer end of the driven shaft is connected with a rotating rod, and the cleaning brush is connected to the lower end of the rotating rod. The rail fastener detection device solves the problems that a rail fastener detection device in the prior art is large in workload, high in manual labor intensity and poor in use functionality.

The application discloses a distributed four-motor driving redundancy control method and system, relates to the technical field of vehicle driving control, and is applied to a distributed driving system. The distributed driving system comprises four motors. The method comprises the following steps: determining a longitudinal demand torque and a yaw differential torque of a vehicle based on an acceleration operation and a steering operation of a driver; if motor fault information of the vehicle represents single-motor abnormality, constructing a multi-target cost function based on multiple ones of original demand torques of the motors, motor rotating speeds, torque capacity limits, wherein the multi-target cost function comprises multiple ones of a torque adjustment cost sub-function, a system efficiency cost sub-function and a motor reserve capacity cost sub-function; determining target torques of normal motors based on the multi-target cost function, the longitudinal demand torque and the yaw differential torque, and controlling corresponding normal motors to perform driving output according to the target torques.

The present application provides a vehicle speed adjustment method and related equipment that integrates road surface flatness and wheel data, and relates to the field of intelligent control. The method includes: obtaining road surface images and point cloud data through monitoring equipment, combining the two to determine road surface bump height information and state parameters, and then inputting them into a pre-trained flatness assessment model to obtain a road surface flatness grade. When in an uneven range, obtain the target vehicle wheel data, input the road surface flatness grade and wheel data into a bump impact assessment model to obtain bump data. Determine the vehicle bump impact level in combination with the on-board sensor data, and then determine the standard speed value, so as to control the current speed of the target vehicle, achieve accurate speed adjustment according to the road surface and vehicle conditions, and improve driving safety and comfort.

The invention relates to the technical field of automobile power control, in particular to a vehicle power parameter determination method and device, equipment, a storage medium and a product. The method comprises the steps of obtaining multi-dimensional working condition data corresponding to a target vehicle and a vehicle state of the target vehicle; according to the multi-dimensional working condition data, the driving working condition of the target vehicle is identified, and a target working condition corresponding to the target vehicle is obtained; determining a target power parameter corresponding to the target vehicle according to the target working condition and the vehicle state of the target vehicle; according to the method, it is guaranteed that the power parameters can have certain working condition adaptability in the running process of the target vehicle, and the running stability and running safety of the target vehicle are guaranteed.

The invention discloses an emergency control method and system for a vehicle in a mine disaster scene, and the method comprises the steps: predicting a mine disaster happening region based on a mine area dynamic model, carrying out the positioning and rechecking of the mine disaster happening region, collecting actual data, defining the state of the mine disaster happening region based on a plurality of pieces of actual data, and carrying out the prediction and rechecking of the mine disaster happening region. Triggering in-place ejection of the vehicle based on the escape route of the vehicle and the surrounding environment characteristics; the driving state of the vehicle is defined according to the multiple driving data, the self-regulation logic of the vehicle is triggered according to the driving state of the vehicle, the mine disaster form of the surrounding environment of the vehicle and the current picture of the mine area dynamic model, and the posture of the vehicle in the driving process is controlled based on the self-regulation logic of the vehicle. The attitude dynamic control of the vehicle in the driving process is realized, the driving stability of the vehicle along the escape route of the vehicle is ensured, and the driving state of the vehicle, the mine disaster form of the surrounding environment of the vehicle and the multi-dimensional consideration of the current picture of the mining area dynamic model are compatible.

The invention discloses an automatic driving multi-dimensional coupling cooperative control method and system considering passenger comfort, and relates to the technical field of intelligent vehicle control, and the method comprises the steps that a perception and state estimation module obtains global state information of a vehicle in a current control period; the transverse controller, the longitudinal controller and the vertical controller run in parallel, local optimization solution is carried out based on the global state information, and a preliminary transverse control instruction, a preliminary longitudinal control instruction and a preliminary vertical control instruction are generated; the central coupling relation coordinator calculates a coupling index of a current control period by using a whole vehicle coupling dynamic model based on the global state information, and performs dynamic compensation correction based on the coupling index to generate a final transverse control instruction, a final longitudinal control instruction and a final vertical control instruction; and the execution module receives and executes the final transverse control instruction, the final longitudinal control instruction and the final vertical control instruction. According to the invention, the passenger comfort and the vehicle performance can be effectively cooperated.

This invention belongs to the field of vehicle control technology and relates to a vehicle motion control system based on angular module dynamics. The system constructs a two-degree-of-freedom driver control system including steering wheel input and vehicle posture lever input, used to represent path curvature tracking requirements and vehicle posture adjustment requirements, respectively. Based on the driver control input, ideal yaw rate control targets and ideal center-of-gravity sideslip angle control targets are constructed, and the four-wheel steering angle feedforward control quantities are determined through vehicle kinematics methods of pure yaw motion and pure lateral motion. Through feedback optimization control, the additional yaw moment and four-wheel steering angle control quantities are coordinated under composite operating conditions. Based on adaptive adjustment of control weights and constraints under operating conditions, the distribution control of four-wheel drive / braking torque and four-wheel steering angle is achieved. This invention achieves decoupled control of vehicle yaw motion and lateral motion by constructing a two-degree-of-freedom driver control system and combining feedforward kinematics and feedback dynamics control.

The invention relates to an automobile aluminum alloy front steering knuckle which comprises a steering knuckle body, a weight reduction cavity is formed in the steering knuckle body, and at least one sand discharging hole communicated with the weight reduction cavity is formed in the steering knuckle body in a penetrating mode. The two ends, corresponding to the length direction, of the steering knuckle body are bent in the opposite directions to form bent structures, one bent structure is formed by bending one end of the steering knuckle body towards the upper side, and the other bent structure is formed by bending the other end of the steering knuckle body towards the lower side. And the two bending structures are fixedly connected with reinforcing rib structures. By the adoption of the technical scheme, the technical problems that an existing front steering knuckle is heavy in weight and relatively high in manufacturing cost can be solved.

The application belongs to the technical field of paint production equipment, and discloses a mixing mechanism for producing paint, a rack, a storage cylinder, a mixing box and a material control assembly. The rack has an installation space inside, the storage cylinder is arranged in the installation space, and the inside of the storage cylinder has a plurality of storage cavities along the circumference thereof. The mixing box is arranged in the installation space and located at the bottom of the storage cylinder. The material control assembly comprises a material control plate located at the bottom of the storage cylinder and a driving member arranged on the rack. The material control plate has a material dropping opening, the material dropping opening is provided with a material guide pipe in communication with the feed port of the mixing box, and the driving member is connected to the material control plate and used for driving the material control plate to rotate, so that the material dropping opening is in communication with different storage cavities, thereby realizing storage of a plurality of raw materials on one hand, reducing the area occupied by the plurality of storage cavities on the other hand, reducing the required floor area of the mixing mechanism, and improving the space utilization of the factory area.

The invention discloses a frame of an inverted three-wheeled motorcycle and an inverted three-wheeled electric motorcycle. The frame is formed by a front frame, a middle frame and a rear frame which are fixedly connected in sequence. The front frame forms a front frame structure, the middle frame forms a middle frame structure, and the rear frame forms a rear frame structure. The frame of the invention adopts a three-section structure, which is connected into an integral frame through three modules. The frame modules where various systems are located are reasonably designed, so that the load is effectively distributed, so that the center of gravity of the whole vehicle is well arranged, thereby achieving a lightweight frame while ensuring support strength, reducing energy consumption, and ensuring driving stability, safety and control flexibility.

The invention provides a high-performance integrated type electric pump set applied to a vehicle chassis active suspension, an active suspension system and a vehicle, and the high-performance integrated type electric pump set suspension system comprises a first pump shell, a motor shell and a second pump shell which are sequentially arranged in the axial direction; the hydraulic pump further comprises a controller shell detachably connected to the motor shell, a first hydraulic pump is arranged in the first pump shell, a motor is arranged in the motor shell, a second hydraulic pump is arranged in the second pump shell, and a controller is arranged in the controller shell. The motor is provided with a left output shaft and a right output shaft which are connected with the first hydraulic pump and the second hydraulic pump respectively, and the controller is electrically connected with the motor. The electric pump set is higher in integration degree, smaller in installation occupied space, lighter in weight and lower in cost, the vehicle lightweight design and the whole vehicle simplified arrangement are better met, the performance of a suspension system adopting the electric pump set can be stable, and the vehicle driving stability can be guaranteed.

This invention discloses a method, apparatus, equipment, and storage medium for managing spoil heap maps. By collecting location and movement data of operating vehicles during operation, the spoil heap map, retaining wall positions, and unloading location information are dynamically updated. This solves the technical problems of insufficient reliability of laser sensing due to dust interference and low efficiency of manual retaining wall positioning in existing unmanned mining truck spoil heap operations. By simultaneously collecting terrain and retaining wall data during vehicle operation, production and measurement are integrated, reducing data acquisition costs. Flatness detection effectively filters out positioning errors caused by uneven terrain, ensuring map accuracy. Dynamic map updates and maintenance of unloading locations enable automatic switching of unloading location status, improving the overall turnover efficiency of the spoil heap.

The invention relates to the technical field of communication engineering cable wiring, in particular to a multifunctional communication engineering cable wiring device which comprises a main body box, a control module is fixedly mounted on the upper side of the main body box, a driving mechanism is arranged in the main body box, and a stranding mechanism is arranged at the position, corresponding to the driving mechanism, of one side of the main body box. An auxiliary mechanism is arranged in the center of the side of the body box. Through the arrangement of the driving mechanism and the stranding mechanism, grouped small cables are completely placed in first matching blocks, a motor works to drive a driving gear to drive a matching gear to rotate, and the matching gear is restrained by the first matching blocks to rotate in a limited mode; the first matching block rotates along with the matching gear to enable the elastic block to rub and stir, so that the cables are twisted together, the film roll is attached to the side faces of the cables for film covering, a cable main line is manually pulled for drawing, the grouped cables are twisted and coated together at the same time, multiple groups of cables can be processed, and the working efficiency is improved.

The invention discloses a braking anti-lock method and system for a distributed electric drive vehicle, and belongs to the technical field of vehicle braking anti-lock control. The method comprises the following steps: constructing a two-dimensional mapping table; the real-time vehicle longitudinal speed and the brake pedal opening degree of the distributed electric drive vehicle are obtained, and the ideal braking time of the vehicle longitudinal speed and the brake pedal opening degree under the current time step is obtained in combination with the two-dimensional mapping table; on the basis of the obtained ideal braking time, an ideal braking curve is generated through quartic polynomial fitting; based on the ideal braking curve, the difference value delta vi between the current longitudinal speed of the vehicle and the ideal braking curve is calculated, the deviation condition of the current speed and the speed under the ideal braking condition is evaluated, the braking force is dynamically adjusted, the braking force output of each wheel is dynamically adjusted, wheel locking can be effectively prevented under different complex road conditions, and the service life of the vehicle is prolonged. The braking performance and the driving stability of the vehicle are ensured, and technical guarantee is provided for safety application of the distributed electric drive vehicle.

The application discloses a film pasting device and FPC false pasting machine, and relates to the technical field of flexible printed circuit board, and specifically relates to the following technical scheme: a mounting frame is provided with a fixed film pasting assembly at the top; a movable film pasting assembly is installed on the inner wall of the mounting frame and is arranged directly below the fixed film pasting assembly; and an intermittent driving assembly is installed on the mounting frame and is used for intermittent movement of materials; the movable film pasting assembly moves upward to push the materials away from the intermittent driving assembly, and then the materials are in contact with the fixed film pasting assembly for false pasting treatment. Through the above method, after the false pasting forming of the film pasting device, the intermittent driving assembly sends the FPC finished product away, and at the same time, the FPC original product and the reinforcing plate are sent to the top of the movable film pasting assembly for continuous feeding; the feeding and false pasting can be performed synchronously, and continuous production can be realized.

The invention relates to an automatic driving longitudinal control method for a road train, belongs to the technical field of automatic driving road train motion control, and solves the problems that in the prior art, the propagation influence of a front train on a rear train in a road train queue is caused, and the deviation or oscillation between the distance between vehicles in the queue and the speed is amplified and propagated in the train queue; the method comprises the following steps: S1, receiving real-time information provided by an upstream module; s2, for a head train and each slave train in the road trains, respectively constructing MPC models of the own trains; s3, constructing a vehicle dynamics prediction model of the own vehicle; s4, solving the established MPC model by using a solver for real-time vehicle control; and S5, based on the current operation process data in the road train, performing neural network updating through the cloud, and transmitting the updated pre-trained neural network back to the train end for the next round of task.

The invention discloses a pull type vehicle body stability control vehicle-mounted control system based on a mechanical pull rope brake. The pull type vehicle body stability control vehicle-mounted control system comprises a controller box, a fixing device, a transmission mechanism, a sound-light alarm unit and a power supply. Lateral acceleration data of a vehicle body are collected through an LSM6DSOWTR three-axis acceleration sensor in a high frequency mode, a five-level graded braking rule and precise PWM control are combined, precise matching of the swing degree and the braking force of the pull type motor home is achieved, vehicle body swing is effectively restrained, the risk of dead swing is avoided, and the driving safety is remarkably improved; meanwhile, voltage and current dual detection protection and sound-light alarm functions are integrated, the abnormal operation risk of the system can be avoided in time, and the mechanical pull rope transmission mechanism which is simple in structure and small in force transmission loss and the power supply circuit matched with the vehicle-mounted environment are matched, so that installation and maintenance are convenient, adaptability is high, and cost is low. And the driving stability can be guaranteed by dynamically adjusting the braking power, and the service life of core components is prolonged.

This application relates to the field of intelligent scheduling technology in mines, and discloses a collaborative scheduling method for unmanned trucks in open-pit mines based on multi-energy complementarity. The method includes the following steps: collecting road network topology information, calculating the potential energy topology coefficient per unit mass, obtaining the microgrid net power prediction curve and throughput progress deviation rate; calculating the dynamic energy storage acceptance rate; calculating the theoretical basic load mass when the potential energy topology coefficient is less than zero; calculating the dynamic structural fatigue boundary load mass and the dynamic adhesion boundary load mass, and truncating the theoretical basic load mass to output the target load mass; obtaining alternative schemes, and calculating the comprehensive cost value through a multi-objective comprehensive cost function; adjusting the energy replenishment threshold according to the net power prediction curve, selecting the target alternative scheme with the smallest comprehensive cost value, generating scheduling instructions, and issuing them for execution. This invention combines the vehicle's physical boundary with the microgrid's supply and demand fluctuations to achieve comprehensive optimization of mining area electricity costs, transportation progress, and operational safety.

This invention relates to the field of liquid crystal display technology, and more particularly to an intelligent driving method and system for liquid crystal displays. The method includes the following steps: recording the current decay waveform of the source driver charging the pixel capacitor during pixel charging; calculating the charging time constant based on the current decay waveform; calculating the current pixel capacitance value using the charging time constant and the transistor on-resistance; converting the current pixel capacitance value into an orientation angle corresponding to the pixel orientation state; comparing the current orientation angle with the target orientation angle corresponding to the pre-acquired target grayscale, and calculating the orientation angle deviation; and using a driving sequence containing multiple voltage pulses based on the orientation angle deviation. This invention achieves closed-loop precise driving based on pixel state feedback by deriving the pixel capacitance from the current decay and converting it into the pixel orientation state, overcoming the problem of long-term open-loop blind driving in liquid crystal displays.

The utility model relates to a kind of 10 feet container special transport semitrailer and mobile energy storage system.The 10 feet container special transport semitrailer includes frame main body and four locking appliances, and connecting main body and wheel set.Frame main body is used to carry 10 feet container.Four locking appliances are set at the position of the four corner fittings corresponding to the bottom of 10 feet container of frame main body.The rear end of connecting main body is connected with frame main body, and the front end is equipped with towing pin.The top surface of frame main body is lower than the top surface of connecting main body.Wheel set is set to the bottom of frame main body and is close to the rear end of frame main body.The distance from the rotation axis of wheel set to towing pin is greater than or equal to 4200mm, and the distance from the rear end surface of frame main body to the front end surface of connecting main body is less than or equal to 5600mm.The total length of the semitrailer is shorter, and the mobile transportation of single 10 feet container can be realized, the amplitude generated by road bump to 10 feet container is reduced, and the transportation safety of container is improved.

The invention discloses a vehicle control method and device and a readable storage medium, and relates to the technical field of new energy vehicles. The vehicle control method comprises the steps that in the vehicle running process, the vehicle speed value of a vehicle, the first opening degree of an accelerator pedal, the second opening degree of a brake pedal and the electric quantity value of a battery are obtained; according to the vehicle speed value, the first opening degree, the second opening degree and the electric quantity value, the driving mode of the vehicle is determined; determining a torque distribution mode of a front axle motor and a rear axle motor based on the driving mode; and according to the torque distribution mode, the torque of the front axle motor and the torque of the rear axle motor are adjusted, so that the torque zero-crossing process of the front axle motor and the rear axle motor is completed. The torque zero-crossing stability of the vehicle is improved.

This invention relates to the field of intelligent connected vehicle technology, addressing the shortcomings of existing intelligent connected vehicle communication network trust assessment and consistency coordination. Specifically, it relates to a collaborative control method for trusted interaction among intelligent connected vehicle groups under a zero-trust architecture. By fusing direct and indirect trust functions to obtain a dynamic comprehensive trust assessment function, it achieves real-time fusion of the global communication network and the comprehensive trust calculation model, accurately quantifying the degree of interaction between vehicles and significantly improving the safety performance of ICV group interaction. A distributed collaborative control algorithm based on state feedback adapts to differences in vehicle trust levels, achieving the goal of consistent coordination among vehicle queues and ensuring the stability of collaborative control in dynamic communication scenarios for the ICV group. The integrated design of zero-trust security protection and vehicle communication network allows the security of communication relationships in the ICV group system to be updated in real time, adapting to the communication topology changes under dynamic vehicle movement.

The application relates to a vehicle intelligent control method and device based on tire pressure anomaly grading and a storage medium, and belongs to the technical field of tire pressure monitoring. The method comprises the following steps: determining a tire pressure anomaly grade based on vehicle tire pressure sensor data and wheel speed monitoring data; determining a deviation torque based on the tire pressure anomaly grade and an abnormal wheel position; determining a stability margin grade based on the deviation between an expected yaw rate under the deviation torque and a measured yaw rate, a current vehicle speed and a road adhesion coefficient; and cooperatively controlling an electric power steering system, a braking system and a driving system of the vehicle based on the tire pressure anomaly grade and the stability margin grade. The vehicle intelligent control method based on tire pressure anomaly grading provided by the application upgrades passive alarm of tire pressure anomaly to active intervention, different control strategies can be adopted according to different anomaly severities, and the driving stability of the vehicle under various tire pressure anomaly working conditions is ensured.

The invention discloses an inverted three-wheeled electric motorcycle, comprising a frame, a suspension system and a driving system. The frame is provided with a driving position, and a control pedal is provided on the motorcycle corresponding to the driving position, and the control pedal is located within the range of the lateral projection of the front wheel of the motorcycle. The foot pedal used by the driver for control of the invention is located within the range of the lateral projection of the wheel, and the front space of the whole vehicle is reasonably utilized. Compared with the prior art, the control pedal is moved forward, thereby moving the driving position forward, and finally shortening the length of the whole vehicle compared with the prior art. Under the premise of ensuring human-machine comfort and vehicle (increased) functional requirements, the flexibility of the whole vehicle can be improved, thereby ensuring safety and driving stability.

The invention relates to a suspension rigidity and transmission output torque self-adaptive adjustment method, which comprises the following steps of: acquiring multi-source time sequence data in a vehicle driving process, constructing a feature vector for judging a driving intention of a driver based on the multi-source time sequence data, matching the feature vector with a preset intention template library, and determining the driving intention of the driver according to the matched intention template library. Performing behavior deduction by adopting a Bayesian network model in combination with time sequence characteristics in a continuous time window, outputting a driver intention probability vector, and determining a current driving intention of the driver based on the intention probability vector; and executing a branch adjustment strategy based on the current driving intention: if the intention is the first intention. According to the method, the current driving intention is recognized, and then the target suspension rigidity and / or the target transmission torque are directly calculated based on the recognized form intention, so that cooperative adjustment of the suspension rigidity and the transmission torque is realized, and dynamic response, driving stability and riding comfort can be considered under different driving working conditions.

The utility model relates to the technical field of agricultural mechanical equipment, in particular to a tractor stepless speed change transmission system which comprises an engine, a clutch is arranged at the output end of the engine, a first front speed increasing box is arranged at the output end of the clutch, a first hydrostatic stepless speed changer is arranged at the output end of the first front speed increasing box, and a second hydrostatic stepless speed changer is arranged at the output end of the second front speed increasing box. A gearbox assembly, a middle power output assembly and a rear power output assembly are arranged at the output end of the first hydrostatic stepless transmission. The front speed increasing box I and the hydrostatic stepless speed changer I are arranged, the front speed increasing box I achieves power speed increasing through gear meshing transmission, the structure is compact, the transmission efficiency is high, power input with the higher rotating speed can be provided for follow-up transmission parts, and the power transmission performance of the whole transmission system is optimized; the first hydrostatic stepless speed changer can flexibly adjust the angle of an internal swash plate according to operation requirements, and stepless speed change is achieved.