A shock absorption control method, system and tractor for agricultural implements

Abstract

The present invention relates to the technical field of agricultural machinery shock absorption, and discloses a shock absorption control method, system and tractor for agricultural implements. The method includes: real-time monitoring of the front tire pressure signal of the tractor, and performing differential processing on the front tire pressure signal; determining the uneven road surface passed by the front wheel according to the first-order differential value, and performing filtering and fitting on the first-order differential value to obtain the fitting curve of the road surface passed by the front wheel; determining the moments when the rear wheel and the agricultural implement wheel reach the uneven road surface passed by the front wheel; and sending shock absorption control instructions to the rear wheel damping system and / or the agricultural implement damping system of the tractor respectively according to the fitting curve of the road surface passed by the front wheel at the corresponding moments. The present invention can actively apply shock absorption measures before the vibration acts on the rear wheels of the tractor and the tires of the agricultural implements, effectively protect the agricultural implements and extend their service life, and improve the working comfort of the driver; moreover, the control method is simple and reliable, has low requirements for the hardware configuration of the controller, the system structure is simple, and the cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery shock absorption, and particularly to a shock absorption control method, system and tractor for agricultural implements. Background Art

[0002] With the continuous development of agricultural mechanization, the use of agricultural implements is becoming more and more extensive. Traditional agricultural implements are directly connected to mechanical power, and the buffering and shock absorption effects are poor. Coupled with the complex and changeable land terrain of the working environment, it is impossible to lift the agricultural implement according to the terrain when suspending the agricultural implement. The uneven terrain causes the agricultural implement to frequently experience different degrees of bumps and vibrations, which will cause fatigue fracture of structural components in the long run, reduce the service life of the agricultural implement, and ultimately cause damage to the agricultural implement. The interference of the vibration of the agricultural implement and the bumps and vibrations of the tractor itself will cause symptoms such as headache, tinnitus, insomnia and joint pain in the driver, which will affect the driver's physical health over time. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a shock absorption control method, system and tractor for agricultural implements in view of the problems existing in the prior art.

[0004] To solve the above technical problem, the present invention provides a shock absorption control method for agricultural implements, including: real-time monitoring of the front tire pressure signal of the tractor, performing differential processing on the front tire pressure signal to obtain a first-order differential value; determining the uneven road surface passed by the front wheel according to the first-order differential value and a preset minimum limit value, and performing filter fitting on the first-order differential value to obtain a fitting curve of the road surface passed by the front wheel; respectively determining the time required for the rear wheel of the tractor and the agricultural implement wheel to reach the uneven road surface passed by the front wheel according to the vehicle speed, the wheelbase between the front and rear wheels of the tractor, and the distance between the agricultural implement wheel axle and the front axle of the tractor; and sending shock absorption control instructions to the rear wheel damping system and / or the agricultural implement damping system of the tractor at the corresponding time according to the fitting curve of the road surface passed by the front wheel.

[0005] The beneficial effects of the present invention are as follows: By monitoring the front tire pressure information, the present invention determines whether the front wheel passes through an uneven road surface according to the front tire pressure signal, calculates the time required for the rear wheel and the implement wheel to reach the uneven road surface according to parameters such as vehicle speed and wheelbase, and sends shock absorption control instructions to the damping systems of the rear wheel and the implement at the corresponding time, so as to actively apply shock absorption measures before the vibration acts on the rear wheel and the implement tire of the tractor, which can effectively protect the agricultural implement, extend the service life of the agricultural implement, and improve the working comfort of the driver; moreover, the control method is simple and reliable, has low requirements for the hardware configuration of the controller, the system structure is simple, and the cost is low.

[0006] On the basis of the above technical solution, the present invention can be further improved as follows.

[0007] Further, determining the uneven road surface passed by the front wheel according to the first-order differential value and the preset minimum limit value includes: when the absolute value of the first-order differential value is greater than the absolute value of the preset minimum limit value, it is determined that the front wheel is on an uneven road surface, the current time is recorded, the vehicle speed is collected, and the time is accumulated; when the absolute value of the first-order differential value is less than or equal to the absolute value of the preset minimum limit value, it is determined that the front wheel has passed the current uneven road surface, the time accumulation is stopped, and the total duration of the front wheel passing the current uneven road surface is determined.

[0008] The beneficial effect of adopting the above further solution is to judge whether the vehicle is currently in a bumpy road condition according to the absolute value of the first-order differential value and the absolute value of the preset minimum limit value. When the vehicle is on an uneven road surface, the current time and the vehicle speed are recorded, and the time is accumulated, which is convenient for calculating the total duration of the front wheel passing the current uneven road surface; according to the vehicle speed, it is convenient to calculate the time required for the rear wheel and the implement wheel to reach the current uneven road surface, and according to the total duration of the front wheel passing the current uneven road surface, it is convenient to provide data support for subsequent shock absorption control of the rear wheel and the implement wheel.

[0009] Further, filtering and fitting the first-order differential value to obtain the fitting curve of the road surface passed by the front wheel includes: performing low-pass filtering on the first-order differential value, and for the first-order differential value after low-pass filtering, retaining the first-order differential value whose absolute value is greater than the absolute value of the preset minimum limit value, and setting the first-order differential value whose absolute value is less than or equal to the absolute value of the preset minimum limit value to zero, to obtain the fitting curve of the road surface passed by the front wheel.

[0010] The beneficial effect of adopting the above further solution is that by performing low-pass filtering on the first-order differential value, it is convenient to remove interference signals, and fitting the first-order differential value according to the magnitude relationship between the absolute value of the first-order differential value and the absolute value of the preset minimum limit value, so as to obtain the fitting curve of the road surface passed by the front wheel, thereby realizing the continuity of shock absorption control.

[0011] Further, respectively determining the moments when the tractor rear wheel and the implement wheel reach the uneven road surface passed by the front wheel according to the vehicle speed, the wheelbase of the tractor front and rear wheels, and the distance between the implement wheel axle and the tractor front axle, includes:

[0012] T1n = Tn + L1 / Wn; T2n = Tn + L2 / Wn;

[0013] T1n is the moment when the tractor rear wheel reaches the uneven road surface, T2n is the moment when the implement reaches the uneven road surface; Tn is the moment when the tractor front wheel reaches the uneven road surface; L1 is the wheelbase of the tractor front and rear wheels, L2 is the distance between the implement wheel axle and the tractor front axle, and Wn is the vehicle speed.

[0014] Further, within the time period from T1n to T1n+△Tn according to the fitting curve of the road surface passed by the front wheels, send a first shock absorption control instruction to the rear-wheel damping system of the tractor: X1n = F(t) + kF(t) / Wn;

[0015] Within the time period from T2n to T2n+△Tn, send a second shock absorption control instruction to the damping system of the agricultural implement:

[0016] X2n = F(t) + kF(t) / Wn;

[0017] wherein, F(t) is the fitting curve of the road surface passed by the front wheels, Wn is the vehicle speed, T1n is the moment when the rear wheels of the tractor reach the uneven road surface, T2n is the moment when the wheels of the agricultural implement reach the uneven road surface, k is a constant coefficient, and △Tn is the total duration for the front wheels to pass through the uneven road surface.

[0018] The beneficial effect of adopting the above further solution is that, according to the fitting curve of the road surface passed by the front wheels, the vehicle speed, the moment when the rear wheels of the tractor reach the uneven road surface, the moment when the wheels of the agricultural implement reach the uneven road surface, and the total duration for the front wheels to pass through the uneven road surface, send the first shock absorption control instruction and the second shock absorption control instruction to the rear-wheel damping system of the tractor and the damping system of the agricultural implement respectively within the corresponding time periods, so as to actively apply shock absorption measures before the vibration acts on the rear wheels of the tractor and the tires of the agricultural implement, which can effectively protect the agricultural implement, extend the service life of the agricultural implement, and also improve the working comfort of the driver.

[0019] To solve the above technical problems, the present invention provides a shock absorption control system for an agricultural implement, including: a tire pressure sensor, a vehicle speed sensor, a controller, and a damping system; the damping system includes a rear-wheel damping system and / or a damping system of the agricultural implement; the tire pressure sensor is installed on the front wheels of the tractor for real-time monitoring of the front tire pressure signal of the tractor; the vehicle speed sensor is used for real-time monitoring of the vehicle speed; the controller is used for performing differential processing on the front tire pressure signal to obtain a first-order differential value; determining the uneven road surface passed by the front wheels according to the first-order differential value and a preset minimum limit value, and performing filtering and fitting on the first-order differential value to obtain the fitting curve of the road surface passed by the front wheels; respectively determining the time required for the rear wheels of the tractor and the wheels of the agricultural implement to reach the uneven road surface passed by the front wheels according to the vehicle speed, the wheelbase of the front and rear wheels of the tractor, and the distance between the wheel axle of the agricultural implement and the front axle of the tractor; and sending shock absorption control instructions to the rear-wheel damping system of the tractor and / or the damping system of the agricultural implement respectively when the corresponding time is reached according to the fitting curve of the road surface passed by the front wheels.

[0020] Further, the controller is specifically configured to: when the absolute value of the first-order differential value is greater than the absolute value of a preset minimum limit value, it is determined that the front wheel is on an uneven road surface, record the current time and collect the vehicle speed, and accumulate the time; when the absolute value of the first-order differential value is less than or equal to the absolute value of the preset minimum limit value, it is determined that the front wheel has passed the current uneven road surface, stop accumulating the time, and determine the total duration for the front wheel to pass the current uneven road surface.

[0021] Further, the controller is specifically configured to: perform low-pass filtering on the first-order differential value. For the first-order differential value after low-pass filtering, retain the first-order differential values whose absolute values are greater than the absolute value of the preset minimum limit value, and set the first-order differential values whose absolute values are less than or equal to the absolute value of the preset minimum limit value to zero, to obtain the fitting curve of the road surface passed by the front wheel.

[0022] Further, the controller is specifically configured to: respectively determine the moments when the rear wheels of the tractor and the wheels of the agricultural implement reach the uneven road surface passed by the front wheel according to the vehicle speed, the wheelbase between the front and rear wheels of the tractor, and the distance between the wheel axle of the agricultural implement and the front axle of the tractor, including:

[0023] T1n = Tn + L1 / Wn; T2n = Tn + L2 / Wn;

[0024] T1n is the moment when the rear wheels of the tractor reach the uneven road surface, T2n is the moment when the agricultural implement reaches the uneven road surface; Tn is the moment when the front wheels of the tractor reach the uneven road surface; L1 is the wheelbase between the front and rear wheels of the tractor, L2 is the distance between the wheel axle of the agricultural implement and the front axle of the tractor, and Wn is the vehicle speed;

[0025] Send a first shock absorption control instruction to the rear-wheel damping system of the tractor in the time period from T1n to T1n + △Tn according to the fitting curve of the road surface passed by the front wheel: X1n = F(t) + kF(t) / Wn;

[0026] Send a second shock absorption control instruction to the damping system of the agricultural implement in the time period from T2n to T2n + △Tn:

[0027] X2n = F(t) + kF(t) / Wn;

[0028] Wherein, F(t) is the fitting curve of the road surface passed by the front wheel, Wn is the vehicle speed, T1n is the moment when the rear wheels of the tractor reach the uneven road surface, T2n is the moment when the wheels of the agricultural implement reach the uneven road surface, k is a constant coefficient, and △Tn is the total duration for the front wheel to pass the uneven road surface.

[0029] Further, the above technical solution further includes a display and an automatic shock absorption switch connected to the controller.

[0030] To solve the above technical problems, the present invention provides a tractor, including the agricultural implement shock absorption control system described in the above technical solution.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a flowchart of the agricultural implement shock absorption control method provided by an embodiment of the present invention;

[0033] Figure 2 It is a fitting curve graph of the front wheels of the tractor passing through the road surface provided by an embodiment of the present invention;

[0034] Figure 3 It is an overall layout diagram of the agricultural implement shock absorption control system provided by an embodiment of the present invention;

[0035] Figure 4 It is a block diagram of the agricultural implement shock absorption control system provided by an embodiment of the present invention;

[0036] Figure 5 It is a working flowchart of the agricultural implement shock absorption control system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The following specific examples illustrate the implementation manners of the present disclosure. Those skilled in the art can easily understand other advantages and effects of the present disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts fall within the scope of protection of the present disclosure.

[0038] It should be noted that the following description relates to various aspects of embodiments within the scope of the appended claims. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of the aspects set forth herein can be used to implement a device and / or practice a method. Additionally, this device can be implemented and this method can be practiced using other structures and / or functionality in addition to one or more of the aspects set forth herein.

[0039] Figure 1 This is a flowchart of the agricultural implement shock absorption control method provided by an embodiment of the present invention. As Figure 1 shown, the method includes:

[0040] S1. Real-time monitor the front tire pressure signal of the tractor, perform differential processing on the front tire pressure signal to obtain a first-order differential value.

[0041] Specifically, tire pressure sensors can be installed on the left and right front wheels of the tractor respectively to obtain the front tire pressure signal of the tractor in real time through the tire pressure sensors. A vehicle speed sensor is installed on the tractor to obtain the vehicle speed in real time through the vehicle speed sensor.

[0042] The controller can collect the signal Fn (n = 1, 2, 3...) of the tire pressure sensor and the signal Wn (n = 1, 2, 3...) of the vehicle speed sensor every ΔT time. The controller performs differential processing on the sampling values at times Tn and T(n + 1) (n = 1, 2, 3...) to obtain a first-order differential value ΔFn, ΔFn = F(n + 1) - Fn, that is, the front tire pressure change trend.

[0043] S2. Determine the uneven road surface passed by the front wheel according to the first-order differential value and a preset minimum limit value, and perform filtering and fitting on the first-order differential value to obtain a fitting curve of the road surface passed by the front wheel.

[0044] S3. According to the vehicle speed, the wheelbase between the front and rear wheels of the tractor, and the distance between the implement axle and the front axle of the tractor, determine the moments when the rear wheels of the tractor and the implement wheels reach the uneven road surface passed by the front wheel respectively.

[0045] For example, the vehicle speed Wn can be obtained through a vehicle speed sensor, and the wheelbase L1 of the front and rear wheels of the tractor and the distance L2 between the wheel axle of the agricultural implement and the front axle of the tractor can be input through a display. The wheel diameter data can be accurately matched according to different wheelbases, different agricultural implements, and whether the agricultural implement has wheels or not, and then the time required for the rear wheels of the tractor and the wheels of the agricultural implement to reach the uneven road surface passed by the front wheels can be calculated, and then the time when the rear wheels and the wheels of the agricultural implement reach the uneven road surface passed by the front wheels can be determined.

[0046] S4. When reaching the corresponding moment according to the fitting curve of the road surface passed by the front wheels, send shock absorption control instructions to the damping system of the rear wheels of the tractor and / or the damping system of the agricultural implement respectively.

[0047] For example, when the rear wheels reach the uneven road surface passed by the front wheels, send a shock absorption control instruction to the damping system of the rear wheels. When the wheels of the agricultural implement reach the uneven road surface passed by the front wheels, send a shock absorption control instruction to the damping system of the wheels of the agricultural implement, so as to realize semi-active shock absorption of the agricultural implement.

[0048] In the above embodiment, by intelligently monitoring the tire pressure change trend of the front wheels (left and right) of the tractor and the vehicle speed of the whole vehicle, the time when the rear wheels of the tractor and the agricultural implement pass through the uneven road surface passed by the front wheels is accurately judged, and then the magnitude of the damping of the rear wheels of the tractor is controlled. For agricultural implements with wheels, the magnitudes of the damping of the rear wheels of the tractor and the wheels of the agricultural implement are controlled. Using the road surface spectrum picked up by the front wheels, shock absorption measures are actively applied before the vibration acts on the rear wheels of the tractor and the tires of the implement, so as to realize semi-active shock absorption of the agricultural implement. It can not only effectively protect the agricultural implement and extend its service life, but also improve the working comfort of the driver; and the control method is simple and reliable, has low requirements for the hardware configuration of the controller, the system structure is simple, and the cost is low.

[0049] Optionally, in one embodiment, determining the uneven road surface passed by the front wheels according to the first-order differential value △Fn and the preset minimum limit value △Fmin includes: when the absolute value of the first-order differential value is greater than the absolute value of the preset minimum limit value, it is determined that the front wheels are on an uneven road surface, record the current time and collect the vehicle speed, and accumulate the time; when the absolute value of the first-order differential value is less than or equal to the absolute value of the preset minimum limit value, it is determined that the front wheels have passed the current uneven road surface, stop accumulating the time, and determine the total duration of the front wheels passing through the current uneven road surface.

[0050] If the controller collects the signals Fn (n = 1, 2, 3...) of the tire pressure sensor and the signals Wn (n = 1, 2, 3...) of the vehicle speed sensor every △T time. The controller calculates and processes the sampling values at times Tn and T(n+1) (n = 1, 2, 3...), and obtains the trend of the front tire pressure change. The minimum limit value △Fmin of △Fn is determined by sampling various road conditions when the tire encounters an uneven road surface. When |△Fn| > |△Fmin|, the front wheel is in an uneven road condition, and the controller collects the time Tn and the signal Wn of the vehicle speed sensor at this time, and accumulates the time. When |△Fn| ≤ |△Fmin|, the front wheel has passed the uneven road condition and returned to the normal road condition. The controller collects the time T(n+1) at this time, then the time accumulation stops, and the total duration △Tn of this process is calculated. △Tn = T(n+1) - Tn, and △Tn is the total duration for the front wheel to completely pass through the uneven road surface.

[0051] T1n is the moment when the rear wheel reaches the uneven road surface, and T2n is the moment when the agricultural implement reaches the uneven road surface. T1n = Tn + L1 / Wn; T2n = Tn + L2 / Wn. Tn is the moment when the front wheel of the tractor reaches the uneven road surface; L1 is the wheelbase between the front and rear wheels of the tractor, L2 is the distance between the wheel axle of the agricultural implement and the front axle of the tractor, and Wn is the vehicle speed.

[0052] In the above embodiments, it is judged whether the vehicle is currently in an uneven road condition according to the absolute value of the first-order differential value and the absolute value of the preset minimum limit value. When the vehicle is on an uneven road surface, the current moment and the vehicle speed are recorded, and the time is accumulated to facilitate calculating the total duration for the front wheel to pass through the current uneven road surface; according to the vehicle speed, it is convenient to calculate the time required for the rear wheel and the implement wheel to reach the current uneven road surface, and according to the total duration, it is convenient to provide data support for subsequent shock absorption control of the rear wheel and the implement wheel.

[0053] Optionally, in one embodiment, the filtering and fitting of the first-order differential value to obtain the fitting curve of the road surface passed by the front wheel includes: performing low-pass filtering on the first-order differential value. For the first-order differential value after low-pass filtering, retain the first-order differential values whose absolute value of the first-order differential value is greater than the absolute value of the preset minimum limit value, and set the first-order differential values whose absolute value of the first-order differential value is less than or equal to the absolute value of the preset minimum limit value to zero, to obtain the fitting curve of the road surface passed by the front wheel. The fitting curve of the road surface passed by the front wheel is as Figure 2 shown.

[0054] In the above embodiments, by performing low-pass filtering on the first-order differential value, it is convenient to remove interference signals, and the first-order differential value is fitted according to the magnitude relationship between the absolute value of the first-order differential value and the absolute value of the preset minimum limit value, so as to obtain the fitting curve of the road surface passed by the front wheel, thereby realizing the continuity of shock absorption control.

[0055] Optionally, in one embodiment, a first shock absorption control instruction is sent to the tractor rear-wheel damping system according to the fitting curve of the road surface passed by the front wheels during the time period from T1n to T1n+ΔTn: X1n = F(t) + kF(t) / Wn; a second shock absorption control instruction is sent to the agricultural implement damping system during the time period from T2n to T2n+ΔTn: X2n = F(t) + kF(t) / Wn; where F(t) is the fitting curve of the road surface passed by the front wheels, Wn is the vehicle speed, T1n is the moment when the tractor rear wheels reach the uneven road surface, T2n is the moment when the agricultural implement wheels reach the uneven road surface, k is a constant coefficient, and ΔTn is the total duration of the front wheels passing through the uneven road surface.

[0056] The controller sends the signal X1n to the hydraulic valve controlling the rear-wheel cylinder during the time period from T1n to T1n+ΔTn, and sends the signal X2n to the hydraulic valve controlling the agricultural implement cylinder during the time period from T2n to T2n+ΔTn. X1n and X2n can control the opening ratio of the hydraulic valve, thereby controlling the expansion and contraction of the hydraulic cylinder and the spring to adjust the height of the corresponding wheels, ensuring that the vibration can be reduced when the rear wheels and the agricultural implement pass through the uneven road section.

[0057] In the above embodiment, according to the fitting curve of the road surface passed by the front wheels, the vehicle speed, the time required for the tractor rear wheels to reach the current uneven road surface, the time required for the agricultural implement wheels to reach the current uneven road surface, and the total duration of the front wheels passing through the current uneven road surface, the first shock absorption control instruction and the second shock absorption control instruction are respectively generated, so as to actively apply shock absorption measures when the vibration has not yet acted on the tractor rear wheels and the implement tires, which can effectively protect the agricultural implement, extend its service life, and also improve the working comfort of the driver.

[0058] As Figure 3 and Figure 4 shown, the present invention provides an agricultural implement shock absorption control system, including: a tire pressure sensor, a vehicle speed sensor, a controller, and a damping system; the damping system includes a rear-wheel damping system and / or an agricultural implement damping system.

[0059] The tire pressure sensor is installed on the front wheels of the tractor to monitor the tire pressure signal of the front tires of the tractor in real time; the vehicle speed sensor is used to monitor the vehicle speed in real time; the controller is used to perform differential processing on the front tire pressure signal to obtain a first-order differential value; determine the uneven road surface passed by the front wheels according to the first-order differential value and a preset minimum limit value, and perform filtering and fitting on the first-order differential value to obtain a fitting curve of the road surface passed by the front wheels; according to the vehicle speed, the wheelbase of the front and rear wheels of the tractor, and the distance between the wheel axle of the agricultural implement and the front axle of the tractor, respectively determine the time required for the rear wheels of the tractor and the agricultural implement wheels to reach the uneven road surface passed by the front wheels; at the corresponding time according to the fitting curve of the road surface passed by the front wheels, send shock absorption control instructions to the rear wheel damping system and / or the agricultural implement damping system of the tractor respectively.

[0060] The controller is a device with functions of signal acquisition, filtering, amplification, operation processing, signal sending and control. It collects the signals Fn (n = 1, 2, 3...) of the tire pressure sensor and the signals Wn (n = 1, 2, 3...) of the vehicle speed sensor every △T time. And perform processing and analysis on the collected signals, and generate control instructions according to the analysis results and send them to the damping system. In the embodiment of the present invention, the controller can use the controller already installed on the tractor, or can be retrofitted as a preferred configuration later.

[0061] The display is a display device that facilitates the driver to input and view key information. In the embodiment of the present invention, this device is connected to the controller and can input information such as the wheelbase L1 of the front and rear of the tractor and the distance L2 between the wheel axle of the agricultural implement and the front axle of the tractor. The embodiment of the present invention is applicable to both wheeled and non-wheeled agricultural implements. If the agricultural implement is non-wheeled, the distance L2 between the wheel axle of the agricultural implement and the front axle of the tractor can be input as zero. In the embodiment of the present invention, this device has a key function and can turn on and off the shock absorption control system of the agricultural implement through the keys. In the present invention, this device can use the display already installed on the tractor, or can be retrofitted as a preferred configuration later.

[0062] The tire pressure sensor is a device installed on the front wheels for detecting tire pressure. In the embodiment of the present invention, this device sends a wireless signal to the controller, and the controller collects the signal sent by this device in real time.

[0063] The vehicle speed sensor is a device installed near the flywheel housing for detecting the rotational speed of the flywheel housing, or the engine speed can be directly read and converted. In the embodiment of the present invention, this device is connected to the controller, and the controller collects the signal sent by this device in real time.

[0064] The damping system is a device installed on the whole machine. In the embodiment of the present invention, this device is connected to the controller, and the controller sends an electrical signal to the damping system. In the embodiment of the present invention, this device can use the existing damping system on the whole machine, or can be retrofitted as a preferred configuration later.

[0065] The agricultural machinery shock absorption control system provided by the embodiment of the present invention is simpler and more feasible. It only needs to install two tire pressure sensors on the original tractor, and the controller and damping system can use the original tractor's own ones, which is more economical. In addition, the control method is simpler and more reliable, and the hardware configuration requirements of the controller are lower.

[0066] Optionally, in one embodiment, the controller is specifically used to: when the absolute value of the first-order differential value is greater than the absolute value of a preset minimum limit value, it is determined that the front wheel is on an uneven road surface, the current moment is recorded and the vehicle speed is collected, and the time is accumulated; when the absolute value of the first-order differential value is less than or equal to the absolute value of the preset minimum limit value, it is determined that the front wheel has passed the current uneven road surface, the time accumulation is stopped, and the total time the front wheel passes the current uneven road surface is determined.

[0067] Optionally, in one embodiment, the controller is specifically used to: perform low-pass filtering on the first-order differential values, and for the first-order differential values ​​after the low-pass filtering, retain the first-order differential values ​​whose absolute values ​​are greater than the absolute value of a preset minimum limit value, and set the first-order differential values ​​whose absolute values ​​are less than or equal to the absolute value of the preset minimum limit value to zero, so as to obtain a fitting curve of the road surface passed by the front wheels.

[0068] Optionally, in one embodiment, the controller is specifically used to: determine the time when the rear wheel of the tractor and the wheel of the agricultural implement reach the uneven road surface passed by the front wheel according to the vehicle speed, the wheelbase of the front and rear wheels of the tractor, and the distance between the wheel axle of the agricultural implement and the front axle of the tractor, respectively, including:

[0069] T1n=Tn+L1 / Wn; T2n=Tn+L2 / Wn;

[0070] T1n is the moment when the rear wheel of the tractor reaches the uneven road surface, T2n is the moment when the farm implement reaches the uneven road surface; Tn is the moment when the front wheel of the tractor reaches the uneven road surface; L1 is the wheelbase of the front and rear wheels of the tractor, L2 is the distance between the wheel axle of the farm implement and the front axle of the tractor, and Wn is the vehicle speed.

[0071] According to the fitting curve of the road surface passed by the front wheel, a first damping control instruction is sent to the tractor rear wheel damping system in the time period from T1n to T1n+△Tn: X1n=F(t)+kF(t) / Wn;

[0072] Send the second damping control command to the agricultural implement damping system during the time period from T2n to T2n+△Tn:

[0073] X2n=F(t)+kF(t) / Wn;

[0074] Wherein, F(t) is the fitting curve of the road surface passed by the front wheel, Wn is the vehicle speed, T1n is the moment when the rear wheel of the tractor reaches the uneven road surface, T2n is the moment when the implement wheel reaches the uneven road surface, k is a constant coefficient, and △Tn is the total duration for the front wheel to pass through the uneven road surface.

[0075] As Figure 5 shown, the working flow chart of the implement shock absorption control system provided by the embodiment of the present invention is as follows:

[0076] Step 1: Parameter initialization, n = 1;

[0077] Step 2: The controller collects the signal Fn of the tire pressure sensor and the signal Wn of the vehicle speed sensor;

[0078] Step 3: The controller performs differential processing on the tire pressure signal Fn to obtain the first-order differential value △Fn;

[0079] Step 4: The controller continuously judges whether |△Fn| is greater than |△Fmin|. If so, it indicates that the front wheel is in an uneven road condition, and then proceed to the next step, i.e., Step 5; if not, it indicates that the front wheel is not in an uneven road condition, and then return to execute Step 2;

[0080] Step 5: Calculate the time T1n and T2n required for the rear wheel and the implement tire to reach the current uneven road surface according to the vehicle speed and the wheelbase;

[0081] Step 6: The controller performs filtering and other processing on △Fn to obtain the fitting curve F(t) of the road surface passed by the front wheel;

[0082] Step 7: Send the first shock absorption control command X1n to the rear wheel damping system in the time period from T1n to T1n + △Tn according to F(t), and send the second shock absorption control command X2n to the implement damping system in the time period from T2n to T2n + △Tn;

[0083] Step 8: The damping system adjusts the damping of the rear wheel and the implement wheel respectively;

[0084] Step 9: Complete one cycle to achieve semi-automatic shock absorption; return to Step 2.

[0085] The agricultural implement shock absorption control system provided by the embodiments of the present invention uses the controller on the tractor to monitor the signal Fn of the tire pressure sensor and the signal Wn of the vehicle speed sensor in real time, which is simple and reliable; it can not only effectively protect the agricultural implement, extend the service life of the agricultural implement, and improve the comfort of the driver, but also improve the operation efficiency of the harvesting operation; the control process is accurately judged and highly practical; the system has a simple structure and is easy to install without affecting other devices on the tractor; the controller in the embodiments of the present invention can implement the above control process without a large amount of memory; the controller, display, vehicle speed sensor, damping system, and switch in the embodiments of the present invention can all use the original equipment on the tractor, or can be retrofitted as an optional configuration later, and the installation cost is not high, which will not bring too much economic burden to the machine owner.

[0086] The embodiments of the present invention also provide a tractor, including the agricultural implement shock absorption control system described in the above technical solution.

[0087] The embodiments of the present invention can accurately judge the real-time road conditions of the front wheels by intelligently monitoring the signals of the tire pressure sensor and the vehicle speed sensor, and then judge the time when the rear wheels and the agricultural implement pass through this road condition, and precisely control the damping system, and then control the hydraulic cylinder to realize the semi-active shock absorption of the rear wheels and the agricultural implement.

[0088] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A shock absorption control method for agricultural machinery, characterized in that, it includes: Real-time monitor the front tire pressure signal of the tractor, perform differential processing on the front tire pressure signal to obtain a first-order differential value; Determine the uneven road surface passed by the front wheel according to the first-order differential value and a preset minimum limit value, and perform filtering and fitting on the first-order differential value to obtain a fitting curve of the road surface passed by the front wheel; The determining the uneven road surface passed by the front wheel according to the first-order differential value and a preset minimum limit value includes: When the absolute value of the first-order differential value is greater than the absolute value of the preset minimum limit value, it is determined that the front wheel is on an uneven road surface, record the current time and collect the vehicle speed, and accumulate the time; When the absolute value of the first-order differential value is less than or equal to the absolute value of the preset minimum limit value, it is determined that the front wheel has passed the current uneven road surface, stop accumulating time, and determine the total duration of the front wheel passing through the current uneven road surface; According to the vehicle speed, the wheelbase between the front and rear wheels of the tractor, and the distance between the agricultural machinery wheel axle and the front axle of the tractor, respectively determine the moments when the rear wheels of the tractor and the agricultural machinery wheels reach the uneven road surface passed by the front wheel; According to the fitting curve of the road surface passed by the front wheel at the corresponding moment, send shock absorption control instructions to the rear wheel damping system of the tractor and / or the agricultural machinery damping system respectively.

2. The method according to claim 1, characterized in that, The performing filtering and fitting on the first-order differential value to obtain a fitting curve of the road surface passed by the front wheel includes: Perform low-pass filtering on the first-order differential value. For the first-order differential value after low-pass filtering, retain the first-order differential value whose absolute value is greater than the absolute value of the preset minimum limit value, and set the first-order differential value whose absolute value is less than or equal to the absolute value of the preset minimum limit value to zero, to obtain a fitting curve of the road surface passed by the front wheel.

3. The method according to any one of claims 1 to 2, characterized in that, The respectively determining the moments when the rear wheels of the tractor and the agricultural machinery wheels reach the uneven road surface passed by the front wheel according to the vehicle speed, the wheelbase between the front and rear wheels of the tractor, and the distance between the agricultural machinery wheel axle and the front axle of the tractor includes: T1 n=Tn+L1 / Wn; T2n=Tn+L2 / Wn; T1 n is the moment when the rear wheel of the tractor reaches the uneven road surface, T2n is the moment when the agricultural machinery reaches the uneven road surface; Tn is the moment when the front wheel of the tractor reaches the uneven road surface; L1 is the wheelbase between the front and rear wheels of the tractor, L2 is the distance between the agricultural machinery wheel axle and the front axle of the tractor, and Wn is the vehicle speed.

4. The method according to claim 3, characterized in that, Send a first shock absorption control instruction to the rear wheel damping system of the tractor in the time period from T1n to T1 n+△Tn according to the fitting curve of the road surface passed by the front wheel: X1 n=F(t)+kF(t) / Wn; Send a second shock absorption control instruction to the agricultural machinery damping system in the time period from T2n to T2n+△Tn: X2n=F(t)+kF(t) / Wn; Wherein, F(t) is the fitting curve of the road surface passed by the front wheel, Wn is the vehicle speed, T1n is the moment when the rear wheel of the tractor reaches the uneven road surface, T2n is the moment when the agricultural implement wheel reaches the uneven road surface, k is a constant coefficient, and △Tn is the total duration for the front wheel to pass through the uneven road surface.

5. An agricultural implement shock absorption control system, characterized in that, it includes: a tire pressure sensor, a vehicle speed sensor, a controller, and a damping system; the damping system includes a rear wheel damping system and / or an agricultural implement damping system; the tire pressure sensor is installed on the front wheel of the tractor and is used to monitor the front tire pressure signal of the tractor in real time; the vehicle speed sensor is used to monitor the vehicle speed in real time; the controller is used to perform differential processing on the front tire pressure signal to obtain a first-order differential value; determine the uneven road surface passed by the front wheel according to the first-order differential value and a preset minimum limit value, and perform filter fitting on the first-order differential value to obtain the fitting curve of the road surface passed by the front wheel; specifically, the controller is used for: when the absolute value of the first-order differential value is greater than the absolute value of the preset minimum limit value, it is determined that the front wheel is on an uneven road surface, record the current moment and collect the vehicle speed, and accumulate the time; when the absolute value of the first-order differential value is less than or equal to the absolute value of the preset minimum limit value, it is determined that the front wheel has passed the current uneven road surface, stop accumulating time, and determine the total duration for the front wheel to pass through the current uneven road surface; according to the vehicle speed, the wheelbase between the front and rear wheels of the tractor, and the distance between the agricultural implement wheel axle and the front axle of the tractor, respectively determine the time required for the rear wheel of the tractor and the agricultural implement wheel to reach the uneven road surface passed by the front wheel; at the corresponding time according to the fitting curve of the road surface passed by the front wheel, send shock absorption control instructions to the rear wheel damping system of the tractor and / or the agricultural implement damping system respectively.

6. The system according to claim 5, characterized in that, the controller is specifically used for: perform low-pass filtering processing on the first-order differential value. For the first-order differential value after low-pass filtering processing, retain the first-order differential value whose absolute value is greater than the absolute value of the preset minimum limit value, and set the first-order differential value whose absolute value is less than or equal to the absolute value of the preset minimum limit value to zero to obtain the fitting curve of the road surface passed by the front wheel.

7. The system according to any one of claims 5 to 6, characterized in that, the controller is specifically used for: according to the vehicle speed, the wheelbase between the front and rear wheels of the tractor, and the distance between the agricultural implement wheel axle and the front axle of the tractor, respectively determine the moments when the rear wheel of the tractor and the agricultural implement wheel reach the uneven road surface passed by the front wheel, including: T1n = Tn + L1 / Wn; T2n = Tn + L2 / Wn; T1n is the moment when the rear wheel of the tractor reaches the uneven road surface, T2n is the moment when the agricultural implement reaches the uneven road surface; Tn is the moment when the front wheel of the tractor reaches the uneven road surface; L1 is the wheelbase between the front and rear wheels of the tractor, L2 is the distance between the agricultural implement wheel axle and the front axle of the tractor, and Wn is the vehicle speed; Send the first shock absorption control instruction to the damping system of the tractor's rear wheels within the time period from T1n to T1n + △Tn according to the fitting curve of the road surface passed by the front wheels: X1n = F(t) + kF(t) / Wn; Send the second shock absorption control instruction to the damping system of the agricultural implement within the time period from T2n to T2n + △Tn: X2n = F(t) + kF(t) / Wn; wherein, F(t) is the fitting curve of the road surface passed by the front wheels, Wn is the vehicle speed, T1n is the moment when the tractor's rear wheels reach the uneven road surface, T2n is the moment when the agricultural implement wheels reach the uneven road surface, k is a constant coefficient, and △Tn is the total duration for the front wheels to pass through the uneven road surface.

8. A tractor, characterized in that, it includes the shock absorption control system for agricultural implements according to any one of claims 5 to 7.

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