Topological Structure and Operation Mode of an Intelligent Driving Parallel Hybrid Tractor

Abstract

The present invention discloses a topological structure of an intelligent driving parallel hybrid tractor, which includes a power battery, an electric power steering pump, a low-voltage battery, an industrial control computer, a binocular camera, a lidar, a central transmission device, rear wheels, a speed sensor, a PTO motor, a vehicle controller, a transmission, an electromechanical coupling device, a traction motor, and a diesel engine. The hybrid tractor adopting the foregoing topological structure realizes six operating modes according to the state of the clutch in the electromechanical coupler device and the mode of the electromagnetic locking mechanism: starting the diesel engine by the traction motor, driving solely by the diesel engine, driving solely by the traction motor, hybrid driving by the diesel engine and the traction motor, idling charging, and driving charging. By flexibly switching among the foregoing six operating modes, the endurance requirement of the power battery is ensured and the service life of the power battery is increased. Meanwhile, in an environment with good weather and high visibility, the tractor can start the intelligent driving mode.

Description

Technical Field

[0001] The present invention belongs to the technical field of tractors, and particularly relates to a topology structure and operation mode of an intelligent driving parallel hybrid tractor. Background Art

[0002] In the process of agricultural mechanization production, as an important power machine, traditional tractors rely on burning fossil energy to do work and output power for driving tractors and agricultural operations. During the working process of traditional tractors, the particulate and harmful gas components in the exhaust gas emitted by diesel engines are relatively high, and the energy loss is relatively serious. With the decreasing of global fossil energy, the enhancement of atmospheric environmental pollution and greenhouse effect, it has a non-negligible impact on the sustainable development of human society. In recent years, research and development have been carried out on energy-saving and environmentally friendly pure electric tractors and hybrid tractors, but many problems also exist. Pure electric tractors are driven by electricity (non-fossil fuel), with the advantages of zero emissions and no pollution, but limited by the limited capacity of power batteries, the endurance of pure electric tractors is limited; hybrid tractors have the advantages of both pure electric tractors and traditional tractors, but they have complex structures, difficult layouts, and difficult matching of electromechanical coupling devices with diesel engines, traction motors, and transmissions.

[0003] With the rapid development of the Internet, intelligent driving technology has been widely applied in the transportation field and construction machinery. In the technical field of tractors, intelligent driving technology can not only reduce the working intensity of drivers, but also enable tractors to operate according to strict standards. However, at present, under the consideration of both safety and cost, no perfect technical solution for intelligent driving tractors has been obtained. Summary of the Invention

[0004] The purpose of the present invention is to propose a topology structure and operation mode of an intelligent driving parallel hybrid tractor, which realizes multi-mode operation of the hybrid tractor through the application of a double-row planetary gear electromechanical coupling device to adapt to complex operating conditions. At the same time, with the addition of an intelligent driving perception system, the tractor can be intelligently driven under relevant conditions, reducing the working intensity of tractor drivers.

[0005] To achieve the above object, the solution adopted by the present invention is: an intelligent driving parallel hybrid tractor topological structure and operation mode. The topological structure includes a power battery, a DC / DC converter, an electric power steering pump, a low-voltage battery, a torque sensor, an industrial control computer, a binocular camera, a lidar, a central transmission, rear wheels, a speed sensor, a PTO motor, a vehicle controller, a transmission, an electromechanical coupling device, a traction motor, a diesel engine, and an AC / DC converter. Five connection methods, namely electrical connection, CAN line connection, mechanical connection, Internet connection, and UDP communication connection, are included in the topological structure. Six operation modes, namely the traction motor starting the diesel engine mode, the diesel engine single driving mode, the traction motor single driving mode, the diesel engine and traction motor hybrid driving mode, the idle charging mode, and the driving charging mode, are realized.

[0006] The power battery, the low-voltage battery, the AC / DC converter, the DC / DC converter, the torque sensor, the traction motor, the PTO motor, the electric power steering pump, the electromechanical coupling device, the lidar, the binocular camera, the industrial control computer, the speed sensor, and the vehicle controller are electrically connected. The output voltage of the power battery is converted by the AC / DC converter into a working voltage suitable for the traction motor and the PTO motor to supply power to the traction motor and the PTO motor. The output voltage of the power battery is converted by the DC / DC converter into a charging voltage suitable for charging the low-voltage battery. The low-voltage battery supplies power to the lidar, the binocular camera, the industrial control computer, the electric power steering pump, the vehicle controller, the torque sensor, the speed sensor, and the electromagnetic lock in the electromechanical coupling device.

[0007] The vehicle controller is connected to the power battery, the AC / DC converter, the DC / DC converter, the low-voltage battery, the diesel engine, the traction motor, the PTO motor, the electromechanical coupling device, the transmission, the torque sensor, and the speed sensor by CAN lines. The vehicle controller obtains the torque and the dynamic SOC value of the power battery through the CAN lines to dynamically control the power output of the diesel engine and the traction motor. By controlling the states of different electromagnetic locks in the electromechanical coupling device, different operation modes of the tractor are controlled. At the same time, according to the working condition information in the industrial control computer, the steering wheel angle command is sent to the electric power steering pump to control the intelligent driving of the tractor.

[0008] The described electromechanical coupling device includes a front planetary gear mechanism and a rear planetary gear mechanism arranged in parallel. The planetary gear carrier of the front planetary gear mechanism is fixedly connected to the rear ring gear of the rear planetary gear mechanism. The front sun gear of the front planetary gear mechanism is connected to the output shaft of the diesel engine through a clutch I. The front sun gear of the front planetary gear mechanism is connected to the rear sun gear of the rear planetary gear mechanism through a clutch II. A first electromagnetic lock is provided on the connecting shaft between the clutch I and the front sun gear. The first electromagnetic lock is used to lock or unlock the power output of the front / rear sun gears of the front / rear planetary gear mechanisms to the front / rear planetary gear carriers. The front ring gear of the front planetary gear mechanism meshes with the output shaft of the traction motor. A second electromagnetic lock is provided on the front ring gear of the front planetary gear mechanism. The second electromagnetic lock is used to lock or release the power output of the front ring gear of the front planetary gear mechanism to its front planetary gear carrier. A third electromagnetic locking mechanism is provided on the rear ring gear of the rear planetary gear mechanism. A fourth electromagnetic lock is provided on the rear sun gear of the rear planetary gear mechanism. The rear planetary gear carrier of the rear planetary gear mechanism is connected to the transmission input shaft.

[0009] The described intelligent driving perception system includes a lidar, a binocular camera, an industrial computer, a speed sensor, a vehicle controller, and an electric power steering pump. The distance measured by the lidar for the environment around the tractor is transmitted to the industrial computer via the Internet. The model scanned by the binocular camera around the tractor is transmitted to the industrial computer via the CAN line. The working condition information obtained by the industrial computer is transmitted to the vehicle controller via UDP communication. The vehicle controller outputs intelligent driving decisions based on the working condition information, the tractor speed, and the SOC value of the power battery, and controls the driving direction of the tractor, the operation of the power generation device, and the power output of the PTO motor.

[0010] The six operating modes of the hybrid tractor are dynamically controlled by the vehicle controller according to the output torque of the electromechanical coupling device obtained from the torque sensor and the SOC value of the power battery. Three torque values, 0, Tr1, and Tr2, and two SOC values, SOCmax and SOCmin, are set in the vehicle controller. The parallel use of the diesel engine and the traction motor can not only give play to the characteristics of the traction motor of low-speed constant torque and high-speed constant power on the basis of maintaining the service life of the power battery, but also avoid the high-torque and high-emission working area of the diesel engine, effectively reducing the emissions of the tractor.

[0011] In the drive control of the tractor by the PTO motor, the vehicle controller will control the working state of the PTO motor according to whether the PTO implement needs power and the SOC value of the power battery. When the implement does not need PTO power, the PTO motor stops working. When the implement needs PTO power, if the SOC of the power battery > SOCmin, the PTO motor works; otherwise, the tractor will operate in the driving and charging mode, and the PTO motor works.

[0012] The beneficial effects of a topological structure and an operation method of an intelligent driving parallel hybrid tractor according to the present invention are as follows:

[0013] (1) Using a diesel engine and a traction motor as a hybrid power generation device, the traction motor is mostly used to drive under working conditions with high torque requirements such as tractor starting, accelerating, and climbing slopes, avoiding the high-emission working area of the diesel engine with high torque, effectively reducing the emissions of the tractor, and improving the operation efficiency.

[0014] (2) The electromechanical coupling device of the double-row planetary gear mechanism realizes various coupling methods of the diesel engine and the traction motor, realizes the flexible switching of various operation modes of the tractor, ensures the endurance requirement of the power battery, and improves the service life of the power battery.

[0015] (3) The vehicle control system integrating the intelligent driving perception system controls the tractor to operate efficiently and intelligently, improves the intelligent level of the tractor, and reduces the labor intensity of the driver. Description of the Drawings

[0016] Figure 1 is a topological structure diagram of an intelligent driving parallel hybrid tractor according to the present invention.

[0017] Figure 2 is Figure 1 a schematic diagram of the double-row planetary gear electromechanical coupling device in the topological structure shown.

[0018] Figure 3 is the use of Figure 1 a schematic diagram of the operation mode of a hybrid tractor with the topological structure shown.

[0019] Figure 4 is the use of Figure 1 a flowchart of the intelligent driving environment perception of a hybrid tractor with the topological structure shown.

[0020]

Reference Signs

[0021] 1. Power battery; 2. DC / DC converter; 3. Electric power steering pump; 4. Low-voltage battery; 5. Torque sensor; 6. Industrial control computer; 7. Binocular camera; 8. Lidar; 9. Central transmission device; 10. Rear wheel; 11. Speed sensor; 12. PTO motor; 13. Vehicle controller; 14. Transmission; 15. Electromechanical coupling device; 16. Traction motor; 17. Diesel engine; 18. AC / DC converter; 15-01. Clutch I; 15-02. First electromagnetic lock; 15-03. Front ring gear; 15-04. Second electromagnetic lock; 15-05. Front planet gear; 15-06. Front planet gear carrier; 15-07. Third electromagnetic lock; 15-08. Rear planet gear; 15-09. Rear planet gear carrier; 15-10. Transmission input shaft; 15-11. Fourth electromagnetic lock; 15-12. Clutch II. Detailed implementation mode

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that "I", "II", "first", "second", "third", and "fourth" in the following embodiments are only used to distinguish the device names and do not have specific meanings.

[0023] Refer to Figure 1 , a topological structure of an intelligent driving parallel hybrid tractor of the present invention includes a power battery 1, a DC / DC converter 2, an electric power steering pump 3, a low-voltage battery 4, an industrial control computer 6, a binocular camera 7, a lidar 8, a central transmission device 9, a rear wheel 10, a speed sensor 11, a PTO motor 12, a vehicle controller 13, a transmission 14, an electromechanical coupling device 15, a traction motor 16, a diesel engine 17, and an AC / DC converter 18.

[0024] The power battery is electrically connected to the traction motor and the PTO motor respectively through the AC / DC converter. The output voltage of the power battery is converted into a working voltage suitable for the traction motor and the PTO motor through the AC / DC converter to supply power to the traction motor and the PTO motor; the power battery is electrically connected to the low-voltage battery through the DC / DC converter. The output voltage of the power battery is converted into a charging voltage suitable for charging the low-voltage battery through the DC / DC converter to charge the low-voltage battery; the low-voltage battery is electrically connected to the lidar, the binocular camera, the industrial control computer, the electric power steering pump, the vehicle controller, the torque sensor, the speed sensor, and the electromagnetic locks in the electromechanical coupling device respectively, and is used to supply power to the foregoing components.

[0025] The vehicle controller is connected to the power battery, AC / DC converter, DC / DC converter, low-voltage battery, diesel engine, traction motor, PTO motor, electromechanical coupling device, transmission, torque sensor (installed on the output shaft of the electromechanical coupling device and used to detect the output torque of the electromechanical coupling device), and speed sensor (used to detect the traveling speed of the tractor) via CAN lines. The vehicle controller obtains the tractor speed, the output torque of the power generation device, and the SOC value of the power battery through the CAN lines, and then dynamically controls the power output of the diesel engine and the traction motor. By controlling the states of different electromagnetic lock-up clutches in the electromechanical coupling device, different operating modes of the tractor are controlled. At the same time, according to the working condition information in the industrial control computer, the steering wheel angle command is sent to the electric power steering pump to control the intelligent driving of the tractor.

[0026] The diesel engine and the traction motor are respectively mechanically connected to the input end of the electromechanical coupling device. The output shaft of the electromechanical coupling device is mechanically connected to the transmission. The output shaft of the transmission is mechanically connected to the central transmission device installed on the rear axle. The aforementioned mechanical connection methods are prior arts and will not be elaborated. With the help of the aforementioned connections, the power output by the diesel engine and the traction motor is subjected to power splitting and merging through the electromechanical coupling device and then outputs a speed or torque suitable for driving the tractor.

[0027] The lidar is connected to the industrial control computer via the Internet; the binocular camera is connected to the industrial control computer via a CAN line. The lidar and the binocular camera are used to collect operation environment information; the industrial control computer is connected to the vehicle controller via UDP communication.

[0028] The PTO power output of the tractor is completed independently by the PTO motor. Under the control of the vehicle controller, the PTO motor can output a corresponding speed in a fixed ratio following the tractor speed, or can also output a constant speed.

[0029] Refer to Figure 2, the described electromechanical coupling device includes a front planetary gear mechanism and a rear planetary gear mechanism arranged in parallel. The front planetary gear carrier 15-06 of the front planetary gear mechanism is fixedly connected to the rear ring gear of the rear planetary gear mechanism. The front sun gear of the front planetary gear mechanism is connected to the output shaft of the diesel engine through clutch I 15-01. The front sun gear of the front planetary gear mechanism is connected to the rear sun gear of the rear planetary gear mechanism through clutch II 15-12. A first electromagnetic lock 15-02 is provided on the connecting shaft between clutch I 15-01 and the front sun gear. The first electromagnetic lock is used to lock or unlock the power output of the front / rear sun gears of the front / rear planetary gear mechanisms to the front / rear planetary gear carriers. The front ring gear 15-03 of the front planetary gear mechanism meshes with the output shaft of the traction motor. A second electromagnetic lock 15-04 is provided on the front ring gear 15-03 of the front planetary gear mechanism. The second electromagnetic lock is used to lock or release the power output of the front ring gear of the front planetary gear mechanism to its front planetary gear carrier. A third electromagnetic locking mechanism 15-07 is provided on the rear ring gear of the rear planetary gear mechanism. The third electromagnetic lock is used to lock or unlock the power output of the front planetary gear carrier 15-06 of the front planetary gear mechanism to the rear ring gear of the rear planetary gear mechanism. A fourth electromagnetic lock 15-11 is provided on the rear sun gear of the rear planetary gear mechanism. The fourth electromagnetic lock is used to lock or release the power output of the rear planetary gear carrier to the rear sun gear in the rear planetary gear mechanism. When the fourth electromagnetic lock is locked, the rear planetary gear mechanism is a single-output gear meshing mechanism with a fixed transmission ratio. The rear planetary gear carrier 15-09 of the rear planetary gear mechanism is connected to the transmission input shaft.

[0030] According to the state of the clutch (disengaged or engaged state) and the mode of the electromagnetic locking mechanism (locking or unlocking mode) in the electro-mechanical coupler device, the hybrid tractor can achieve six operating modes: 1. Starting the diesel engine with the traction motor: Clutch I is in the engaged state, Clutch II is in the disengaged state, the first and second electromagnetic lockers are in the unlocking mode, and the third and fourth electromagnetic lockers are in the locking mode. The power output by the traction motor is transmitted to the front ring gear, driving the front sun gear of the front planetary gear mechanism to rotate. The power starts the diesel engine through Clutch I; 2. Driving solely by the diesel engine: Clutch I and Clutch II are in the engaged state, the first and fourth electromagnetic lockers are in the unlocking mode, and the second and third electromagnetic lockers are in the locking mode. The output power of the diesel engine is transmitted to the rear sun gear of the rear planetary gear mechanism through Clutch I and Clutch II, driving the revolution of the rear planetary gear carrier 15-09, and transmitting the power to the transmission; 3. Driving solely by the traction motor: Clutch I and Clutch II are in the disengaged state, the first and fourth electromagnetic lockers are in the locking mode, and the second and third electromagnetic lockers are in the unlocking mode. The power output by the traction motor is transmitted to the front ring gear of the front planetary gear mechanism, driving the revolution of the front planet gear 15-05. The front planetary gear carrier 15-09 drives the rear ring gear of the rear planetary gear mechanism to rotate, transmitting the power to the rear ring gear of the rear planetary gear mechanism. The rear ring gear drives the revolution of the rear planet gear 15-08, and transmits the power to the transmission through the rear planetary gear carrier 15-09; 4. Hybrid driving by the diesel engine and the traction motor: Clutch I and Clutch II are in the engaged state, the first, second, and fourth electromagnetic lockers are in the unlocking mode, and the third electromagnetic locker is in the locking mode. The output power of the diesel engine is transmitted to the front sun gear, and the output power of the traction motor is transmitted to the front ring gear. That is, the output powers of the diesel engine and the traction motor are coupled by the front planetary gear mechanism and then transmitted to the rear sun gear of the rear planetary gear mechanism, and the power is transmitted to the transmission through the rear planetary gear carrier 15-09; 5. Idle charging mode: Clutch I is in the engaged state, Clutch II is in the disengaged state, the first and second electromagnetic lockers are in the unlocking mode, and the third and fourth electromagnetic lockers are in the locking mode. The output power of the diesel engine is transmitted to the front sun gear of the front planetary gear mechanism through Clutch I. The front sun gear drives the front planet gear 15-05 to rotate, transmitting the power to the front ring gear of the front planetary gear mechanism, driving the traction motor to generate electricity and charge the power battery;6. Driving and charging mode: Clutch I and Clutch II are in the engaged state, the first electromagnetic lock, the second electromagnetic lock and the fourth electromagnetic lock are in the released mode, and the third electromagnetic lock is in the locked mode. Part of the output power of the diesel engine is transmitted to the front sun gear of the front planetary gear mechanism through Clutch I. The front sun gear drives the front planet gear 15-05 to rotate, and the power is transmitted to the front ring gear, thereby driving the traction motor to generate electricity. At the same time, another part of the output power of the diesel engine is transmitted to the rear sun gear of the rear planetary gear mechanism through Clutch I and Clutch II. The rear sun gear drives the rear planet gear 15-08 to rotate, and the power is transmitted to the transmission through the rear planet gear carrier 15-06, thereby driving the tractor.

[0031] Referring to Figure 3 , the present invention dynamically controls the above six operating modes according to the torque sensor and the SOC value of the power battery. Three torque values 0, Tr1, and Tr2 and two SOC values SOCmax and SOCmin are set in the vehicle controller. The torque sensor uploads the detected output torque T to the vehicle controller. When the output torque T > 0, the tractor performs drive control; when the output torque T < 0, the tractor performs mechanical braking control; when the output torque T = 0, if the SOC value of the power battery (hereinafter referred to as SOC for convenience) is less than the set SOC max value, the tractor performs idle charging. On the contrary, the tractor has no power output and is in the parked state. In the tractor drive control, when the tractor starts, accelerates, and climbs slopes, a large torque is required, that is, when the output torque T detected by the torque sensor > Tr2: If SOC > SOCmax, the tractor is driven by the traction motor, giving full play to the characteristics of the motor with low speed and large torque and constant power at high speed; if SOCmin < SOC < SOCmax, the diesel engine and the traction motor output power in parallel to drive the tractor. This not only meets the large torque requirement, but also the parallel use of the diesel engine and the traction motor can, on the basis of maintaining the battery life, give full play to the characteristics of the traction motor with constant torque at low speed and constant power at high speed, while avoiding the high-emission working area of the diesel engine, effectively reducing the emissions of the tractor; if SOC < SOCmin, the diesel engine alone outputs power to drive the tractor. When the tractor is under medium load, that is, Tr1 < T < Tr2: If the SOC of the power battery > SOCmin, the tractor is driven by a mixture of the diesel engine and the traction motor; if the SOC of the power battery < SOCmin, the diesel engine alone outputs power to drive the tractor. When the tractor is under light load, that is, the output torque T < Tr1: If SOC > SOCmax, the traction motor alone outputs power to drive the tractor; on the contrary, if SOC < SOCmax, the diesel engine outputs power to drive the tractor and charge the power battery at the same time.

[0032] Furthermore, when T>0, that is, during the drive control of the tractor, the vehicle controller will control the working state of the PTO motor according to whether the implement requires power and the SOC value of the power battery. When the implement does not require PTO power, the PTO motor stops working; when the implement requires PTO power, if SOC > SOCmin, the PTO motor works, otherwise the tractor will operate in the driving charging mode and the PTO motor works.

[0033] Referring to Figure 4 , the hybrid tractor adopting the aforementioned topological structure can provide an intelligent driving mode. The intelligent driving mode can enable the tractor to perform intelligent operations in an environment with good weather and high visibility. After starting the intelligent driving mode of the tractor, the intelligent driving perception sensors (including lidar and binocular cameras) first collect the surrounding environment information, including the position of the tractor, the operation boundary, the field slope, the driving speed, and the presence or absence of obstacles and the position of the obstacles; the working condition information collected by the binocular cameras is transmitted to the industrial control computer through the CAN line, and the working condition information collected by the lidar is transmitted to the industrial control computer through the Internet. The vehicle controller, as the control core of the tractor, reads the working condition information in the industrial control computer through UDP communication, outputs the intelligent driving instructions of the tractor, and controls the tractor to perform intelligent driving. When the tractor needs to adjust the traveling direction or turn, the vehicle controller outputs a control instruction to the electric power steering pump, and the electric power steering pump works to push the front wheels of the tractor to achieve steering.

[0034] The above are only the preferred implementation modes of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been described in detail with reference to the preferred implementation modes, those skilled in the art should understand that the technical solution of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solution of the present invention, and all of them should be covered by the scope of the claims of the present invention. The shapes, structures, and control strategies not described in detail in the present invention are all well-known technologies.

Claims

1. A topological structure of an intelligent driving parallel hybrid tractor, characterized in that It includes a power battery (1), a DC / DC converter (2), an electric power steering pump (3), a low-voltage battery (4), an industrial computer (6), a binocular camera (7), a lidar (8), a central transmission device (9), a rear wheel (10), a speed sensor (11), a PTO motor (12), a vehicle controller (13), a transmission (14), a mechanical and electrical coupling device (15), a traction motor (16), a diesel engine (17), and an AC / DC converter (18). The power battery is electrically connected to the traction motor and the PTO motor respectively through the AC / DC converter. The power battery is electrically connected to the low-voltage battery through the DC / DC converter. The low-voltage battery is electrically connected to the lidar, the binocular camera, the industrial computer, the electric power steering pump, the vehicle controller, the torque sensor, the speed sensor, and the electromagnetic lock of the mechanical and electrical coupling device. The vehicle controller is connected to the power battery, the AC / DC converter, the DC / DC converter, the low-voltage battery, the diesel engine, the traction motor, the PTO motor, the mechanical and electrical coupling device, the transmission, the torque sensor, and the speed sensor by CAN lines. The lidar is connected to the industrial computer through the Internet. The binocular camera is connected to the industrial computer by a CAN line. The industrial computer is connected to the vehicle controller through UDP communication. The diesel engine and the traction motor are respectively mechanically connected to the input end of the mechanical and electrical coupling device. The output shaft of the mechanical and electrical coupling device is mechanically connected to the transmission. The output shaft of the transmission is mechanically connected to the central transmission device installed on the rear wheel. The power output by the diesel engine and the traction motor is shunted and converged through the mechanical and electrical coupling device, and then the speed or torque suitable for tractor driving is output. The mechanical and electrical coupling device includes a front planetary gear mechanism and a rear planetary gear mechanism arranged in parallel. The output shaft of the diesel engine is connected to the front sun gear of the front planetary gear mechanism through a clutch I (15-01). The output shaft of the traction motor meshes with the front ring gear (15-03) of the front planetary gear mechanism. The front planetary carrier (15-06) of the front planetary gear mechanism is fixedly connected to the rear ring gear of the rear planetary gear mechanism. The front sun gear of the front planetary gear mechanism is connected to the rear sun gear of the rear planetary gear mechanism through a clutch II (15-12). The rear planetary carrier (15-09) of the rear planetary gear mechanism is connected to the input shaft of the transmission (14). A first electromagnetic lock (15-02) is provided on the connecting shaft between the clutch I (15-01) and the front sun gear of the front planetary gear mechanism. A second electromagnetic lock (15-04) is provided on the front ring gear (15-03) of the front planetary gear mechanism. A third electromagnetic locking mechanism (15-07) is provided on the rear ring gear of the rear planetary gear mechanism. A fourth electromagnetic lock (15-11) is provided on the rear sun gear of the rear planetary gear mechanism.

2. An operating mode of an intelligent driving parallel hybrid tractor, characterized in that The hybrid tractor adopting the topological structure described in claim 1 has six operating modes according to the states of the two clutches and the modes of the four electromagnetic locking mechanisms in the mechanical and electrical coupling device. (1)Starting the diesel engine by the traction motor: Clutch I is in the engaged state, Clutch II is in the disengaged state, the first and second electromagnetic lock-up devices are in the release mode, the third and fourth electromagnetic lock-up devices are in the lock-up mode. The power output by the traction motor is transmitted to the front ring gear, driving the front sun gear of the front planetary gear mechanism to rotate. The power starts the diesel engine through Clutch I; (2)Driving the tractor solely by the diesel engine: Clutch I and Clutch II are in the engaged state, the first and fourth electromagnetic lock-up devices are in the release mode, the second and third electromagnetic lock-up devices are in the lock-up mode. The output power of the diesel engine is transmitted to the rear sun gear of the rear planetary gear mechanism through Clutch I and Clutch II, driving the rear planetary gear carrier to revolve, and transmitting the power to the transmission; (3)Driving the tractor solely by the traction motor: Clutch I and Clutch II are in the disengaged state, the first and fourth electromagnetic lock-up devices are in the lock-up mode, the second and third electromagnetic lock-up devices are in the release mode. The power output by the traction motor is transmitted to the front ring gear of the front planetary gear mechanism, driving the front planetary gear to revolve. The front planetary gear carrier drives the rear ring gear of the rear planetary gear mechanism to rotate, transmitting the power to the rear ring gear of the rear planetary gear mechanism. The rear ring gear drives the rear planetary gear to revolve, and the power is transmitted to the transmission through the rear planetary gear carrier; (4)Hybrid driving mode of the diesel engine and the traction motor: Clutch I and Clutch II are in the engaged state, the first, second and fourth electromagnetic lock-up devices are in the release mode, the third electromagnetic lock-up device is in the lock-up mode. The output powers of the diesel engine and the traction motor are coupled through the front planetary gear mechanism and then transmitted to the rear sun gear of the rear planetary gear mechanism, and the power is transmitted to the transmission through the rear planetary gear carrier; (5)Idle charging mode: Clutch I is in the engaged state, Clutch II is in the disengaged state, the first and second electromagnetic lock-up devices are in the release mode, the third and fourth electromagnetic lock-up devices are in the lock-up mode. The output power of the diesel engine is transmitted to the front sun gear of the front planetary gear mechanism through Clutch I. The front sun gear drives the front planetary gear to rotate, transmitting the power to the front ring gear of the front planetary gear mechanism, driving the traction motor to generate electricity and charge the power battery; (6)Driving and charging mode: Clutch I and Clutch II are in the engaged state, the first, second and fourth electromagnetic lock-up devices are in the release mode, the third electromagnetic lock-up device is in the lock-up mode. A part of the output power of the diesel engine is transmitted to the front sun gear of the front planetary gear mechanism through Clutch I. The front sun gear drives the front planetary gear to rotate, transmitting the power to the front ring gear, driving the traction motor to generate electricity. At the same time, another part of the output power of the diesel engine is transmitted to the rear sun gear of the rear planetary gear mechanism through Clutch I and Clutch II. The rear sun gear drives the rear planetary gear to rotate, and the power is transmitted to the transmission through the rear planetary gear carrier.

3. The operating mode of an intelligent driving parallel hybrid tractor according to claim 2, characterized in that There are three torque values set in the vehicle controller: 0, Tr1, Tr2, and two SOC values: SOC max , SOC min ; The torque sensor uploads the detected output torque T to the vehicle controller. When the output torque T > 0, the tractor performs drive control; when the output torque T < 0, the tractor performs mechanical braking control; when the output torque T = 0, if SOC < SOC max , the tractor operates in an idle charging mode, otherwise the tractor is in a parked state.

4. The operating mode of an intelligent driving parallel hybrid tractor according to claim 3, characterized in that During the drive control of the tractor, When T > Tr2: If SOC > SOC max , the tractor operates in the traction motor single drive mode; if SOC min < SOC < SOC max , the tractor operates in the diesel engine - traction motor hybrid drive mode; if SOC < SOC min , the tractor operates in the diesel engine single drive mode; When Tr1 < T < Tr2: If SOC > SOC min , the tractor operates in the diesel engine traction motor hybrid drive mode; if SOC < SOC min , the tractor operates in the diesel engine single drive mode; When T < Tr1: If SOC > SOC max , the tractor operates in the traction motor single drive mode; if SOC < SOC max , the tractor operates in the driving charging mode.

5. The operating mode of an intelligent driving parallel hybrid tractor according to claim 3, characterized in that During the drive control of the tractor, the vehicle controller will control the working state of the PTO motor according to whether the implement requires power and the SOC value of the power battery. When the implement does not require PTO power, the PTO motor stops working; when the implement requires PTO power, if SOC > SOC min , the PTO motor works, otherwise the tractor will operate in the driving charging mode and the PTO motor works.

6. The operating mode of an intelligent driving parallel hybrid tractor according to claim 5, characterized in that The PTO motor can output a corresponding speed in proportion to the tractor speed or output a constant speed under the control of the vehicle controller.

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