A method and apparatus for adjusting a position of a motion, a work vehicle, and a storage medium

Abstract

The application relates to the field of vehicle control, and discloses a motion position adjusting method and device, a working vehicle and a storage medium. The method comprises the following steps: acquiring slope data of the working vehicle, combining a front-mounted position of the working vehicle, constructing a first mathematical model, and determining a current motion state; combining a suspension system in the working vehicle and a rear-mounted position, constructing a second mathematical model, and calculating a first soil penetration depth according to the second mathematical model; calculating a second soil penetration depth according to the first mathematical model; performing difference processing on the first soil penetration depth and the second soil penetration depth to obtain a difference value; and matching a target adjusting coefficient from a preset adjusting coefficient table according to the difference value, so as to adjust the angle position of the suspension system. In this embodiment, the soil penetration depths are calculated by combining the equivalent mathematical models of the working vehicle, so that the adjusting coefficient is selected according to the soil penetration depths, the motion position of the suspension system is adjusted in real time, and the working precision of the working vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more particularly to a motion position adjustment method, device, work vehicle, and storage medium. Background Technology

[0002] Currently, agricultural vehicles such as tractors are equipped with suspension systems to control their operation. However, in actual working scenarios, the control process of these suspension systems is easily affected by environmental factors such as road bumps and vehicle movement fluctuations, leading to deviations in the real-time angular position of the suspension system and consequently reducing the operational accuracy of the vehicle. Therefore, improving the real-time angular position deviation of the suspension system during actual operation is a pressing issue that needs to be addressed. Summary of the Invention

[0003] In view of this, in order to solve the problems existing in the prior art, this application provides a motion position adjustment method, device, work vehicle and storage medium.

[0004] In a first aspect, this application provides a method for adjusting motion position, comprising:

[0005] The slope data collected during the operation of the work vehicle is obtained, and a first mathematical model is constructed in combination with the front-mounted position of the work vehicle. Based on the first mathematical model and the slope data, the current movement state of the work vehicle is determined.

[0006] Based on the suspension system and the rear-mounted position in the work vehicle, a second mathematical model is constructed accordingly, and the first soil penetration depth of the suspension system in the current motion state is calculated according to the second mathematical model.

[0007] Based on the first mathematical model, calculate the second soil penetration depth of the suspension system in the work vehicle;

[0008] The difference between the first penetration depth and the second penetration depth is calculated to obtain the difference value;

[0009] Based on the difference, a target adjustment coefficient is matched from a preset adjustment coefficient table, and the angle position of the suspension system is adjusted using the target adjustment coefficient so that the first soil penetration depth of the suspension system meets the preset requirements.

[0010] In an optional implementation, calculating the first soil penetration depth of the suspension system in the current motion state according to the second mathematical model includes:

[0011] Acquire the angle values ​​collected by the angle sensor of the work vehicle and the corresponding mechanical parameters of the suspension system;

[0012] Based on the mechanical parameters and angle values, and in conjunction with the second mathematical model, the total vertical motion length of the suspension system is calculated.

[0013] The first penetration depth is calculated based on the total movement length and the current movement state.

[0014] In an optional implementation, the angle value includes the angle between the suspension system and the horizontal plane at the boundary positions corresponding to the mechanical limits; the mechanical parameters include the length of the hydraulic rods of the suspension system at the boundary positions corresponding to the mechanical limits.

[0015] In an optional implementation, determining the current motion state of the work vehicle based on the first mathematical model and the slope data includes:

[0016] The state angles of the working vehicle in different directions are calculated based on the first mathematical model and the slope data; wherein, the different states include forward tilting, backward tilting, left swaying and right swaying;

[0017] The current motion state of the work vehicle is determined based on each of the state angles; wherein the current motion state includes the state angles and the floating state type that the work vehicle is currently in.

[0018] In an optional implementation, calculating the state angles of the working vehicle in different states according to the first mathematical model and the slope data includes:

[0019] Calculate the directional angles of the working vehicle in different states based on the first mathematical model and the slope data;

[0020] If each of the aforementioned directional corners is determined to be within the corresponding preset angle range, then each of the aforementioned directional corners is defined as a state angle.

[0021] In an optional implementation, calculating the second soil penetration depth of the suspension system in the work vehicle according to the first mathematical model includes:

[0022] Based on the current motion state, determine the floating state type of the working vehicle and the state angle corresponding to the floating state type;

[0023] Based on the state angle and in conjunction with the first mathematical model, calculate the second soil penetration depth when the suspension system is currently in the motion state corresponding to the floating state type.

[0024] In an optional implementation, the slope data includes slope values ​​corresponding to the XOY and YOZ planes in a three-dimensional coordinate system.

[0025] Secondly, this application provides a motion position adjustment device, comprising:

[0026] The acquisition module is used to acquire slope data collected by the working vehicle during its movement, combine it with the front-mounted position of the working vehicle, construct a first mathematical model accordingly, and determine the current movement state of the working vehicle based on the first mathematical model and the slope data.

[0027] The first calculation module is used to construct a second mathematical model in combination with the suspension system and the rear-mounted position of the work vehicle, and to calculate the first soil penetration depth of the suspension system in the current motion state based on the second mathematical model.

[0028] The second calculation module is used to calculate the second soil penetration depth of the suspension system in the work vehicle based on the first mathematical model.

[0029] The processing module is used to perform a difference processing on the first soil penetration depth and the second soil penetration depth to obtain the difference value;

[0030] The adjustment module is used to match a target adjustment coefficient from a preset adjustment coefficient table based on the difference, and adjust the angle position of the suspension system according to the target adjustment coefficient so that the first soil penetration depth of the suspension system meets the preset requirements.

[0031] Thirdly, this application provides a work vehicle, the work vehicle including a memory and at least one processor, the memory storing a computer program, the processor being used to execute the computer program to implement the aforementioned motion position adjustment method.

[0032] Fourthly, this application provides a computer storage medium storing a computer program, which, when executed, implements the aforementioned motion position adjustment method.

[0033] The embodiments of this application have the following beneficial effects:

[0034] This application provides a method for adjusting the motion position of a work vehicle. The method includes: acquiring slope data collected during the movement of a work vehicle; constructing a first mathematical model based on the vehicle's front mounting position; determining the current motion state of the work vehicle based on the first mathematical model and the slope data; constructing a second mathematical model based on the suspension system and rear mounting position of the work vehicle; calculating the first soil penetration depth of the suspension system in the current motion state based on the second mathematical model; calculating the second soil penetration depth of the suspension system based on the first mathematical model; subtracting the first and second soil penetration depths to obtain a difference value; matching a target adjustment coefficient from a preset adjustment coefficient table based on the difference value; and adjusting the angle position of the suspension system using the target adjustment coefficient to ensure that the first soil penetration depth of the suspension system meets a preset requirement. This embodiment calculates the soil penetration depth by combining the mathematical model constructed by the work vehicle and the collected angle values, and then selects an adjustment coefficient based on the difference between the soil penetration depths to adjust the motion position of the suspension system in real time. This ensures that the real-time position angle of the suspension system matches the current motion state, improving the working accuracy of the work vehicle during actual operation. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation on the scope of protection of this application. In the various drawings, similar components are numbered similarly.

[0036] Figure 1 A schematic diagram of the first embodiment of the motion position adjustment method in this application is shown;

[0037] Figure 2 A schematic diagram of a second embodiment of the motion position adjustment method in this application is shown;

[0038] Figure 3a An equivalent schematic diagram of the forward-leaning state in the first mathematical model of this application embodiment is shown;

[0039] Figure 3b An equivalent schematic diagram of the backward tilt state in the first mathematical model of the embodiments of this application is shown;

[0040] Figure 3c An equivalent schematic diagram of the left-swinging state in the first mathematical model of this application embodiment is shown;

[0041] Figure 3d An equivalent schematic diagram of the right swing state in the first mathematical model in the embodiments of this application is shown;

[0042] Figure 4A schematic diagram of a third embodiment of the motion position adjustment method in this application is shown;

[0043] Figure 5 An equivalent schematic diagram of the second mathematical model in the embodiments of this application is shown;

[0044] Figure 6 A schematic diagram of a fourth embodiment of the motion position adjustment method in this application is shown;

[0045] Figure 7 A schematic diagram of the fifth embodiment of the motion position adjustment method in this application is shown;

[0046] Figure 8 A schematic diagram of the motion position adjustment device in an embodiment of this application is shown. Detailed Implementation

[0047] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0048] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0049] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0050] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0051] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0052] With the development of intelligent agriculture and the improvement of industrial level in my country, the suspension systems installed on work vehicles are becoming increasingly popular, such as hydraulic suspension systems. Among them, the electronically controlled rear lifting device (hereinafter referred to as the rear lifting device) with high-pressure function in the suspension system is becoming more widely accepted, and the improvement of electronic control level has significantly improved its working efficiency.

[0053] Currently, in practical applications, this rear lifting device primarily calculates its real-time position by measuring its rising and falling angles, and controls the suspension system by calculating the depressing force of the lifting device using pressure or force sensors. For most operational scenarios, this control method significantly improves the suspension system's efficiency. However, it doesn't fully consider the impact of environmental factors such as road bumps, vehicle tilting, and swaying on the suspension system. Furthermore, these environmental factors can lead to operational errors when the vehicle is used in applications requiring specific soil depth or road surface conditions.

[0054] Based on this, this application provides a motion position adjustment method applied to a work vehicle. In this embodiment, the work vehicle includes a front-mounted section and a rear-mounted section, wherein the front-mounted section includes the position on the driver's cab side of the work vehicle, and the rear-mounted section includes the position for mounting auxiliary equipment at the rear. Furthermore, the work vehicle is also equipped with a suspension system, which is used to suspend and manipulate the work vehicle for various operations. This suspension system can be configured as a front suspension, side suspension, inter-axle suspension, etc., according to the operational requirements. Optionally, the work vehicle can be agricultural machinery such as a tractor (i.e., agricultural implements), and this embodiment does not limit this.

[0055] Please refer to Figure 1 The method will now be explained in detail.

[0056] S10: Obtain the slope data collected by the working vehicle during its movement, combine it with the front-mounted position of the working vehicle, construct the first mathematical model accordingly, and determine the current movement state of the working vehicle based on the first mathematical model and the slope data.

[0057] The front-mounted part of the work vehicle is equipped with a slope sensor, which is used to collect slope data of the work vehicle during movement; this slope sensor is a triaxial slope sensor.

[0058] In this embodiment, the front-mounted portion of the work vehicle is represented as an equivalent point to construct an equivalent mathematical model, which is then used as the first mathematical model. Furthermore, the slope data can be viewed as the tilt angle of the work vehicle on the three axes (x-axis, y-axis, and z-axis) of the three-dimensional coordinate system (excluding rotation); that is, the slope data includes the slope values ​​on the corresponding XOY and YOZ planes in the three-dimensional coordinate system. Subsequently, the current motion state of the work vehicle is calculated based on this slope data.

[0059] like Figure 2 As shown, further, the step S10 above, "determining the current motion state of the work vehicle based on the first mathematical model and slope data," specifically includes the following steps:

[0060] S11, calculate the state angle of the working vehicle in different states in the corresponding directions based on the first mathematical model and the slope data.

[0061] like Figure 3a , Figure 3b , Figure 3c and Figure 3d As shown, in this embodiment, the equivalent mathematical model constructed by treating the front-mounted part of the work vehicle as an equivalent point in the above steps is used as the first mathematical model. The angle values ​​of the work vehicle in different directions are calculated using the mechanical geometric relationships corresponding to the first mathematical model and combined with slope data. These different states include forward tilt, backward tilt, left sway, and right sway. The angle values ​​α, β, φ, and θ in these four directions can then be calculated. Here, α represents the forward tilt angle, β represents the backward tilt angle, φ represents the left sway angle, and θ represents the right sway angle.

[0062] As an optional implementation method, such as Figure 4 As shown, the step S11 above, "calculating the state angle of the working vehicle in different directions according to the first mathematical model and slope data," specifically includes the following steps:

[0063] S111, calculate the direction angle of the working vehicle in different states according to the first mathematical model and the slope data.

[0064] S112, if it is determined that each directional corner is within the corresponding preset angle range, then each directional corner is defined as a state angle.

[0065] When calculating the direction angle of the working vehicle in different states by combining the mechanical geometric relationship corresponding to the first mathematical model and the slope data, the direction angle is further judged to determine the actual state angle of the working vehicle in different states.

[0066] Specifically, each directional angle is compared with the preset angle range corresponding to the corresponding state direction to determine whether the directional angle falls within the angle range of the corresponding direction. If the directional angle is within the angle range of the corresponding direction, then the directional angle is taken as the state angle corresponding to the state direction.

[0067] It can be understood that for the angle values ​​α, β, &, and θ in the four directions, if A1 < α < A2, B1 < β < B2, C1 < & < C2, and D1 < θ < D2, then α, β, &, and θ are defined as the four state angles of forward tilt, backward tilt, left sway, and right sway, respectively. The angle interval (A1, A2) mentioned above corresponds to the preset angle interval for the forward tilt state. Similarly, the angle intervals (B1, B2), (C1, C2), and (D1, D2) correspond to the preset angle intervals for the backward tilt, left sway, and right sway states, respectively. The specific values ​​of the boundary thresholds in each preset angle interval are not limited here and can be set according to the actual situation.

[0068] S12, determine the current motion state of the working vehicle based on each state angle.

[0069] Based on the calculated state angles, the current motion state of the working vehicle is determined. The current motion state includes the state angles and the current floating state type of the working vehicle, which includes forward tilt, backward tilt, left sway, and right sway. In other words, the current motion state of the working vehicle can be determined based on the magnitude of the corresponding angle values ​​of the four state angles. For example, if the angle value corresponding to the forward tilt state angle is 15°, while the degrees of the other state angles are 0 degrees, then the current motion state of the working vehicle is forward tilt.

[0070] S20, combining the suspension system in the work vehicle and the rear loading position, construct a corresponding equivalent second mathematical model, and calculate the first soil penetration depth of the suspension system under the current motion state based on the second mathematical model.

[0071] In this embodiment, as Figure 5 As shown, based on the mechanical parameters of the rear-mounted parts and suspension system of the work vehicle, an equivalent mathematical model is established for the position of the suspension system, which is used as the second mathematical model.

[0072] Furthermore, based on the mechanical geometric relationship and mechanical parameters corresponding to the second mathematical model, the soil penetration depth of the suspension system under the current motion state can be calculated and used as the first soil penetration depth (i.e., H).

[0073] Furthermore, such as Figure 5 and Figure 6 As shown, the step S20 above, "calculating the first soil penetration depth of the suspension system under the current motion state according to the second mathematical model," specifically includes the following steps:

[0074] S21, acquire the angle value collected by the angle sensor of the work vehicle and the corresponding mechanical parameters of the suspension system.

[0075] Angle sensors installed on the rear of the work vehicle collect angle values ​​in real time during movement. The boundary thresholds corresponding to the angle value range collected by the angle sensors are the angles between the suspension system and the horizontal plane at the boundary positions corresponding to the mechanical limits. Furthermore, the angle values ​​collected by the angle sensors include the angles between the suspension system and the horizontal plane at the boundary positions corresponding to the mechanical limits; that is, these angle values ​​are the angle values ​​collected by the angle sensors of the work vehicle when the position range corresponding to the mechanical limits is met. In addition, the mechanical parameters of the suspension system include the lengths of the hydraulic rods at the boundary positions corresponding to the mechanical limits.

[0076] For example, the position angle (i.e., γ) of the suspension system satisfies E1 < γ < E2, where the angles between the suspension system and the horizontal plane at the boundary positions corresponding to the mechanical limit are E1 and E2, respectively. That is, E1 and E2 are the minimum and maximum angle values ​​that the suspension system can achieve when moving under mechanical limit conditions, respectively. Wherein, as Figure 5 As shown, in this embodiment, a is the length of the hydraulic rod when the suspension system is raised to the highest position, b is the length of the hydraulic rod when the suspension system is lowered to the lowest position, γ1 is the angle between the suspension system at its highest position and the horizontal plane, and γ2 is the angle between the suspension system at its lowest position and the horizontal plane.

[0077] S22, based on the mechanical parameters and angle values, and combined with the second mathematical model, calculate the total vertical motion length of the suspension system.

[0078] S23, the first penetration depth is calculated based on the total motion length and the state angle corresponding to the current motion state.

[0079] Furthermore, based on the mechanical parameters and angle values ​​of the suspension system under the current motion state, and combined with the mechanical geometric relationships of the second mathematical model, the total vertical motion length (i.e., l) of the suspension system can be calculated.

[0080] Then, the first penetration depth (i.e., H) can be calculated based on the total motion length and the state angle corresponding to the current motion state. Wherein, the penetration depth of the suspension system H = L - lsinγ mγ m is the real-time position angle of the suspension system; L is the length of the hydraulic rod when the suspension system rises to its highest position.

[0081] S30, based on the first mathematical model, calculate the second soil penetration depth of the suspension system in the work vehicle.

[0082] Furthermore, such as Figure 5 and Figure 7 As shown, the above S30 specifically includes the following steps:

[0083] S31, based on the current motion state, determine the floating state type of the working vehicle and the state angle corresponding to the floating state type.

[0084] S32, based on the state angle and combined with the first mathematical model, calculate the second soil penetration depth when the suspension system is currently in the motion state corresponding to the floating state type.

[0085] The required soil penetration depth of the suspension system is calculated by combining the current motion state of the working vehicle (i.e., the floating state type) with the first mathematical model, and this depth is taken as the second soil penetration depth.

[0086] For example, if the floating state corresponding to the current motion state is the forward tilt state of the suspension system, then the second penetration depth (i.e., H) in this state... α ) is: H α =L-lsinα; If the floating state corresponding to the current motion state is the suspension system pitching state, then the second penetration depth (i.e., H) in this state is... β ) is: H β =L-lsinβ; If the floating state corresponding to the current motion state is the leftward roll state of the suspension system, then the second penetration depth (i.e., H) in this state & ) is: H & =L-lsin&; If the floating state corresponding to the current motion state is the right swing state of the suspension system, then the second penetration depth (i.e., H) in this state θ ) is: H θ =L-lsinθ.

[0087] S40, the difference between the first and second embedment depths is calculated to obtain the difference value.

[0088] It can be understood that the difference between the first depth of penetration into the ground and the second depth of penetration into the ground in the current motion state is calculated to obtain the difference value. Then, the adjustment coefficient is matched with this difference value to adjust the current position angle of the suspension system.

[0089] Furthermore, if the difference between the first and second embedment depths falls within the preset error allowable range, it indicates that the first embedment depth meets the requirements under the current motion state, thus eliminating the need to adjust the position angle of the suspension system, i.e., no subsequent adjustment steps are required. Conversely, if the difference between the first and second embedment depths does not fall within the preset error allowable range, it indicates a significant difference between the two depths, necessitating adjustment of the suspension system's position angle to ensure the first embedment depth is compatible with the current motion state. The specific threshold value of the preset error allowable range can be set according to actual needs and is not limited here.

[0090] S50, based on the difference, match the target adjustment coefficient from the preset adjustment coefficient table, and adjust the angle position of the suspension system through the target adjustment coefficient so that the first soil penetration depth of the suspension system meets the preset requirements.

[0091] In this embodiment, an adjustment coefficient table is pre-set, which contains multiple adjustment coefficients within a predetermined range. Each adjustment coefficient in the table corresponds to a difference range, and the real-time angle position of the suspension system on the work vehicle is adjusted by matching the adjustment coefficients in the table.

[0092] Furthermore, the adjustment coefficient in the adjustment coefficient table is matched based on the difference between the current first and second soil penetration depths of the suspension system. Specifically, it is determined whether the difference falls within the range specified in the adjustment coefficient table, and the target adjustment coefficient is determined based on the determination result. If the difference falls within a certain range, the adjustment coefficient corresponding to that range is taken as the target adjustment coefficient.

[0093] Subsequently, the real-time angle position of the suspension system is adjusted using this adjustment coefficient so that the matched target adjustment coefficient meets the preset requirements, thereby ensuring that the first soil penetration depth of the suspension system meets the preset requirements. In other words, by adjusting the real-time angle position of the suspension system, the difference between the first soil penetration depth and the second soil penetration depth of the suspension system falls within the preset error allowable range.

[0094] It should be noted that the range of this difference, the specific value of the adjustment coefficient, and the correspondence between the two can all be set according to actual needs, and are not limited here.

[0095] In this embodiment, the soil penetration depth is calculated by combining the mathematical model of the equivalent construction of the work vehicle and the collected angle values. Then, an adjustment coefficient is selected based on the difference between the soil penetration depths to adjust the movement position of the suspension system in real time, so as to ensure that the real-time position angle of the suspension system is adapted to the current movement state and improve the work accuracy of the work vehicle in the actual operation process.

[0096] Please refer to Figure 8 This application provides a motion position adjustment device, which includes:

[0097] The acquisition module 81 is used to acquire the slope data collected by the working vehicle during its movement, combine it with the front-mounted position of the working vehicle, construct a first mathematical model accordingly, and determine the current movement state of the working vehicle based on the first mathematical model and the slope data.

[0098] The first calculation module 82 is used to construct a second mathematical model in accordance with the suspension system and the rear-mounted position in the work vehicle, and to calculate the first soil penetration depth of the suspension system in the current motion state according to the second mathematical model.

[0099] The second calculation module 83 is used to calculate the second soil penetration depth of the suspension system in the work vehicle according to the first mathematical model;

[0100] Processing module 84 is used to perform subtraction processing on the first soil penetration depth and the second soil penetration depth to obtain the difference value;

[0101] The adjustment module 85 is used to match a target adjustment coefficient from a preset adjustment coefficient table according to the difference, and adjust the angle position of the suspension system through the target adjustment coefficient so that the first soil penetration depth of the suspension system meets the preset requirements.

[0102] It is understood that the above-described motion position adjustment device corresponds to the motion position adjustment method of Embodiment 1. Any option in Embodiment 1 is also applicable to this embodiment, and will not be described in detail here.

[0103] This application also provides a work vehicle, which includes a memory and at least one processor. The memory stores a computer program, and the processor executes the computer program to implement the motion position adjustment method of the above embodiments.

[0104] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function. The data storage area may store data generated based on the use of the vehicle (such as slope data). Furthermore, the memory may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0105] This application also provides a computer-readable storage medium storing machine-executable instructions. When called and executed by a processor, the computer-executable instructions cause the processor to perform the steps of the motion position adjustment method described above.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0107] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0108] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0109] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for adjusting motion position, characterized in that, include: The slope data collected during the operation of the work vehicle is obtained, and a first mathematical model is constructed in combination with the front-mounted position of the work vehicle. Based on the first mathematical model and the slope data, the current movement state of the work vehicle is determined. Based on the suspension system and the rear-mounted position in the work vehicle, a second mathematical model is constructed accordingly, and the first soil penetration depth of the suspension system in the current motion state is calculated according to the second mathematical model. Based on the first mathematical model, calculate the second soil penetration depth of the suspension system in the work vehicle; The difference between the first penetration depth and the second penetration depth is calculated to obtain the difference value; Based on the difference, a target adjustment coefficient is matched from a preset adjustment coefficient table, and the angle position of the suspension system is adjusted using the target adjustment coefficient so that the first soil penetration depth of the suspension system meets the preset requirements. The step of calculating the first soil penetration depth of the suspension system in the current motion state according to the second mathematical model includes: Acquire the angle values ​​collected by the angle sensor of the work vehicle and the corresponding mechanical parameters of the suspension system; Based on the mechanical parameters and angle values, and in conjunction with the second mathematical model, the total vertical motion length of the suspension system is calculated. The first penetration depth is calculated based on the total movement length and the current movement state.

2. The motion position adjustment method according to claim 1, characterized in that, The angle values ​​include the angles between the suspension system and the horizontal plane at the boundary positions corresponding to the mechanical limits; the mechanical parameters include the lengths of the hydraulic rods of the suspension system at the boundary positions corresponding to the mechanical limits.

3. The motion position adjustment method according to any one of claims 1-2, characterized in that, Determining the current motion state of the work vehicle based on the first mathematical model and the slope data includes: The state angles of the working vehicle in different directions are calculated based on the first mathematical model and the slope data; wherein, the different states include forward tilting, backward tilting, left swaying and right swaying; The current motion state of the work vehicle is determined based on each of the state angles; wherein the current motion state includes the state angles and the floating state type that the work vehicle is currently in.

4. The motion position adjustment method according to claim 3, characterized in that, The step of calculating the state angles of the working vehicle in different directions based on the first mathematical model and the slope data includes: Calculate the directional angles of the working vehicle in different states based on the first mathematical model and the slope data; If each of the aforementioned directional corners is determined to be within the corresponding preset angle range, then each of the aforementioned directional corners is defined as a state angle.

5. The motion position adjustment method according to claim 1, characterized in that, The step of calculating the second soil penetration depth of the suspension system in the work vehicle according to the first mathematical model includes: Based on the current motion state, determine the floating state type of the working vehicle and the state angle corresponding to the floating state type; Based on the state angle and in conjunction with the first mathematical model, calculate the second soil penetration depth when the suspension system is currently in the motion state corresponding to the floating state type.

6. The motion position adjustment method according to claim 1, characterized in that, The slope data includes slope values ​​corresponding to the XOY and YOZ planes in the three-dimensional coordinate system.

7. A motion position adjustment device, characterized in that, include: The acquisition module is used to acquire slope data collected by the working vehicle during its movement, combine it with the front-mounted position of the working vehicle, construct a first mathematical model accordingly, and determine the current movement state of the working vehicle based on the first mathematical model and the slope data. The first calculation module is used to construct a second mathematical model in combination with the suspension system and the rear-mounted position of the work vehicle, and to calculate the first soil penetration depth of the suspension system in the current motion state based on the second mathematical model. The second calculation module is used to calculate the second soil penetration depth of the suspension system in the work vehicle based on the first mathematical model. The processing module is used to perform a difference processing on the first soil penetration depth and the second soil penetration depth to obtain the difference value; The adjustment module is used to match a target adjustment coefficient from a preset adjustment coefficient table according to the difference, and adjust the angle position of the suspension system through the target adjustment coefficient so that the first soil penetration depth of the suspension system meets the preset requirements. The step of calculating the first soil penetration depth of the suspension system in the current motion state according to the second mathematical model includes: Acquire the angle values ​​collected by the angle sensor of the work vehicle and the corresponding mechanical parameters of the suspension system; Based on the mechanical parameters and angle values, and in conjunction with the second mathematical model, the total vertical motion length of the suspension system is calculated. The first penetration depth is calculated based on the total movement length and the current movement state.

8. A work vehicle, characterized in that, The work vehicle includes a memory and at least one processor, the memory storing a computer program, and the processor executing the computer program to implement the motion position adjustment method according to any one of claims 1-6.

9. A computer storage medium, characterized in that, It stores a computer program, which, when executed, implements the motion position adjustment method according to any one of claims 1-6.

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