Tractor hoist control method, device, electronic equipment, medium and tractor

Abstract

The present invention relates to a tractor hoist control method, device, electronic device, medium and tractor, belonging to the field of electronic control technology, and the control method includes: when the tractor hoist is operating, real-time acquisition of operating parameter information of the hoist and the current speed of the engine, the operating parameter information including the actual height; judging whether the hoist meets the adaptive trigger condition based on the operating parameter information; if the hoist meets the adaptive trigger condition, the adaptive control parameter of the hoist is calculated based on the current speed, the actual height, the target height set by the user and the preset adaptive algorithm, the adaptive control parameter is used as a new target control parameter, and the hoist is controlled based on the new target control parameter so that the height of the hoist is the target height. The application has the effect of improving the lifting speed and operation efficiency of the hoist.

Description

Technical Field

[0001] The present invention relates to the field of electronic control technology, and in particular to a tractor hoist control method, device, electronic equipment, medium and tractor. Background Art

[0002] In the process of modern agricultural mechanization, the performance of the electric lifter, as a key component of agricultural machinery and equipment, directly affects the efficiency and quality of agricultural operations.

[0003] When designing traditional electric lifters, their control parameters are often calibrated and solidified according to standard working conditions before leaving the factory. This fixed parameter control method can better meet operational requirements in the initial use stage of the equipment.

[0004] However, as the equipment is used for a longer time, the hydraulic system's efficiency decline due to wear, aging and other factors gradually becomes apparent, which is directly manifested in slower lifting speed and lower operating efficiency, thus affecting the overall benefits of agricultural production. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a tractor lift control method, device, electronic equipment, medium and tractor, aiming to solve at least one of the above technical problems.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] In a first aspect, the present application provides a tractor lift control method, which adopts the following technical solution:

[0008] A tractor lift control method, comprising:

[0009] When the lifter of the tractor is operating, the operating parameter information of the lifter and the current speed of the engine are obtained in real time, wherein the operating parameter information includes the actual height;

[0010] Determining whether the lifter meets an adaptive trigger condition based on the operating parameter information;

[0011] If the lifter meets the adaptive triggering condition, the adaptive control parameters of the lifter are calculated based on the current rotation speed, the actual height, the target height set by the user and the preset adaptive algorithm, and the lifter is controlled based on the adaptive control parameters so that the height of the lifter is the target height.

[0012] The beneficial effects of the present invention are: by acquiring the operating parameter information of the hoist and the current speed of the engine in real time, the control parameters of the hoist are quickly adjusted based on this information, ensuring that the hoist can reach the target height set by the user more accurately and quickly, and improving the working efficiency and accuracy. The adaptive control algorithm can optimize the power distribution of the hoist according to the current speed of the engine, ensuring that while meeting the working requirements, unnecessary energy consumption is reduced, and the fuel consumption and operating costs of the tractor are reduced.

[0013] Based on the above technical solution, the present invention can also be improved as follows.

[0014] Further, if the booster does not meet the adaptive triggering condition, the method includes:

[0015] Calculating a difference based on the actual height and a target height set by a user;

[0016] Based on the difference, the current rotation speed and a preset adaptive control table, a target control parameter is determined, and the lifter is controlled according to the target control parameter so that the height of the lifter is the target height.

[0017] The beneficial effect of adopting the above further scheme is that when the lifter does not enter the adaptive control mode, the target control parameters are determined by combining the current speed, actual height, the difference between the target height set by the user and the preset adaptive control table to ensure that the lifter works in a stable manner.

[0018] Further, the operating parameter information also includes a current control state of a control valve of the lifter and a duration of the current control state, the current control state being a lifting state or a non-lifting state, and the determining whether the lifter satisfies the adaptive triggering condition based on the operating parameter information includes:

[0019] Determine whether the lifter is in a normal load-carrying operation state, wherein the normal load-carrying operation state is an operation state indicating that the lifter can safely perform a load task;

[0020] If the lifter is in a normal load-carrying operation state, determining whether the current control state of the control valve is a lifting state;

[0021] If the current control state of the control valve is the lifting state, determining whether the difference between the actual height and the set target height is within the set height range;

[0022] If the difference between the actual altitude and the set target altitude is within the set altitude interval, determining whether the duration is greater than a preset time threshold;

[0023] If the duration is greater than a preset time threshold, it is determined that the booster meets the adaptive triggering condition;

[0024] Otherwise, it is determined that the booster does not meet the adaptive triggering condition.

[0025] The beneficial effect of adopting the above further solution is that considering the current control state of the control valve and its duration, it is possible to distinguish between a short-term or accidental state change and a continuous and stable operating state. This ability to distinguish facilitates better coping with complex and changing operating environments and improves robustness and stability.

[0026] Adaptive control is triggered only when the lifter is in normal load-carrying operation, the control valve is in lifting state, the difference between the actual height and the target height is within the set range and the duration exceeds the preset threshold. This refined control strategy avoids unnecessary adaptive calculations and adjustments, reduces resource waste, and ensures the effectiveness and pertinence of adaptive control.

[0027] Further, the operation parameter information also includes the task state of the lifter, the position of the working mode knob of the lifter, the load condition of the lifter, and the switching signal of the control valve, the task state is an unlocked state or an unlocked state, the position of the working mode knob is the position of the knob corresponding to the current working mode of the lifter, the switching signal of the control valve is a switching signal between a middle position and a lifting position, the middle position is the position of the control valve when the lifter is controlled to maintain the current height, and the lifting position is the position of the control valve when the lifter is controlled to perform a lifting operation;

[0028] The step of judging whether the lifter is in a normal load-carrying operation state comprises:

[0029] Determine whether the mission state of the lifter is unlocked; and, determine whether the position of the working mode knob is the position corresponding to the working mode; and, determine whether the load condition of the lifter is a load working state; and, determine whether the switching signal of the control valve is a switching signal from the middle position to the lifting position;

[0030] If the mission state of the lifter is unlocked, the position of the working mode knob is the position corresponding to the working mode, the load condition of the lifter is the load working state, and the switching signal of the control valve is the switching signal from the middle position to the lifting position, it is determined that the lifter is in the normal load working state;

[0031] Otherwise, the lifter is in an abnormal loaded operation state.

[0032] The beneficial effect of adopting the above further scheme is: by comprehensively considering multiple parameter information, it is possible to more accurately judge whether the lift is currently in a normal load-bearing operating state. The normal load-bearing operating state is the prerequisite for self-learning, ensuring that the adaptive learning control parameters are credible and reducing the possibility of mislearning.

[0033] Further, the adaptive control parameters of the lifter are calculated based on the current rotation speed, the actual height, the target height set by the user and a preset adaptive algorithm, including:

[0034] Calculating a difference based on the actual height and a target height set by a user;

[0035] Determining a target control parameter based on the difference, the current speed and a preset adaptive control table;

[0036] Based on the current speed, determining a fixed control parameter corresponding to the current speed;

[0037] Based on the target control parameter and the fixed control parameter, an adaptive control parameter of the lifter is determined.

[0038] The beneficial effect of adopting the above further solution is that after determining the target control parameter, the corresponding fixed control parameter is also determined in combination with the current speed. By combining these two parameters, the adaptive control parameter can be calculated more quickly and the hoist can be controlled accordingly. The height and speed of the hoist can be controlled more accurately, improving the lifting speed and accuracy, so that the tractor can complete more work tasks in a shorter time.

[0039] Further, after calculating the adaptive control parameters of the lifter based on the current rotation speed, the actual height, the target height set by the user and the preset adaptive algorithm, the method further includes:

[0040] Using the adaptive control parameter as a new target control parameter;

[0041] Based on the new target control parameter, the adaptive control table is updated, and the updated adaptive control table is saved in the EEPROM storage area.

[0042] The beneficial effect of adopting the above further solution is that by continuously updating the adaptive control table, control experience and optimization strategies under different working conditions can be gradually accumulated. Saving the updated adaptive control table to the EEPROM storage area can ensure that the system can quickly restore to the latest control state after power failure or power-on.

[0043] In a second aspect, the present application provides a tractor lift control device, which adopts the following technical solution:

[0044] A tractor lift control device, comprising:

[0045] An acquisition module, used for acquiring operating parameter information of the tractor's lifter and the current speed of the engine in real time when the lifter is operating, wherein the operating parameter information includes the actual height;

[0046] A judgment module, used for judging whether the lifter meets the adaptive triggering condition based on the operating parameter information;

[0047] A control module is used to calculate the adaptive control parameters of the lifter based on the current rotation speed, the actual height, the target height set by the user and a preset adaptive algorithm if the lifter meets the adaptive trigger condition, and control the lifter based on the adaptive control parameters so that the height of the lifter is the target height.

[0048] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0049] An electronic device comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the tractor lift control method described in any one of the first aspects.

[0050] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0051] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute the tractor lift control method according to any one of the first aspects.

[0052] In a fifth aspect, the present application provides a tractor, which adopts the following technical solution:

[0053] A tractor comprises the electronic device described in the third aspect.

[0054] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic flow chart of a tractor lift control method provided by an embodiment of the present invention;

[0056] Figure 2 A schematic structural diagram of a tractor lift control device provided by one embodiment of the present invention;

[0057] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] A tractor lift control method provided by the present invention is applied in a tractor control system, the system comprising a control panel, an angle sensor, a force sensor, a controller and a lift, wherein the control panel, the angle sensor, the force sensor and the lift are all connected to the controller;

[0060] Among them, the control panel is used to send control signals to the controller. The control panel is equipped with knobs corresponding to the working mode, tillage depth knob, height limit knob, force position integrated knob, descent speed knob and active shock absorption button, etc.

[0061] Adjust the position of the knob corresponding to the working mode to select different working modes, including transport mode, stop mode, lifter operation mode and lifter rapid descent mode. The tillage depth knob is used to adjust the target height of the lifter in the lifter operation mode. The height limit knob is used to set the maximum lifting height of the lifter in the transport mode to avoid collisions during transportation. The force position integrated knob is used to adjust the comprehensive proportional coefficient of the angle sensor and force sensor signals to more accurately calculate the actual height of the lifter. The descent speed knob is used to adjust the descent speed of the lifter to meet different operating requirements. The active shock absorption button is used in the transport mode. Press this button to start the shock absorption function, actively adjust the lifter movement according to the signal feedback from the force sensor, and reduce the vibration of the machine.

[0062] The angle sensor is installed on the lifter to measure the height of the lifter in real time and feed back the lifter's height information to the controller. The force sensor is installed between the tractor and the lifter to measure the lifter's workload in real time and feed back the lifter's workload to the controller during operation.

[0063] The tractor lift control method provided by the embodiment of the present invention can be applied to any application scenario where the tractor lift needs to be controlled. The solution provided by the embodiment of the present invention can be executed by an electronic device with a data processing function, such as a controller with a data processing function installed on a tractor.

[0064] The present application embodiment provides a possible implementation method, such as Figure 1 As shown, a tractor lift control method is provided, comprising steps S1 to S4:

[0065] Step S1, when the lifter of the tractor is operating, real-time acquisition of operating parameter information of the lifter and the current speed of the engine, wherein the operating parameter information includes the actual height;

[0066] In the implementation manner of the present application, the actual height is calculated by using the signal sent by the force sensor, the signal sent by the angle sensor and the height calculation formula. The calculation formula for the actual height is:

[0067] H = S × a + F × (1-a);

[0068] Among them, H is the actual height, a is the force-position comprehensive coefficient, F is the signal corresponding to the force sensor, and S is the signal corresponding to the angle sensor.

[0069] The operating parameter information also includes the current control state of the control valve of the lift, the duration of the current control state, the task state of the lift, the position of the working mode knob of the lift, the load condition of the lift, and the switching signal of the control valve of the lift.

[0070] The current control state is a lifting state or an unlifting state, the task state is an unlocking state or an unlocking state, the position of the working mode knob is the position of the knob corresponding to the current working mode of the lifter, and different working modes can be selected through different positions of the knob, and the working modes include at least one of a transport mode, a stop mode, an operation mode, and a rapid descent mode. The switching signal of the control valve is a switching signal between a neutral position and a lifting position, the neutral position is the position of the control valve when the lifter is controlled to maintain the current height, and the lifting position is the position of the control valve when the lifter is controlled to perform a lifting operation;

[0071] Step S2, judging whether the lifter meets the adaptive triggering condition based on the operating parameter information;

[0072] In the embodiment of the present application, step S2 specifically includes the following sub-steps:

[0073] Step S21, determines whether the lifter is in a normal load-carrying operating state; if the lifter is in a normal load-carrying operating state, proceeds to step S22; wherein, the normal load-carrying operating state is an operating state that indicates that the lifter can safely perform load tasks. When the load exceeds the set value, it is unsafe to perform load task operations. When the load does not exceed the set value and the lifter is unlocked, the operating mode has been selected, the load is carried, and the control valve enters the lifting state, it is safe to perform load task operations.

[0074] In the implementation manner of the present application, the normal load-carrying operating state is the prerequisite for self-learning. By judging whether the lifter is in the normal load-carrying operating state, it is ensured that the control parameters of the adaptive learning are credible, thereby reducing the possibility of erroneous learning.

[0075] Step S22, determining whether the current control state of the control valve is a lifting state; if the current control state of the control valve is a lifting state, proceeding to step S23;

[0076] Step S23, determining whether the difference between the actual height and the set target height is within the set height interval; if the difference between the actual height and the set target height is within the set height interval, proceeding to step S24;

[0077] In the implementation manner of the present application, the upper limit of the height interval is 5%, and the lower limit of the interval is -5%.

[0078] Step S24, determining whether the duration is greater than a preset time threshold; if the duration is greater than the preset time threshold, determining that the booster meets the adaptive trigger condition, otherwise determining that the booster does not meet the adaptive trigger condition.

[0079] In the implementation manner of the present application, the preset time threshold is 1500ms. If the duration is greater than 1500ms, it is determined that the booster meets the adaptive trigger condition.

[0080] Optionally, determining whether the lifter is in a normal load-carrying operation state includes:

[0081] Determine whether the mission state of the lifter is the unlocked state; and, determine whether the position of the lifter working mode knob is the operating mode position; and, determine whether the load condition of the lifter is the load operating state; and, determine whether the switching signal of the control valve is a switching signal from the middle position to the lifting position;

[0082] If the mission state of the lifter is unlocked, the position of the working mode knob is the position corresponding to the working mode, the load condition of the lifter is the load working state, and the switching signal of the control valve is the switching signal from the middle position to the lifting position, it is determined that the lifter is in the normal load working state;

[0083] Otherwise, the lifter is in an abnormal loaded operation state.

[0084] In the above implementation, the task state of the lifter is determined by reading the state flag of the task state sensor or the controller, and the position of the lifter working mode knob is determined by the controller reading the encoder value of the knob on the control panel.

[0085] The load borne by the lifter is measured by a force sensor. If the load exceeds a preset load threshold, the lifter is determined to be in a load operation state.

[0086] The switching signal of the lift control valve is monitored by a position sensor installed on the control valve.

[0087] Step S3, if the lifter meets the adaptive triggering condition, the adaptive control parameters of the lifter are calculated based on the current rotation speed, the actual height, the target height set by the user and the preset adaptive algorithm, and the height of the lifter is controlled based on the adaptive control parameters.

[0088] In the implementation manner of the present application, specifically, step S3 includes:

[0089] Calculating a difference based on the actual height and a target height set by a user;

[0090] Determining a target control parameter based on the difference, the current speed and a preset adaptive control table;

[0091] Based on the current speed, determining a fixed control parameter corresponding to the current speed;

[0092] Based on the target control parameter and the fixed control parameter, an adaptive control parameter of the lifter is determined.

[0093] In the above embodiment, the target control parameter is a control parameter used by the controller to reach or maintain a set target height. The optimal lifting time in the lift operation mode is approximately between 500ms and 1500ms. However, as the lift is used for a longer time, the hydraulic system will experience a decrease in efficiency due to wear, aging and other factors.

[0094] Therefore, fixed control parameters are set. Fixed control parameters are set by the staff for specific speeds and are used for adaptive learning of the hoist. Under the premise of meeting the adaptive conditions, the adaptive control parameters obtained by accumulating the target control parameters and the fixed control parameters control the hoist until the target height and the actual height maintain the set height range, the hoist is in the lifting state and the duration of the lifting state is less than 1500ms, and the adaptive learning stops. After power off, the corresponding target control parameters are updated according to the adaptive control parameters and automatically saved to the EEPROM storage area. The updated target control parameters can be used directly when the power is turned on next time.

[0095] By combining these fixed control parameters with the target control parameters for self-learning, the adaptive control parameters can be calculated more quickly and the hoist can be controlled accordingly. The height and speed of the hoist can be controlled more accurately, improving the lifting speed and accuracy, allowing the tractor to complete more tasks in a shorter time.

[0096] After calculating the adaptive control parameters of the lifter based on the current rotation speed, the actual height, the target height set by the user and the preset adaptive algorithm, the method further includes:

[0097] Using the adaptive control parameter as a new target control parameter;

[0098] Based on the new target control parameter, the adaptive control table is updated, and the updated adaptive control table is saved in the EEPROM storage area.

[0099] By continuously updating the adaptive control table, control experience and optimization strategies under different working conditions can be gradually accumulated. Saving the updated adaptive control table to the EEPROM storage area can ensure that the system can quickly restore to the latest control state after power failure or power-on.

[0100] Step S4, if the lifter does not meet the adaptive triggering condition, the difference is calculated based on the actual height and the target height set by the user, the target control parameters are determined based on the difference, the current rotation speed and the preset adaptive control table, and the height of the lifter is controlled according to the target control parameters.

[0101] This method obtains the operating parameter information of the hoist and the current speed of the engine in real time, and quickly adjusts the control parameters of the hoist based on this information, ensuring that the hoist can reach the target height set by the user more accurately and improve the working efficiency. The adaptive control algorithm can optimize the power distribution of the hoist according to the current speed of the engine, ensuring that while meeting the working requirements, unnecessary energy consumption is reduced, and the fuel consumption and operating costs of the tractor are reduced.

[0102] Figure 2 A schematic structural diagram of a tractor lift control device 200 provided in one embodiment of the present invention.

[0103] like Figure 2 As shown, a tractor lift control device 200 includes:

[0104] The acquisition module 201 is used to acquire the operating parameter information of the tractor's lifter and the current speed of the engine in real time when the lifter is operating, wherein the operating parameter information includes the actual height;

[0105] A judgment module 202, configured to judge whether the lifter meets an adaptive trigger condition based on the operating parameter information;

[0106] The adaptive control module 203 is used to calculate the adaptive control parameters of the lift based on the current rotation speed, the actual height, the target height set by the user and the preset adaptive algorithm if the lift meets the adaptive trigger condition, and control the height of the lift based on the adaptive control parameters so that the height of the lift is the target height.

[0107] Optionally, a tractor lift control device 200 further includes a non-adaptive control module, and the non-adaptive control module is specifically used for:

[0108] Calculating a difference based on the actual height and a target height set by a user;

[0109] Based on the difference, the current rotation speed and a preset adaptive control table, a target control parameter is determined, and the lifter is controlled according to the target control parameter so that the height of the lifter is the target height.

[0110] Optionally, the operating parameter information further includes a current control state of a control valve of the lifter and a duration of the current control state, wherein the current control state is a lift state or a non-lift state. The judgment module 202 includes:

[0111] A first judgment submodule is used to judge whether the lifter is in a normal load-carrying operation state, wherein the normal load-carrying operation state is an operation state indicating that the lifter can safely perform a load task;

[0112] If the lifter is in a normal load-carrying operation state, the process proceeds to the second judgment submodule;

[0113] The second judgment submodule is used to judge whether the current control state of the control valve is the lifting state; if the current control state of the control valve is the lifting state, the process proceeds to the third judgment submodule;

[0114] A third judgment submodule is used to judge whether the difference between the actual height and the set target height is within the set height interval; if the difference between the actual height and the set target height is within the set height interval, then transfer to the fourth judgment submodule;

[0115] The fourth judgment submodule is used to judge whether the duration is greater than a preset time threshold; if the duration is greater than the preset time threshold, it is determined that the booster meets the adaptive trigger condition, otherwise it is determined that the booster does not meet the adaptive trigger condition.

[0116] Optionally, the operating parameter information also includes a task state of the lifter, a position of a working mode knob of the lifter, a load condition of the lifter, and a switching signal of a control valve, wherein the task state is an unlocked state or an unlocked state, the position of the working mode knob is a position of a knob corresponding to a current working mode of the lifter, and the switching signal of the control valve is a switching signal between a middle position and a lifting position, wherein the middle position is a position of the control valve when the lifter is controlled to maintain a current height, and the lifting position is a position of the control valve when the lifter is controlled to perform a lifting operation;

[0117] The first judgment submodule is specifically used for:

[0118] Determine whether the mission state of the lifter is unlocked; and, determine whether the position of the working mode knob is the position corresponding to the working mode; and, determine whether the load condition of the lifter is a load working state; and, determine whether the switching signal of the control valve is a switching signal from the middle position to the lifting position;

[0119] If the mission state of the lifter is unlocked, the position of the working mode knob is the position corresponding to the working mode, the load condition of the lifter is the load working state, and the switching signal of the control valve is the switching signal from the middle position to the lifting position, it is determined that the lifter is in the normal load working state;

[0120] Otherwise, the lifter is in an abnormal loaded operation state.

[0121] Optionally, the adaptive control module 203 is specifically used for:

[0122] Determining a target control parameter based on the actual altitude, a target altitude set by a user, the current rotation speed, and a preset adaptive control table;

[0123] Based on the current speed, determining a fixed control parameter corresponding to the current speed;

[0124] Based on the target control parameter and the fixed control parameter, an adaptive control parameter of the lifter is determined.

[0125] Optionally, a tractor lift control device 200 further includes a storage module, and the storage module is specifically used for:

[0126] After calculating the adaptive control parameter of the lifter based on the current rotation speed, the actual height, the target height set by the user and a preset adaptive algorithm, using the adaptive control parameter as a new target control parameter;

[0127] Based on the new target control parameter, the adaptive control table is updated, and the updated adaptive control table is saved in the EEPROM storage area.

[0128] In one example, the module in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0129] For another example, when the modules in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0130] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0131] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0132] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0133] Figure 3 This is a structural block diagram of an electronic device 300 according to an embodiment of the present application.

[0134] like Figure 3 As shown, the electronic device 300 includes a processor 301 and a memory 302 , and may further include one or more of an information input / information output (I / O) interface 303 and a communication component 304 .

[0135] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned tractor lift control method; the memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method operated on the electronic device 300, and data related to the application. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0136] The I / O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.

[0137] The communication bus 305 may include a path to transmit information between the above components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0138] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the tractor hoist control method given in the above embodiment.

[0139] The computer-readable storage medium provided in the embodiment of the present application is introduced below. The computer-readable storage medium described below and the tractor lift control method described above can be referenced to each other.

[0140] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned tractor lift control method are implemented.

[0141] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0142] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0143] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A tractor lift control method, characterized in that: include: When the lifter of the tractor is operating, the operating parameter information of the lifter and the current speed of the engine are obtained in real time, wherein the operating parameter information includes the actual height; Determining whether the lifter meets an adaptive trigger condition based on the operating parameter information; If the lifter meets the adaptive triggering condition, the adaptive control parameters of the lifter are calculated based on the current rotation speed, the actual height, the target height set by the user and the preset adaptive algorithm, and the lifter is controlled based on the adaptive control parameters so that the height of the lifter is the target height; The operating parameter information also includes a current control state of a control valve of the lifter and a duration of the current control state, wherein the current control state is a lifting state or a non-lifting state. The determining whether the lifter meets the adaptive triggering condition based on the operating parameter information includes: Determine whether the lifter is in a normal load-carrying operation state, wherein the normal load-carrying operation state is an operation state indicating that the lifter can safely perform a load task; If the lifter is in a normal load-carrying operation state, determining whether the current control state of the control valve is a lifting state; If the current control state of the control valve is the lifting state, determining whether the difference between the actual height and the set target height is within the set height range; If the difference between the actual altitude and the set target altitude is within the set altitude interval, determining whether the duration is greater than a preset time threshold; If the duration is greater than a preset time threshold, it is determined that the booster meets the adaptive triggering condition; Otherwise, it is determined that the booster does not meet the adaptive triggering condition.

2. A tractor lift control method according to claim 1, characterized in that: If the booster does not meet the adaptive triggering condition, the method includes: Calculating a difference based on the actual height and a target height set by a user; Based on the difference, the current rotation speed and a preset adaptive control table, a target control parameter is determined, and the lifter is controlled according to the target control parameter so that the height of the lifter is the target height.

3. A tractor lift control method according to claim 1, characterized in that: The operation parameter information also includes the task state of the lifter, the position of the working mode knob of the lifter, the load condition of the lifter, and the switching signal of the control valve, wherein the task state is an unlocked state or an unlocked state, the position of the working mode knob is the position of the knob corresponding to the current working mode of the lifter, and the switching signal of the control valve is a switching signal between a middle position and a lifting position, wherein the middle position is the position of the control valve when the lifter is controlled to maintain the current height, and the lifting position is the position of the control valve when the lifter is controlled to perform a lifting operation; The step of judging whether the lifter is in a normal load-carrying operation state comprises: Determine whether the mission state of the lifter is unlocked; and, determine whether the position of the working mode knob is the position corresponding to the working mode; and, determine whether the load condition of the lifter is a load working state; and, determine whether the switching signal of the control valve is a switching signal from the middle position to the lifting position; If the mission state of the lifter is unlocked, the position of the working mode knob is the position corresponding to the working mode, the load condition of the lifter is the load working state, and the switching signal of the control valve is the switching signal from the middle position to the lifting position, it is determined that the lifter is in the normal load working state; Otherwise, the lifter is in an abnormal loaded operation state.

4. A tractor lift control method according to claim 1, characterized in that: The step of calculating the adaptive control parameters of the lifter based on the current rotation speed, the actual height, the target height set by the user and a preset adaptive algorithm includes: Calculating a difference based on the actual height and a target height set by a user; Determining a target control parameter based on the difference, the current speed and a preset adaptive control table; Based on the current speed, determining a fixed control parameter corresponding to the current speed; Based on the target control parameter and the fixed control parameter, an adaptive control parameter of the lifter is determined.

5. A tractor lift control method according to claim 4, characterized in that: After calculating the adaptive control parameters of the lifter based on the current rotation speed, the actual height, the target height set by the user and the preset adaptive algorithm, the method further includes: Using the adaptive control parameter as a new target control parameter; Based on the new target control parameter, the adaptive control table is updated, and the updated adaptive control table is saved in the EEPROM storage area.

6. A tractor lift control device, characterized in that: include: An acquisition module, used for acquiring operating parameter information of the tractor's lifter and the current speed of the engine in real time when the lifter is operating, wherein the operating parameter information includes the actual height; A judgment module, used for judging whether the lifter meets the adaptive triggering condition based on the operating parameter information; An adaptive control module is used to calculate the adaptive control parameters of the lift based on the current rotation speed, the actual height, the target height set by the user and a preset adaptive algorithm if the lift meets the adaptive trigger condition, and control the height of the lift based on the adaptive control parameters so that the height of the lift is the target height.

7. An electronic device, characterized in that: comprising a processor coupled to a memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The method comprises a computer program or an instruction, which, when executed on a computer, causes the computer to execute the method according to any one of claims 1 to 5.

9. A tractor, characterized in that: Comprising the electronic device as claimed in claim 7.

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