Auto-adaptive locking system and method for vehicle chassis suspension

Abstract

The invention discloses a vehicle chassis suspension self-adaptive locking system and method. The system comprises a locking mechanism and a locking control device, the locking mechanism comprises an electric push rod, a pin shaft, a cross arm fixing hole seat, a supporting vertical plate and an electric push rod fixing seat, and the locking control device is installed in a vehicle and comprises a state detection unit, a processing operation unit, a locking control unit and an operation terminal. According to different conditions, the suspension swing arm of the vehicle is mechanically locked or unlocked automatically, and the requirements for reliable and stable work of transportation special equipment and equipment on the vehicle are met.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned vehicle control, and in particular relates to an automatic adaptive locking system and method for a vehicle chassis suspension. Background Art

[0002] The suspension used in driverless vehicles is a transverse arm independent suspension. When the vehicle is driving, the chassis suspension is in an up and down bouncing state to ensure the vehicle's passability and stability. When transporting special equipment at a low speed on a flat road, the vehicle is required to be in a stable state, so the transverse arm suspension system must not swing up and down during driving. In a stationary state, when the vehicle loading equipment is working, the vehicle is required not to be impacted by external loads and cause the cross arm to move up and down. Therefore, how to automatically mechanically lock or unlock the vehicle suspension swing arm according to different situations to meet the requirements of reliable and stable operation of special equipment and equipment on the vehicle is called a technical problem that needs to be solved in this field. Summary of the invention

[0003] The present invention provides an automatic adaptive locking system for a vehicle chassis suspension, the system comprising: a locking mechanism and a locking control device, the locking mechanism comprising an electric push rod, a pin shaft, a cross arm fixing hole seat, a supporting vertical plate, and an electric push rod fixing seat, the locking control device is installed inside the vehicle, and comprises a state detection unit, a processing and calculation unit, a locking control unit, and an operation terminal; The fixed end of the electric push rod is fixed on the electric push rod fixing seat, the telescopic end of the electric push rod is extended and connected with the pin shaft, the support vertical plate is fixed to the vehicle chassis, the cross arm fixing hole seat is fixedly connected to the cross arm type independent suspension, the cross arm fixing hole seat and the support vertical plate are respectively provided with fixing holes, the pin shaft is penetrated into the fixing hole of the cross arm fixing hole seat, and when the telescopic end of the electric push rod is extended, the pin shaft can pass through the fixing hole of the cross arm fixing hole seat and the fixing hole of the support vertical plate, so that the cross arm fixing hole seat and the support vertical plate are fixedly connected to each other, so that the cross arm type independent suspension is locked with the vehicle body, and when the telescopic end of the electric push rod is retracted, the pin shaft only passes through the fixing hole of the cross arm fixing hole seat, and does not pass through the fixing hole of the support vertical plate, so that the cross arm fixing hole seat and the support vertical plate are separated from each other, so that the cross arm type independent suspension is unlocked with the vehicle body; The state detection unit is used to receive an external control instruction issued by the operation terminal for instructing locking or unlocking, and vehicle state data, and send the external control instruction and the vehicle state data to the processing unit; After receiving the external control instruction, the processing and operation unit processes the vehicle status data, and sends a locking or unlocking instruction to the locking control unit according to the processing result, or returns prompt information to the operation terminal; After receiving the locking command, the locking control unit controls the telescopic end of the electric push rod to extend so that the cross-arm independent suspension is locked with the vehicle body; after receiving the unlocking command, the locking control unit controls the telescopic end of the electric push rod to retract so that the cross-arm independent suspension is unlocked with the vehicle body; The operation terminal is used to receive an operation signal from an operator, or a work request or a work stop signal from a working device, thereby generating the external control instruction. The operation terminal is also used to receive and display prompt information from the processing and operation unit.

[0004] Furthermore, the operation terminal is a mobile terminal wirelessly connected to the status detection unit and the working equipment loaded on the vehicle, or a controller connected to the status detection unit and the working equipment loaded on the vehicle through a wired connection; the operator operates the operation terminal to send a locking or unlocking operation signal, or, when the working equipment loaded on the vehicle is ready to enter the working state, a locking operation signal is sent to the operation terminal, and when the working equipment loaded on the vehicle enters a working stop state, an unlocking operation signal is sent to the operation terminal; the operation terminal generates a locking external control instruction or an unlocking external control instruction according to the locking operation signal or the unlocking operation signal.

[0005] Furthermore, the state detection unit includes a speed sensor for detecting the vehicle's driving speed, an acceleration sensor for detecting the vehicle's vertical movement acceleration, and an angular velocity sensor for detecting the angular velocity of the wheels installed on the wishbone independent suspension; the vehicle state data includes the vehicle's driving speed, the vehicle's vertical movement acceleration and the wheel angular velocity.

[0006] Further, after the processing and operation unit receives the external control instruction, if it is determined that the received external control instruction is a locked external control instruction, the processing and operation unit processes the received vehicle status data as follows: Calculate wheel slip: in, is the wheel slip rate, is the wheel angular velocity, is the vehicle speed, is the wheel radius, and the processing unit determines the wheel slip rate and when the vehicle speed and the vehicle vertical acceleration are both less than or equal to the locking threshold, a locking instruction is issued to the locking control unit; otherwise, a prompt message is returned to the operation terminal, wherein the prompt message is used to indicate that the external control instruction is rejected; After the processing unit receives the external control instruction, if it is determined that the received external control instruction is an unlocking external control instruction, the processing unit determines the wheel slip rate And when the vehicle speed is less than or equal to the unlocking threshold, an unlocking instruction is sent to the locking control unit, otherwise, the prompt information is returned to the operation terminal.

[0007] Further, the locking threshold of the vehicle speed is less than the unlocking threshold of the vehicle speed, the locking threshold of the vehicle speed is specifically a preset speed value within the range of 0-10km / h, and the unlocking threshold of the vehicle speed is specifically a preset speed value within the range of 5km / h-25km / h.

[0008] Furthermore, after receiving the prompt information, the operation terminal displays a prompt information, indicating that the external control instruction cannot be executed.

[0009] Further, after receiving the prompt information, the operation terminal displays a prompt information, indicating that the external control command cannot be executed. After receiving the locking command, the locking control unit controls the telescopic end of the electric push rod to extend, driving the pin shaft to move. The front end of the pin shaft is a hemispherical structure, which can make the pin shaft pass through the fixing hole of the cross arm fixing hole seat when the fixing hole of the cross arm fixing hole seat and the fixing hole of the supporting vertical plate are not completely aligned, so that the cross arm type independent suspension is locked with the vehicle body; After receiving the unlocking command, the locking control unit controls the telescopic end of the electric push rod to retract, drives the pin shaft to move, and makes the pin shaft move out and no longer pass through the fixing hole of the cross arm fixing hole seat, so that the cross arm independent suspension is unlocked from the vehicle body.

[0010] The present invention also relates to a vehicle chassis suspension automatic adaptive locking method, which is used for the vehicle chassis suspension automatic adaptive locking system as described above, and comprises the following steps: S1. The operating terminal receives a lock or unlock operation signal issued by an operator or a working device mounted on a vehicle, generates a corresponding external control command for locking or unlocking, and sends it to the status detection unit; S2 state detection unit detects the vehicle speed, the vehicle vertical motion acceleration and wheel angular velocity, and sends the above vehicle state data and the external control command to the processing unit; S3. After the processing unit receives the external control command, if it is determined that the received external control command is a locked external control command, the processing unit processes the received vehicle status data as follows: Calculate wheel slip: in, is the wheel slip rate, is the wheel angular velocity, is the vehicle speed, is the wheel radius, and the processing unit determines the wheel slip rate If the vehicle speed and the vehicle vertical acceleration are both less than or equal to the locking threshold, execute step S4; otherwise, execute step S6; If the processing unit determines that the received external control command is an unlocking external control command, the processing unit determines the wheel slip rate If the vehicle speed is less than or equal to the unlocking threshold, execute step S5; otherwise, execute step S6; The locking threshold of the vehicle speed is less than the unlocking threshold of the vehicle speed. Specifically, the locking threshold of the vehicle speed is a preset speed value within the range of 0-10 km / h, and the unlocking threshold of the vehicle speed is a preset speed value within the range of 5 km / h-25 km / h. S4. A locking command is issued to the locking control unit. After receiving the locking command, the locking control unit controls the telescopic end of the electric push rod to extend, drive the pin to move, and allow the pin to pass through the fixing hole of the cross arm fixing hole seat, so that the cross arm independent suspension is locked with the vehicle body; S5. An unlock command is issued to the locking control unit. After receiving the unlock command, the locking control unit controls the telescopic end of the electric push rod to retract, driving the pin to move so that the pin moves out and no longer passes through the fixing hole of the cross arm fixing hole seat, so that the cross arm independent suspension is unlocked from the vehicle body; S6. Returning a prompt message to the operation terminal, wherein the prompt message is used to prompt that the external control instruction is rejected.

[0011] The present invention also relates to a computer program product, which comprises a computer program, and the computer program is executed by a processor for executing the vehicle chassis suspension automatic adaptive locking method as described above.

[0012] The present invention also relates to a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, wherein the computer program is executed by a processor to execute the vehicle chassis suspension automatic adaptive locking method as described above.

[0013] The technical solution of the present invention automatically mechanically locks or unlocks the vehicle suspension swing arm according to different situations to meet the requirements for reliable and stable operation of the transported special equipment and the equipment on the vehicle, and ensures that the transverse arm independent suspension is allowed to be locked with the vehicle body only when the vehicle is running steadily at a low speed or stopped without slipping, avoiding the danger of sudden locking when the vehicle is driving at a high speed and bumpy, avoiding damage to the vehicle, and at the same time ensuring that the vehicle is not in a high-speed driving state with severe slipping when unlocking, avoiding the danger of sudden unlocking in this situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the unlocking state of the locking structure of the automatic adaptive locking system of the vehicle chassis suspension of the present invention.

[0015] Figure 2 It is a schematic diagram of the locking state of the locking structure of the automatic adaptive locking system of the vehicle chassis suspension of the present invention.

[0016] Figure 3 It is a structural schematic diagram of the locking control device of the vehicle chassis suspension automatic adaptive locking system of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the scope of protection of the present invention. It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation of the present invention.

[0018] Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those generally understood by those of ordinary skill in the art to which the present invention belongs. It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0019] Embodiment 1 of the present invention relates to an automatic adaptive locking system for a vehicle chassis suspension, as shown in the attached Figure 1-3 As shown, the system includes a locking mechanism and a locking control device, the locking mechanism includes an electric push rod 1, a pin shaft 2, a cross arm fixing hole seat 3, a supporting vertical plate 4, and an electric push rod fixing seat 5, and the locking control device is installed inside the vehicle, including a state detection unit 6, a processing and operation unit 7, a locking control unit 8, and an operation terminal 9.

[0020] The fixed end of the electric push rod 1 is fixed on the electric push rod fixing seat 5, the telescopic end of the electric push rod 1 is extended and connected with the pin shaft 2, the supporting vertical plate 5 is fixed to the vehicle chassis, the cross arm fixing hole seat 3 is fixedly connected to the cross arm type independent suspension, the cross arm fixing hole seat 3 and the supporting vertical plate 5 are respectively provided with fixing holes, the pin shaft 2 is penetrated into the fixing hole of the cross arm fixing hole seat 3, and when the telescopic end of the electric push rod 1 is extended, the pin shaft 2 can pass through the fixing hole of the cross arm fixing hole seat 3 and the fixing hole of the supporting vertical plate 5, so that the cross arm fixing hole seat 3 and the supporting vertical plate 5 are fixedly connected to each other, thereby locking the cross arm type independent suspension with the vehicle body, when the telescopic end of the electric push rod 1 is retracted, the pin shaft 2 only passes through the fixing hole of the cross arm fixing hole seat 3, and does not pass through the fixing hole of the supporting vertical plate 5, so that the cross arm fixing hole seat 3 and the supporting vertical plate 5 are separated from each other, thereby unlocking the cross arm type independent suspension with the vehicle body.

[0021] The state detection unit 6 is used to receive an external control instruction for instructing locking or unlocking and vehicle state data issued by the operation terminal 9, and send the external control instruction and the vehicle state data to the processing and operation unit 7.

[0022] After receiving the external control instruction, the processing and operation unit 7 processes the vehicle status data, and sends a locking or unlocking instruction to the locking control unit 8 or returns prompt information to the operation terminal 9 according to the processing result.

[0023] After receiving the locking command, the locking control unit 8 controls the telescopic end of the electric push rod 1 to extend so that the transverse arm independent suspension is locked with the vehicle body. After receiving the unlocking command, the locking control unit 8 controls the telescopic end of the electric push rod 1 to retract so that the transverse arm independent suspension is unlocked with the vehicle body.

[0024] The operation terminal 9 is used to receive an operation signal from an operator, or a work request or a work stop signal from a working device, so as to generate the external control instruction. The operation terminal 9 is also used to receive and display prompt information from the processing and operation unit 7 .

[0025] The operation terminal 9 is a mobile terminal wirelessly connected to the state detection unit 6 and the working equipment on the vehicle, or a controller connected to the state detection unit 6 and the working equipment on the vehicle by wired connection. The operator operates the operation terminal 9 to send a locking or unlocking operation signal, or when the working equipment on the vehicle is ready to enter the working state, a locking operation signal is sent to the operation terminal 9, and when the working equipment on the vehicle enters the working stop state, an unlocking operation signal is sent to the operation terminal 9. The operation terminal 9 generates a locking external control instruction or an unlocking external control instruction according to the locking operation signal or the unlocking operation signal.

[0026] The state detection unit 6 includes a speed sensor for detecting the vehicle's running speed, an acceleration sensor for detecting the vehicle's vertical acceleration, and an angular velocity sensor for detecting the angular velocity of the wheels mounted on the wishbone independent suspension. The vehicle state data includes the vehicle's running speed, the vehicle's vertical acceleration, and the wheel angular velocity.

[0027] After the processing and operation unit 7 receives the external control instruction, if it is determined that the received external control instruction is a locked external control instruction, the processing and operation unit 7 processes the received vehicle status data as follows: Calculate wheel slip: in, is the wheel slip rate, is the wheel angular velocity, is the vehicle speed, is the wheel radius, and the processing unit 7 determines the wheel slip rate And when the vehicle speed and the vehicle vertical acceleration are both less than or equal to the locking threshold, a locking instruction is issued to the locking control unit 8, otherwise, a prompt message is returned to the operation terminal 9, and the prompt message is used to prompt that the external control instruction is rejected.

[0028] After the processing unit 7 receives the external control instruction, if it is determined that the received external control instruction is an unlocking external control instruction, the processing unit determines the wheel slip rate And when the vehicle speed is less than or equal to the unlocking threshold, an unlocking instruction is sent to the locking control unit 8 , otherwise, the prompt information is returned to the operation terminal 9 .

[0029] The locking threshold of the vehicle speed is less than the unlocking threshold of the vehicle speed. Specifically, the locking threshold of the vehicle speed is a preset speed value within the range of 0-10 km / h, and the unlocking threshold of the vehicle speed is a preset speed value within the range of 5 km / h-25 km / h.

[0030] Through the above processing, it is ensured that the wishbone independent suspension is allowed to lock with the vehicle body only when the vehicle is driving steadily at a low speed or stopped without slipping, so as to avoid the danger of sudden locking when the vehicle is driving at a high speed and bumpy, and avoid damage to the vehicle. At the same time, when unlocking, it is ensured that the vehicle is not in a high-speed driving state with severe slipping, so as to avoid the danger of sudden unlocking in this situation.

[0031] After receiving the prompt information, the operation terminal 9 displays the prompt information, indicating that the external control instruction cannot be executed.

[0032] After receiving the locking command, the locking control unit 8 controls the telescopic end of the electric push rod 1 to extend, driving the pin shaft 2 to move. The front end of the pin shaft 2 is a hemispherical structure, which can make the pin shaft 2 pass through the fixing hole of the cross arm fixing hole seat 3 when the fixing hole of the cross arm fixing hole seat 3 and the fixing hole of the supporting vertical plate 5 are not completely aligned, so that the cross arm type independent suspension is locked with the vehicle body. The locking state is shown in the attached figure. Figure 2 shown.

[0033] After receiving the unlocking command, the locking control unit 8 controls the telescopic end of the electric push rod 1 to retract, driving the pin shaft 2 to move, so that the pin shaft 2 moves out and no longer passes through the fixing hole of the cross arm fixing hole seat 3, so that the cross arm type independent suspension is unlocked from the vehicle body. The unlocking state is shown in the attached figure. Figure 1 shown.

[0034] Embodiment 2 of the present invention relates to a method for automatically adapting the locking of a vehicle chassis suspension, which is implemented by the system of embodiment 1 and includes the following steps: S1. The operation terminal 9 receives a locking or unlocking operation signal from an operator or a working device mounted on a vehicle, generates a locking external control instruction or an unlocking external control instruction accordingly, and sends it to the state detection unit 6.

[0035] S2. The state detection unit 6 detects the vehicle speed, the vehicle vertical acceleration and the wheel angular velocity, and sends the above vehicle state data and the external control instruction to the processing unit 7.

[0036] S3. After the processing unit 7 receives the external control command, if it is determined that the received external control command is a locked external control command, the processing unit 7 processes the received vehicle status data as follows: Calculate wheel slip: in, is the wheel slip rate, is the wheel angular velocity, is the vehicle speed, is the wheel radius, and the processing unit 7 determines the wheel slip rate If the vehicle speed and the vehicle vertical acceleration are both less than or equal to the locking threshold, execute step S4; otherwise, execute step S6; If the processing unit 7 determines that the received external control instruction is an unlocking external control instruction, the processing unit determines the wheel slip rate If the vehicle speed is less than or equal to the unlocking threshold, execute step S5; otherwise, execute step S6.

[0037] Among them, the locking threshold of the vehicle speed is less than the unlocking threshold of the vehicle speed, the locking threshold of the vehicle speed is specifically a preset speed value in the range of 0-10km / h, and the unlocking threshold of the vehicle speed is specifically a preset speed value in the range of 5km / h-25km / h.

[0038] S4. A locking command is issued to the locking control unit 8. After receiving the locking command, the locking control unit 8 controls the telescopic end of the electric push rod 1 to extend, driving the pin shaft 2 to move, so that the pin shaft 2 passes through the fixing hole of the cross arm fixing hole seat 3, so that the cross arm independent suspension is locked with the vehicle body.

[0039] S5. Send an unlocking command to the locking control unit 8. After receiving the unlocking command, the locking control unit 8 controls the telescopic end of the electric push rod 1 to retract, driving the pin shaft 2 to move, so that the pin shaft 2 moves out and no longer passes through the fixing hole of the cross arm fixing hole seat 3, thereby unlocking the cross arm independent suspension from the vehicle body.

[0040] S6. Returning a prompt message to the operation terminal 9, wherein the prompt message is used to prompt that the external control instruction is rejected.

[0041] Embodiment 3 of the present invention relates to a computer program product, which includes a computer program. The computer program is executed by a processor to execute the vehicle chassis suspension automatic adaptive locking method of embodiment 2.

[0042] Embodiment 4 of the present invention relates to a computer-readable storage medium, which is used to store a computer program. The computer program is executed by a processor to execute an automatic adaptive locking method for a vehicle chassis suspension according to embodiment 2.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. The vehicle chassis suspension automatically adapts to the locking system, characterized in that: The system comprises: a locking mechanism and a locking control device, wherein the locking mechanism comprises an electric push rod (1), a pin shaft (2), a cross arm fixing hole seat (3), a supporting vertical plate (4), and an electric push rod fixing seat (5); the locking control device is installed inside the vehicle and comprises a state detection unit (6), a processing unit (7), a locking control unit (8), and an operation terminal (9); The fixed end of the electric push rod (1) is fixed to the electric push rod fixing seat (5), the telescopic end of the electric push rod (1) is extended and connected to the pin shaft (2), the support vertical plate (5) is fixed to the vehicle chassis, the cross arm fixing hole seat (3) is fixedly connected to the cross arm type independent suspension, the cross arm fixing hole seat (3) and the support vertical plate (5) are respectively provided with a fixing hole, the pin shaft (2) is inserted into the fixing hole of the cross arm fixing hole seat (3), and when the telescopic end of the electric push rod (1) is extended, the pin shaft (2) ) can pass through the fixing hole of the cross arm fixing hole seat (3) and the fixing hole of the supporting upright plate (5), so that the cross arm fixing hole seat (3) and the supporting upright plate (5) are fixedly connected to each other, thereby locking the cross arm type independent suspension with the vehicle body; when the telescopic end of the electric push rod (1) is retracted, the pin shaft (2) only passes through the fixing hole of the cross arm fixing hole seat (3) and does not pass through the fixing hole of the supporting upright plate (5), so that the cross arm fixing hole seat (3) and the supporting upright plate (5) are separated from each other, thereby unlocking the cross arm type independent suspension with the vehicle body; The state detection unit (6) is used to receive an external control instruction for instructing locking or unlocking, and vehicle state data, issued by the operation terminal (9), and send the external control instruction and the vehicle state data to the processing operation unit (7); After receiving the external control instruction, the processing and operation unit (7) processes the vehicle status data, and sends a locking or unlocking instruction to the locking control unit (8) or returns prompt information to the operation terminal (9) according to the processing result; After receiving a locking instruction, the locking control unit (8) controls the telescopic end of the electric push rod (1) to extend so that the cross-arm type independent suspension is locked with the vehicle body; after receiving an unlocking instruction, the locking control unit (8) controls the telescopic end of the electric push rod (1) to retract so that the cross-arm type independent suspension is unlocked with the vehicle body; The operation terminal (9) is used to receive an operation signal from an operator, or a work request or a work stop signal from a working device, thereby generating the external control instruction. The operation terminal (9) is also used to receive and display prompt information from the processing and operation unit (7).

2. The vehicle chassis suspension automatic adaptive locking system according to claim 1, characterized in that: The operation terminal (9) is a mobile terminal wirelessly connected to the state detection unit (6) and the working equipment on the vehicle, or a controller connected to the state detection unit (6) and the working equipment on the vehicle by wired connection; an operator operates the operation terminal (9) to send a locking or unlocking operation signal, or, when the working equipment on the vehicle is ready to enter a working state, a locking operation signal is sent to the operation terminal (9), and when the working equipment on the vehicle enters a working stop state, an unlocking operation signal is sent to the operation terminal (9); the operation terminal (9) generates a locking external control instruction or an unlocking external control instruction according to the locking operation signal or the unlocking operation signal.

3. The vehicle chassis suspension automatic adaptive locking system according to claim 1, characterized in that: The state detection unit (6) comprises a speed sensor for detecting the vehicle's running speed, an acceleration sensor for detecting the vehicle's vertical acceleration, and an angular velocity sensor for detecting the angular velocity of a wheel mounted on a transverse arm independent suspension; the vehicle state data comprises the vehicle's running speed, the vehicle's vertical acceleration, and the wheel angular velocity.

4. The vehicle chassis suspension automatic adaptive locking system according to claim 2, characterized in that: After the processing and operation unit (7) receives the external control instruction, if it is determined that the received external control instruction is a locked external control instruction, the processing and operation unit (7) processes the received vehicle status data as follows: Calculate wheel slip: ； in, is the wheel slip rate, is the wheel angular velocity, is the vehicle speed, is the wheel radius, and the processing unit (7) determines the wheel slip rate and when the vehicle speed and the vehicle vertical acceleration are both less than or equal to the locking threshold, a locking instruction is sent to the locking control unit (8); otherwise, a prompt message is returned to the operating terminal (9), the prompt message being used to indicate that the external control instruction is rejected; After the processing and operation unit (7) receives the external control instruction, if it is determined that the received external control instruction is an unlocking external control instruction, the processing and operation unit determines the wheel slip rate And when the vehicle speed is less than or equal to the unlocking threshold, an unlocking instruction is sent to the locking control unit (8); otherwise, the prompt information is returned to the operating terminal (9).

5. The vehicle chassis suspension automatic adaptive locking system according to claim 4, characterized in that: The locking threshold of the vehicle speed is less than the unlocking threshold of the vehicle speed. The locking threshold of the vehicle speed is specifically a preset speed value within the range of 0-10km / h, and the unlocking threshold of the vehicle speed is specifically a preset speed value within the range of 5km / h-25km / h.

6. The vehicle chassis suspension automatic adaptive locking system according to claim 4, characterized in that: After receiving the prompt information, the operation terminal (9) displays the prompt information, indicating that the external control instruction cannot be executed.

7. The vehicle chassis suspension automatic adaptive locking system according to claim 4, characterized in that: After receiving the prompt information, the operation terminal (9) displays a prompt information indicating that the external control command cannot be executed. After receiving the locking command, the locking control unit (8) controls the telescopic end of the electric push rod (1) to extend, thereby driving the pin shaft (2) to move. The front end of the pin shaft (2) is a hemispherical structure, and when the fixing hole of the cross arm fixing hole seat (3) and the fixing hole of the supporting vertical plate (5) are not completely aligned, the pin shaft (2) can pass through the fixing hole of the cross arm fixing hole seat (3), thereby locking the cross arm type independent suspension with the vehicle body. After receiving the unlocking command, the locking control unit (8) controls the telescopic end of the electric push rod (1) to retract, driving the pin shaft (2) to move, so that the pin shaft (2) moves out and no longer passes through the fixing hole of the cross arm fixing hole seat (3), thereby unlocking the cross arm type independent suspension from the vehicle body.

8. A vehicle chassis suspension automatic adaptive locking method, the method being used for the vehicle chassis suspension automatic adaptive locking system as claimed in any one of claims 1 to 7, characterized in that: The method comprises the following steps: S1. The operation terminal (9) receives a locking or unlocking operation signal issued by an operator or a working device loaded on a vehicle, generates a corresponding locking external control command or an unlocking external control command, and sends it to the state detection unit (6); S2. The state detection unit (6) detects the vehicle speed, the vertical acceleration of the vehicle and the wheel angular velocity, and sends the above-mentioned vehicle state data and the external control command to the processing unit (7); S3. After the processing and operation unit (7) receives the external control instruction, if it is determined that the received external control instruction is a locked external control instruction, the processing and operation unit (7) processes the received vehicle status data as follows: Calculate wheel slip: ； in, is the wheel slip rate, is the wheel angular velocity, is the vehicle speed, is the wheel radius, and the processing unit (7) determines the wheel slip rate If the vehicle speed and the vehicle vertical acceleration are both less than or equal to the locking threshold, execute step S4; otherwise, execute step S6; If the processing unit (7) determines that the received external control instruction is an unlocking external control instruction, the processing unit determines the wheel slip rate If the vehicle speed is less than or equal to the unlocking threshold, execute step S5; otherwise, execute step S6; The locking threshold of the vehicle speed is less than the unlocking threshold of the vehicle speed, the locking threshold of the vehicle speed is specifically a preset speed value within the range of 0-10 km / h, and the unlocking threshold of the vehicle speed is specifically a preset speed value within the range of 5 km / h-25 km / h; S4. sending a locking command to the locking control unit (8); after receiving the locking command, the locking control unit (8) controls the telescopic end of the electric push rod (1) to extend, driving the pin shaft (2) to move, so that the pin shaft (2) passes through the fixing hole of the cross arm fixing hole seat (3), so that the cross arm type independent suspension is locked with the vehicle body; S5. sending an unlocking command to the locking control unit (8); after receiving the unlocking command, the locking control unit (8) controls the telescopic end of the electric push rod (1) to retract, driving the pin shaft (2) to move, so that the pin shaft (2) moves out and no longer passes through the fixing hole of the cross arm fixing hole seat (3), so that the cross arm type independent suspension is unlocked from the vehicle body; S6. Returning a prompt message to the operation terminal (9), wherein the prompt message is used to indicate that the external control instruction is rejected.

9. A computer program product, characterized in that The computer program product comprises a computer program, which is executed by a processor and is used to perform the vehicle chassis suspension automatic adaptive locking method according to claim 8 .

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is executed by a processor to perform the vehicle chassis suspension automatic adaptive locking method as claimed in claim 8.

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