Gear shifting control method and system, agricultural machine and machine readable storage medium

Abstract

The invention relates to the field of agricultural machinery, and discloses a gear shifting control method and system, agricultural machinery and a machine readable storage medium, and the gear shifting control method comprises the following steps: obtaining a walking gear trigger instruction; according to the walking gear triggering instruction, the gearbox is controlled to be engaged into a corresponding target walking gear; whether the gearbox is successfully engaged into the target walking gear or not is judged; and under the condition that it is judged that the gearbox cannot be successfully engaged into the target walking gear, the gearbox is controlled to try to be engaged into other walking gears firstly, and every time other walking gears are successfully engaged, the gearbox is controlled to try to be engaged into the target walking gear again till the gearbox can be successfully engaged into the target walking gear. By the adoption of the gear shifting control scheme, the gear shifting success rate of the electric control gear shifting gearbox can be greatly increased, and the electric control gear shifting gearbox is more reliable and practical.

Description

Technical Field

[0001] The present application belongs to the technical field of agricultural machinery, and specifically relates to a gear shift control method and system, agricultural machinery, and a machine-readable storage medium. Background Art

[0002] With the development of intelligent agricultural machinery in my country, agricultural machinery such as harvesters are developing towards high efficiency, high comfort, automation, and intelligence. The electronically controlled shift transmission can not only meet these requirements, but is also more suitable for unmanned intelligent agricultural machinery. Therefore, it is necessary to improve the shift success rate of the electronically controlled shift transmission at this stage to make the electronically controlled shift transmission more practical. Summary of the invention

[0003] The purpose of this application is to provide a gear shift control method and system, agricultural machinery and machine-readable storage medium, which can greatly improve the gear shift success rate of an electronically controlled gear shift transmission and make the electronically controlled gear shift transmission more reliable and practical.

[0004] In order to achieve the above objectives, the present application provides a shift control method, which includes:

[0005] Get the travel gear trigger command;

[0006] Controlling the transmission to engage the corresponding target running gear according to the running gear trigger instruction;

[0007] Determining whether the gearbox is successfully engaged in the target running gear;

[0008] When it is determined that the gearbox cannot be successfully engaged in the target traveling gear, the gearbox is controlled to try to engage in other traveling gears first, and each time the gearbox is successfully engaged in other traveling gears, the gearbox is controlled to try to engage in the target traveling gear again until the gearbox can be successfully engaged in the target traveling gear.

[0009] In some implementations, the shift control method further includes:

[0010] When it is determined that the gearbox cannot be engaged in any driving gear, an alarm signal is controlled to be issued; and / or, when it is determined that the gearbox cannot be engaged in any driving gear, a power input shaft driving the gearbox is first controlled to rotate a preset angle, and then the gearbox is controlled to retry to engage in the target driving gear.

[0011] In some implementations, determining whether the transmission is successfully engaged in the target travel gear comprises:

[0012] After the travel gear trigger instruction is obtained, the real-time working status of multiple gear shift driving devices is obtained after a first preset time period has passed, wherein the multiple gear shift driving devices are used to collaboratively drive the gearbox to shift gears;

[0013] When the real-time working states of the plurality of gear shift driving devices do not match the target running gear, determining that the gearbox cannot be successfully engaged in the target running gear;

[0014] When the real-time working states of the plurality of gear shifting drive devices match the target running gear, it is determined that the gearbox has been successfully engaged in the target running gear.

[0015] In some implementations, the shift control method further includes:

[0016] Since the gearbox first attempts to engage the other travel gear, the real-time working status of multiple gear shift driving devices is obtained after a second preset time has passed, wherein the multiple gear shift driving devices are used to collaboratively drive the gearbox to shift gears;

[0017] In the case where the real-time working states of the plurality of gear shift driving devices do not match the other current travel gears, determining that the gearbox cannot be successfully engaged in the other current travel gears;

[0018] When the real-time working states of the plurality of gear shifting drive devices match the other current running gears, it is determined that the gearbox has been successfully engaged in the other current running gears.

[0019] In some embodiments, the shift drive device is an electrically controlled telescopic device, and obtaining the real-time working status of multiple shift drive devices includes:

[0020] Acquiring real-time electrical parameters of a plurality of the electrically controlled telescopic devices;

[0021] And / or, obtaining the real-time positions of the telescopic rods of the plurality of electrically controlled telescopic devices.

[0022] In some implementations, the shift control method further includes:

[0023] Determine the status of the travel power handle, the status of the foot brake and the driving speed;

[0024] When at least one of the following conditions exists: the walking power handle is not in the middle position, the foot brake is not in the stepped state, and the driving speed is not zero, the gearbox is prohibited from shifting;

[0025] When the walking power handle is in the middle position, the foot brake is in the stepped state and the driving speed is zero, the gearbox is allowed to shift gears.

[0026] In some implementations, the shift control method further includes:

[0027] Determine the state of the electric proportional pump, the state of the foot brake and the driving speed, wherein the electric proportional pump can drive the power input shaft of the gearbox to rotate by driving the hydraulic motor;

[0028] When at least one of the electric proportional pump outputs hydraulic power, the foot brake is not in a stepped state, and the driving speed is not zero, the gearbox is prohibited from shifting;

[0029] When the electric proportional pump does not output hydraulic power, the foot brake is in a stepped state, and the driving speed is zero, the gearbox is allowed to shift gears.

[0030] In some implementations, determining the vehicle speed includes:

[0031] Detecting the rotation speed of the power output shaft of the gearbox;

[0032] The driving speed is determined according to the rotation speed of the power output shaft.

[0033] In some implementations, the shift control method further includes:

[0034] Monitoring the service life of components of the gearbox;

[0035] When the service life of the component is less than a preset critical life, a prompt signal is issued.

[0036] A second aspect of the present application also provides a gear shift control system, which is used to execute the above-mentioned gear shift control method.

[0037] The third aspect of the present application also provides an agricultural machinery, which includes the above-mentioned shift control system.

[0038] A fourth aspect of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned shift control method.

[0039] By adopting the shift control scheme of the present application, when the gearbox fails to successfully engage in the target travel gear corresponding to the travel gear trigger instruction, the gearbox can first try to engage in other travel gears, and each time the gearbox successfully engages in other travel gears, the gearbox will try to engage in the target travel gear again, according to this shift logic, until the gearbox can finally successfully engage in the target travel gear. Among them, the key to enabling the gearbox to finally successfully engage in the target travel gear is that when the gearbox successfully engages in other travel gears, the gear gear in the gear engages with the shift gear or the meshing sleeve, which can force the transmission shaft of the gearbox to rotate a small angle, thereby driving the gear gear or the shift gear (or meshing sleeve) in the target travel gear to rotate a certain angle. At this time, the gearbox is allowed to try to engage in the target travel gear again, which can avoid the phenomenon that the gear gear in the target travel gear cannot be successfully engaged with the shift gear or the meshing sleeve due to tooth top to tooth top, so that the gearbox can successfully engage in the target travel gear. Therefore, by adopting the shift control scheme of the present application, the shift success rate of the electronically controlled shift transmission can be greatly improved, making the electronically controlled shift transmission more reliable and practical.

[0040] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0042] Figure 1 This is a flow chart of a shift control method in a specific implementation manner of the present application;

[0043] Figure 2 It is a flow chart of another shift control method in a specific implementation manner of the present application;

[0044] Figure 3 A schematic diagram of a shift control system in a specific implementation manner of the present application;

[0045] Figure 4 for Figure 3 A partial enlarged view B of the shift control system is shown, and corresponding to the partial enlarged view B, the respective strokes of the electric cylinder I and the electric cylinder II under different gear positions of the gearbox are shown.

[0046] Description of Reference Numerals

[0047] 6 Second connection structure 8 First electric control telescopic device

[0048] 9 second electric control telescopic device 12 first connection structure

[0049] 13 first shift rod 14 second shift rod DETAILED DESCRIPTION

[0050] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0051] Reference Figure 1 and Figure 2 , the first exemplary embodiment of the present application provides a shift control method, which includes:

[0052] Step S1: Obtaining a travel gear trigger instruction;

[0053] Step S2: controlling the transmission to engage the corresponding target driving gear according to the driving gear triggering instruction;

[0054] Step S3: Determine whether the gearbox is successfully engaged in the target driving gear;

[0055] Step S4: When it is determined that the gearbox cannot be successfully engaged in the target running gear, the gearbox is controlled to try to engage in other running gears first, and each time other running gears are successfully engaged, the gearbox is controlled to try to engage in the target running gear again until the gearbox can be successfully engaged in the target running gear.

[0056] It should be noted that the existing agricultural machinery gearboxes generally use sliding gear gearboxes or meshing sleeve gearboxes. For sliding gear gearboxes, the shift gear (i.e. sliding gear) on the transmission shaft is pushed to the meshing position to mesh with the corresponding gear gear to achieve power transmission in the corresponding gear; for meshing sleeve gearboxes, the internal splines of the meshing sleeve are meshed with the external splines of the gear gear and the external splines of the transmission shaft to achieve power transmission in the corresponding gear. However, whether it is a sliding gear gearbox or a meshing sleeve gearbox, the "shift dead point" phenomenon may occur, that is, during the shifting process, the gear gear and the shift gear or the meshing sleeve tooth top are against the tooth top, resulting in failure to mesh normally, thereby causing the gearbox to fail to successfully shift into the target gear.

[0057] By adopting the gear shifting control method of the present application, when the gearbox cannot successfully shift into the target running gear corresponding to the running gear triggering instruction, the gearbox can first try to shift into other running gears, and each time the gearbox successfully shifts into other running gears, the gearbox will try to shift into the target running gear again, and follow this gear shifting logic until the gearbox can finally successfully shift into the target running gear.

[0058] Among them, the key to enabling the gearbox to finally successfully engage in the target travel gear is that when the gearbox successfully engages in other travel gears, the gear gear in the gear engages with the shift gear or the meshing sleeve, which can force the transmission shaft of the gearbox to rotate a small angle, thereby driving the gear gear or the shift gear (or the meshing sleeve) in the target travel gear to rotate a certain angle. At this time, the gearbox tries to engage in the target travel gear again, which can avoid the phenomenon that the gear gear in the target travel gear cannot be successfully meshed with the shift gear or the meshing sleeve due to tooth top to tooth top, thereby enabling the gearbox to successfully engage in the target travel gear.

[0059] Therefore, by adopting the shift control scheme of the present application, the shift success rate of the electronically controlled shift transmission can be greatly improved, making the electronically controlled shift transmission more reliable and practical.

[0060] As an example, the travel gear trigger command in step S1 can be issued by a shift trigger mechanism in the agricultural machinery (for example, a shift trigger mechanism with multiple gear buttons can be used), and the shift trigger mechanism can be set in the cab of the agricultural machinery to facilitate the operator to manually trigger and generate different travel gear trigger commands. Steps S2, S3 and S4 can all be controlled and executed by the processing device. Specifically, the processing device communicates with the shift trigger mechanism, so that the processing device can control the execution of steps S2, S3 and S4 when receiving the travel gear trigger command of the shift trigger mechanism.

[0061] In some embodiments, the shift control method may further include:

[0062] When it is determined that the gearbox cannot be engaged in any driving gear, the control sends out an alarm signal; and / or, when it is determined that the gearbox cannot be engaged in any driving gear, the power input shaft driving the gearbox is first controlled to rotate a preset angle, and then the gearbox is controlled to retry to engage in the target driving gear.

[0063] This embodiment is a backup measure when the gearbox cannot be engaged in any travel gear. On the one hand, it can alert the operator by issuing an alarm signal, and the operator can stop the machine to check or repair the gearbox accordingly. On the other hand, a more convenient method can also be adopted. The operator does not need to stop the machine and get off the vehicle. He only needs to control the power input shaft driving the gearbox to rotate a preset angle, thereby driving the gear gear or shift gear (or meshing sleeve) in the target travel gear to rotate a certain angle, and then make the gearbox try to engage in the target travel gear. In this way, the gearbox can be successfully engaged in the target travel gear after the power input shaft driving the gearbox rotates the preset angle once or multiple times.

[0064] For example, the operator can gently push the hydraulic travel push rod in the cab of the agricultural machinery to drive the motor output shaft of the hydraulic motor to rotate slightly, and the power input shaft of the gearbox is connected to the motor output shaft, so the power input shaft of the gearbox can rotate slightly, thereby driving the gear gear or shift gear (or meshing sleeve) in the target travel gear to rotate slightly.

[0065] In some embodiments, step S3 may include:

[0066] Step S31: after obtaining the travel gear trigger instruction, obtaining the real-time working status of multiple gear shift driving devices after a first preset time period, wherein the multiple gear shift driving devices are used to cooperatively drive the gearbox to shift gears;

[0067] Step S32: when the real-time working states of the plurality of gear-shifting driving devices do not match the target running gear, determining that the gearbox cannot be successfully engaged in the target running gear;

[0068] Step S32': when the real-time working states of the plurality of gear-shifting driving devices match the target running gear, it is determined that the transmission has been successfully engaged in the target running gear.

[0069] It should be noted that, in this embodiment, in order to switch the gearbox to a certain gear, the gearbox needs to have multiple shift rods that each meet the corresponding travel requirements to ensure that the gear is successfully engaged, and therefore, it is also required that multiple shift drive devices that are respectively connected to the multiple shift rods also meet the corresponding travel requirements. For different gears, the travel combinations of the multiple shift drive devices are also different.

[0070] As an example, see Figure 3 and Figure 4 The plurality of shift driving devices may include a first shift driving device and a second shift driving device, and the plurality of shift pull rods may include a first shift pull rod 13 and a second shift pull rod 14. The first shift driving device uses an electric cylinder I and is connected to the first shift pull rod 13, and the second shift driving device uses an electric cylinder II and is connected to the second shift pull rod 14.

[0071] When the motor in the electric cylinder I rotates forward, the piston rod of the electric cylinder I extends to push the first shift rod 13 to move rightward; when the motor in the electric cylinder I rotates reversely, the piston rod of the electric cylinder I retracts to pull the first shift rod 13 to move leftward.

[0072] When the motor in the electric cylinder II rotates forward, the piston rod of the electric cylinder II extends to push the second shift rod 14 to move rightward; when the motor in the electric cylinder II rotates reversely, the piston rod of the electric cylinder II retracts to pull the second shift rod 14 to move leftward.

[0073] To switch the gearbox to a certain gear, the first shift rod 13 and the second shift rod 14 need to meet the corresponding travel requirements to ensure successful engagement of the gear. Therefore, the electric cylinder I and the electric cylinder II also need to meet the corresponding travel requirements.

[0074] For details, please refer to Figure 4 , when shifting to N gear (i.e. neutral gear), the piston rods of electric cylinder Ⅰ and electric cylinder Ⅱ both reach position N, which indicates that shifting to N gear is successful. When shifting to I gear, the piston rods of electric cylinder Ⅰ and electric cylinder Ⅱ need to be returned to position N first, and then the piston rod stroke of electric cylinder Ⅰ reaches position H, which indicates that shifting to I gear is successful. When shifting to II gear, the piston rods of electric cylinder Ⅰ and electric cylinder Ⅱ need to be returned to position N first, and then the piston rod stroke of electric cylinder Ⅱ reaches position L, which indicates that shifting to II gear is successful. When shifting to III gear, the piston rods of electric cylinder Ⅰ and electric cylinder Ⅱ need to be returned to position N first, and then the piston rod stroke of electric cylinder Ⅱ reaches position H, which indicates that shifting to III gear is successful.

[0075] In addition, when the stroke of the shift drive device changes, its real-time working state will change accordingly. Therefore, as an example, a state detection device can be set to detect the real-time working state of the shift drive device, and the real-time working state can be fed back to the processing device. The processing device can analyze the real-time working state information to accurately determine the stroke information of the shift drive device. Therefore, when the processing device receives the real-time working states of multiple shift drive devices respectively detected by multiple state detection devices, the stroke information of the multiple shift drive devices can be accurately determined, so that the closed-loop control of the stroke of the multiple shift drive devices can be achieved through the communication between the processing device and the multiple shift drive devices and the multiple state detection devices.

[0076] For example, when the shift drive device is an electric-controlled telescopic device such as an electric cylinder, the state detection device may include an electric parameter sensor for detecting the real-time electric parameters of the electric-controlled telescopic device (for example, a potentiometer may be used to detect the real-time voltage of the motor in the electric-controlled telescopic device). At this time, the processing device can analyze the real-time electric parameters to accurately determine the travel information of the telescopic rod of the electric-controlled telescopic device.

[0077] For another example, when the gear shift drive device is an electric cylinder or other electric telescopic device, the state detection device may include a plurality of position sensors arranged in sequence and spaced apart along the telescopic direction of the electric telescopic device and used to detect the real-time position of the telescopic rod of the electric telescopic device. The plurality of position sensors are arranged in one-to-one correspondence with the plurality of gear positions of the gearbox.

[0078] Furthermore, the position sensor may be a contact sensor or a proximity sensor. When the telescopic rod of the electric-controlled telescopic device moves to the sensing range of a certain position sensor, the position sensor can send a corresponding position signal to the processing device, and the processing device can analyze the position signal to accurately determine the travel information of the telescopic rod of the electric-controlled telescopic device.

[0079] For example, the position sensor may adopt a magnetic induction switch. In this case, a magnetic induction coil may be installed on the telescopic rod of the electric-controlled telescopic device. When the telescopic rod reaches the desired gear stroke during the telescopic process, the magnetic induction coil on the telescopic rod is within the sensing range of the corresponding magnetic induction switch. At this time, the magnetic induction switch is triggered and sends a corresponding position signal to the processing device. The processing device can analyze the position signal to determine whether the telescopic rod has reached the desired gear stroke at this time.

[0080] From the above examples, it can be seen that step S31, step S32 and step S32' can all be controlled and executed by the processing device, and the processing device can obtain the real-time working status of multiple gear shifting drive devices after the first preset time period has passed since the travel gear trigger instruction is obtained. When the processing device analyzes that the real-time working status of multiple gear shifting drive devices does not match the target travel gear after the first preset time period has passed, it can be determined that the gearbox cannot be successfully engaged in the target travel gear. When the processing device analyzes that the real-time working status of multiple gear shifting drive devices matches the target travel gear after the first preset time period has passed, it can be determined that the gearbox has been successfully engaged in the target travel gear.

[0081] It can be seen that through the above steps S31, S32 and S32', it can be accurately determined whether the gearbox is successfully engaged in the target driving gear.

[0082] In some embodiments, the shift control method may further include:

[0083] Step S41: acquiring the real-time working status of a plurality of gear shifting driving devices after a second preset time period has elapsed since the gearbox first attempts to engage in other driving gears, wherein the plurality of gear shifting driving devices are used to cooperatively drive the gearbox to shift gears;

[0084] Step S42: when the real-time working states of the plurality of gear shift driving devices do not match the other current travel gears, determining that the transmission cannot be successfully engaged in the other current travel gears;

[0085] Step S42': when the real-time working states of the plurality of gear-shifting driving devices match the other current travel gears, it is determined that the transmission has been successfully engaged in the other current travel gears.

[0086] It can be seen that the present embodiment provides a specific method for determining whether the gearbox has been successfully engaged in other driving gears. The determination principle is basically the same as the specific method for determining whether the gearbox has been successfully engaged in the target driving gear in the previous embodiment. The previous embodiment can be referred to, and a state detection device, a processing device, etc. can be used to execute steps S41, S42, and S42' in the present embodiment, which will not be repeated here.

[0087] In some embodiments, when the shift drive device is an electrically controlled telescopic device (the electrically controlled telescopic device may be an electrically controlled electric drive device or an electrically controlled hydraulic drive device), the above embodiments may be referred to. At this time, obtaining the real-time working status of multiple shift drive devices may include:

[0088] Obtaining real-time electrical parameters of multiple electric-controlled telescopic devices;

[0089] And / or, obtaining the real-time positions of the telescopic rods of the plurality of electrically controlled telescopic devices.

[0090] According to the above embodiments, the real-time electrical parameters of the plurality of electrically controlled telescopic devices can be detected by a plurality of electrical parameter sensors, respectively, and the processing device can obtain the real-time electrical parameters of the plurality of electrically controlled telescopic devices from the plurality of electrical parameter sensors, respectively. In addition, the real-time positions of the telescopic rods of the plurality of electrically controlled telescopic devices can be detected by a plurality of position sensors, respectively, and the processing device can obtain the real-time positions of the telescopic rods of the plurality of electrically controlled telescopic devices from the plurality of position sensors, respectively.

[0091] In addition, the outer end of the telescopic rod of the electric control telescopic device can be connected to the outer end of the gearshift rod of the gearbox through a connecting structure. Figure 3 When the multiple electrically-controlled telescopic devices include a first electrically-controlled telescopic device 8 and a second electrically-controlled telescopic device 9, the first electrically-controlled telescopic device 8 can be connected to the first shift rod 13 through the first connecting structure 12, and the second electrically-controlled telescopic device 9 can be connected to the second shift rod 14 through the second connecting structure 6.

[0092] The shift rod and the corresponding electric control telescopic device are transmitted through a simple connection structure, which not only improves the compactness of the structure, but also makes the shift rod bear better force, prolongs the service life of the parts, and effectively improves the shift transmission efficiency.

[0093] In some embodiments, the shift control method further includes:

[0094] Determine the status of the travel power handle, the status of the foot brake and the driving speed;

[0095] When at least one of the following conditions exists: the travel power handle is not in the neutral position, the foot brake is not in the stepped state, and the driving speed is not zero, the gearbox shifting is prohibited;

[0096] When the travel power handle is in the neutral position, the foot brake is in the depressed state and the travel speed is zero, the transmission is allowed to shift gears.

[0097] It should be noted that the travel power handle is equivalent to a hydraulic travel push rod. When the travel power handle is in the middle position, the hydraulic motor that provides power to the power input shaft of the gearbox will stop running, so that the power input shaft of the gearbox does not rotate. When actually detecting the state of the travel power handle, for example, a handle position sensor such as a contact switch or a proximity switch can be set at the middle position of the travel power handle. When the travel power handle is in the middle position, the handle position sensor is triggered to generate a middle position signal. At this time, the processing device can receive the middle position signal, thereby determining that the travel power handle is in the middle position.

[0098] When actually detecting the status of the foot brake pedal, for example, a foot brake pedal position sensor such as a contact switch or a proximity switch can be set at a certain position in the stepping direction of the foot brake pedal. When the foot brake pedal is stepped on and triggers the foot brake pedal position sensor, the foot brake pedal position sensor generates a foot brake signal. At this time, the processing device can receive the foot brake signal, thereby determining that the foot brake pedal is in the stepped state.

[0099] The arrangement of this embodiment can effectively prevent the vehicle from slipping during the gear shifting process or the vehicle body from suddenly moving after the gear shifting process, thereby avoiding safety accidents. In addition, when the travel power handle is in the middle position and the driving speed is zero, the power input shaft and the power output shaft of the gearbox are both in a stationary state, and there is no speed difference, thereby avoiding the occurrence of gear knocking during the gear shifting process, thereby avoiding damage to the gears inside the gearbox, and thus extending the service life of the gearbox.

[0100] In some embodiments, the shift control method may further include:

[0101] Determine the state of the electric proportional pump, the state of the foot brake and the driving speed, wherein the electric proportional pump can drive the power input shaft of the gearbox to rotate by driving the hydraulic motor;

[0102] When at least one of the following conditions exists: the electric proportional pump outputs hydraulic power, the foot brake is not in a stepped state, and the driving speed is not zero, the gearbox is prohibited from shifting;

[0103] When the electric proportional pump does not output hydraulic power, the foot brake is in the stepped state and the driving speed is zero, the transmission is allowed to shift gears.

[0104] It can be seen that the present embodiment provides another specific method for determining whether the gearbox is allowed to shift gears. The determination principle is basically the same as the specific method for determining whether the gearbox is allowed to shift gears in the previous embodiment. The only difference lies in the way of determining the state of the power input shaft of the gearbox. Therefore, only the difference will be explained below, and the rest will not be repeated.

[0105] Specifically, in this embodiment, the processing device can be electrically connected to the electric proportional pump, and the processing device can directly determine whether the electric proportional pump outputs hydraulic power according to the electric proportional signal output by the electric proportional pump. When the electric proportional pump does not output hydraulic power, it means that the power input shaft of the gearbox is in a stationary state; when the electric proportional pump outputs hydraulic power, it means that the power input shaft of the gearbox is rotating.

[0106] In some embodiments, determining the vehicle speed includes:

[0107] Detect the speed of the power output shaft of the gearbox;

[0108] The driving speed is determined according to the rotation speed of the power output shaft of the gearbox.

[0109] It can be seen that the present embodiment provides a specific method for determining the driving speed, and the specific principle is to determine the driving speed by detecting the rotation speed of the power output shaft of the gearbox. For example, a speed sensor for detecting the rotation speed of the power output shaft of the gearbox can be provided at the power output end of the gearbox, and the processing device can communicate with the speed sensor, so that the processing device can convert the driving speed according to a preset degree after receiving the rotation speed of the power output shaft of the gearbox, thereby realizing the monitoring of the driving speed.

[0110] In some embodiments, the shift control method may further include:

[0111] Monitor the service life of gearbox components;

[0112] A warning signal is issued when the component service life is less than the preset critical life.

[0113] Through the arrangement of this embodiment, the service life of the gearbox can be monitored to prevent agricultural machinery such as harvesters from malfunctioning during operation due to lack of maintenance, thereby avoiding affecting the operating efficiency.

[0114] For example, the monitoring of the service life of the gearbox can be performed by the processing device. Specifically, the service life information of the wearing parts in the gearbox (such as the number of safe uses of the wearing parts) can be pre-stored in the processing device. Each time the gear is shifted, the processing device updates the service life information once (such as the number of safe uses minus one). When the processing device determines that the service life of the component is less than the preset critical life (such as when the number of safe uses is close to zero), a prompt signal is issued. In addition, in order to allow users to more intuitively know the service life information of the wearing parts, a display screen can also be set in the cab to display the service life information of the wearing parts in the gearbox.

[0115] The second exemplary embodiment of the present application also provides a shift control system, which is used to execute the above-mentioned shift control method. It should be noted that the present application does not limit the specific composition of the shift control system. For example, the shift control system may include the shift trigger mechanism, shift drive device, state detection device, handle position sensor, foot brake position sensor, speed sensor, walking power handle, electric proportional pump, hydraulic motor, display screen, processing device, etc. mentioned above.

[0116] The third exemplary embodiment of the present application further provides an agricultural machine, such as a harvester, a tractor, etc., and the agricultural machine includes the above-mentioned gear shifting control system.

[0117] The fourth exemplary embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned shift control method.

[0118] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0119] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0120] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0121] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0122] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0123] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0125] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0126] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0127] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0128] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0129] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A gear shift control method, characterized in that: include: Get the travel gear trigger command; Controlling the transmission to engage the corresponding target running gear according to the running gear trigger instruction; Determining whether the gearbox is successfully engaged in the target running gear; When it is determined that the gearbox cannot be successfully engaged in the target traveling gear, the gearbox is controlled to try to engage in other traveling gears first, and each time the gearbox is successfully engaged in other traveling gears, the gearbox is controlled to try to engage in the target traveling gear again until the gearbox can be successfully engaged in the target traveling gear.

2. The shift control method according to claim 1, characterized in that: The shift control method further includes: When it is determined that the gearbox cannot be engaged in any driving gear, an alarm signal is controlled to be issued; and / or, when it is determined that the gearbox cannot be engaged in any driving gear, a power input shaft driving the gearbox is first controlled to rotate a preset angle, and then the gearbox is controlled to retry to engage in the target driving gear.

3. The shift control method according to claim 1, characterized in that: Determining whether the gearbox is successfully engaged in the target running gear comprises: After the travel gear trigger instruction is obtained, the real-time working status of multiple gear shift driving devices is obtained after a first preset time period has passed, wherein the multiple gear shift driving devices are used to collaboratively drive the gearbox to shift gears; When the real-time working states of the plurality of gear shift driving devices do not match the target running gear, determining that the gearbox cannot be successfully engaged in the target running gear; When the real-time working states of the plurality of gear shifting drive devices match the target running gear, it is determined that the gearbox has been successfully engaged in the target running gear.

4. The shift control method according to claim 1, characterized in that: The shift control method further includes: Since the gearbox first attempts to engage the other travel gear, the real-time working status of multiple gear shift driving devices is obtained after a second preset time has passed, wherein the multiple gear shift driving devices are used to collaboratively drive the gearbox to shift gears; In the case where the real-time working states of the plurality of gear shift driving devices do not match the other current travel gears, determining that the gearbox cannot be successfully engaged in the other current travel gears; When the real-time working states of the plurality of gear shifting drive devices match the other current running gears, it is determined that the gearbox has been successfully engaged in the other current running gears.

5. The shift control method according to claim 3 or 4, characterized in that: The shift drive device is an electrically controlled telescopic device, and obtaining the real-time working status of multiple shift drive devices includes: Acquiring real-time electrical parameters of a plurality of the electrically controlled telescopic devices; And / or, obtaining the real-time positions of the telescopic rods of the plurality of electrically controlled telescopic devices.

6. The shift control method according to claim 1, characterized in that: The shift control method further includes: Determine the status of the travel power handle, the status of the foot brake and the driving speed; When at least one of the following conditions exists: the walking power handle is not in the middle position, the foot brake is not in the stepped state, and the driving speed is not zero, the gearbox is prohibited from shifting; When the walking power handle is in the middle position, the foot brake is in the stepped state and the driving speed is zero, the gearbox is allowed to shift gears.

7. The shift control method according to claim 1, characterized in that: The shift control method further includes: Determine the state of the electric proportional pump, the state of the foot brake and the driving speed, wherein the electric proportional pump can drive the power input shaft of the gearbox to rotate by driving the hydraulic motor; When at least one of the electric proportional pump outputs hydraulic power, the foot brake is not in a stepped state, and the driving speed is not zero, the gearbox is prohibited from shifting; When the electric proportional pump does not output hydraulic power, the foot brake is in a stepped state, and the driving speed is zero, the gearbox is allowed to shift gears.

8. The shift control method according to claim 6 or 7, characterized in that: Determining driving speed includes: Detecting the rotation speed of the power output shaft of the gearbox; The driving speed is determined according to the rotation speed of the power output shaft.

9. The shift control method according to claim 1, characterized in that: The shift control method further includes: Monitoring the service life of components of the gearbox; When the service life of the component is less than a preset critical life, a prompt signal is issued.

10. A gear shift control system, characterized in that: The gear shift control system is used to execute the gear shift control method according to any one of claims 1 to 9.

11. Agricultural machinery, characterized in that Comprising a gear shift control system according to claim 10.

12. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, and the instructions are used to enable a machine to execute the shift control method according to any one of claims 1 to 9.

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