Tractor four-wheel steering electro-hydraulic control system, method and equipment and medium

Abstract

The invention relates to a tractor four-wheel steering electro-hydraulic control system, method and device and a medium, and belongs to the technical field of agricultural machinery. The tractor four-wheel steering electro-hydraulic control system comprises a front wheel steering mechanism, a rear wheel steering mechanism and a control module which are arranged on a tractor; the front-wheel steering mechanism is used for acquiring a steering signal sent by a steering wheel and controlling front-wheel steering of the tractor based on the steering signal; the control module is used for acquiring a front wheel steering angle, a rear wheel steering angle and a speed of the tractor; generating a control strategy of a rear wheel steering mechanism based on the front wheel steering angle, the speed, the rear wheel steering angle, a set mechanical steering mode and a set operation mode; the rear wheel steering mechanism is used for obtaining the control strategy sent by the control module and controlling rear wheel steering of the tractor based on the control strategy. The four-wheel steering device has the advantages that four-wheel steering of the tractor can be achieved, and the flexibility and controllability of the tractor are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a tractor four-wheel steering electro-hydraulic control system, method, equipment and medium. Background Art

[0002] At present, the mechanical steering modes of tractors mainly include front-wheel steering, rear-wheel steering and waist steering.

[0003] Front-wheel steering is a traditional steering method, but its turning radius is relatively large, especially when operating in narrow spaces or complex terrains, its flexibility is limited and it is difficult to meet the needs of high-precision and high-efficiency operations. Rear-wheel steering achieves vehicle steering by controlling the steering angle of the rear wheels, and also faces the problem of a large turning radius.

[0004] Steering with a bent waist is a special steering method that achieves steering by changing the steering joint in the middle of the vehicle, so that the turning radius is smaller during operation. However, during the steering process, the machine will swing, which not only affects the operation accuracy, but also may cause damage to the equipment and the surrounding environment.

[0005] Therefore, there is an urgent need for a tractor travel electronic control technology that can achieve four-wheel steering, improve tractor flexibility and maneuverability, and reduce the risk of implement swing. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a tractor four-wheel steering electro-hydraulic control system, method, equipment and medium, aiming to solve at least one of the above technical problems.

[0007] The technical solution of the present invention to solve the above technical problems is as follows:

[0008] In the first aspect, the present application provides a tractor four-wheel steering electro-hydraulic control system, which adopts the following technical solution:

[0009] A tractor four-wheel steering electro-hydraulic control system comprises a front wheel steering mechanism, a rear wheel steering mechanism and a control module arranged on the tractor, wherein the front wheel steering mechanism and the rear wheel steering mechanism are both connected to the control module;

[0010] The front wheel steering mechanism is used to obtain a steering signal sent by the steering wheel of the tractor, and control the steering of the front wheels of the tractor based on the steering signal;

[0011] The control module is used to obtain the front wheel steering angle, rear wheel steering angle and speed of the tractor in real time, perform fault detection on the tractor based on the front wheel steering angle and the speed, and generate a fault detection result of the tractor;

[0012] When the fault detection result is that the tractor does not have a fault, generating a control strategy for the rear wheel steering mechanism based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operating mode, and sending the control strategy to the rear wheel steering mechanism;

[0013] The rear wheel steering mechanism is used to obtain the control strategy sent by the control module, and control the rear wheel steering of the tractor based on the control strategy.

[0014] The beneficial effects of the present invention are as follows: through the coordinated work of the front-wheel steering mechanism and the rear-wheel steering mechanism, the system can flexibly adjust the steering angles of the front and rear wheels according to the steering signal of the steering wheel, thereby significantly improving the steering flexibility and driving stability of the tractor in complex terrain and narrow space. The system can automatically generate a control strategy for the rear-wheel steering mechanism according to the set mechanical steering mode and operation mode, and send the strategy to the rear-wheel steering mechanism for execution, so as to realize steering modes such as four-wheel steering. The flexibility and maneuverability of the tractor are improved. At the same time, the system can also be adjusted according to the confirmation information of the operator, making the operation more flexible and personalized.

[0015] Based on the above technical solution, the present invention can also be improved as follows.

[0016] Further, the system further comprises a front wheel steering angle sensor, a rear wheel steering angle sensor, a speed sensor and a human-machine control module, wherein the front wheel steering angle sensor, the rear wheel steering angle sensor, the speed sensor and the human-machine control module are all connected to the control module;

[0017] The front wheel steering angle sensor is used to detect the front wheel steering angle of the tractor in real time and send the front wheel steering angle to the control module;

[0018] The rear wheel steering angle sensor is used to detect the rear wheel steering angle of the tractor in real time and send the rear wheel steering angle to the control module;

[0019] The speed sensor is used to detect the speed of the tractor in real time and send the speed of the tractor to the control module;

[0020] The human-machine control module is used for acquiring the operation mode and the mechanical steering mode of the tractor in response to the operator's selection triggering action for the operation mode of the tractor and the operator's selection triggering action for the mechanical steering mode of the tractor, and sending the operation mode and the mechanical steering mode to the control module, wherein the operation mode is a road mode or a non-road mode, and the mechanical steering mode is a front-wheel steering mode, a rear-wheel steering mode, a four-wheel in-phase steering mode, a four-wheel out-of-phase steering mode, or a four-wheel out-of-phase steering implement operation mode;

[0021] and displaying a fault detection result of the tractor generated by the control module, and sending confirmation information to the control module in response to a triggering action of an operator confirming the fault detection result of the tractor.

[0022] The beneficial effects of adopting the above further scheme are: the human-machine control module allows the operator to select road mode or off-road mode according to actual needs, as well as different mechanical steering modes, so that the tractor can adapt to a variety of operating scenarios and needs. And it can display the fault detection results generated by the control module and allow the operator to confirm, which improves the convenience and flexibility of operation. The front wheel steering angle sensor and the rear wheel steering angle sensor can detect the steering angle of the tractor in real time, ensuring that the control module can obtain the most accurate data, thereby generating a more precise control strategy. The speed sensor monitors the driving speed of the tractor in real time, providing key information to the control module, which helps to optimize the steering control and fault detection logic.

[0023] Furthermore, the control module includes a vehicle controller and an electro-hydraulic controller, the vehicle controller is connected to the electro-hydraulic controller, the front wheel steering angle sensor, the speed sensor and the human-machine control module are all connected to the vehicle controller, and the rear wheel steering angle sensor is connected to the electro-hydraulic controller.

[0024] The beneficial effect of adopting the above further solution is: dividing the control module into a vehicle controller and an electro-hydraulic controller makes the system architecture clearer and the division of responsibilities between the components clearer.

[0025] Further, the front wheel steering mechanism comprises a hydraulic steering pump connected to the steering wheel and a front axle oil cylinder connected to the hydraulic steering pump, and the front axle oil cylinder is connected to the front wheel of the tractor;

[0026] The hydraulic steering pump is used to receive the steering signal of the steering wheel and determine the steering hydraulic oil signal of the front axle cylinder based on the steering signal:

[0027] The front axle cylinder is used to control the steering of the front wheels of the tractor based on the steering hydraulic oil signal;

[0028] The rear wheel steering mechanism includes a rear axle cylinder connected to the control module, and the rear axle cylinder is connected to the rear wheel of the tractor;

[0029] The rear axle cylinder is used to obtain the control strategy sent by the control module and control the rear wheel steering of the tractor based on the control strategy.

[0030] The beneficial effect of adopting the above further scheme is that the hydraulic steering pump can quickly receive the steering signal of the steering wheel, and based on the signal, quickly determine the steering hydraulic oil signal required by the front axle cylinder. The front axle cylinder accurately controls the steering angle and steering speed of the tractor's front wheels according to the steering hydraulic oil signal, which helps to improve the driving stability and maneuverability of the tractor. The rear wheel steering mechanism is connected to the control module, and can receive the control strategy sent by the control module, and accurately control the steering of the tractor's rear wheels according to the strategy. This intelligent control method enables the rear wheel steering mechanism to be flexibly adjusted according to factors such as the current vehicle speed, the front wheel steering angle, and the set mechanical steering mode, so as to achieve more precise steering control.

[0031] Further, when the operation mode of the tractor is the road mode, the control module generates a control strategy for the rear wheel steering mechanism based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode, comprising:

[0032] Determining whether the mechanical steering mode of the tractor is a front-wheel steering mode;

[0033] If the mechanical steering mode of the tractor is not the front-wheel steering mode, switching the mechanical steering mode of the tractor to the front-wheel steering mode;

[0034] If the mechanical steering mode of the tractor is the front wheel steering mode, the control strategy is determined to be the first control strategy, and the first control strategy includes:

[0035] Based on the front wheel steering mode and the front wheel steering angle, a first target steering angle of the rear wheels of the tractor is calculated, and based on the first target steering angle, a first hydraulic oil signal of the rear wheel steering mechanism is determined, and the rear axle cylinder is controlled according to the first hydraulic oil signal and the rear wheel steering angle to drive the rear wheels of the tractor to rotate until the rear wheel steering angle of the tractor is consistent with the first target steering angle.

[0036] The beneficial effect of adopting the above further solution is that when the tractor is in road mode and the mechanical steering mode is not the front-wheel steering mode, the system can automatically switch to the front-wheel steering mode, thereby improving driving safety. When the tractor is in road mode and the mechanical steering mode is the front-wheel steering mode, the system can accurately calculate the first target steering angle of the rear wheel based on the front wheel steering angle and the set mechanical steering mode, and achieve accurate control of the rear wheel steering angle by controlling the rear axle cylinder. This precise control helps to maintain the stability of the tractor during driving.

[0037] Further, when the operation mode of the tractor is the off-road mode, the control module generates a processing process of a control strategy of the rear wheel steering mechanism based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode, including:

[0038] If the mechanical steering mode of the tractor is a target steering mode, determining whether the speed of the tractor is greater than a preset speed threshold, the target steering mode being a rear-wheel steering mode, a four-wheel in-phase steering mode, a four-wheel out-of-phase steering mode, or a four-wheel out-of-phase steering implement operation mode;

[0039] If the speed of the tractor is greater than a preset speed threshold, the mechanical steering mode of the tractor is switched to a front-wheel steering mode, and the control strategy is determined to be the first control strategy;

[0040] If the speed of the tractor is not greater than a preset speed threshold, a control strategy of the rear wheel steering mechanism is determined based on the mechanical steering mode of the tractor.

[0041] The beneficial effect of adopting the above further solution is that in off-road mode, the system can automatically switch the steering mode according to the speed of the tractor. When the speed exceeds a preset threshold, the system will switch the mechanical steering mode to the front-wheel steering mode to ensure the stability and safety of the tractor when driving at high speed. At the same time, the control strategy of the rear-wheel steering mechanism can be accurately calculated based on parameters such as the front-wheel steering angle, speed, rear-wheel steering angle and the set mechanical steering mode. This precise control helps to maintain the stability and maneuverability of the tractor during off-road driving.

[0042] The system supports multiple steering modes, including rear-wheel steering mode, four-wheel same-phase steering mode, four-wheel different-phase steering mode, and four-wheel different-phase steering implement operation mode. These modes can be flexibly adjusted according to different operation requirements, improving the operating efficiency and flexibility of the tractor in off-road environments.

[0043] Further, the control module determines the processing process of the control strategy of the rear wheel steering mechanism based on the mechanical steering mode of the tractor, including:

[0044] When the mechanical steering mode of the tractor is a rear-wheel steering mode, determining the control strategy of the rear-wheel steering mechanism to be a second control strategy;

[0045] The second control strategy includes: determining a second target steering angle of the rear wheels of the tractor based on the rear wheel steering information and the rear wheel steering mode set by the operator; and determining a second hydraulic oil signal of the rear wheel steering mechanism based on the second target steering angle, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the second hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the second target steering angle;

[0046] When the mechanical steering mode of the tractor is a four-wheel same-phase steering mode, determining the control strategy of the rear wheel steering mechanism to be a third control strategy;

[0047] The third control strategy includes: calculating a third target steering angle of the rear wheels of the tractor based on the four-wheel in-phase steering mode and the front wheel steering angle, and determining a third hydraulic oil signal of the rear wheel steering mechanism based on the third target steering angle, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the third hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the third target steering angle;

[0048] When the mechanical steering mode of the tractor is a four-wheel out-of-phase steering mode, determining the control strategy of the rear wheel steering mechanism to be a fourth control strategy;

[0049] The fourth control strategy includes: calculating a fourth target steering angle of the rear wheels of the tractor based on the four-wheel out-of-phase steering mode and the front wheel steering angle, and determining a fourth hydraulic oil signal of the rear wheel steering mechanism based on the fourth target steering angle, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the fourth hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the fourth target steering angle;

[0050] When the mechanical steering mode of the tractor is a four-wheel out-of-phase steering implement operation mode, determining the control strategy of the rear wheel steering mechanism to be a fifth control strategy;

[0051] The fifth control strategy includes: when the front wheel steering angle is greater than a set steering angle threshold, based on the four-wheel out-of-phase steering equipment operation mode, the front wheel steering angle and the corresponding relationship between the set front wheel steering angle and the rear wheel steering angle, calculating the fifth target steering angle of the rear wheels of the tractor; and, based on the fifth target steering angle, determining the fifth hydraulic oil signal of the rear wheel steering mechanism, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the fifth hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the fifth target steering angle.

[0052] The beneficial effect of adopting the above further scheme is that in the rear-wheel steering mode, the system can accurately calculate the second target steering angle of the rear wheel based on the rear-wheel steering information set by the operator, and realize the precise control of the rear wheel steering angle by controlling the rear axle cylinder. In the four-wheel same-phase steering mode, the system can calculate the third target steering angle of the rear wheel in real time according to the front wheel steering angle, and control the rear axle cylinder to keep the rear wheel and the front wheel in the same phase. This same-phase steering helps to improve the maneuverability and stability of the tractor when driving at high speed or turning. In the four-wheel out-of-phase steering mode, the system can calculate the fourth target steering angle of the rear wheel in real time according to the front wheel steering angle, and realize the out-of-phase steering of the rear wheel and the front wheel by controlling the rear axle cylinder. This out-of-phase steering helps to reduce the turning radius and improve the flexibility and passability of the tractor when driving at low speed or in complex road conditions. In the four-wheel out-of-phase steering machine operation mode, the system can calculate the fifth target steering angle of the rear wheel according to the corresponding relationship between the front wheel steering angle and the set front wheel steering angle and the rear wheel steering angle, and realize the precise control of the rear wheel steering angle by controlling the rear axle cylinder. This control strategy helps the tractor maintain a stable driving trajectory and steering performance when operating with agricultural implements.

[0053] In a second aspect, the present application provides a tractor four-wheel steering electro-hydraulic control method, which adopts the following technical solution:

[0054] A tractor four-wheel steering electro-hydraulic control method, comprising:

[0055] When the front wheel steering mechanism of the tractor controls the front wheel steering of the tractor, the front wheel steering angle, the rear wheel steering angle and the speed of the tractor are acquired, and the tractor is subjected to fault detection based on the front wheel steering angle and the speed, and a fault detection result of the tractor is generated;

[0056] When the fault detection result is that the tractor does not have a fault, generating a control strategy for the rear wheel steering mechanism of the tractor based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode;

[0057] The control strategy is sent to a rear wheel steering mechanism, so that the rear wheel steering mechanism controls the steering of the rear wheels of the tractor based on the control strategy.

[0058] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0059] An electronic device comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the tractor four-wheel steering electro-hydraulic control method described in the second aspect.

[0060] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0061] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute the tractor four-wheel steering electro-hydraulic control method described in the second aspect.

[0062] 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

[0063] Figure 1 A schematic structural diagram of a tractor four-wheel steering electro-hydraulic control system provided by one embodiment of the present invention;

[0064] Figure 2 A schematic flow chart of a tractor four-wheel steering electro-hydraulic control method provided by an embodiment of the present invention;

[0065] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The present application is further described in detail below in conjunction with the accompanying drawings.

[0067] 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.

[0068] The solution provided by the embodiment of the present invention can be applied to any application scenario where electro-hydraulic control of tractor four-wheel steering is required. The solution provided by the embodiment of the present invention can be executed by an electronic device with data processing function, such as a control module with data processing function installed on a tractor.

[0069] The embodiment of the present invention provides a possible implementation method, such as Figure 1 As shown, a schematic diagram of the structure of a tractor four-wheel steering electro-hydraulic control system 200 is provided. Figure 1 As shown in , the system may include a front wheel steering mechanism 201, a rear wheel steering mechanism 203 and a control module 202 arranged on the tractor, and the front wheel steering mechanism 201 and the rear wheel steering mechanism 203 are both connected to the control module 202. Each component is closely connected through a hydraulic system and an electronic control system, realizing the function of four-wheel coordinated steering, and can operate efficiently in multiple operating modes by precisely controlling the steering angles of the front and rear wheels, and is particularly suitable for operating in narrow field paths and dense crop areas.

[0070] The front wheel steering mechanism 201 is used to obtain a steering signal sent by the steering wheel of the tractor, and control the steering of the front wheels of the tractor based on the steering signal;

[0071] A control module 202 is used to obtain the front wheel steering angle, rear wheel steering angle and speed of the tractor in real time, perform fault detection on the tractor based on the front wheel steering angle and the speed, and generate a fault detection result of the tractor;

[0072] When the fault detection result is that the tractor has no fault, generating a control strategy for the rear wheel steering mechanism 203 based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode, and sending the control strategy to the rear wheel steering mechanism 203;

[0073] The rear wheel steering mechanism 203 is used to obtain the control strategy sent by the control module 202, and control the rear wheel steering of the tractor based on the control strategy.

[0074] It should be noted that the set operation mode is any one of a road mode and a non-road mode. The road mode refers to a mode in which the tractor operates on a road, and the non-road mode refers to a mode in which the tractor operates off a road, such as a farm, a construction site, or a ranch.

[0075] The set mechanical steering mode is any one of the front wheel steering mode, rear wheel steering mode, four wheel same phase steering mode, four wheel different phase steering mode and four wheel different phase steering machine operation mode. Among them, the front wheel steering mode represents the mode of realizing the steering of the tractor by changing the angle of the front wheel, the rear wheel steering mode represents the mode of realizing the steering of the tractor by changing the angle of the rear wheel, the four wheel same phase steering mode represents the mode of realizing the steering of the tractor by changing the angle of the rear wheel, the four wheel same phase steering mode represents the mode of the four wheels of the tractor turning in the same direction at the same time, the four wheel different phase steering mode represents the mode of the front and rear wheels of the tractor turning in opposite directions, and the four wheel different phase steering machine operation mode represents the mode of the front and rear wheels of the tractor turning in a set angle correspondence.

[0076] Through the coordinated work of the front-wheel steering mechanism 201 and the rear-wheel steering mechanism 203, the system can automatically generate a control strategy for the rear-wheel steering mechanism 203 according to the steering signal of the steering wheel, the set mechanical steering mode and the operating mode, and send the strategy to the rear-wheel steering mechanism 203 for execution, thereby realizing multi-mode steering methods such as four-wheel steering, and improving the flexibility and maneuverability of the tractor.

[0077] The system further includes a front wheel steering angle sensor, a rear wheel steering angle sensor, a speed sensor and a human-machine control module, wherein the front wheel steering angle sensor, the rear wheel steering angle sensor, the speed sensor and the human-machine control module are all connected to the control module 202;

[0078] The front wheel steering angle sensor is installed on the front wheel steering mechanism 201 of the tractor, and the rear wheel steering angle sensor is installed on the rear wheel steering mechanism 203 of the tractor.

[0079] The front wheel steering angle sensor is used to detect the front wheel steering angle of the tractor in real time and send the front wheel steering angle to the control module 202;

[0080] A rear wheel steering angle sensor, used for detecting the rear wheel steering angle of the tractor in real time and sending the rear wheel steering angle to the control module 202;

[0081] A speed sensor, used for detecting the speed of the tractor in real time and sending the speed of the tractor to the control module 202;

[0082] The human-machine control module is used to obtain the operating mode and the mechanical steering mode of the tractor in response to the operator's triggering action of selecting the operating mode of the tractor and the operator's triggering action of selecting the mechanical steering mode of the tractor, and send the operating mode and the mechanical steering mode to the control module 202; and display the fault detection result of the tractor generated by the control module 202, and send confirmation information to the control module 202 in response to the operator's triggering action of confirming the fault detection result of the tractor.

[0083] In the above embodiment, when the tractor is started, the front wheels are controlled by the steering wheel to give a steering signal, and the front wheel steering mechanism 201 controls the front wheels to steer. At this time, the front wheel steering angle sensor, the rear wheel steering angle sensor and the speed sensor begin to detect their respective data in real time and send the data to the control module 202.

[0084] The operator selects the required operation mode and mechanical steering mode through the human-machine control module. The control module 202 performs real-time fault detection and generates fault detection results based on the received front wheel steering angle, rear wheel steering angle and speed data, and displays them through the human-machine control module to the operator for confirmation. The operator issues commands to the control module 202 through the human-machine control module.

[0085] After obtaining the operator's confirmation information on the fault detection result, the control module 202 generates a corresponding control strategy for the rear wheel steering mechanism 203 according to the current front wheel steering angle, speed, rear wheel steering angle, set mechanical steering mode and operation mode. The control module 202 sends the generated control strategy to the rear wheel steering mechanism 203, and the rear wheel steering mechanism 203 adjusts the rear wheel steering angle of the tractor according to the control strategy, thereby achieving precise steering control.

[0086] Optionally, the control module 202 includes a vehicle controller and an electro-hydraulic controller, the vehicle controller is connected to the electro-hydraulic controller, the front wheel steering angle sensor, the speed sensor and the human-machine control module are all connected to the vehicle controller, and the rear wheel steering angle sensor is connected to the electro-hydraulic controller.

[0087] The vehicle controller is responsible for receiving and processing data from the front wheel steering angle sensor, speed sensor and human-machine control module, and generating and sending control strategies to the electro-hydraulic controller. The electro-hydraulic controller is responsible for controlling the action of the rear wheel steering mechanism 203 according to the instructions of the vehicle controller. The vehicle controller and the electro-hydraulic controller are connected through a high-speed communication bus to ensure real-time data transmission and rapid response to instructions.

[0088] The front-wheel steering mechanism 201 includes a hydraulic steering pump connected to the steering wheel and a front-axle cylinder connected to the hydraulic steering pump, and the front-axle cylinder is connected to the front wheels of the tractor; the rear-wheel steering mechanism 203 includes a rear-axle cylinder connected to the control module 202, and the rear-axle cylinder is connected to the rear wheels of the tractor.

[0089] Wherein, the hydraulic steering pump is used to receive the steering signal of the steering wheel and determine the steering hydraulic oil signal of the front axle cylinder based on the steering signal:

[0090] A front axle cylinder is used to control the steering of the front wheels of the tractor based on the steering hydraulic oil signal. Specifically, the front axle cylinder generates a corresponding thrust according to the steering hydraulic oil signal to control the movement of the through-center cylinder through the hydraulic oil. The through-center cylinder is connected to the wheel-side steering structure, thereby realizing the front wheel steering;

[0091] The rear axle cylinder is used to obtain the control strategy sent by the control module 202, and control the steering of the rear wheels of the tractor based on the control strategy. The specific method is that the electro-hydraulic controller adjusts the hydraulic oil flow of the rear axle cylinder through the control valve port according to the control strategy of the vehicle controller, thereby controlling the steering angle of the rear wheels of the tractor.

[0092] Further, when the operation mode of the tractor is the road mode, the control module 202 generates a control strategy for the rear wheel steering mechanism 203 based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode, including:

[0093] Determining whether the mechanical steering mode of the tractor is a front-wheel steering mode;

[0094] If the mechanical steering mode of the tractor is not the front-wheel steering mode, switching the mechanical steering mode of the tractor to the front-wheel steering mode;

[0095] If the mechanical steering mode of the tractor is the front wheel steering mode, the control strategy is determined to be the first control strategy, and the first control strategy includes:

[0096] Based on the front wheel steering mode and the front wheel steering angle, the first target steering angle of the rear wheels of the tractor is calculated, and based on the first target steering angle, the first hydraulic oil signal of the rear wheel steering mechanism 203 is determined, and the rear axle cylinder is controlled to drive the rear wheels of the tractor to rotate according to the first hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the first target steering angle.

[0097] To ensure safety, only the front wheels can be steered in road mode. When the tractor steers based on the front wheel steering mode, the front wheels steer clockwise or counterclockwise, and the rear wheels always remain parallel to the vehicle body, achieving more stable and safe driving.

[0098] The vehicle controller calculates the first target steering angle of the rear wheels of the tractor based on the front wheel steering mode and the front wheel steering angle. In the embodiment of the present application, the first target steering angle is the angle at which the rear wheels of the tractor are parallel to the vehicle body. Afterwards, based on the calculated first target steering angle, the vehicle controller further determines the first hydraulic oil signal required by the rear wheel steering mechanism 203. The hydraulic oil signal includes parameters such as flow, pressure and direction of the hydraulic oil. These parameters will directly control the action of the rear axle cylinder, thereby driving the rear wheels to achieve the target steering angle.

[0099] The vehicle controller sends the first hydraulic oil signal to the electro-hydraulic controller, and the electro-hydraulic controller adjusts the hydraulic oil flow and direction of the rear axle cylinder according to the signal. The rear axle cylinder generates corresponding thrust or pulling force under the action of the hydraulic oil, thereby driving the rear wheels of the tractor to achieve steering. During the steering process, the rear wheel steering angle sensor will detect the steering angle of the rear wheels in real time and feed back the data to the electro-hydraulic controller. The control module 202 will continuously adjust the hydraulic oil signal according to the feedback data until the rear wheel steering angle of the tractor is consistent with the first target steering angle.

[0100] When the operation mode of the tractor is the off-road mode, the control module 202 generates a processing process of a control strategy of the rear wheel steering mechanism 203 based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode, including:

[0101] If the mechanical steering mode of the tractor is a target steering mode, determining whether the speed of the tractor is greater than a preset speed threshold, the target steering mode being any one of a rear-wheel steering mode, a four-wheel in-phase steering mode, a four-wheel out-of-phase steering mode, and a four-wheel out-of-phase steering implement operation mode;

[0102] If the speed of the tractor is greater than a preset speed threshold, the mechanical steering mode of the tractor is switched to a front-wheel steering mode, and the control strategy is determined to be the first control strategy;

[0103] If the speed of the tractor is not greater than a preset speed threshold, determining a control strategy of the rear wheel steering mechanism 203 based on the mechanical steering mode of the tractor;

[0104] If the mechanical steering mode of the tractor is not the target steering mode, the control strategy is determined to be the first control strategy.

[0105] In the above embodiment, the preset speed threshold is 9 km / h. In the off-road mode, all steering modes can be performed when the speed is less than or equal to 9 km / h, and only the front-wheel steering mode can be performed when the speed is higher than 9 km / h.

[0106] In off-road mode, the system can automatically switch the steering mode according to the tractor's speed. When the speed exceeds the preset threshold, the system will switch the mechanical steering mode to the front-wheel steering mode to ensure the stability and safety of the tractor when driving at high speed.

[0107] Specifically, the control module 202 determines the processing process of the control strategy of the rear wheel steering mechanism 203 based on the mechanical steering mode of the tractor, including:

[0108] When the mechanical steering mode of the tractor is the rear-wheel steering mode, determining the control strategy of the rear-wheel steering mechanism 203 to be the second control strategy;

[0109] The second control strategy includes: determining a second target steering angle of the rear wheels of the tractor based on the rear wheel steering information and the rear wheel steering mode set by the operator; and determining a second hydraulic oil signal of the rear wheel steering mechanism 203 based on the second target steering angle, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the second hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the second target steering angle;

[0110] When the mechanical steering mode of the tractor is a four-wheel in-phase steering mode, determining the control strategy of the rear wheel steering mechanism 203 to be a third control strategy;

[0111] The third control strategy includes: calculating a third target steering angle of the rear wheels of the tractor based on the four-wheel in-phase steering mode and the front wheel steering angle, and determining a third hydraulic oil signal of the rear wheel steering mechanism 203 based on the third target steering angle, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the third hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the third target steering angle;

[0112] When the mechanical steering mode of the tractor is a four-wheel out-of-phase steering mode, determining the control strategy of the rear wheel steering mechanism 203 to be a fourth control strategy;

[0113] The fourth control strategy includes: calculating a fourth target steering angle of the rear wheels of the tractor based on the four-wheel out-of-phase steering mode and the front wheel steering angle, and determining a fourth hydraulic oil signal of the rear wheel steering mechanism 203 based on the fourth target steering angle, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the fourth hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the fourth target steering angle;

[0114] When the mechanical steering mode of the tractor is a four-wheel out-of-phase steering implement operation mode, the control strategy of the rear wheel steering mechanism 203 is determined to be the fifth control strategy;

[0115] The fifth control strategy includes: when the front wheel steering angle is greater than the set steering angle threshold, based on the four-wheel out-of-phase steering equipment operation mode, the front wheel steering angle and the corresponding relationship between the set front wheel steering angle and the rear wheel steering angle, calculating the fifth target steering angle of the rear wheels of the tractor; and, based on the fifth target steering angle, determining the fifth hydraulic oil signal of the rear wheel steering mechanism 203, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the fifth hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the fifth target steering angle.

[0116] The fifth control strategy is described below by way of example: Taking the counterclockwise steering of the front wheels as an example, assuming that the front wheel steering angle is 40°, the rear wheel steering angle is 20°, and the steering angle threshold is 20°.

[0117] When the front wheel steering angle is within 20°, the rear wheels are always in the return state. When the front wheel turns counterclockwise more than 20°, for example 21°, the rear wheels start to turn clockwise by 1°. As the front wheel steering angle continues to increase, for example 22°, 23°..., the rear wheels also turn clockwise accordingly, for example 2°, 3°..., until the front wheel turns to 40°, the rear wheels turn to 20°.

[0118] When the front wheel starts to return to the center from 40°, such as 39°, 38°, etc., the rear wheel also starts to return to the center accordingly, such as 19°, 18°, etc., until the front wheel returns to 20°, and the rear wheel returns to 0°. In the process of the front wheel turning from 20° to 0°, the rear wheel is also in the return state.

[0119] The system supports multiple steering modes, including rear-wheel steering mode, four-wheel same-phase steering mode, four-wheel different-phase steering mode, and four-wheel different-phase steering implement operation mode. These modes can be flexibly adjusted according to different operation requirements, improving the operating efficiency and flexibility of the tractor in off-road environments.

[0120] Based on Figure 1The present invention also provides a tractor four-wheel steering electro-hydraulic control method based on the same principle as the system shown in Figure 2 , the tractor four-wheel steering electro-hydraulic control method comprises:

[0121] Step S101, when the front wheel steering mechanism of the tractor controls the front wheel steering of the tractor, the front wheel steering angle, the rear wheel steering angle and the speed of the tractor are obtained, and the tractor is subjected to fault detection based on the front wheel steering angle and the speed, and a fault detection result of the tractor is generated;

[0122] Step S102, when the fault detection result is that the tractor does not have a fault, generating a control strategy for the rear wheel steering mechanism of the tractor based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode;

[0123] Step S103: sending the control strategy to a rear wheel steering mechanism, so that the rear wheel steering mechanism controls the steering of the rear wheels of the tractor based on the control strategy.

[0124] It should be noted that the execution body of the method can be a control module, and its implementation principle is the same as the principle of a tractor four-wheel steering electro-hydraulic control system described above, which will not be repeated here.

[0125] Figure 3 This is a structural block diagram of an electronic device 300 according to an embodiment of the present application.

[0126] 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 , a communication component 304 , and a communication bus 305 .

[0127] 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 four-wheel steering electro-hydraulic 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 used to operate 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.

[0128] 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.

[0129] 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.

[0130] 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 four-wheel steering electro-hydraulic control method given in the above embodiment.

[0131] 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 four-wheel steering electro-hydraulic control method described above can be referenced to each other.

[0132] 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 four-wheel steering electro-hydraulic control method are implemented.

[0133] 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.

[0134] 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.

[0135] 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 four-wheel steering electro-hydraulic control system, characterized in that: It comprises a front wheel steering mechanism, a rear wheel steering mechanism and a control module arranged on the tractor, wherein the front wheel steering mechanism and the rear wheel steering mechanism are both connected to the control module; The front wheel steering mechanism is used to obtain a steering signal sent by the steering wheel of the tractor, and control the steering of the front wheels of the tractor based on the steering signal; The control module is used to obtain the front wheel steering angle, rear wheel steering angle and speed of the tractor in real time, perform fault detection on the tractor based on the front wheel steering angle and the speed, and generate a fault detection result of the tractor; When the fault detection result is that the tractor does not have a fault, generating a control strategy for the rear wheel steering mechanism based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operating mode, and sending the control strategy to the rear wheel steering mechanism; The rear wheel steering mechanism is used to obtain the control strategy sent by the control module, and control the rear wheel steering of the tractor based on the control strategy.

2. A tractor four-wheel steering electro-hydraulic control system according to claim 1, characterized in that: The system further comprises a front wheel steering angle sensor, a rear wheel steering angle sensor, a speed sensor and a human-machine control module, wherein the front wheel steering angle sensor, the rear wheel steering angle sensor, the speed sensor and the human-machine control module are all connected to the control module; The front wheel steering angle sensor is used to detect the front wheel steering angle of the tractor in real time and send the front wheel steering angle to the control module; The rear wheel steering angle sensor is used to detect the rear wheel steering angle of the tractor in real time and send the rear wheel steering angle to the control module; The speed sensor is used to detect the speed of the tractor in real time and send the speed of the tractor to the control module; The human-machine control module is used for acquiring the operation mode and the mechanical steering mode of the tractor in response to the operator's selection triggering action for the operation mode of the tractor and the operator's selection triggering action for the mechanical steering mode of the tractor, and sending the operation mode and the mechanical steering mode to the control module, wherein the operation mode is a road mode or a non-road mode, and the mechanical steering mode is a front-wheel steering mode, a rear-wheel steering mode, a four-wheel in-phase steering mode, a four-wheel out-of-phase steering mode, or a four-wheel out-of-phase steering implement operation mode; and displaying a fault detection result of the tractor generated by the control module, and sending confirmation information to the control module in response to a triggering action of an operator confirming the fault detection result of the tractor.

3. A tractor four-wheel steering electro-hydraulic control system according to claim 2, characterized in that: The control module includes a vehicle controller and an electro-hydraulic controller, the vehicle controller is connected to the electro-hydraulic controller, the front wheel steering angle sensor, the speed sensor and the human-machine control module are all connected to the vehicle controller, and the rear wheel steering angle sensor is connected to the electro-hydraulic controller.

4. A tractor four-wheel steering electro-hydraulic control system according to claim 2, characterized in that: The front wheel steering mechanism comprises a hydraulic steering pump connected to the steering wheel and a front axle oil cylinder connected to the hydraulic steering pump, and the front axle oil cylinder is connected to the front wheel of the tractor; The hydraulic steering pump is used to receive the steering signal of the steering wheel and determine the steering hydraulic oil signal of the front axle cylinder based on the steering signal: The front axle cylinder is used to control the steering of the front wheels of the tractor based on the steering hydraulic oil signal; The rear wheel steering mechanism includes a rear axle cylinder connected to the control module, and the rear axle cylinder is connected to the rear wheel of the tractor; The rear axle cylinder is used to obtain the control strategy sent by the control module and control the rear wheel steering of the tractor based on the control strategy.

5. A tractor four-wheel steering electro-hydraulic control system according to claim 4, characterized in that: When the operation mode of the tractor is the road mode, the control module generates a control strategy for the rear wheel steering mechanism based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode, comprising: Determining whether the mechanical steering mode of the tractor is a front-wheel steering mode; If the mechanical steering mode of the tractor is not the front-wheel steering mode, switching the mechanical steering mode of the tractor to the front-wheel steering mode; If the mechanical steering mode of the tractor is the front wheel steering mode, the control strategy is determined to be the first control strategy, and the first control strategy includes: Based on the front wheel steering mode and the front wheel steering angle, a first target steering angle of the rear wheels of the tractor is calculated, and based on the first target steering angle, a first hydraulic oil signal of the rear wheel steering mechanism is determined, and the rear axle cylinder is controlled according to the first hydraulic oil signal and the rear wheel steering angle to drive the rear wheels of the tractor to rotate until the rear wheel steering angle of the tractor is consistent with the first target steering angle.

6. A tractor four-wheel steering electro-hydraulic control system according to claim 5, characterized in that: When the operation mode of the tractor is the off-road mode, the control module generates a processing process of a control strategy of the rear wheel steering mechanism based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode, including: If the mechanical steering mode of the tractor is a target steering mode, determining whether the speed of the tractor is greater than a preset speed threshold, the target steering mode being a rear-wheel steering mode, a four-wheel in-phase steering mode, a four-wheel out-of-phase steering mode, or a four-wheel out-of-phase steering implement operation mode; If the speed of the tractor is greater than a preset speed threshold, the mechanical steering mode of the tractor is switched to a front-wheel steering mode, and the control strategy is determined to be the first control strategy; If the speed of the tractor is not greater than a preset speed threshold, a control strategy of the rear wheel steering mechanism is determined based on the mechanical steering mode of the tractor.

7. A tractor four-wheel steering electro-hydraulic control system according to claim 6, characterized in that: The control module determines a processing process of a control strategy of the rear wheel steering mechanism based on the mechanical steering mode of the tractor, including: When the mechanical steering mode of the tractor is a rear-wheel steering mode, determining the control strategy of the rear-wheel steering mechanism to be a second control strategy; The second control strategy includes: determining a second target steering angle of the rear wheels of the tractor based on the rear wheel steering information and the rear wheel steering mode set by the operator; and determining a second hydraulic oil signal of the rear wheel steering mechanism based on the second target steering angle, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the second hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the second target steering angle; When the mechanical steering mode of the tractor is a four-wheel same-phase steering mode, determining the control strategy of the rear wheel steering mechanism to be a third control strategy; The third control strategy includes: calculating a third target steering angle of the rear wheels of the tractor based on the four-wheel in-phase steering mode and the front wheel steering angle, and determining a third hydraulic oil signal of the rear wheel steering mechanism based on the third target steering angle, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the third hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the third target steering angle; When the mechanical steering mode of the tractor is a four-wheel out-of-phase steering mode, determining the control strategy of the rear wheel steering mechanism to be a fourth control strategy; The fourth control strategy includes: calculating a fourth target steering angle of the rear wheels of the tractor based on the four-wheel out-of-phase steering mode and the front wheel steering angle, and determining a fourth hydraulic oil signal of the rear wheel steering mechanism based on the fourth target steering angle, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the fourth hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the fourth target steering angle; When the mechanical steering mode of the tractor is a four-wheel out-of-phase steering implement operation mode, determining the control strategy of the rear wheel steering mechanism to be a fifth control strategy; The fifth control strategy includes: when the front wheel steering angle is greater than a set steering angle threshold, based on the four-wheel out-of-phase steering equipment operation mode, the front wheel steering angle and the corresponding relationship between the set front wheel steering angle and the rear wheel steering angle, calculating the fifth target steering angle of the rear wheels of the tractor; and, based on the fifth target steering angle, determining the fifth hydraulic oil signal of the rear wheel steering mechanism, and controlling the rear axle cylinder to drive the rear wheels of the tractor to rotate according to the fifth hydraulic oil signal and the rear wheel steering angle until the rear wheel steering angle of the tractor is consistent with the fifth target steering angle.

8. A tractor four-wheel steering electro-hydraulic control method, characterized in that: include: When the front wheel steering mechanism of the tractor controls the front wheel steering of the tractor, the front wheel steering angle, the rear wheel steering angle and the speed of the tractor are acquired, and the tractor is subjected to fault detection based on the front wheel steering angle and the speed, and a fault detection result of the tractor is generated; When the fault detection result is that the tractor does not have a fault, generating a control strategy for the rear wheel steering mechanism of the tractor based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set operation mode; The control strategy is sent to a rear wheel steering mechanism, so that the rear wheel steering mechanism controls the steering of the rear wheels of the tractor based on the control strategy.

9. An electronic device, characterized in that: comprising a processor coupled to a memory; The processor is configured to execute the computer program stored in the memory, so that the electronic device performs the method according to claim 1.

10. A computer-readable storage medium, characterized in that: The method comprises a computer program or an instruction, which, when being executed on a computer, causes the computer to execute the method as claimed in claim 1.

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