A tractor four-wheel steering electro-hydraulic control system, method, device and medium

Abstract

The application relates to a tractor four-wheel steering electro-hydraulic control system, method, equipment and medium, and belongs to the technical field of agricultural machinery, which comprises a front-wheel steering mechanism, a rear-wheel steering mechanism and a control module arranged on a tractor; the front-wheel steering mechanism is used for acquiring a steering signal sent by a steering wheel and controlling the 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; a control strategy of the rear-wheel steering mechanism is generated based on the front-wheel steering angle, the speed, the rear-wheel steering angle, a set mechanical steering mode and a set running mode; and the rear-wheel steering mechanism is used for acquiring the control strategy sent by the control module and controlling the rear-wheel steering of the tractor based on the control strategy. The application has the effects of realizing the four-wheel steering of the tractor and improving the flexibility and maneuverability of the tractor.

Description

TECHNICAL FIELD

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

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

[0003] Front-wheel steering is a traditional steering mode, however, its turning radius is relatively large, especially when working in narrow spaces or complex terrains, the flexibility is limited, and it is difficult to meet the high-precision and high-efficiency work requirements. Rear-wheel steering realizes the steering of the vehicle by controlling the steering angle of the rear wheels, which also faces the problem of large turning radius.

[0004] Knee steering is a special steering mode, which realizes steering by changing the steering joint in the middle of the vehicle, so as to have a small turning radius when working. However, during steering, knee steering may cause the machine to swing, which not only affects the work accuracy, but also may cause damage to the equipment and the surrounding environment.

[0005] Therefore, there is an urgent need for a tractor walking electric control technology that can realize four-wheel steering, improve the flexibility and maneuverability of the tractor, and reduce the risk of machine swinging. SUMMARY

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

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

[0008] In a 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, comprising a front-wheel steering mechanism, a rear-wheel steering mechanism and a control module arranged on a tractor, wherein the front-wheel steering mechanism and the rear-wheel steering mechanism are connected with the control module;

[0010] The front-wheel steering mechanism is configured to obtain a steering signal sent based on a steering wheel of the tractor, and control the front-wheel steering of the tractor based on the steering signal.

[0011] The control module is configured to obtain the front-wheel steering angle, the rear-wheel steering angle and the 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 has no fault, generating a control strategy of the 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, and sending the control strategy to the rear wheel steering mechanism;

[0013] The rear wheel steering mechanism is used for obtaining the control strategy sent by the control module and controlling the rear wheel steering of the tractor based on the control strategy.

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

[0015] On the basis of the above technical solution, the present application 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 man-machine control module, wherein the front wheel steering angle sensor, the rear wheel steering angle sensor, the speed sensor and the man-machine control module are connected with the control module.

[0017] The front wheel steering angle sensor is used for detecting the front wheel steering angle of the tractor in real time and sending the front wheel steering angle to the control module.

[0018] The rear wheel steering angle sensor is 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.

[0019] The speed sensor is used for detecting the speed of the tractor in real time and sending the speed of the tractor to the control module.

[0020] The man-machine control module is configured to acquire the operation mode and the mechanical steering mode of the tractor in response to a selection action of the operator for the operation mode of the tractor and a selection action of the operator for the mechanical steering mode of the tractor, and send 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 same-phase steering mode, a four-wheel different-phase steering mode, or a four-wheel different-phase steering implement operation mode.

[0021] In addition, the man-machine control module is configured to display the fault detection result of the tractor generated by the control module, and send confirmation information to the control module in response to a confirmation action of the operator for the fault detection result of the tractor.

[0022] The man-machine control module allows the operator to select the road mode or the non-road mode and the different mechanical steering modes according to actual needs, so that the tractor can adapt to various operation scenarios and needs. In addition, the man-machine control module can display the fault detection result generated by the control module and allow the operator to confirm, thereby improving 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, so that the control module can obtain the most accurate data and generate more accurate control strategies. The speed sensor can monitor the driving speed of the tractor in real time, thereby providing key information for the control module and helping to optimize the steering control and fault detection logic.

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

[0024] The control module is divided into the vehicle controller and the electro-hydraulic controller, so that the architecture of the system is clearer, and the responsibilities of the components are more clearly divided.

[0025] Further, the front-wheel steering mechanism includes a hydraulic steering pump connected with the steering wheel and a front-axle oil cylinder connected with the hydraulic steering pump, and the front-axle oil cylinder is connected with the front wheels of the tractor.

[0026] The hydraulic steering pump is configured to receive a steering signal of the steering wheel, and determine a steering hydraulic oil signal of the front-axle oil cylinder based on the steering signal.

[0027] The front-axle oil cylinder is configured to control the front-wheel steering of the tractor based on the steering hydraulic oil signal.

[0028] The rear wheel steering mechanism comprises a rear axle oil cylinder connected with the control module, and the rear axle oil cylinder is connected with the rear wheels of the tractor.

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

[0030] The hydraulic steering pump can quickly receive the steering signal of the steering wheel and quickly determine the required steering hydraulic oil signal of the front axle oil cylinder based on the signal, and the front axle oil cylinder can accurately control the steering angle and steering speed of the front wheels of the tractor, which helps to improve the driving stability and maneuverability of the tractor. The rear wheel steering mechanism can receive the control strategy sent by the control module and accurately control the steering of the rear wheels of the tractor based on the strategy. This intelligent control method enables the rear wheel steering mechanism to be flexibly adjusted according to the current vehicle speed, front wheel steering angle, and set mechanical steering mode, etc., to achieve more accurate steering control.

[0031] Further, when the operation mode of the tractor is the road mode, the control module generates the 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. The process comprises:

[0032] determining whether the mechanical steering mode of the tractor is the 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, determining that the control strategy is a first control strategy, and the first control strategy comprises:

[0035] calculating a first target steering angle of the rear wheels of the tractor based on the front wheel steering mode and the front wheel steering angle, and determining a first hydraulic oil signal of the rear wheel steering mechanism based on the first target steering angle, and controlling the rear axle oil cylinder 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.

[0036] The beneficial effect of the above further scheme is that when the tractor is in the 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, improving the driving safety. When the tractor is in the 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 accurately control the rear wheel steering angle through the control of the rear axle oil cylinder. This accurate control helps to maintain the stability of the tractor during driving.

[0037] Further, when the operation mode of the tractor is the non-road mode, the control module generates the processing process of the 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 the target steering mode, it is judged whether the speed of the tractor is greater than a preset speed threshold, and the target steering mode is the rear wheel steering mode, the four-wheel same-phase steering mode, the four-wheel different-phase steering mode or the four-wheel different-phase steering implement operation mode;

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

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

[0041] The beneficial effect of the above further scheme is that in the non-road mode, the system can automatically switch the steering mode according to the speed of the tractor. 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 during high-speed driving. 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, the speed, the rear wheel steering angle and the set mechanical steering mode. This accurate control helps to maintain the stability and maneuverability of the tractor during non-road driving.

[0042] The system supports multiple steering modes such as the rear wheel steering mode, the four-wheel same-phase steering mode, the four-wheel different-phase steering mode and the four-wheel different-phase steering implement operation mode. These modes can be flexibly adjusted according to different operation needs, improving the operation efficiency and flexibility of the tractor in non-road environment.

[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] determining a control strategy of the rear wheel steering mechanism as a second control strategy when the mechanical steering mode of the tractor is a rear wheel steering mode;

[0045] the second control strategy comprising: determining a second target steering angle of the rear wheel of the tractor based on rear wheel steering information set by an operator and the rear wheel steering mode; 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 oil cylinder to drive the rear wheel 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] determining a control strategy of the rear wheel steering mechanism as a third control strategy when the mechanical steering mode of the tractor is a four-wheel same-phase steering mode;

[0047] the third control strategy comprising: calculating a third target steering angle of the rear wheel of the tractor based on the four-wheel same-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 oil cylinder to drive the rear wheel 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] determining a control strategy of the rear wheel steering mechanism as a fourth control strategy when the mechanical steering mode of the tractor is a four-wheel different-phase steering mode;

[0049] the fourth control strategy comprising: calculating a fourth target steering angle of the rear wheel of the tractor based on the four-wheel different-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 oil cylinder to drive the rear wheel 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] determining a control strategy of the rear wheel steering mechanism as a fifth control strategy when the mechanical steering mode of the tractor is a four-wheel different-phase steering implement operation mode;

[0051] The fifth control strategy comprises: when the front wheel steering angle is greater than a set steering angle threshold, calculating a fifth target steering angle of the rear wheel of the tractor based on the four-wheel out-of-phase steering implement operation mode, the front wheel steering angle, and a set correspondence between the front wheel steering angle and the rear wheel steering angle; and determining a fifth hydraulic oil signal of the rear wheel steering mechanism based on the fifth target steering angle, and controlling the rear axle oil cylinder to drive the rear wheel 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 effects of the above further scheme are: 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 accurately control the rear wheel steering angle by controlling the rear axle oil cylinder. In the four-wheel in-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 make the rear wheel and the front wheel keep in-phase steering by controlling the rear axle oil cylinder. This in-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 make the rear wheel and the front wheel out-of-phase steering by controlling the rear axle oil cylinder. This out-of-phase steering helps to reduce the turning radius, improve the flexibility and passability of the tractor when driving at low speed or on complex road conditions. In the four-wheel out-of-phase steering implement operation mode, the system can calculate the fifth target steering angle of the rear wheel according to the front wheel steering angle and the set correspondence between the front wheel steering angle and the rear wheel steering angle, and accurately control the rear wheel steering angle by controlling the rear axle oil cylinder. This control strategy helps the tractor to maintain a stable driving trajectory and steering performance when hanging agricultural implements for operation.

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

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

[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 obtained, 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 has no fault, a control strategy of the rear wheel steering mechanism of the tractor is generated based on the front wheel steering angle, the speed, the rear wheel steering angle, a set mechanical steering mode, and a set operation mode;

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

[0058] In a third aspect, the present application provides an electronic device, which adopts the technical scheme as follows:

[0059] An electronic device comprises a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to implement the tractor four-wheel steering electro-hydraulic control method in the second aspect.

[0060] In a fourth aspect, the present application provides a computer readable storage medium, which adopts the technical scheme as follows:

[0061] A computer readable storage medium stores a computer program capable of being loaded and executed by the processor to implement the tractor four-wheel steering electro-hydraulic control method in the second aspect.

[0062] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0063] Figure 1 A structural schematic diagram of a tractor four-wheel steering electro-hydraulic control system is provided for an embodiment of the present application.

[0064] Figure 2 A flowchart of a tractor four-wheel steering electro-hydraulic control method is provided for an embodiment of the present application.

[0065] Figure 3 A structural schematic diagram of an electronic device is provided for an embodiment of the present application. DETAILED DESCRIPTION

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

[0067] To make the objectives, technical schemes and advantages of the embodiments of the present application clearer, the technical schemes in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0068] The scheme provided by the embodiments of the present application can be applied to any application scenario requiring electro-hydraulic control of tractor four-wheel steering. The scheme provided by the embodiments of the present application 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 application provides a possible implementation manner, as shown in the accompanying drawings, a structural schematic diagram of a tractor four-wheel steering electro-hydraulic control system 200 is provided, as shown in the accompanying drawings, the system can comprise a front-wheel steering mechanism 201, a rear-wheel steering mechanism 203 and a control module 202 arranged on the tractor, the front-wheel steering mechanism 201 and the rear-wheel steering mechanism 203 are connected with the control module 202. The components are closely connected through a hydraulic system and an electronic control system, the function of four-wheel coordinated steering is realized, the steering angles of the front wheels and the rear wheels are accurately controlled, efficient operation can be realized in various operation modes, and the system is especially suitable for operation in narrow field paths and dense crop areas. Figure 1 Figure 1 The system can comprise a front-wheel steering mechanism 201, a rear-wheel steering mechanism 203 and a control module 202 arranged on the tractor, the front-wheel steering mechanism 201 and the rear-wheel steering mechanism 203 are connected with the control module 202. The components are closely connected through a hydraulic system and an electronic control system, the function of four-wheel coordinated steering is realized, the steering angles of the front wheels and the rear wheels are accurately controlled, efficient operation can be realized in various operation modes, and the system is especially suitable for operation in narrow field paths and dense crop areas.

[0070] The front-wheel steering mechanism 201 is used for acquiring a steering signal sent based on a steering wheel of the tractor, and controlling the front wheels of the tractor to steer based on the steering signal.

[0071] The control module 202 is used for acquiring a front-wheel steering angle, a rear-wheel steering angle and a speed of the tractor in real time, performing fault detection on the tractor based on the front-wheel steering angle and the speed, and generating a fault detection result of the tractor.

[0072] When the fault detection result is that the tractor does not have a fault, a control strategy of the rear-wheel steering mechanism 203 is generated based on the front-wheel steering angle, the speed, the rear-wheel steering angle, a set mechanical steering mode and a set operation mode, and the control strategy is sent to the rear-wheel steering mechanism 203.

[0073] The rear-wheel steering mechanism 203 is used for acquiring the control strategy sent by the control module 202, and controlling the rear wheels of the tractor to steer 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 runs on a road, and the non-road mode refers to a mode in which the tractor runs in a non-road, for example, a farm, a construction site or a pasture.

[0075] ​The set mechanical steering mode is any one of a front wheel steering mode, a rear wheel steering mode, a four-wheel same phase steering mode, a four-wheel different phase steering mode and a four-wheel different phase steering implement operation mode. The front wheel steering mode represents a mode of realizing steering of the tractor through angle change of the front wheels, the rear wheel steering mode represents a mode of realizing steering of the tractor through angle change of the rear wheels, the four-wheel same phase steering mode represents a mode of steering of the four wheels of the tractor in the same direction, the four-wheel different phase steering mode represents a mode of steering of the front wheels and the rear wheels of the tractor in opposite directions, and the four-wheel different phase steering implement operation mode represents a mode of steering of the front wheels and the rear wheels of the tractor in a set angle relationship.

[0076] Through the cooperation of the front wheel steering mechanism 201 and the rear wheel steering mechanism 203, the system can automatically generate a control strategy of the rear wheel steering mechanism 203 according to the steering signal of the steering wheel, the set mechanical steering mode and the running mode, and send the strategy to the rear wheel steering mechanism 203 for execution, so as to realize multi-mode steering modes such as four-wheel steering and improve the flexibility and maneuverability of the tractor.

[0077] The system further comprises a front wheel steering angle sensor, a rear wheel steering angle sensor, a speed sensor and a man-machine control module, wherein the front wheel steering angle sensor, the rear wheel steering angle sensor, the speed sensor and the man-machine control module are connected with 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 for detecting the front wheel steering angle of the tractor in real time and sending the front wheel steering angle to the control module 202.

[0080] The rear wheel steering angle sensor is 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] The speed sensor is 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 man-machine control module is configured to acquire the running mode and the mechanical steering mode of the tractor in response to the operation personnel triggering actions for selecting the running mode and the mechanical steering mode of the tractor, and send the running 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 the confirmation information to the control module 202 in response to the operation personnel triggering actions for confirming the fault detection result of the tractor.

[0083] In the above embodiment, when the tractor starts, 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 start to detect the respective data in real time, and send the data to the control module 202.

[0084] The operation personnel selects the required running mode and mechanical steering mode through the man-machine control module. The control module 202 performs real-time fault detection according to the received front wheel steering angle, rear wheel steering angle and speed data, and generates a fault detection result, which is displayed through the man-machine control module for the operator to confirm. The operator issues a command to the control module 202 through the man-machine control module.

[0085] After the control module 202 acquires the confirmation information of the operation personnel for the fault detection result, the control module 202 generates a corresponding rear wheel steering mechanism 203 control strategy according to the current front wheel steering angle, speed, rear wheel steering angle, set mechanical steering mode and running 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, so as to realize accurate steering control.

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

[0087] The vehicle controller is responsible for receiving and processing data from the front wheel steering angle sensor, the speed sensor and the man-machine control module, and generating and sending a control strategy 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 instruction of the vehicle controller. The vehicle controller and the electro-hydraulic controller are connected through a high-speed communication bus, so as to ensure real-time transmission of data and rapid response of instructions.

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

[0089] The hydraulic steering pump is configured to receive a steering signal of the steering wheel and determine a steering hydraulic oil signal of the front axle cylinder based on the steering signal.

[0090] The front axle cylinder is configured 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 force to control the movement of the through oil cylinder by hydraulic oil, the through oil cylinder is connected with the wheel edge steering structure, thereby realizing the steering of the front wheels.

[0091] The rear axle cylinder is configured to obtain a control strategy sent by the control module 202 and control the steering of the rear wheels of the tractor based on the control strategy, specifically, the electro-hydraulic controller adjusts the hydraulic oil flow of the rear axle cylinder through the control valve port based on 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 the 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, and the process comprises:

[0093] determining whether the mechanical steering mode of the tractor is the 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, determining that the control strategy is a first control strategy, the first control strategy comprising:

[0096] calculating a first target steering angle of the rear wheels of the tractor based on the front wheel steering mode and the front wheel steering angle, and determining a first hydraulic oil signal of the rear wheel steering mechanism 203 based on the first target steering angle, and controlling the rear axle cylinder 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 front wheel steering is allowed in road mode. When the tractor is steering based on the front wheel steering mode, the front wheel turns clockwise or counterclockwise, and the rear wheel always remains parallel to the vehicle body, achieving more stable and safe driving.

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

[0099] The vehicle controller sends the first hydraulic oil signal to the electro-hydraulic controller, which adjusts the hydraulic oil flow rate and direction of the rear axle oil cylinder according to the signal. The rear axle oil cylinder generates corresponding thrust or pull under the action of the hydraulic oil, thereby driving the rear wheel of the tractor to steer. During steering, the rear wheel steering angle sensor detects the steering angle of the rear wheel in real time and feeds back the data to the electro-hydraulic controller. The control module 202 continuously adjusts the hydraulic oil signal based on the feedback data until the steering angle of the rear wheel of the tractor is consistent with the first target steering angle.

[0100] When the operating mode of the tractor is a non-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 operating mode. The process includes:

[0101] If the mechanical steering mode of the tractor is a target steering mode, it is determined whether the speed of the tractor is greater than a preset speed threshold. The target steering mode is any one of the rear wheel steering mode, the four-wheel same-phase steering mode, the four-wheel different-phase steering mode and the four-wheel different-phase steering implement operation mode.

[0102] If the speed of the tractor is greater than the preset speed threshold, the mechanical steering mode of the tractor is switched to the 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 the preset speed threshold, the control strategy of the rear wheel steering mechanism 203 is determined 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, and when the speed of the tractor is less than or equal to 9 km / h in the off-road mode, all mode steering can be performed, and when the speed is higher than 9 km / h, only front wheel steering mode can be performed.

[0106] In the off-road mode, the system can automatically switch the steering mode according to the speed of the tractor. When the speed exceeds the preset threshold, the system switches 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, the control strategy of the rear wheel steering mechanism 203 is determined as the second control strategy;

[0109] The second control strategy includes: determining a second target steering angle of the rear wheel of the tractor based on the rear wheel steering information set by the operator and the rear wheel steering mode; 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 oil cylinder to drive the rear wheel 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 the four-wheel same-phase steering mode, the control strategy of the rear wheel steering mechanism 203 is determined as the third control strategy;

[0111] The third control strategy includes: calculating a third target steering angle of the rear wheel of the tractor based on the four-wheel same-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 oil cylinder to drive the rear wheel 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 the four-wheel different-phase steering mode, the control strategy of the rear wheel steering mechanism 203 is determined as the fourth control strategy;

[0113] The fourth control strategy comprises: calculating a fourth target steering angle of the rear wheels of the tractor based on the four-wheel differential 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 oil 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 the four-wheel differential steering implement operation mode, the control strategy of the rear wheel steering mechanism 203 is determined as a fifth control strategy.

[0115] The fifth control strategy comprises: when the front wheel steering angle is greater than a set steering angle threshold, calculating a fifth target steering angle of the rear wheels of the tractor based on the four-wheel differential steering implement operation mode, the front wheel steering angle and a set corresponding relationship between the front wheel steering angle and the rear wheel steering angle; and determining a fifth hydraulic oil signal of the rear wheel steering mechanism 203 based on the fifth target steering angle, and controlling the rear axle oil 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 illustrated below. Taking counterclockwise steering of the front wheels as an example, it is assumed that the front wheel steering angle is 40° and 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 straightening state. When the front wheel counterclockwise steering exceeds 20°, for example 21°, the rear wheels start to steer clockwise by 1°. As the front wheel steering angle continues to increase, for example 22°, 23°..., the rear wheels also correspondingly steer clockwise, for example 2°, 3°..., until the front wheel steers to 40° and the rear wheel steers to 20°.

[0118] When the front wheel starts to straighten from 40°, for example 39°, 38°..., the rear wheels also correspondingly start to straighten, for example 19°, 18°..., until the front wheel returns to 20° and the rear wheel straightens to 0°. During the process of the front wheel steering from 20° to 0°, the rear wheels are also in the straightening state.

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

[0120] Based on the above description, the system can support the four-wheel differential steering implement operation mode, and the rear wheel steering mechanism 203 can be controlled to steer the rear wheels of the tractor according to the front wheel steering angle and the corresponding relationship between the front wheel steering angle and the rear wheel steering angle, thereby improving the operation efficiency and flexibility of the tractor in off-road environments. Figure 1The same principle as the system shown in the middle, the embodiment of the application also provides a tractor four-wheel steering electro-hydraulic control method, see Figure 2 The tractor four-wheel steering electro-hydraulic control method comprises the following steps:

[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, the tractor is fault detected based on the front wheel steering angle and the speed, and the fault detection result of the tractor is generated;

[0122] Step S102, when the fault detection result is that the tractor has no fault, the control strategy of the rear wheel steering mechanism of the tractor is generated based on the front wheel steering angle, the speed, the rear wheel steering angle, the set mechanical steering mode and the set running mode;

[0123] Step S103, the control strategy is sent to the rear wheel steering mechanism, so that the rear wheel steering mechanism controls the rear wheel steering of the tractor based on the control strategy.

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

[0125] Figure 3 The structural block diagram of the electronic device 300 of the embodiment of the application is shown in the figure.

[0126] As shown in the figure, Figure 3 The electronic device 300 comprises a processor 301 and a memory 302, and can further comprise one or more of an information input / output (I / O) interface 303, a communication component 304 and a communication bus 305.

[0127] The processor 301 is configured to control overall operations of the electronic device 300 to complete all or part of the steps of the tractor four-wheel steering electro-hydraulic control method described above. The memory 302 is configured to store various types of data to support operations of the electronic device 300. The data can include, for example, instructions for any application or method operating on the electronic device 300, and application-related data. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as one or more of a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk, or an optical disk.

[0128] The I / O interface 303 provides an interface between the processor 301 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 304 is configured to test wired or wireless communication between the electronic device 300 and other devices. The 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 a Wi-Fi component, a Bluetooth component, and an NFC component.

[0129] The communication bus 305 can include a path for transmitting information between the above-mentioned components. The communication bus 305 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus 305 can be divided into an address bus, a data bus, a control bus, and the like.

[0130] The electronic device 300 can be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic elements for executing the tractor four-wheel steering electro-hydraulic control method given by the above embodiments.

[0131] The computer readable storage medium provided by the embodiments of the present application is described below, and the computer readable storage medium described below can be referred to in conjunction with the tractor four-wheel steering electro-hydraulic control method described above.

[0132] The present application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the tractor four-wheel steering electro-hydraulic control method described above.

[0133] The computer readable storage medium can include a U disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0134] The term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device.

[0135] The above description is only the preferred embodiments of the present application and the explanation of the applied technical principles. Those skilled in the art should understand that the application scope involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by the combination of the above technical features or equivalent features without departing from the above application concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features applied in the present application (but not limited to) having similar functions.

Claims

1. A tractor four-wheel steering electro-hydraulic control system, characterized by, The system comprises a front wheel steering mechanism, a rear wheel steering mechanism and a control module arranged on a tractor, wherein the front wheel steering mechanism and the rear wheel steering mechanism are connected with the control module; The front wheel steering mechanism is configured to acquire a steering signal sent by a steering wheel of the tractor, and control the front wheel steering of the tractor based on the steering signal; The control module is configured to acquire the front wheel steering angle, the rear wheel steering angle and the 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 has no fault, the control module generates a control strategy of the 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 running mode, and sends the control strategy to the rear wheel steering mechanism; The rear wheel steering mechanism is configured to acquire the control strategy sent by the control module, and control the rear wheel steering of the tractor based on the control strategy; The system further comprises a man-machine control module connected with the control module; The man-machine control module is configured to acquire the running mode and the mechanical steering mode of the tractor in response to the selection of the operation personnel for the running mode of the tractor and the selection of the operation personnel for the mechanical steering mode of the tractor, and send the running mode and the mechanical steering mode to the control module, wherein the running 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 same-phase steering mode, a four-wheel different-phase steering mode or a four-wheel different-phase steering implement operation mode; When the running mode of the tractor is the road mode, the control module generates the 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 running mode, and the process comprises: determining whether the mechanical steering mode of the tractor is the 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, determining that the control strategy is a first control strategy, and the first control strategy comprises: calculating a first target steering angle of the rear wheel of the tractor based on the front wheel steering mode and the front wheel steering angle, and determining a first hydraulic oil signal of the rear wheel steering mechanism based on the first target steering angle, and controlling the rear axle oil cylinder to drive the rear wheel 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; When the running mode of the tractor is the non-road mode, the control module generates the 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 running mode, and the process comprises: 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 same-phase steering mode, a four-wheel different-phase steering mode, or a four-wheel different-phase steering implement operation mode; if the speed of the tractor is greater than the preset speed threshold, switching the mechanical steering mode of the tractor to a front wheel steering mode, and determining the control strategy as a first control strategy; if the speed of the tractor is not greater than the preset speed threshold, determining the control strategy of the rear wheel steering mechanism based on the mechanical steering mode of the tractor; the control module determines the control strategy of the rear wheel steering mechanism based on the mechanical steering mode of the tractor, and the process of determining the control strategy of the rear wheel steering mechanism comprises: when the mechanical steering mode of the tractor is the rear wheel steering mode, determining the control strategy of the rear wheel steering mechanism as a second control strategy; the second control strategy comprises: determining a second target steering angle of the rear wheel of the tractor based on the rear wheel steering information set by the operator and the rear wheel steering mode, 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 oil cylinder to drive the rear wheel 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 the four-wheel same-phase steering mode, determining the control strategy of the rear wheel steering mechanism as a third control strategy; the third control strategy comprises: calculating a third target steering angle of the rear wheel of the tractor based on the four-wheel same-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 oil cylinder to drive the rear wheel 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 the four-wheel different-phase steering mode, determining the control strategy of the rear wheel steering mechanism as a fourth control strategy; the fourth control strategy comprises: calculating a fourth target steering angle of the rear wheel of the tractor based on the four-wheel different-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 oil cylinder to drive the rear wheel 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 the four-wheel different-phase steering implement operation mode, determining the control strategy of the rear wheel steering mechanism as a fifth control strategy; The fifth control strategy comprises: when the front wheel steering angle is greater than a set steering angle threshold, calculating a fifth target steering angle of the rear wheel of the tractor based on the four-wheel out-of-phase steering machine operation mode, the front wheel steering angle, and a set corresponding relationship between the front wheel steering angle and the rear wheel steering angle; and determining a fifth hydraulic oil signal of the rear wheel steering mechanism based on the fifth target steering angle, and controlling the rear axle oil cylinder to drive the rear wheel 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.

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, and a speed sensor, wherein the front wheel steering angle sensor, the rear wheel steering angle sensor, and the speed sensor are connected to the control module. The front wheel steering angle sensor is configured 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 configured 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 configured 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 further configured to display the fault detection result of the tractor generated by the control module, and send confirmation information to the control module in response to a trigger action of the 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 comprises a vehicle controller and an electro-hydraulic controller, wherein 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 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, wherein the front axle oil cylinder is connected to the front wheel of the tractor. The hydraulic steering pump is configured to receive a steering signal of the steering wheel and determine a steering hydraulic oil signal of the front axle oil cylinder based on the steering signal. The front axle oil cylinder is configured to control the front wheel steering of the tractor based on the steering hydraulic oil signal. The rear wheel steering mechanism comprises a rear axle oil cylinder connected to the control module, wherein the rear axle oil cylinder is connected to the rear wheel of the tractor. The rear axle oil cylinder is configured to obtain a 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 method, characterized by, The method comprises: When the front wheel steering mechanism of the tractor controls the front wheel steering of the tractor, obtaining the front wheel steering angle, the rear wheel steering angle, and the speed of the tractor, performing fault detection on the tractor based on the front wheel steering angle and the speed, and generating a fault detection result of the tractor; When the fault detection result is that the tractor has no fault, generating a control strategy of the rear wheel steering mechanism of the tractor based on the front wheel steering angle, the speed, the rear wheel steering angle, a set mechanical steering mode, and a set operation mode. sending the control strategy to the rear wheel steering mechanism, so that the rear wheel steering mechanism controls the rear wheel steering of the tractor based on the control strategy; further comprising: in response to the operation personnel triggering an action for selecting an operation mode of the tractor and the operation personnel triggering an action for selecting a mechanical steering mode of the tractor, obtaining the operation mode and 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 same-phase steering mode, a four-wheel different-phase steering mode, or a four-wheel different-phase steering implement operation mode; when the operation mode of the tractor is the road mode, the process of generating the 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 comprises: determining whether the mechanical steering mode of the tractor is the 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, determining that the control strategy is a first control strategy, and the first control strategy comprises: calculating a first target steering angle of the rear wheel of the tractor based on the front wheel steering mode and the front wheel steering angle, and determining a first hydraulic oil signal of the rear wheel steering mechanism based on the first target steering angle, so that the rear axle oil cylinder drives the rear wheel 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; when the operation mode of the tractor is the non-road mode, the process of generating the 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 comprises: 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, wherein the target steering mode is the rear wheel steering mode, the four-wheel same-phase steering mode, the four-wheel different-phase steering mode, or the four-wheel different-phase steering implement operation mode; if the speed of the tractor is greater than the preset speed threshold, switching the mechanical steering mode of the tractor to the front wheel steering mode, and determining that the control strategy is the first control strategy; if the speed of the tractor is not greater than the preset speed threshold, determining the control strategy of the rear wheel steering mechanism based on the mechanical steering mode of the tractor; the process of determining the control strategy of the rear wheel steering mechanism based on the mechanical steering mode of the tractor comprises: when the mechanical steering mode of the tractor is the rear wheel steering mode, determining that the control strategy of the rear wheel steering mechanism is a second control strategy; The second control strategy comprises: determining a second target turning angle of the rear wheels of the tractor based on the rear wheel turning information set by the operator and the rear wheel turning mode; and determining a second hydraulic oil signal of the rear wheel turning mechanism based on the second target turning angle, and controlling the rear axle oil cylinder to drive the rear wheels of the tractor to turn according to the second hydraulic oil signal and the rear wheel turning angle until the turning angle of the rear wheels of the tractor is consistent with the second target turning angle. When the mechanical turning mode of the tractor is the four-wheel same-phase turning mode, the control strategy of the rear wheel turning mechanism is determined as a third control strategy. The third control strategy comprises: calculating a third target turning angle of the rear wheels of the tractor based on the four-wheel same-phase turning mode and the front wheel turning angle; and determining a third hydraulic oil signal of the rear wheel turning mechanism based on the third target turning angle, and controlling the rear axle oil cylinder to drive the rear wheels of the tractor to turn according to the third hydraulic oil signal and the rear wheel turning angle until the turning angle of the rear wheels of the tractor is consistent with the third target turning angle. When the mechanical turning mode of the tractor is the four-wheel different-phase turning mode, the control strategy of the rear wheel turning mechanism is determined as a fourth control strategy. The fourth control strategy comprises: calculating a fourth target turning angle of the rear wheels of the tractor based on the four-wheel different-phase turning mode and the front wheel turning angle; and determining a fourth hydraulic oil signal of the rear wheel turning mechanism based on the fourth target turning angle, and controlling the rear axle oil cylinder to drive the rear wheels of the tractor to turn according to the fourth hydraulic oil signal and the rear wheel turning angle until the turning angle of the rear wheels of the tractor is consistent with the fourth target turning angle. When the mechanical turning mode of the tractor is the four-wheel different-phase turning implement operation mode, the control strategy of the rear wheel turning mechanism is determined as a fifth control strategy. The fifth control strategy comprises: when the front wheel turning angle is greater than a set turning angle threshold, calculating a fifth target turning angle of the rear wheels of the tractor based on the four-wheel different-phase turning implement operation mode, the front wheel turning angle, and a set corresponding relationship between the front wheel turning angle and the rear wheel turning angle; and determining a fifth hydraulic oil signal of the rear wheel turning mechanism based on the fifth target turning angle, and controlling the rear axle oil cylinder to drive the rear wheels of the tractor to turn according to the fifth hydraulic oil signal and the rear wheel turning angle until the turning angle of the rear wheels of the tractor is consistent with the fifth target turning angle.

6. An electronic device, comprising: The electronic device comprises a processor coupled with a memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device performs the method of claim 5.

7. A computer-readable storage medium, characterized in that, The computer program or instructions, when executed on a computer, cause the computer to perform the method of claim 5.

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