Intelligent hydraulic control system for harvester chassis

Abstract

The invention belongs to the technical field of hydraulic control, and particularly discloses an intelligent hydraulic control system for a harvester chassis. Comprising a harvester starting monitoring module, a harvester starting analysis module, a harvester driving monitoring module, a harvester driving analysis module, a harvester angle monitoring module, a harvester angle judgment module, a harvester slope monitoring module, a harvester slope analysis module and a harvester control execution terminal. According to the method, the traction consistency and the traction fluctuation of the harvester are analyzed, so that the accuracy of evaluating the actual starting traction of the harvester is improved, the risk of the starting process of the harvester is reduced, and meanwhile, the accuracy of evaluating the actual starting traction of the harvester is improved by analyzing the traction consistency and the traction fluctuation of the wheels. The traction force of the harvester in the normal running stage is comprehensively analyzed, the running stability of the harvester is guaranteed, the running deviation probability of the harvester is reduced, and the harvesting quality of the harvester is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of hydraulic control and relates to an intelligent hydraulic control system for a harvester chassis. Background Art

[0002] Hydraulic control refers to a technical means of using liquid pressure energy to control mechanical devices or systems. It transmits and controls energy through various hydraulic components and control circuits to achieve the purpose of precise control of the position, speed, force and other parameters of actuators (such as hydraulic cylinders, hydraulic motors, etc.).

[0003] The current harvester hydraulic chassis control can be mainly divided into the starting stage, normal driving stage and slope stage, etc., and there are still the following deficiencies: 1. When conducting the starting analysis of the hydraulic control system, the main focus is on the self-detection analysis of the hydraulic components, that is, insufficient attention is paid to the ground influence of traction, and the actual traction of the harvester starting cannot be accurately evaluated, which increases the danger of the harvester starting process, while reducing the energy utilization efficiency of the harvester, thereby increasing the operating cost of the harvester.

[0004] 2. At present, when conducting normal driving analysis of the hydraulic control system, the focus is mainly on the analysis of the consistency of the harvester's traction force, that is, insufficient attention is paid to the volatility of the harvester's traction force, which leads to insufficient driving stability of the harvester, thereby increasing the probability of the harvester's driving deviation and causing the harvester's body to shake, thereby affecting the harvesting quality of the harvester.

[0005] 3. At present, when conducting hydraulically controlled slope analysis, the focus is mainly on the analysis of the harvester's climbing reliability, that is, insufficient attention is paid to the analysis of the harvester's climbing timeliness, which in turn increases the harvester's stay time on the slope, thereby extending the harvester's operating time. Summary of the invention

[0006] In view of this, in order to solve the problems raised in the above background technology, an intelligent hydraulic control system for a harvester chassis is proposed.

[0007] The objective of the present invention can be achieved through the following technical solutions: The present invention provides a harvester chassis intelligent hydraulic control system, including: a harvester starting monitoring module, used to monitor the starting information of the harvester, including the initial set traction of the harvester, hydraulic component information and road adhesion information, the hydraulic component information includes the pressure and flow of the hydraulic pump and the overflow valve at each monitoring time point, and the road adhesion information includes the image, humidity and hardness of the road surface where the harvester is located.

[0008] The harvester start analysis module is used to confirm the harvester start control information according to the harvester start information.

[0009] The harvester angle monitoring module is used to monitor the driving angle of the harvester.

[0010] The harvester angle judgment module is used to judge the driving type of the harvester according to the driving angle of the harvester, and the driving type is normal driving or slope driving.

[0011] The harvester driving monitoring module is used to monitor the driving information of the harvester when the driving type of the harvester is normal driving, including the traction of each wheel of the harvester at each normal driving monitoring time point.

[0012] The harvester driving analysis module is used to confirm the harvester driving control information according to the harvester driving information.

[0013] The harvester slope monitoring module is used to monitor the number of times the traction force of the harvester increases and the response time of each traction force increase when the harvester is driving on a slope.

[0014] The harvester slope analysis module is used to confirm the harvester's slope control information based on the number of traction force increases when the harvester is traveling on a slope and the response time of each traction force increase.

[0015] The harvester control execution terminal is used to execute corresponding control according to the starting control information, driving control information and slope control information of the harvester.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention avoids the current lack of attention to the ground influence on traction through analysis of the control of the harvester's hydraulic components and traction control, improves the accuracy of evaluating the actual traction of the harvester when starting, thereby reducing the danger of the harvester's starting process, and at the same time improves the energy utilization efficiency of the harvester, thereby reducing the operating cost of the harvester.

[0017] (2) The present invention breaks the current lack of attention to the volatility of the traction force of the harvester by analyzing the consistency and volatility of the traction force of the harvester, and realizes a comprehensive analysis of the traction force of the harvester during the normal driving stage, thereby ensuring the driving stability of the harvester, thereby reducing the probability of the harvester running off the track, and at the same time reducing the body shaking of the harvester, thereby ensuring the harvesting quality of the harvester.

[0018] (3) The present invention avoids the current problem of insufficient attention paid to the analysis of the timeliness of harvester climbing by comprehensively analyzing the harvester's climbing reliability and climbing timeliness, thereby shortening the harvester's stay time on the slope, thereby achieving a reduction in the harvester's operating time.

[0019] (4) The present invention sets a road interference factor according to the humidity and hardness of the road surface, and then confirms the actual road adhesion coefficient of the harvester, thereby improving the accuracy of the harvester traction analysis, thereby enhancing the safety of the harvester's operating performance and reducing the risk of harvester failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 It is a schematic diagram of the connection of each module of the system of the present invention.

[0022] Figure 2 This is a connection diagram of the start control information confirmation step of the present invention.

[0023] Figure 3 It is a schematic diagram of the slope stage of the harvester of the present invention.

[0024] Figure numerals: 1. uphill slope, 2. harvester, 3. rear wheel of harvester, 4. front wheel of harvester, 5. horizontal plane, 6. driving angle, 7. center of harvester. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] See also Figure 1 As shown, the present invention provides an intelligent hydraulic control system for a harvester chassis, the system comprising: a harvester starting monitoring module, a harvester starting analysis module, a harvester driving monitoring module, a harvester driving analysis module, a harvester angle monitoring module, a harvester angle judgment module, a harvester slope monitoring module, a harvester slope analysis module and a harvester control execution terminal.

[0027] In the above, the harvester starting analysis module is respectively connected to the harvester starting monitoring module and the harvester control execution terminal, the harvester angle judgment module is respectively connected to the harvester angle monitoring module, the harvester driving monitoring module and the harvester slope monitoring module, the harvester driving analysis module is respectively connected to the harvester driving monitoring module and the harvester control execution terminal, and the harvester slope analysis module is also respectively connected to the harvester slope monitoring module and the harvester control execution terminal module.

[0028] The harvester start monitoring module is used to monitor the harvester's start information, including the harvester's initial set traction, hydraulic component information and road adhesion information. The hydraulic component information includes the pressure and flow of the hydraulic pump and the overflow valve at each monitoring time point. The road adhesion information includes the image, humidity and hardness of the road surface where the harvester is located.

[0029] It should be added that the pressure of the hydraulic pump at each monitoring time point is obtained by placing a pressure sensor at the outlet pipe of the hydraulic pump. The pressure sensor can convert the pressure signal of the hydraulic oil into an electrical signal and transmit it to the data acquisition system or related display instruments. For example, a strain gauge pressure sensor. When the pressure of the hydraulic oil acts on the strain gauge, the strain gauge will deform, thereby generating a change in resistance. The corresponding pressure value is obtained by measuring the change in resistance.

[0030] It should be added that the flow rate of the hydraulic pump at each monitoring time point is obtained by installing a turbine flowmeter on the output pipe of the hydraulic pump. The working principle of the turbine flowmeter is that when the hydraulic oil flows through the turbine, it drives the turbine to rotate. The speed of the turbine is proportional to the flow rate of the liquid. The flow rate of the hydraulic oil is obtained by measuring the speed of the turbine.

[0031] It should be added that the pressure of the overflow valve at each monitoring time point is monitored by a pressure sensor installed at the inlet of the overflow valve.

[0032] It should be added that the flow rate of the overflow valve at each monitoring time point is monitored by a flow meter installed at the inlet of the overflow valve.

[0033] It should be added that the image of the road where the harvester is located is obtained by taking pictures with a camera installed on the chassis of the harvester, and the humidity of the road where each wheel of the harvester is located is monitored by an infrared humidity sensor installed at the bottom of the harvester. Its working principle is to use the absorption characteristics of water molecules to infrared light of a specific wavelength to measure humidity. When infrared light is irradiated to the road surface, the moisture in the road surface will absorb infrared light of a specific wavelength, causing the intensity of the infrared light received by the sensor to change. The humidity of the road surface is calculated based on the corresponding relationship between this change and the moisture content.

[0034] It should be added that the hardness of the road surface on which the harvester is located is obtained by monitoring the strain sensor installed on the side wall of the wheel. The working principle is as follows: when the harvester is traveling on the road, the wheel contacts the road surface and deforms. By measuring the deformation and stress distribution of the wheel, the deformation degree and stress distribution of the wheel will be different depending on the hardness of the road surface. A harder road surface will cause the wheel to deform less, and the stress will be concentrated in the contact area between the wheel and the road surface. A softer road surface will cause the wheel to deform more significantly, and the stress distribution will be more uniform. The road surface hardness can be indirectly inferred based on the pre-established relationship model between wheel deformation and road surface hardness.

[0035] The harvester start analysis module is used to confirm the start control information of the harvester according to the start information of the harvester in the start phase.

[0036] See also Figure 2 As shown, exemplarily, the confirming of the starting control information of the harvester includes: A1, confirming the hydraulic component control information of the harvester according to the hydraulic component information of the harvester.

[0037] Furthermore, the confirmation of the harvester's hydraulic component control information includes: A1-1, extracting the interval time from the starting monitoring time point to the current monitoring time point of the hydraulic pump from the pressure of the hydraulic pump at each monitoring time point, and then obtaining the pressure of the hydraulic pump under the current monitoring time length, and using it as the actual pressure of the hydraulic pump.

[0038] A1-2. When the actual pressure of the hydraulic pump is within the set reference hydraulic pump required pressure range, 1 is used as the hydraulic pump pressure qualification index.

[0039] A1-3. When the actual pressure of the hydraulic pump is greater than the upper limit value of the hydraulic pump demand pressure interval set as the reference, the ratio of the upper limit value of the hydraulic pump demand pressure interval set as the reference to the actual pressure of the hydraulic pump is used as the pressure qualification index of the hydraulic pump.

[0040] A1-4. When the actual pressure of the hydraulic pump is less than the lower limit of the set reference hydraulic pump demand pressure range, the ratio of the actual pressure of the hydraulic pump to the lower limit of the set reference hydraulic pump demand pressure range is used as the pressure qualification index of the hydraulic pump.

[0041] A1-5. According to the flow rate of the hydraulic pump at each monitoring time point, the flow qualification index of the hydraulic pump is calculated.

[0042] Furthermore, the statistical flow qualification index of the hydraulic pump includes: A1-5-1, constructing a flow change curve of the hydraulic pump with the monitoring time point as the horizontal coordinate and the flow rate as the vertical coordinate.

[0043] A1-5-2. Overlap the flow change curve of the hydraulic pump with the set reference flow change curve for comparison, and record each monitoring time point below the reference flow change curve as each flow abnormality monitoring time point, and count the number of flow abnormality monitoring time points, recorded as D.

[0044] A1-5-3. The number of monitoring time points is recorded as D′, and then the flow qualification index ε1 of the hydraulic pump is calculated.

[0045] A1-6. Select the minimum value from the pressure qualification index and flow qualification index of the hydraulic pump as the starting qualification index of the hydraulic pump.

[0046] A1-7. The relief valve starting qualification index is obtained by using the same statistical method as the hydraulic pump starting qualification index.

[0047] A1-8. If the hydraulic pump starting qualified index is less than the set reference hydraulic pump starting qualified index, a hydraulic pump safety warning will be issued as the hydraulic component control information of the harvester.

[0048] A1-9. If the overflow valve starting qualified index is less than the set reference overflow valve starting qualified index, an overflow valve safety warning will be issued as the hydraulic component control information of the harvester.

[0049] A2. According to the road adhesion information of the harvester, confirm the traction control information of the harvester.

[0050] Furthermore, the confirming of the traction control information of the harvester includes: A2-1, recording the initial setting traction of the harvester as F0.

[0051] A2-2. Match and compare the image of the road surface where the harvester is located with the reference road surface images corresponding to each road adhesion coefficient to obtain the adhesion coefficient of the road surface where the harvester is located, which is recorded as γ.

[0052] It should be added that the reference road surface images corresponding to the adhesion coefficients of various surfaces can be specifically: the high adhesion coefficient of 0.85 corresponds to a dry cement road, and its image features are: the color is uniform gray, there is no obvious stain or color difference of debris on the surface, the texture is very fine and regular, and almost no obvious texture undulations can be seen; the medium to high adhesion coefficient of 0.65 corresponds to a dry and compacted asphalt road, and its image features are: the color is generally black or dark gray, and the tone is relatively single. Due to the material characteristics of asphalt, there may be some slight gloss changes on the surface, but the overall color uniformity is high, there is a certain texture, but the texture is fine; the medium adhesion coefficient of 0.55 corresponds to a dry hard soil road, and its image features are: depending on the soil type, the color varies, and may be light yellow, brown, etc. Generally speaking, the color distribution is relatively uniform, but there may be some small stones or clods of soil with different colors. You can see the texture formed by the accumulation of obvious soil particles, with a certain degree of roughness. The medium to low adhesion coefficient (0.35 corresponds to the reference road surface as a wet sandy road. Its image characteristics: the yellow color of the sand itself will become slightly darker after mixing with water, with a mottled feeling of varying shades. Some areas may become darker due to moisture accumulation. The sand particles are obvious, but due to moisture, there is a certain degree of adhesion between the particles. The low adhesion coefficient of 0.15 corresponds to the reference road surface as a muddy paddy field. Its image characteristics: the color is dark brown or black, because the water and soil are mixed, the color is darker and turbid, the texture is extremely complex and irregular, there is a large amount of mud and water mixed, there is an obvious water wave texture on the surface, and there are deep footprints and wheel marks.

[0053] It should be added that the matching process of the image of the road where the harvester is located and the reference road image corresponding to each surface adhesion coefficient is as follows: feature extraction is performed on the image of the road where the harvester is located and the reference road image corresponding to each surface adhesion coefficient. These features may include texture features (such as texture direction, roughness, periodicity, etc.), color features (such as color histogram, color moment, etc.), shape features (such as descriptions of the shapes of stones, potholes, etc. on the road surface), etc., and a suitable image matching algorithm is used to match the features of the image of the road where the harvester is located with the features of the reference road image corresponding to each surface adhesion coefficient. Taking the normalized cross-correlation algorithm as an example, it measures the degree of matching by calculating the correlation coefficient between the image to be matched and the reference image. The higher the correlation coefficient, the more similar the two are. The image of the road where the harvester is located and the reference road image corresponding to each surface adhesion coefficient are calculated to obtain a set of correlation coefficient values. According to the image matching result, the ground adhesion coefficient corresponding to the reference road image with the highest correlation coefficient (or meeting a certain threshold condition) is selected as the road adhesion coefficient of the harvester.

[0054] For example, if it is found through matching that the image of the road surface where the harvester is located has the highest correlation coefficient with a reference image of a dirt road in the database, and the adhesion coefficient of the dirt road is 0.3, then the adhesion coefficient of the road surface where the harvester is located is 0.3.

[0055] A2-3. Let the humidity and hardness of the road where the harvester is located be φ and

[0056] A2-4. Calculate the road disturbance factor ρ of the road where the harvester is located. φ′ and They are respectively the normal road humidity and the normal road hardness of the harvester.

[0057] It should be added that φ′ and All are extracted from the harvester chassis hydraulic control technical specification table.

[0058] A2-5. Calculate the actual road adhesion coefficient γ′ of the harvester, γ′=γ*(1-ρ).

[0059] The embodiment of the present invention sets a road interference factor according to the humidity and hardness of the road surface, and then confirms the actual road adhesion coefficient of the harvester, thereby improving the accuracy of the harvester traction analysis, thereby enhancing the safety of the harvester's operating performance, and reducing the risk of harvester failure.

[0060] A2-6. Count the actual traction force F of the harvester, F=F0*γ′, and use the actual traction force of the harvester as the traction force control information of the harvester.

[0061] A3. Using the hydraulic component control information and traction control information of the harvester as the starting control information of the harvester.

[0062] The embodiments of the present invention avoid the current lack of attention to the ground influence on traction through analysis of the harvester's hydraulic component control and traction control, improve the accuracy of evaluating the actual traction of the harvester when starting, thereby reducing the danger of the harvester's starting process, and at the same time improve the energy utilization efficiency of the harvester, thereby reducing the operating cost of the harvester.

[0063] The harvester angle monitoring module is used to monitor the driving angle of the harvester.

[0064] It should be added that the driving angle of the harvester refers to the angle between the harvester chassis and the horizontal plane. The driving angle of the harvester is monitored by an inclination sensor installed on the harvester chassis.

[0065] The harvester angle judgment module is used to judge the driving type of the harvester according to the driving angle of the harvester, and the driving type is normal driving or slope driving.

[0066] Exemplarily, the determining the driving type of the harvester includes: B1, comparing the driving angle of the harvester with a set permitted driving angle.

[0067] B2. If the driving angle of the harvester is less than the set permissible driving angle, normal driving is used as the driving type of the harvester.

[0068] B3. If the driving angle of the harvester is greater than or equal to the set permitted driving angle, slope driving is regarded as the driving type of the harvester.

[0069] The harvester driving monitoring module is used to monitor the driving information of the harvester when the driving type of the harvester is normal driving, including the traction of each wheel of the harvester at each normal driving monitoring time point.

[0070] It should be added that the traction of each wheel of the harvester at each normal driving monitoring time point is obtained by installing a force sensor at the connection between the wheel and the frame. The force sensor can directly measure the force exerted on the wheel and convert it into an electrical signal output. The electrical signal output by the force sensor is transmitted to the data acquisition system through a signal line. The data acquisition system converts the electrical signal into an actual force value, i.e., the traction of each wheel, according to the sensitivity and measurement range of the force sensor.

[0071] The harvester driving analysis module is used to confirm the harvester driving control information according to the harvester driving information.

[0072] Exemplarily, the confirmation of the driving control information of the harvester includes: S1, selecting a wheel from the wheels of the harvester as a reference wheel, and combining the reference wheel with its remaining wheels in pairs to obtain wheel groups, and then subtracting the traction of each wheel group at each normal driving monitoring time point to obtain the traction difference of each wheel group at each normal driving monitoring time point.

[0073] S2. If the traction difference of a wheel group at a normal driving monitoring time point is less than or equal to the set allowable traction difference, the normal driving monitoring time point of the wheel group is recorded as the traction consistency monitoring time point, and then the number of traction consistency monitoring time points and the number of normal driving monitoring time points of the wheel group are counted.

[0074] S3. Taking the ratio of the number of traction consistency monitoring time points of the wheel group to the number of normal driving monitoring time points as the traction consistency qualified index of the wheel group, thereby obtaining the traction consistency qualified index of each wheel group.

[0075] S4. The average calculation result of the qualified index of traction consistency of each wheel group is used as the qualified index of traction consistency of the harvester, which is recorded as

[0076] S5. Calculate the qualified index of the traction fluctuation of the harvester according to the traction of each wheel of the harvester at each normal driving monitoring time point

[0077] Furthermore, the statistical harvester traction fluctuation qualified index includes: S5-1, calculating the average of the traction of each wheel of the harvester at each normal driving monitoring time point, and using the calculation result as the average traction of each wheel of the harvester.

[0078] S5-2, subtracting the traction force of each wheel of the harvester at each normal driving monitoring time point from its average traction force to obtain the traction force difference of each wheel of the harvester at each normal driving monitoring time point, and then screening out the maximum traction force difference of each wheel.

[0079] S5-3. If the maximum traction difference of a wheel is within the set permissible traction difference range, the wheel is recorded as a wheel with qualified traction fluctuation, and then the number of wheels with qualified traction fluctuation and the number of wheels are counted, and the ratio of the number of wheels with qualified traction fluctuation to the number of wheels is used as the qualified traction fluctuation index of the harvester, which is recorded as

[0080] S6. Count the harvester's driving qualification index w1 and w2 are the weights of the set traction consistency qualified index and traction volatility qualified index respectively, w1+w2=1, w1>w2.

[0081] It should be added that the consistency of traction is directly related to the driving stability of the harvester. When the traction of each wheel is consistent, the harvester can maintain normal driving during driving, and is not prone to unstable phenomena such as deviation and side sliding, thereby improving driving safety. When driving at high speed, good traction consistency can ensure the control performance of the harvester, so that the operator can better control the driving direction of the harvester and avoid accidents. The volatility of traction also has a certain impact on driving stability and safety, but within the normal fluctuation range, this impact is relatively small. Under normal circumstances, as long as the fluctuation does not cause the harvester to lose control or become obviously unstable, the threat to safety is relatively low. For example, under general field operating conditions, slight traction fluctuations will not cause serious safety accidents such as rollover or loss of control of the harvester. Therefore, w1>w2 is set. For the convenience of analysis, w1 can be specifically taken as 0.6 and w2 can be specifically taken as 0.4.

[0082] S7. When the harvester's driving qualification index is less than the set permitted driving qualification index, traction control will be performed as driving control information of the harvester. Otherwise, the current state will be maintained and normal driving will be continued as driving control information of the harvester.

[0083] The embodiments of the present invention break the current lack of attention to the volatility of the traction force of the harvester by analyzing the consistency and volatility of the traction force of the harvester, realize the comprehensive analysis of the traction force of the harvester during the normal driving stage, ensure the driving stability of the harvester, thereby reducing the probability of the harvester running off the track, and at the same time reduce the body shaking of the harvester, thereby ensuring the harvesting quality of the harvester.

[0084] The harvester slope monitoring module is used to monitor the number of times the traction force of the harvester increases and the response time of each traction force increase when the harvester is driving on a slope.

[0085] It should be added that the number of times the traction force of the harvester increases when driving on a slope and the response time of each traction force increase are obtained in the following way: according to the driving angle of the harvester when driving on a slope, the initial traction force of the harvester in the slope stage is calculated, and then a reasonable traction force increase threshold is set according to the performance characteristics of the harvester and the actual working conditions. For example, when the difference between the actual traction force and the initial traction force is greater than the traction force increase threshold and lasts for a certain period of time, it is considered that the traction force has increased once, and the collected traction force data is analyzed point by point, and the number of times the traction force increases during the slope driving process is counted according to the set judgment standard. When the conditions for the traction force increase are met, the counter is increased by 1, so as to obtain the total number of times the traction force of the harvester increases during the slope driving process. At the same time, for each traction force increase event, its start time and end time are recorded. The start time refers to the time point when the traction force exceeds the traction force increase threshold for the first time, and the end time refers to the time point when the actual traction force no longer increases and the maintenance time is greater than the set traction force maintenance time. By calculating the difference between the end time and the start time, the response time of each traction force increase is obtained.

[0086] See also Figure 3 As shown, it is necessary to add that the initial traction formula of the harvester in the slope stage is: Where F′ is the initial traction force of the harvester in the slope stage, γ″ is the road adhesion coefficient, L is the front and rear wheel track, x is the distance from the center of gravity of the harvester to the center of the front wheel, h is the distance from the center of the harvester to the center of the front wheel, α is the driving angle, and G is the weight of the harvester.

[0087] It should be added that L, x, h and G are all extracted from the technical specification table of the harvester chassis hydraulic control.

[0088] The harvester slope analysis module is used to confirm the harvester's slope control information according to the number of traction force increases when the harvester is traveling on a slope and the response time of each traction force increase.

[0089] Exemplarily, the step of confirming the slope control information of the harvester includes: Q1, recording the number of times the traction force of the harvester increases when traveling on a slope as D″.

[0090] Q2. Calculate the harvester's traction reliability index D″′ is the set number of times the permissible traction force is increased.

[0091] It should be added that D″′ is extracted from the technical specification table of the harvester chassis hydraulic control.

[0092] In a specific embodiment, when the harvester is traveling on a slope, the number of times the traction force increases is 3 times, and the number of times the traction force is allowed to increase is 4 times. Then, the climbing reliability qualification index of the harvester in the climbing stage is

[0093] Q3. According to the response time of each increase in traction force when the harvester is driving on a slope, calculate the harvester's traction timeliness qualification index

[0094] Furthermore, the statistical harvester's traction timeliness qualified index includes: Q3-1. If the response time of a certain traction increase when the harvester is traveling on a slope is less than or equal to the set allowable traction increase response time, the traction increase when the harvester is traveling on a slope will be recorded as a qualified traction increase.

[0095] Q3-2. Count the number of qualified times of traction force increase, and use the ratio of the qualified times of traction force increase to the qualified index of traction force timeliness of the harvester, and record it as

[0096] Q4. Calculate the qualified index of traction control of harvesters u1 and u2 are the weights of the set traction reliability qualification index and traction timeliness qualification index respectively, u1+u2=1, u1>u2.

[0097] It should be added that the traction reliability qualified index mainly reflects the stability and reliability of the harvester when driving on a slope, including whether the harvester can maintain a stable driving state at different slopes to avoid dangerous situations such as skidding and sliding down the slope. When the harvester is operating on a slope, once a safety accident occurs, it will not only cause serious damage to the equipment, but also may endanger the life of the operator. Therefore, it is very important to ensure the reliability of the harvester when driving on a slope, which is directly related to the safety of the entire operation process. The traction timeliness qualified index focuses on measuring the response speed of the harvester to slope changes. And the timeliness of adjustment. Although timeliness is also important, its impact on operation safety is relatively small compared to reliability. Even if the harvester's response to slope changes is slightly delayed, as long as it can eventually stabilize in a safe driving state, it will not directly lead to serious safety accidents. For example, in some fields with slow slope changes, even if the harvester's response is not instantaneous, there is enough time and distance to make adjustments to ensure the safety of the operation. Therefore, u1>u2 is set. For the convenience of analysis, u1 can be specifically taken as 0.6, and u2 can be specifically taken as 0.4.

[0098] Q5. When When the harvester continues to drive, it will serve as the slope control information of the harvester. To set the traction control qualification index for reference.

[0099] Q6. When When the slope control warning is given, it will be used as the slope control information of the harvester.

[0100] The embodiment of the present invention avoids the current problem of insufficient attention to the timeliness analysis of harvester climbing by comprehensively analyzing the harvester's climbing reliability and climbing timeliness, thereby shortening the harvester's stay time on the slope, thereby achieving a reduction in the harvester's operating time.

[0101] The harvester control execution terminal is used to execute corresponding control according to the starting control information, driving control information and slope control information of the harvester.

[0102] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. An intelligent hydraulic control system for a harvester chassis, characterized in that: The system includes: The harvester start monitoring module is used to monitor the harvester start information, including the harvester's initial set traction, hydraulic component information and road adhesion information. The hydraulic component information includes the pressure and flow of the hydraulic pump and the overflow valve at each monitoring time point. The road adhesion information includes the image, humidity and hardness of the road surface where the harvester is located. A harvester start analysis module is used to confirm the start control information of the harvester according to the start information of the harvester; The harvester angle monitoring module is used to monitor the driving angle of the harvester; The harvester angle judgment module is used to judge the driving type of the harvester according to the driving angle of the harvester, and the driving type is normal driving or slope driving; A harvester driving monitoring module is used to monitor the driving information of the harvester when the driving type of the harvester is normal driving, including the traction of each wheel of the harvester at each normal driving monitoring time point; A harvester driving analysis module is used to confirm the driving control information of the harvester according to the driving information of the harvester; The harvester slope monitoring module is used to monitor the number of times the traction force of the harvester increases and the response time of each traction force increase when the harvester is driving on a slope. A harvester slope analysis module is used to confirm the harvester's slope control information based on the number of traction force increases when the harvester is traveling on a slope and the response time of each traction force increase; The harvester control execution terminal is used to execute corresponding control according to the starting control information, driving control information and slope control information of the harvester.

2. The intelligent hydraulic control system for a harvester chassis according to claim 1, characterized in that: The step of confirming the start control information of the harvester includes: A1. Confirm the control information of the hydraulic components of the harvester according to the hydraulic component information of the harvester; A2. confirm the traction control information of the harvester according to the road adhesion information of the harvester; A3. Using the hydraulic component control information and traction control information of the harvester as the starting control information of the harvester.

3. The intelligent hydraulic control system for a harvester chassis according to claim 2 is characterized in that: The step of confirming the hydraulic component control information of the harvester includes: Extract the interval time from the start monitoring time point to the current monitoring time point of the hydraulic pump from the pressure of the hydraulic pump at each monitoring time point, and then obtain the pressure of the hydraulic pump at the current monitoring time length, and use it as the actual pressure of the hydraulic pump; When the actual pressure of the hydraulic pump is within the set reference hydraulic pump required pressure range, 1 is used as the hydraulic pump pressure qualification index; When the actual pressure of the hydraulic pump is greater than the upper limit of the hydraulic pump demand pressure interval set as a reference, the ratio of the upper limit of the hydraulic pump demand pressure interval set as a reference to the actual pressure of the hydraulic pump is used as the pressure qualification index of the hydraulic pump; When the actual pressure of the hydraulic pump is less than the lower limit of the hydraulic pump demand pressure interval set as the reference, the ratio of the actual pressure of the hydraulic pump to the lower limit of the hydraulic pump demand pressure interval set as the pressure qualification index of the hydraulic pump; According to the flow rate of the hydraulic pump at each monitoring time point, the flow rate qualification index of the hydraulic pump is calculated; Select the minimum value from the pressure qualified index and flow qualified index of the hydraulic pump as the starting qualified index of the hydraulic pump; The relief valve start-up qualified index is obtained by the same statistical method as the hydraulic pump start-up qualified index; If the hydraulic pump start-up qualified index is less than the set reference hydraulic pump start-up qualified index, a hydraulic pump safety warning will be issued as the hydraulic component control information of the harvester; If the overflow valve starting qualified index is less than the set reference overflow valve starting qualified index, the overflow valve safety warning will be issued as the hydraulic component control information of the harvester.

4. The intelligent hydraulic control system for a harvester chassis according to claim 3 is characterized in that: The statistical flow qualification index of the hydraulic pump includes: With the monitoring time point as the horizontal coordinate and the flow rate as the vertical coordinate, the flow rate change curve of the hydraulic pump is constructed; The flow change curve of the hydraulic pump is overlapped and compared with the set reference flow change curve, and each monitoring time point located below the reference flow change curve is recorded as each flow abnormality monitoring time point, and the number of flow abnormality monitoring time points is counted and recorded as D; The number of monitoring time points is recorded as D′, and then the flow qualification index ε1 of the hydraulic pump is calculated.

5. The intelligent hydraulic control system for a harvester chassis according to claim 2, characterized in that: The step of confirming the traction control information of the harvester includes: The initial setting traction force of the harvester is recorded as F0; The image of the road where the harvester is located is matched and compared with the reference road image corresponding to each road adhesion coefficient to obtain the adhesion coefficient of the road where the harvester is located, which is recorded as γ; The humidity and hardness of the road where the harvester is located are denoted as φ and Statistical road disturbance factor ρ of the road where the harvester is located, φ′ and They are respectively the set normal driving road humidity and the normal driving road hardness of the harvester; Calculate the actual road adhesion coefficient γ′ of the harvester, γ′=γ*(1-ρ); The actual traction force F of the harvester is calculated, where F=F0*γ′, and the actual traction force of the harvester is used as the traction force control information of the harvester.

6. The intelligent hydraulic control system for a harvester chassis according to claim 1, characterized in that: The step of determining the driving type of the harvester comprises: B1. Compare the driving angle of the harvester with the set permissible driving angle; B2. If the driving angle of the harvester is less than the set permissible driving angle, normal driving is regarded as the driving type of the harvester; B3. If the driving angle of the harvester is greater than or equal to the set permitted driving angle, slope driving is regarded as the driving type of the harvester.

7. The intelligent hydraulic control system for a harvester chassis according to claim 1, characterized in that: The step of confirming the driving control information of the harvester includes: S1. Select a wheel from the wheels of the harvester as a reference wheel, and combine the reference wheel with the remaining wheels in pairs to obtain wheel groups, and then make a difference in the traction of each wheel group at each normal driving monitoring time point to obtain the traction difference of each wheel group at each normal driving monitoring time point; S2. If the traction difference of a wheel set at a normal driving monitoring time point is less than or equal to the set permissible traction difference, the normal driving monitoring time point of the wheel set is recorded as the traction consistency monitoring time point, and then the number of traction consistency monitoring time points and the number of normal driving monitoring time points of the wheel set are counted; S3, taking the ratio of the number of traction consistency monitoring time points of the wheel group to the number of normal driving monitoring time points as the traction consistency qualified index of the wheel group, thereby obtaining the traction consistency qualified index of each wheel group; S4, taking the average calculation result of the qualified index of traction consistency of each wheel group as the qualified index of traction consistency of the harvester, recorded as θ1; S5, according to the traction of each wheel of the harvester at each normal driving monitoring time point, calculating the qualified index θ2 of the traction fluctuation of the harvester; S6. Count the harvester's driving qualification index w1 and w2 are the weights of the set traction consistency qualified index and traction volatility qualified index, w1+w2=1, w1>w2; S7. When the harvester's driving qualification index is less than the set permitted driving qualification index, traction control will be performed as driving control information of the harvester. Otherwise, the current state will be maintained and normal driving will be continued as driving control information of the harvester.

8. The intelligent hydraulic control system for a harvester chassis according to claim 7, characterized in that: The statistical harvester's traction force volatility qualified index includes: The traction force of each wheel of the harvester at each normal driving monitoring time point is averaged and the calculation result is used as the average traction force of each wheel of the harvester; The traction force of each wheel of the harvester at each normal driving monitoring time point is subtracted from its average traction force to obtain the traction force difference of each wheel of the harvester at each normal driving monitoring time point, and then the maximum traction force difference of each wheel is screened out; If the maximum traction difference of a wheel is within the set allowable traction difference range, the wheel will be recorded as a qualified wheel for traction fluctuation, and then the number of wheels with qualified traction fluctuation and the number of wheels will be counted, and the ratio of the number of wheels with qualified traction fluctuation to the number of wheels will be used as the qualified index of traction fluctuation of the harvester, which is recorded as θ2.

9. The intelligent hydraulic control system for a harvester chassis according to claim 1, characterized in that: The step of confirming the slope control information of the harvester includes: Q1. The number of times the traction force of the harvester increases when driving on a slope is recorded as D″; Q2. Calculate the harvester's traction reliability index D″′ is the set number of times the permissible traction force is increased; Q3. According to the response time of each increase in traction force when the harvester is driving on a slope, calculate the harvester's traction timeliness qualified index Q4. Calculate the harvester's traction control qualification index l. u1 and u2 are the weights of the set traction reliability qualified index and traction timeliness qualified index, respectively, u1+u2=1, u1>u2; Q5. When l≥l′, the harvester will continue to drive as the slope control information, and l′ is the traction control qualification index set as the reference; Q6. When l<l′, a slope control warning will be issued as the slope control information of the harvester.

10. The intelligent hydraulic control system for a harvester chassis according to claim 9, characterized in that: The statistical harvester traction timeliness qualified index includes: If the response time of a certain traction increase when the harvester is driving on a slope is less than or equal to the set permissible traction increase response time, the traction increase when the harvester is driving on a slope is recorded as a qualified traction increase; The qualified times of traction force increase are counted, and the ratio of the qualified times of traction force increase to the qualified times of traction force increase is taken as the qualified index of traction force timeliness of the harvester, and recorded as

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