An intelligent hydraulic control system for the chassis of a harvester

Abstract

The present invention belongs to the technical field of hydraulic control, and specifically discloses an intelligent hydraulic control system for a harvester chassis, including: a harvester start monitoring module, a harvester start 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; by analyzing the traction consistency and traction volatility of the harvester, the present invention improves the accuracy of evaluating the actual traction during the harvester start, thereby reducing the danger during the harvester start process. At the same time, by analyzing the traction consistency and traction volatility of each wheel, a comprehensive analysis of the traction during the normal driving stage of the harvester is realized, ensuring the driving stability of the harvester, thereby reducing the probability of the harvester running off course, and thus ensuring the harvesting quality of the harvester.

Description

Technical Field

[0001] The present 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 hydraulic pressure energy to control mechanical devices or systems. It transmits and controls energy through various hydraulic components and control circuits to precisely control parameters such as the position, speed, and force of actuators (such as hydraulic cylinders, hydraulic motors, etc.).

[0003] The current hydraulic chassis control of harvesters can be mainly divided into the starting stage, normal driving stage, and slope stage, etc. There are also the following deficiencies: 1. When analyzing the start of the hydraulic control system currently, it mainly focuses on the self-detection analysis of hydraulic components, that is, the attention to the ground impact of traction force is insufficient, and the actual traction force of the harvester starting cannot be accurately evaluated, which increases the danger during the starting process of the harvester, and at the same time reduces the energy utilization efficiency of the harvester, thus increasing the operating cost of the harvester.

[0004] 2. When analyzing the normal driving of the hydraulic control system currently, it mainly focuses on the analysis of the consistency of the harvester's traction force, that is, the attention to the fluctuation of the harvester's traction force is insufficient, resulting in insufficient driving stability of the harvester, which increases the probability of the harvester running off course, and at the same time causes the body of the harvester to shake, thus affecting the harvesting quality of the harvester.

[0005] 3. When analyzing the slope of the hydraulic control currently, it mainly focuses on the analysis of the climbing reliability of the harvester, that is, the attention to the timeliness of the harvester climbing the slope is insufficient, which increases the residence time of the harvester on the slope, thus resulting in an extension of the harvester's operation time. Summary of the Invention

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

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

[0008] A harvester start analysis module for confirming the start control information of the harvester according to the start information of the harvester.

[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. 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 force of each wheel of the harvester at each normal driving monitoring time point.

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

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

[0014] The harvester slope analysis module is used to confirm the slope control information of the harvester according to the number of times of traction force increase and the response duration of each traction force increase when the harvester is driving on a slope.

[0015] The harvester control execution terminal is used to execute corresponding controls 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) Through the control analysis of the hydraulic components and the traction force control analysis of the harvester, the present invention avoids the insufficient attention to the ground influence of the traction force at present, improves the accuracy of evaluating the actual traction force at the start of the harvester, thereby reducing the danger in the starting process of the harvester, and at the same time improving the energy utilization efficiency of the harvester, thus reducing the operation cost of the harvester.

[0017] (2) By analyzing the traction force consistency and traction force volatility of the harvester, the present invention breaks through the insufficient attention to the traction force volatility of the harvester at present, realizes the comprehensive analysis of the traction force in the normal driving stage of the harvester, ensures the driving stability of the harvester, thereby reducing the probability of the harvester running off track, and at the same time reducing the body shaking of the harvester, thus ensuring the harvesting quality of the harvester.

[0018] (3) Through the comprehensive analysis of the climbing reliability and climbing timeliness of the harvester, the present invention avoids the problem of insufficient attention to the climbing timeliness analysis of the harvester at present, thereby shortening the staying time of the harvester on the slope, and thus realizing the shortening of the operation time of the harvester.

[0019] (4) By setting a road surface interference factor according to the humidity and hardness of the road surface, the present invention further confirms the actual road surface adhesion coefficient of the harvester, improves the accuracy of the traction force analysis of the harvester, enhances the safety of the operation performance of the harvester, and thus reduces the failure risk of the harvester. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

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

[0022] Figure 2 It is a schematic diagram of the connection of the starting control information confirmation steps of the present invention.

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

[0024] Reference numerals: 1, uphill slope surface; 2, harvester; 3, rear wheel of the harvester; 4, front wheel of the harvester; 5, horizontal plane; 6, driving angle; 7, center of the harvester. Detailed Embodiments

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0026] Please refer to Figure 1 As shown, the present invention provides an intelligent hydraulic control system for a harvester chassis, which includes: 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] Among 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. 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 starting monitoring module is used to monitor the starting information of the harvester, including the initial set traction force of the harvester, hydraulic component information, and road surface adhesion information. The hydraulic component information includes the pressure and flow rate of the hydraulic pump and the overflow valve at each monitoring time point. The road surface adhesion information includes the image, humidity, and hardness of the road surface where the harvester is located.

[0029] It should be added that the method for obtaining the pressure of the hydraulic pump at each monitoring time point: through a pressure sensor installed at the outlet pipeline 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 relevant display instrument. For example, for a strain gauge pressure sensor, when the pressure of the hydraulic oil acts on the strain gauge, the strain gauge will deform, resulting in a change in resistance, and the corresponding pressure value is obtained by measuring the resistance change.

[0030] It should be added that the method for obtaining the flow rate of the hydraulic pump at each monitoring time point: install a turbine flowmeter on the output pipeline of the hydraulic pump. The working principle of the turbine flowmeter is that when the hydraulic oil flows through the turbine, it will push the turbine to rotate. The rotation speed of the turbine is proportional to the flow rate of the liquid, and the flow rate of the hydraulic oil is obtained by measuring the rotation 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 flowmeter installed at the inlet of the overflow valve.

[0033] It should be added that the image of the road surface where the harvester is located is obtained by a camera installed on the chassis of the harvester. The humidity of the road surface 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 measure the humidity by using the absorption characteristics of water molecules for infrared light of a specific wavelength. When the infrared light irradiates the road surface, the water in the road surface will absorb the infrared light of a specific wavelength, resulting in a change in the intensity of the infrared light received by the sensor. According to the corresponding relationship between this change and the water content, the humidity of the road surface is calculated.

[0034] It should be added that the method for obtaining the hardness of the road surface where the harvester is located is as follows: It is monitored by strain sensors installed on the side walls of the wheels. Its working principle is as follows: When the harvester is driving on the road surface, the wheels come into contact with the road surface and deform. By measuring the deformation amount and stress distribution of the wheels, different road surface hardnesses will result in different degrees of wheel deformation and stress distributions. A harder road surface will cause less wheel deformation, and the stress will be concentrated in the contact area between the wheel and the road surface, while a softer road surface will lead to a larger degree of wheel deformation and a more uniform stress distribution. Based on the pre-established relationship model between wheel deformation and road surface hardness, the road surface hardness can be indirectly calculated.

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

[0036] Please refer to Figure 2 As shown, exemplarily, the confirmation of the starting 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.

[0037] Furthermore, the confirmation of the control information of the hydraulic components of the harvester includes: A1-1. Extract the interval duration of the hydraulic pump from the starting monitoring time point to the current monitoring time point from the pressures of the hydraulic pump at each monitoring time point, and then obtain the pressure of the hydraulic pump under the current monitoring duration, and use 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 demand pressure range, take 1 as the pressure qualification index of the hydraulic pump.

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

[0041] A1-5. Statistically calculate the flow qualification index of the hydraulic pump according to the flow rates of the hydraulic pump at each monitoring time point.

[0042] Furthermore, the statistical calculation of the flow qualification index of the hydraulic pump includes: A1-5-1. Construct a flow rate change curve of the hydraulic pump with the monitoring time point as the abscissa and the flow rate as the ordinate.

[0043] A1-5-2. Superimpose and compare the flow rate change curve of the hydraulic pump with the set reference flow rate change curve, and mark each monitoring time point located below the reference flow rate change curve as each abnormal flow rate monitoring time point, and count the number of abnormal flow rate monitoring time points, denoted as D.

[0044] A1-5-3. Count the number of monitoring time points, denoted as D′, and further count the flow rate qualification index ε1 of the hydraulic pump.

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

[0046] A1-7. Similarly, count the starting qualification index of the overflow valve according to the statistical method of the starting qualification index of the hydraulic pump.

[0047] A1-8. If the starting qualification index of the hydraulic pump is less than the set reference starting qualification index of the hydraulic pump, then issue a safety warning for the hydraulic pump as the control information of the hydraulic components of the harvester.

[0048] A1-9. If the starting qualification index of the overflow valve is less than the set reference starting qualification index of the overflow valve, then issue a safety warning for the overflow valve as the control information of the hydraulic components of the harvester.

[0049] A2. Confirm the traction control information of the harvester according to the road surface adhesion information of the harvester.

[0050] Furthermore, the confirmation of the traction control information of the harvester includes: A2-1. Denote the initial set 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 ground adhesion coefficient to obtain the adhesion coefficient of the road surface where the harvester is located, denoted as γ.

[0052] It should be added that the specific reference road surface images corresponding to each ground adhesion coefficient are as follows: for a high adhesion coefficient of 0.85, the reference road surface is a dry cement road, and its image features are: the color is uniformly gray, there are no obvious stains or color differences in debris on the surface, the texture is very delicate and regular, and almost no obvious texture undulations can be seen; for a medium-high adhesion coefficient of 0.65, the reference road surface is a dry compacted asphalt road, and its image features are: the color is generally black or dark gray, the hue 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 relatively high, there is a certain texture, but the texture is finer; for a medium adhesion coefficient of 0.55, the reference road surface is a dry hard dirt road, and its image features are: depending on the soil type, the color varies, and it may be light yellow, brownish yellow, etc. Generally speaking, the color distribution is relatively uniform, but there may be some small color differences in stones or soil clods, obvious textures formed by the accumulation of soil particles can be seen, and there is a certain roughness; for a medium-low adhesion coefficient of 0.35, the reference road surface is a wet sandy dirt road, and its image features are: after the yellow color of the sand itself is mixed with water, the color will appear slightly dull, with a mottled feeling of varying shades, and the color in some areas may become darker due to water accumulation, the sand particles are obvious, but due to wetness, there is a certain adhesion between the particles; for a low adhesion coefficient of 0.15, the reference road surface is a muddy paddy field, and its image features are: the color is dark brown or black, because of the mixture of water and soil, the color is darker and turbid, its texture is extremely complex and irregular, there is a large amount of mud and water mixture, obvious water wave textures can be seen on the surface, and there are also deep footprints, wheel tracks, etc.

[0053] It should be added that the matching process between the image of the road surface where the harvester is located and the reference road surface images corresponding to each ground adhesion coefficient: extract the features of the image of the road surface where the harvester is located and the reference road surface images corresponding to each ground adhesion coefficient. These features can include texture features (such as the direction, roughness, periodicity, etc. of the texture), color features (such as color histograms, color moments, etc.), shape features (such as the description of the shapes of stones, potholes, etc. on the road surface), etc. Adopt a suitable image matching algorithm to match the features of the image of the road surface where the harvester is located with the features of the reference road surface images corresponding to each ground adhesion coefficient. Taking the normalized cross-correlation algorithm as an example, it measures the matching degree 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. Calculate for both the image of the road surface where the harvester is located and the reference road surface images corresponding to each ground adhesion coefficient to obtain a set of correlation coefficient values. According to the image matching results, select the ground adhesion coefficient corresponding to the reference road surface image with the highest correlation coefficient (or meeting certain threshold conditions) as the road surface 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 this dirt road is 0.3, then the adhesion coefficient of the road surface where the harvester is located is 0.3.

[0055] A2-3. Denote the humidity and hardness of the road surface where the harvester is located as φ and

[0056] A2-4. Statistically analyze the road surface interference factor ρ of the road surface where the harvester is located. φ′ and are respectively the set humidity of the road surface for the harvester to travel normally and the hardness of the road surface for the harvester to travel normally.

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

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

[0059] In the embodiment of the present invention, by setting the road surface interference factor according to the humidity and hardness of the road surface, and then confirming the actual road surface adhesion coefficient of the harvester, the accuracy of the traction force analysis of the harvester is improved, thereby enhancing the safety of the harvester operation performance, and thus reducing the failure risk of the harvester.

[0060] A2-6. Statistically analyze 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. Use the hydraulic component control information and the traction force control information of the harvester as the starting control information of the harvester.

[0062] In the embodiment of the present invention, through the control analysis of the hydraulic components and the traction force control analysis of the harvester, the deficiency of the current attention to the ground influence of the traction force is avoided, the accuracy of evaluating the actual traction force of the harvester starting is improved, thereby reducing the danger during the starting process of the harvester, and at the same time improving the energy utilization efficiency of the harvester, thus reducing the operation cost of the harvester.

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

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

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

[0066] Exemplarily, the determination of the traveling type of the harvester includes: B1. Comparing the traveling angle of the harvester with a set permitted traveling angle.

[0067] B2. If the traveling angle of the harvester is less than the set permitted traveling angle, then the normal traveling is taken as the traveling type of the harvester.

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

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

[0070] It should be added that the acquisition method of the traction force of each wheel of the harvester at each normal traveling monitoring time point: The force sensor is installed at the connection part between the wheel and the vehicle frame. The force sensor can directly measure the force received by the wheel and convert it into an electrical signal for 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 according to the sensitivity and measurement range of the force sensor, that is, the traction force of each wheel.

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

[0072] Exemplarily, the confirmation of the traveling control information of the harvester includes: S1. Selecting a certain wheel from each wheel of the harvester as a reference wheel, and combining the reference wheel with each of its remaining wheels in pairs to obtain each wheel group. Furthermore, taking the difference between the traction forces of each wheel group at each normal traveling monitoring time point to obtain the traction force difference of each wheel group at each normal traveling monitoring time point.

[0073] S2. If the traction force difference of a certain wheel group at a certain normal traveling monitoring time point is less than or equal to the set permitted traction difference, then record this normal traveling monitoring time point of this wheel group as a traction force consistency monitoring time point, and then count the number of traction force consistency monitoring time points and the number of normal traveling monitoring time points of this wheel group.

[0074] S3. Taking the ratio of the number of traction force consistency monitoring time points of this wheel group to the number of normal traveling monitoring time points as the traction force consistency qualification index of this wheel group, so as to obtain the traction force consistency qualification index of each wheel group.

[0075] S4. Taking the calculation result of the average value of the traction force consistency qualification indexes of each wheel group as the traction force consistency qualification index of the harvester, denoted as

[0076] S5. According to the traction force of each wheel of the harvester at each normal driving monitoring time point, count the qualified index of the traction force fluctuation of the harvester

[0077] Further, the counting of the qualified index of the traction force fluctuation of the harvester includes: S5-1. Calculate the average value of the traction force of each wheel of the harvester at each normal driving monitoring time point, and use the calculation result as the average traction force of each wheel of the harvester.

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

[0079] S5-3. If the maximum traction force difference of a certain wheel is within the set allowable traction force difference range, then mark this wheel as a wheel with qualified traction force fluctuation. Further, count the number of wheels with qualified traction force fluctuation and the number of wheels, and use the ratio of the number of wheels with qualified traction force fluctuation to the number of wheels as the qualified index of the traction force fluctuation of the harvester, denoted as

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

[0081] It should be added that the traction force consistency is directly related to the driving stability of the harvester. When the traction forces of each wheel are consistent, the harvester can maintain normal driving during the driving process and is not prone to unstable phenomena such as deviation and side slip, thereby improving the driving safety. When driving at high speed, good traction force consistency can ensure the handling performance of the harvester, enabling the operator to better control the driving direction of the harvester and avoid accidents. The fluctuation of the traction force also has a certain impact on the driving stability and safety, but within the normal fluctuation range, this impact is relatively small. Generally, as long as the fluctuation does not cause the harvester to lose control or show obvious unstable states, its threat to safety is relatively low. For example, under general field operation conditions, slight traction force fluctuations will not cause serious safety accidents such as the harvester tipping over or getting out of control. Therefore, w1 > w2 is set. For the convenience of analysis, w1 can be specifically set to 0.6, and w2 can be specifically set to 0.4.

[0082] S7. When the driving qualification index of the harvester is less than the set permitted driving qualification index, traction regulation will be carried out as the driving control information of the harvester. Otherwise, maintaining the current state and continuing to drive normally will be used as the driving control information of the harvester.

[0083] In the embodiment of the present invention, by analyzing the traction consistency and traction volatility of the harvester, the insufficient attention to the traction volatility of the harvester at present is broken, a comprehensive analysis of the traction in the normal driving stage of the harvester is realized, the driving stability of the harvester is guaranteed, and further the probability of the harvester running off course is reduced. At the same time, the body shaking of the harvester is reduced, thus ensuring the harvesting quality of the harvester.

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

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

[0086] Please refer to Figure 3 as shown, it should be added that the formula for the initial traction in the slope stage of the harvester: where F′ is the initial traction in the slope stage of the harvester, γ″ is the road surface adhesion coefficient, L is the wheelbase of the front and rear wheels, 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 total 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 slope control information of the harvester according to the number of traction increases and the response duration of each traction increase when the harvester is driving on a slope.

[0089] Exemplarily, the confirmation of the slope control information of the harvester includes: Q1. Record the number of traction increases when the harvester is driving on a slope as D″.

[0090] Q2. Statistically analyze the traction reliability qualification index of the harvester D″′ is the set permitted number of traction increases.

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

[0092] In a specific embodiment, when the harvester is driving on a slope, the number of traction increases is 3 times, and the permitted number of traction increases is 4 times. Then the climbing reliability qualification index of the harvester during the climbing stage is

[0093] Q3. Statistically analyze the traction timeliness qualification index of the harvester according to the response duration of each traction increase when the harvester is driving on a slope

[0094] Further, the statistical analysis of the traction timeliness qualification index of the harvester includes: Q3-1. If the response duration of a certain traction increase when the harvester is driving on a slope is less than or equal to the set permitted traction increase response duration, then record this traction increase when the harvester is driving on a slope as a qualified traction increase.

[0095] Q3-2. Statistically analyze the number of qualified traction increases and use the ratio of it to the number of traction increases as the traction timeliness qualification index of the harvester, and record it as

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

[0097] It should be added that the traction reliability qualification index mainly reflects the stable and reliable degree of the harvester when driving on slopes, including whether the harvester can maintain a stable driving state at different slopes and avoid dangerous situations such as side slipping and slope sliding. When the harvester is operating on slopes, once a safety accident occurs, it will not only cause serious damage to the equipment but also endanger the lives of the operators. Therefore, ensuring the reliability of the harvester when driving on slopes is crucial, which is directly related to the safety of the entire operation process. The traction timeliness qualification index focuses on measuring the response speed of the harvester to slope changes and the timeliness of adjustment. Although timeliness is also important, compared with reliability, its impact on operation safety is relatively small. Even if the response of the harvester to slope changes is slightly delayed, as long as it can finally stabilize in a safe driving state, it will not directly lead to serious safety accidents. For example, in some fields with relatively slow slope changes, even if the response of the harvester 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 set to 0.6 and u2 can be specifically set to 0.4.

[0098] Q5. When it is the case, continue driving is used as the slope control information of the harvester. is the qualified index of traction control set as a reference.

[0099] Q6. When it is the case, then slope control warning is carried out as the slope control information of the harvester.

[0100] Through comprehensive analysis of the climbing reliability and climbing timeliness of the harvester in the embodiments of the present invention, the problem of insufficient attention to the analysis of the climbing timeliness of the harvester currently is avoided, and then the staying time of the harvester on the slope is shortened, thus realizing the shortening of the operation time of the harvester.

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

[0102] The above content is only an example and explanation of the concept of the present invention. Those skilled in the art of this technology make various modifications or supplements to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they should all belong to the protection scope of the present invention.

Claims

1. An intelligent hydraulic control system for a harvester chassis, characterized in that: The system includes: A harvester start monitoring module that monitors the start information of the harvester, including the initial set traction force of the harvester, hydraulic component information, and road surface adhesion information. The hydraulic component information includes the pressure and flow rate of the hydraulic pump and the overflow valve at each monitoring time point. The road surface adhesion information includes the image, humidity, and hardness of the road surface where the harvester is located; A harvester start analysis module that confirms the start control information of the harvester based on the start information of the harvester; A harvester angle monitoring module that monitors the driving angle of the harvester; A harvester angle judgment module that judges the driving type of the harvester based on the driving angle of the harvester. The driving type is normal driving or slope driving; A harvester driving monitoring module that monitors the driving information of the harvester when the driving type of the harvester is normal driving, including the traction force of each wheel of the harvester at each normal driving monitoring time point; A harvester driving analysis module that confirms the driving control information of the harvester based on the driving information of the harvester; A harvester slope monitoring module that monitors the number of times of traction force increase and the response duration of each traction force increase when the harvester is driving on a slope when the driving type of the harvester is slope driving; A harvester slope analysis module that confirms the slope control information of the harvester based on the number of times of traction force increase and the response duration of each traction force increase when the harvester is driving on a slope; A harvester control execution terminal that executes corresponding controls based on the start control information, driving control information, and slope control information of the harvester; Confirming the start control information of the harvester includes: A1. Confirm the hydraulic component control information of the harvester based on the hydraulic component information of the harvester; Specifically, extract the interval duration of the hydraulic pump from the start monitoring time point to the current monitoring time point from the pressure of the hydraulic pump at each monitoring time point, and use the pressure of the hydraulic pump at the current monitoring duration as the actual pressure of the hydraulic pump; When the actual pressure is within the set reference hydraulic pump demand pressure range, take 1 as the pressure qualification index of the hydraulic pump; When the actual pressure is greater than the upper limit value of the set reference hydraulic pump demand pressure range, take the ratio of the upper limit value of the set reference hydraulic pump demand pressure range to the actual pressure as the pressure qualification index of the hydraulic pump; When the actual pressure is less than the lower limit value of the set reference hydraulic pump demand pressure range, take the ratio of the actual pressure to the lower limit value of the set reference hydraulic pump demand pressure range as the pressure qualification index of the hydraulic pump; Statistically calculate the flow rate qualification index of the hydraulic pump according to the flow rate of the hydraulic pump at each monitoring time point; Select the minimum value from the pressure qualification index and the flow rate qualification index of the hydraulic pump as the start qualification index of the hydraulic pump; Statistically calculate the start qualification index of the overflow valve in the same way as the statistical method of the start qualification index of the hydraulic pump; If the start qualification index of the hydraulic pump is less than the set reference start qualification index of the hydraulic pump, then take the hydraulic pump safety warning as the hydraulic component control information of the harvester; If the start qualification index of the overflow valve is less than the set reference start qualification index of the overflow valve, then take the overflow valve safety warning as the hydraulic component control information of the harvester.

2. The intelligent hydraulic control system for a harvester chassis according to claim 1, wherein: The above-mentioned confirmation of the start control information of the harvester further includes: A2. Confirm the traction control information of the harvester according to the road adhesion information of the harvester; A3. Use the hydraulic component control information and the traction control information of the harvester as the starting control information of the harvester.

3. An intelligent hydraulic control system for a harvester chassis according to claim 1, characterized in that: The statistics of the flow rate qualification index of the hydraulic pump includes: Taking the monitoring time point as the abscissa and the flow rate as the ordinate, construct the flow rate change curve of the hydraulic pump; Compare the flow rate change curve of the hydraulic pump with the set reference flow rate change curve, mark each monitoring time point below the reference flow rate change curve as each abnormal flow rate monitoring time point, count the number of abnormal flow rate monitoring time points, and denote it as ; The number of statistical monitoring time points is denoted as , and then the flow rate qualification index of the hydraulic pump is statistically calculated , .

4. The intelligent hydraulic control system for the harvester chassis according to claim 2, characterized in that: The confirmation of the traction control information of the harvester includes: Denote the initial set traction force of the harvester as ; Match and compare the image of the road surface where the harvester is located with the reference road surface images corresponding to each ground adhesion coefficient to obtain the adhesion coefficient of the road surface where the harvester is located, denoted as ; Let the humidity and hardness of the road surface where the harvester is located be denoted as and ; Statistically analyze the road interference factors of the road where the harvester is located , , and are respectively the set humidity of the road surface for the harvester to travel normally and the hardness of the road surface for the harvester to travel normally; Statistically analyze the actual road surface adhesion coefficient of the harvester , ; Statistically determine the actual traction force of the harvester , , and use the actual traction force of the harvester as the traction force control information for the harvester.

5. The intelligent hydraulic control system for the harvester chassis according to claim 1, characterized in that: The judgment of the driving type of the harvester includes: B1. Compare the driving angle of the harvester with the set permitted driving angle; B2. If the driving angle of the harvester is less than the set permitted driving angle, then regard normal driving 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, then regard slope driving as the driving type of the harvester.

6. The intelligent hydraulic control system for the harvester chassis according to claim 1, characterized in that: The confirmation of the driving control information of the harvester includes: S1. Select a certain wheel from each wheel of the harvester as a reference wheel, and combine the reference wheel with each of its remaining wheels in pairs to obtain each wheel group. Then, calculate the difference in 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 certain wheel group at a certain normal driving monitoring time point is less than or equal to the set permitted traction difference, then record the normal driving monitoring time point of this wheel group as the traction consistency monitoring time point, and then count the number of traction consistency monitoring time points and the number of normal driving monitoring time points of this wheel group; S3. Use the ratio of the number of traction consistency monitoring time points of this wheel group to the number of normal driving monitoring time points as the traction consistency qualification index of this wheel group, so as to obtain the traction consistency qualification index of each wheel group; S4. Take the calculation result of the mean value of the traction consistency qualification index of each wheel set as the traction consistency qualification index of the harvester, denoted as ; S5. According to the traction force of each wheel of the harvester at each normal driving monitoring time point, count the qualified index of the traction force fluctuation of the harvester ; S6. Statistically determine the driving compliance index of the harvester , , and are respectively the weights of the set traction consistency compliance index and the traction volatility compliance index, , ; S7. When the driving qualification index of the harvester is less than the set permitted driving qualification index, regard traction regulation as the driving control information of the harvester. Otherwise, regard maintaining the current state and continuing normal driving as the driving control information of the harvester.

7. An intelligent hydraulic control system for a harvester chassis according to claim 6, characterized in that: The statistics of the traction volatility qualification index of the harvester includes: Calculate the average value of the traction of each wheel of the harvester at each normal driving monitoring time point, and use the calculation result as the average traction of each wheel of the harvester; Calculate the difference between the traction of each wheel of the harvester at each normal driving monitoring time point and its average traction to obtain the traction difference of each wheel of the harvester at each normal driving monitoring time point, and then select the maximum traction difference of each wheel from them; If the maximum traction force difference of a certain wheel is within the set allowable traction force difference range, then this wheel is recorded as a wheel with qualified traction force fluctuation. Furthermore, count the number of wheels with qualified traction force fluctuation and the total number of wheels, and use the ratio of the number of wheels with qualified traction force fluctuation to the total number of wheels as the qualified index of the traction force fluctuation of the harvester, denoted as .

8. An intelligent hydraulic control system for a harvester chassis according to claim 1, wherein: The confirmation of the slope control information of the harvester includes: Q1. Denote the number of times the traction force of the harvester increases during slope driving as ; Q2. Statistically calculate the qualified index of the traction reliability of the harvester , , is the set number of times of the permitted traction increase Q3. According to the response duration of the traction force increase during each slope driving of the harvester, count the qualified index of the traction force timeliness of the harvester ; Q4. Statistically calculate the traction control qualification index of the harvester , , and are the weights of the set traction reliability qualification index and traction timeliness qualification index respectively, , ; Q5. When occurs, the continued driving is used as the slope control information of the harvester, which is the qualified index of traction control set as a reference. Q6. When occurs, slope control warning will be used as the slope control information of the harvester.

9. An intelligent hydraulic control system for a harvester chassis according to claim 8, characterized in that: The statistics of the traction timeliness qualification index of the harvester includes: If the response duration of a certain traction increase when the harvester is driving on a slope is less than or equal to the set permitted traction increase response duration, then record this traction increase when the harvester is driving on a slope as a qualified traction increase; Count the number of qualified times of increased traction, and take the ratio of it to the number of times of increased traction as the qualified index of traction timeliness of the harvester, and record it as .

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