Tractor turning brake control system and method, electronic equipment and storage medium

Abstract

The invention relates to the technical field of tractor control, and particularly discloses a tractor turning brake control system and method, electronic equipment and a storage medium. The system comprises a controller, a first electromagnetic valve and a first brake oil cylinder, the second electromagnetic valve and the second brake oil cylinder are arranged on the right side of the target tractor; the controller is used for controlling the corresponding brake oil cylinders to retract by conducting the corresponding electromagnetic valves according to the positive and negative of the front wheel steering angles when the gear shifting rod of the target tractor is located at the forward gear position and the absolute value of the front wheel steering angle is larger than the preset angle so as to control the brake systems on the corresponding sides to conduct turning braking. Unilateral brake control can be automatically carried out when the tractor turns, the operation difficulty of a tractor driver is reduced, and the operation efficiency and the operation safety are improved.

Description

Background Art

[0002] During plowing and rotary tillage operations, when a tractor needs to turn around after completing single-row operations, in order to reduce the turning radius, the driver usually needs to step on the brake pedal on the same side as the steering direction (step on the left brake pedal when turning left). At the same time, the driver also needs to control the lifting of the machine and the tractor steering wheel when turning at the end of the field. The series of operations for turning at the end of the field greatly increase the driver's labor intensity and operating difficulty.

[0003] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a tractor turning brake control system, method, electronic device and storage medium.

[0005] In a first aspect, the present invention provides a tractor brake control system, the technical solution of which is as follows: The invention comprises: a controller, a first solenoid valve and a first brake oil cylinder arranged on the left side of the target tractor, and a second solenoid valve and a second brake oil cylinder arranged on the right side of the target tractor; the first solenoid valve is connected to the first brake oil cylinder, and the first brake oil cylinder is also connected to the left brake system of the target tractor; the second solenoid valve is connected to the second brake oil cylinder, and the second brake oil cylinder is also connected to the right brake system of the target tractor; The controller is used for: when the shift lever position of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a negative angle, controlling the first brake cylinder to retract by turning on the first solenoid valve to control the left brake system to perform left-side turning braking; or, when the shift lever position of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a positive angle, controlling the second brake cylinder to retract by turning on the second solenoid valve to control the right brake system to perform right-side turning braking; wherein, when the target tractor turns left, the front wheel steering angle is a negative angle; when the target tractor turns right, the front wheel steering angle is a positive angle.

[0006] The beneficial effects of a tractor brake control system of the present invention are as follows: The system of the present invention can automatically perform unilateral braking control when the tractor turns, thereby reducing the operating difficulty of the tractor driver and improving the working efficiency and operating safety.

[0007] On the basis of the above scheme, the tractor brake control system of the present invention can also be improved as follows.

[0008] In an optional manner, the controller is specifically used to: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a negative angle, and the vehicle speed of the target tractor is less than the preset speed, the first brake cylinder is controlled to retract by turning on the first solenoid valve to control the left brake system to perform left-side turning braking; or, when the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a positive angle, and the vehicle speed of the target tractor is less than the preset speed, the second brake cylinder is controlled to retract by turning on the second solenoid valve to control the right brake system to perform right-side turning braking.

[0009] In an optional manner, the controller is specifically used to: Determining a target duty cycle based on a target turning braking level of the target tractor; wherein the target turning braking level is one of a plurality of preset turning braking levels; According to the target duty cycle, the first solenoid valve is turned on to control the first brake cylinder to retract, so as to control the left-side brake system to perform left-side turning braking according to the braking control frequency corresponding to the target duty cycle; or, according to the target duty cycle, the second solenoid valve is turned on to control the second brake cylinder to retract, so as to control the right-side brake system to perform right-side turning braking according to the braking control frequency corresponding to the target duty cycle; wherein, the solenoid valve is correspondingly set with multiple preset duty cycles, the target duty cycle is one of multiple preset duty cycles, and each preset turning braking level corresponds to a preset duty cycle.

[0010] In an optional manner, the controller is further configured to: In response to the turning brake activation instruction of the target tractor, the shift lever position and the front wheel steering angle of the target tractor are collected in real time.

[0011] In a second aspect, the present invention provides a tractor braking control method, the technical solution of the method is as follows: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a negative angle, the first brake cylinder is controlled to retract by turning on the first solenoid valve to control the left brake system to perform left-side turning braking; or, when the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a positive angle, the second brake cylinder is controlled to retract by turning on the second solenoid valve to control the right brake system to perform right-side turning braking; wherein, when the target tractor turns left, the front wheel steering angle is a negative angle; when the target tractor turns right, the front wheel steering angle is a positive angle; Among them, the first solenoid valve and the first brake cylinder are arranged on the left side of the target tractor, and the second solenoid valve and the second brake cylinder are arranged on the right side of the target tractor. The first solenoid valve is connected to the first brake cylinder, and the first brake cylinder is also connected to the left brake system of the target tractor; the second solenoid valve is connected to the second brake cylinder, and the second brake cylinder is also connected to the right brake system of the target tractor.

[0012] The beneficial effects of a tractor braking control method of the present invention are as follows: The method of the present invention can automatically perform unilateral braking control when the tractor turns, thereby reducing the operating difficulty of the tractor driver and improving the operating efficiency and operating safety.

[0013] Based on the above scheme, the tractor braking control method of the present invention can also be improved as follows.

[0014] In an optional manner, when the shift lever position of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than a preset angle, and the front wheel steering angle is a negative angle, the step of controlling the first brake cylinder to retract by turning on the first solenoid valve to control the left brake system to perform left turning braking includes: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a negative angle, and the vehicle speed of the target tractor is less than the preset speed, the first brake cylinder is controlled to retract by turning on the first solenoid valve to control the left brake system to perform left turning braking; The step of controlling the second brake cylinder to retract by turning on the second solenoid valve to control the right brake system to perform right turning braking when the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, and the front wheel steering angle is a positive angle, comprises: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a positive angle, and the vehicle speed of the target tractor is less than the preset speed, the second brake cylinder is controlled to retract by turning on the second solenoid valve to control the right brake system to perform right turning braking.

[0015] In an optional manner, the method further includes: Determining a target duty cycle based on a target turning braking level of the target tractor; wherein the target turning braking level is one of a plurality of preset turning braking levels; The step of controlling the first brake cylinder to retract by turning on the first solenoid valve to control the left brake system to perform left turning braking includes: According to the target duty cycle, turning on the first solenoid valve to control the first brake cylinder to retract, so as to control the left brake system to perform left turning braking according to the brake control frequency corresponding to the target duty cycle; The step of controlling the second brake cylinder to retract by turning on the second solenoid valve to control the right brake system to perform right turning braking includes: According to the target duty cycle, the second solenoid valve is turned on to control the retraction of the second brake cylinder, so as to control the right-side braking system to perform right-side turning braking according to the braking control frequency corresponding to the target duty cycle; wherein, the solenoid valve is set with multiple preset duty cycles, the target duty cycle is one of multiple preset duty cycles, and each preset turning braking level corresponds to a preset duty cycle.

[0016] In an optional manner, the method further includes: In response to the turning brake activation instruction of the target tractor, the shift lever position and the front wheel steering angle of the target tractor are collected in real time.

[0017] In a third aspect, a technical solution of an electronic device of the present invention is as follows: The electronic device includes a tractor brake control system according to the present invention.

[0018] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution: The computer-readable storage medium stores instructions, and when the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the tractor brake control method of the present invention.

[0019] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings: Figure 1 It is a structural schematic diagram of an embodiment of a tractor brake control system of the present invention; Figure 2 This is one of the principle schematic diagrams of the tractor brake control system; Figure 3 This is the second schematic diagram of the principle of the tractor brake control system; Figure 4 This is the third schematic diagram of the principle of the tractor brake control system; Figure 5 It is the overall control flow diagram of the tractor brake control system; Figure 6 The present invention is a schematic flow chart of an embodiment of a tractor braking control method of the present invention. DETAILED DESCRIPTION

[0021] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0022] Figure 1 FIG. 2 shows a schematic diagram of a tractor brake control system according to an embodiment of the present invention. Figure 1 As shown, the tractor braking control system includes: a controller 11, a first solenoid valve 12 and a first brake cylinder 13 arranged on the left side of the target tractor, and a second solenoid valve 14 and a second brake cylinder 15 arranged on the right side of the target tractor; the first solenoid valve 12 is connected to the first brake cylinder 13, and the first brake cylinder 13 is also connected to the left brake system 16 of the target tractor; the second solenoid valve 14 is connected to the second brake cylinder 15, and the second brake cylinder 15 is also connected to the right brake system 17 of the target tractor.

[0023] It should be noted that the first brake cylinder 13 includes a first piston and a first spring. The first solenoid valve 12 is electrically connected to the first piston, and the first piston is also connected to the first spring and the left brake system 16 respectively. When the first solenoid valve 12 is turned on, the first piston squeezes the first spring, and the first brake cylinder 13 retracts at this time, and the pressure of the first brake cylinder 13 acts on the left brake system 16, thereby braking the left side of the target tractor; when the first solenoid valve 12 is disconnected, the first piston stops squeezing the first spring, and the first brake cylinder 13 extends at this time, and the pressure of the first brake cylinder 13 stops acting on the left brake system 16, thereby stopping braking the left side of the target tractor. The second brake cylinder 15 includes a second piston and a second spring. The second solenoid valve 14 is electrically connected to the second piston, and the second piston is also connected to the second spring and the right brake system 17 respectively. When the second solenoid valve 14 is turned on, the second piston squeezes the second spring, and the second brake cylinder 15 retracts at this time, and the pressure of the second brake cylinder 15 acts on the right brake system 17, thereby braking the right side of the target tractor; when the second solenoid valve 14 is turned off, the second piston stops squeezing the second spring, and the second brake cylinder 15 extends at this time, and the pressure of the second brake cylinder 15 stops acting on the right brake system 17, thereby stopping braking the right side of the target tractor. In addition, the oil supply system 18 is connected to the first brake cylinder 13 through the first solenoid valve 12, and the oil supply system 18 is connected to the second brake cylinder 15 through the second solenoid valve 14. The specific principle is not repeated here.

[0024] The controller 11 is used for: when the shift lever position of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a negative angle, controlling the first brake cylinder 13 to retract by turning on the first solenoid valve 12 to control the left brake system 16 to perform left-side turning braking; or, when the shift lever position of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a positive angle, controlling the second brake cylinder 15 to retract by turning on the second solenoid valve 14 to control the right brake system 17 to perform right-side turning braking.

[0025] Among them, the shift lever position can be collected through an angular displacement sensor. The shift lever position includes but is not limited to: forward gear position (F), reverse gear position (R) and neutral gear position (N). The front wheel steering angle can be collected through a steering angle sensor. When the target tractor turns left, the front wheel steering angle is a negative angle; when the target tractor turns right, the front wheel steering angle is a positive angle. The preset angle (x) can be set according to the actual situation (such as 30°), and there is no limit here.

[0026] It should be noted that the controller 11 is also used for: In response to the turning brake activation instruction of the target tractor, the shift lever position and the front wheel steering angle of the target tractor are collected in real time.

[0027] The turning brake activation command may be generated by clicking a turning automatic braking button (enable button) on an operating panel disposed on the target tractor. Figure 2 One of the principle schematic diagrams of the tractor braking control system is shown. When the turning brake activation command is received to start the turning automatic braking function, the shift lever position and the front wheel steering angle position are collected in real time. When the trigger condition is met, the corresponding turning braking state is activated.

[0028] In an optional manner, the controller 11 is specifically used for: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a negative angle, and the vehicle speed of the target tractor is less than the preset speed, the first brake cylinder 13 is controlled to retract by turning on the first solenoid valve 12 to control the left brake system 16 to perform left-side turning braking; or, when the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a positive angle, and the vehicle speed of the target tractor is less than the preset speed, the second brake cylinder 15 is controlled to retract by turning on the second solenoid valve 14 to control the right brake system 17 to perform right-side turning braking.

[0029] The preset speed (y) can be set according to the actual situation and there is no limit here. Figure 3 The second schematic diagram of the principle of the tractor braking control system is shown. When the turning brake activation command is received to start the turning automatic braking function, the shift lever position, the position of the front wheel steering angle and the vehicle speed are collected in real time. When the trigger conditions are met, the corresponding turning braking state is activated.

[0030] In an optional manner, the controller 11 is specifically used for: A target duty cycle is determined based on the target turning braking level of the target tractor.

[0031] According to the target duty cycle, the first solenoid valve 12 is turned on to control the first brake cylinder 13 to retract, so as to control the left-side brake system 16 to perform left-side turning braking according to the braking control frequency corresponding to the target duty cycle; or, according to the target duty cycle, the second solenoid valve 14 is turned on to control the second brake cylinder 15 to retract, so as to control the right-side brake system 17 to perform right-side turning braking according to the braking control frequency corresponding to the target duty cycle.

[0032] Among them, the solenoid valve (the first solenoid valve 12 and the second solenoid valve 14) in this embodiment is a switch valve. As shown in Table 1, the number of multiple preset turning braking levels is 10 by default. The target turning braking level is one of the multiple preset turning braking levels. The solenoid valve is correspondingly set with multiple preset duty ratios, the target duty ratio is one of the multiple preset duty ratios, and each preset turning braking level corresponds to a preset duty ratio. The turning braking level can be determined according to the actual operation turning radius and the softness of the land. The larger the actual operation turning radius, the lower the corresponding turning braking level, and the smaller the actual operation turning radius, the higher the corresponding turning braking level; the looser the land, the larger the required operation turning radius; the harder the land, the smaller the required operation turning radius. Specifically, a turning braking level selection button is provided on the control panel arranged on the target tractor, and the driver can select it according to the actual operation turning radius and the softness of the land.

[0033] Table 1: It should be noted that if Figure 4 As shown in the figure, the duty cycle indicates the proportion of braking time in a control cycle. For example, if the target duty cycle is 10% and a control cycle is 10s, the braking control time is 1s (corresponding to the first 1s in the control cycle); if the target duty cycle is 50% and a control cycle is 10s, the braking control time is 5s (corresponding to the first 5s in the control cycle). Figure 5 As shown, when the turning brake activation command is received to start the turning automatic braking function, the shift lever position, the position of the front wheel steering angle and the vehicle speed are collected in real time. When the triggering conditions are met, the target duty cycle is determined according to the target turning brake intensity level, and the corresponding solenoid valve is activated to perform turning brake control.

[0034] The technical solution of this embodiment can automatically perform unilateral braking control when the tractor turns, thereby reducing the operating difficulty of the tractor driver and improving working efficiency and operating safety.

[0035] Figure 6 FIG. 2 is a flow chart showing an embodiment of a tractor braking control method provided by the present invention. Figure 6 As shown, the method comprises the following steps: S1. When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a negative angle, the first brake cylinder 13 is controlled to retract by turning on the first solenoid valve 12 to control the left brake system 16 to perform left-side turning braking; or, when the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a positive angle, the second brake cylinder 15 is controlled to retract by turning on the second solenoid valve 14 to control the right brake system 17 to perform right-side turning braking; wherein, when the target tractor turns left, the front wheel steering angle is a negative angle; when the target tractor turns right, the front wheel steering angle is a positive angle; Among them, the first solenoid valve 12 and the first brake cylinder 13 are arranged on the left side of the target tractor, and the second solenoid valve 14 and the second brake cylinder 15 are arranged on the right side of the target tractor. The first solenoid valve 12 is connected to the first brake cylinder 13, and the first brake cylinder 13 is also connected to the left brake system 16 of the target tractor; the second solenoid valve 14 is connected to the second brake cylinder 15, and the second brake cylinder 15 is also connected to the right brake system 17 of the target tractor.

[0036] In an optional manner, when the shift lever position of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than a preset angle, and the front wheel steering angle is a negative angle, the step of controlling the first brake cylinder 13 to retract by turning on the first solenoid valve 12 to control the left brake system 16 to perform left turn braking includes: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a negative angle, and the speed of the target tractor is less than the preset speed, the first brake cylinder 13 is controlled to retract by turning on the first solenoid valve 12, so as to control the left brake system 16 to perform left turning braking; The step of controlling the second brake cylinder 15 to retract by turning on the second solenoid valve 14 to control the right brake system 17 to perform right turning braking when the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, and the front wheel steering angle is a positive angle, comprises: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a positive angle, and the vehicle speed of the target tractor is less than the preset speed, the second brake cylinder 15 is controlled to retract by turning the second solenoid valve 14 to control the right brake system 17 to perform right turning braking.

[0037] In an optional manner, the method further includes: Determining a target duty cycle based on a target turning braking level of the target tractor; wherein the target turning braking level is one of a plurality of preset turning braking levels; The step of controlling the first brake cylinder 13 to retract by turning on the first solenoid valve 12 to control the left brake system 16 to perform left turning braking includes: According to the target duty cycle, the first solenoid valve 12 is turned on to control the first brake cylinder 13 to retract, so as to control the left brake system 16 to perform left turning braking according to the brake control frequency corresponding to the target duty cycle; The step of controlling the second brake cylinder 15 to retract by turning on the second solenoid valve 14 to control the right brake system 17 to perform right turning braking includes: According to the target duty cycle, the second solenoid valve 14 is turned on to control the retraction of the second brake cylinder 15, so as to control the right brake system 17 to perform right turning braking according to the braking control frequency corresponding to the target duty cycle; wherein, the solenoid valve is correspondingly set with multiple preset duty cycles, the target duty cycle is one of multiple preset duty cycles, and each preset turning braking level corresponds to a preset duty cycle.

[0038] In an optional manner, the method further includes: In response to the turning brake activation instruction of the target tractor, the shift lever position and the front wheel steering angle of the target tractor are collected in real time.

[0039] It should be noted that the beneficial effects of the tractor brake control method provided in the above embodiment are the same as the beneficial effects of the tractor brake control system, which will not be described in detail here. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and their specific implementation process is detailed in the system embodiment, which will not be described in detail here.

[0040] An electronic device according to an embodiment of the present invention comprises the tractor braking control system shown in any embodiment of the present invention.

[0041] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, and when the computer program is executed by a processor, any one of the above-mentioned tractor braking control methods is implemented.

[0042] Optionally, the computer readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0043] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the above-mentioned tractor brake control method.

[0044] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0045] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0046] The computer-readable storage medium provided by the embodiment of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or component.

[0047] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0048] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0050] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0051] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A tractor turning brake control system, characterized in that: include: A controller, a first solenoid valve and a first brake cylinder arranged on the left side of the target tractor, and a second solenoid valve and a second brake cylinder arranged on the right side of the target tractor; the first solenoid valve is connected to the first brake cylinder, and the first brake cylinder is also connected to the left brake system of the target tractor; the second solenoid valve is connected to the second brake cylinder, and the second brake cylinder is also connected to the right brake system of the target tractor; The controller is used for: when the shift lever position of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a negative angle, controlling the first brake cylinder to retract by turning on the first solenoid valve to control the left brake system to perform left-side turning braking; or, when the shift lever position of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a positive angle, controlling the second brake cylinder to retract by turning on the second solenoid valve to control the right brake system to perform right-side turning braking; wherein, when the target tractor turns left, the front wheel steering angle is a negative angle; when the target tractor turns right, the front wheel steering angle is a positive angle.

2. The tractor turning brake control system according to claim 1, characterized in that: The controller is specifically used for: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a negative angle, and the vehicle speed of the target tractor is less than the preset speed, the first brake cylinder is controlled to retract by turning on the first solenoid valve to control the left brake system to perform left-side turning braking; or, when the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a positive angle, and the vehicle speed of the target tractor is less than the preset speed, the second brake cylinder is controlled to retract by turning on the second solenoid valve to control the right brake system to perform right-side turning braking.

3. The tractor turning brake control system according to claim 1, characterized in that: The controller is specifically used for: Determining a target duty cycle based on a target turning braking level of the target tractor; wherein the target turning braking level is one of a plurality of preset turning braking levels; According to the target duty cycle, the first solenoid valve is turned on to control the first brake cylinder to retract, so as to control the left-side brake system to perform left-side turning braking according to the braking control frequency corresponding to the target duty cycle; or, according to the target duty cycle, the second solenoid valve is turned on to control the second brake cylinder to retract, so as to control the right-side brake system to perform right-side turning braking according to the braking control frequency corresponding to the target duty cycle; wherein, the solenoid valve is correspondingly set with multiple preset duty cycles, the target duty cycle is one of multiple preset duty cycles, and each preset turning braking level corresponds to a preset duty cycle.

4. The tractor turning brake control system according to any one of claims 1 to 3, characterized in that: The controller is also used for: In response to the turning brake activation instruction of the target tractor, the shift lever position and the front wheel steering angle of the target tractor are collected in real time.

5. A tractor turning brake control method, characterized in that: include: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a negative angle, the first brake cylinder is controlled to retract by turning on the first solenoid valve to control the left brake system to perform left-side turning braking; or, when the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle and the front wheel steering angle is a positive angle, the second brake cylinder is controlled to retract by turning on the second solenoid valve to control the right brake system to perform right-side turning braking; wherein, when the target tractor turns left, the front wheel steering angle is a negative angle; when the target tractor turns right, the front wheel steering angle is a positive angle; Among them, the first solenoid valve and the first brake cylinder are arranged on the left side of the target tractor, and the second solenoid valve and the second brake cylinder are arranged on the right side of the target tractor. The first solenoid valve is connected to the first brake cylinder, and the first brake cylinder is also connected to the left brake system of the target tractor; the second solenoid valve is connected to the second brake cylinder, and the second brake cylinder is also connected to the right brake system of the target tractor.

6. The tractor turning brake control method according to claim 5, characterized in that: The step of controlling the first brake cylinder to retract by turning on the first solenoid valve to control the left brake system to perform left turning braking when the gear lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than a preset angle, and the front wheel steering angle is a negative angle, comprises: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a negative angle, and the vehicle speed of the target tractor is less than the preset speed, the first brake cylinder is controlled to retract by turning on the first solenoid valve to control the left brake system to perform left turning braking; The step of controlling the second brake cylinder to retract by turning on the second solenoid valve to control the right brake system to perform right turning braking when the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, and the front wheel steering angle is a positive angle, comprises: When the shift lever of the target tractor is in the forward gear position, the absolute value of the front wheel steering angle is greater than the preset angle, the front wheel steering angle is a positive angle, and the vehicle speed of the target tractor is less than the preset speed, the second brake cylinder is controlled to retract by turning on the second solenoid valve to control the right brake system to perform right turning braking.

7. The tractor turning brake control method according to claim 5, characterized in that: Also includes: Determining a target duty cycle based on a target turning braking level of the target tractor; wherein the target turning braking level is one of a plurality of preset turning braking levels; The step of controlling the first brake cylinder to retract by turning on the first solenoid valve to control the left brake system to perform left turning braking includes: According to the target duty cycle, turning on the first solenoid valve to control the first brake cylinder to retract, so as to control the left brake system to perform left turning braking according to the brake control frequency corresponding to the target duty cycle; The step of controlling the second brake cylinder to retract by turning on the second solenoid valve to control the right brake system to perform right turning braking includes: According to the target duty cycle, the second solenoid valve is turned on to control the retraction of the second brake cylinder, so as to control the right-side braking system to perform right-side turning braking according to the braking control frequency corresponding to the target duty cycle; wherein, the solenoid valve is set with multiple preset duty cycles, the target duty cycle is one of multiple preset duty cycles, and each preset turning braking level corresponds to a preset duty cycle.

8. The tractor turning brake control method according to any one of claims 5 to 7, characterized in that: Also includes: In response to the turning brake activation instruction of the target tractor, the shift lever position and the front wheel steering angle of the target tractor are collected in real time.

9. An electronic device, characterized in that: The electronic device comprises a tractor turning brake control system as claimed in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor, so that the computer-readable storage medium implements the tractor braking control method according to any one of claims 5 to 8.

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