Synchronous coupling leveling method and system for tractor suspension system

Abstract

The invention provides a synchronous coupling leveling method and system for a tractor suspension system. The method comprises the steps that the real-time inclination characteristic of a tractor is determined according to the real-time front suspension characteristic corresponding to a front suspension system and the real-time rear suspension characteristic corresponding to a rear suspension system, and a hydraulic change diagram of a hydraulic leveling system is obtained; and determining a to-be-leveled direction of the tractor and a corresponding to-be-leveled numerical value by combining the real-time inclination characteristic, deducing a balance hydraulic value of the hydraulic leveling system according to the to-be-leveled direction and the to-be-leveled numerical value, and constructing an adjusting scheme from a real-time hydraulic value to the balance hydraulic value. Based on the adjusting scheme, the front adjusting amount of the front suspension system driven by the hydraulic leveling system and the rear adjusting amount of the rear suspension system driven by the hydraulic leveling system are determined, corresponding adjustment is carried out, and coupling coordination leveling is carried out according to the characteristics of all the suspension systems in the operation process of the tractor. The stability of the tractor is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of tractor operation, and particularly relates to a synchronous coupling leveling method and system for a tractor suspension system. Background Art

[0002] Tractors are the most basic power machinery in agricultural production and are also representative farm tools for realizing agricultural mechanization. The wide application of tractors has indeed reduced the working intensity of agricultural operators, improved agricultural production efficiency and output, and reduced production costs. However, precisely due to the rapid popularization of tractors, both vast plains and steep mountains have become their working sites. From a safety perspective, due to the limitations of the current safety device equipment of tractors, drivers often drive solely based on experience in complex working environments. Therefore, the changing working environment of tractors has also led to a high incidence of tractor rollover accidents, resulting in huge personal injuries and economic losses. According to statistics, 80% of the tractor rollover accidents that occur are caused by side rollovers under their working conditions, and 90% of the drivers generally report that they cannot accurately perceive the tilt state of the vehicle body during driving on slopes, which is the direct factor leading to side rollovers on slopes.

[0003] Therefore, the present invention provides a synchronous coupling leveling method and system for a tractor suspension system. Summary of the Invention

[0004] A synchronous coupling leveling method and system for a tractor suspension system according to the present invention performs coupling coordination leveling based on the characteristics between each suspension system during the tractor operation process to ensure the stability of the tractor.

[0005] The present invention provides a synchronous coupling leveling method for a tractor suspension system, including:

[0006] Step 1: Determine the real-time tilt feature of the tractor according to the real-time front suspension feature corresponding to the front suspension system and the real-time rear suspension feature corresponding to the rear suspension system;

[0007] Step 2: Obtain the hydraulic change diagram of the hydraulic leveling system, and determine the leveling direction to be adjusted and the corresponding leveling value to be adjusted for the tractor in combination with the real-time tilt feature;

[0008] Step 3: Deduce the balanced hydraulic value of the hydraulic leveling system according to the leveling direction to be adjusted and the leveling value to be adjusted, and construct an adjustment scheme from the real-time hydraulic value to the balanced hydraulic value;

[0009] Step 4: Determine the front adjustment amount of the hydraulic leveling system driving the front suspension system and the rear adjustment amount of the hydraulic leveling system driving the rear suspension system based on the adjustment scheme, and perform corresponding adjustments.

[0010] In an implementable manner,

[0011] Step 1 includes:

[0012] Step 11: When the tractor is in the working state, collect the real-time front suspension data of the front suspension system, construct the corresponding front suspension structure according to the system attributes corresponding to the front suspension system, adjust the state of the front suspension system to be consistent with the real-time front suspension data, and determine the real-time front suspension characteristics of the real-time front suspension system according to the current state of the front suspension structure;

[0013] Step 12: When the tractor is in the working state, collect the real-time rear suspension data of the rear suspension system and the real-time load weight of the tractor, construct the numerical relationship between the real-time load weight and the real-time rear suspension data of the tractor, analyze the real-time suspension value corresponding to each rear suspension position in the rear suspension system by using the numerical relationship, and determine the real-time rear suspension characteristics corresponding to the rear suspension system;

[0014] Step 13: Determine several force positions of the tractor and the corresponding force values at each force position according to the real-time front suspension characteristics and the real-time rear suspension characteristics, draw the real-time force analysis diagram of the tractor, locate the force balance point of the tractor in the real-time force analysis diagram, and determine the real-time tilt characteristics of the tractor.

[0015] In an implementable manner,

[0016] It further includes:

[0017] When the force balance point of the tractor coincides with the center of gravity point of the tractor, it indicates that the tractor is in a critical balance state;

[0018] Determine the leveling direction of the tractor according to the center of gravity point, and control the hydraulic leveling system to perform compensation leveling on the tractor.

[0019] In an implementable manner,

[0020] Step 2 includes:

[0021] Step 21: Obtain the real-time hydraulic value of the hydraulic leveling system, construct the hydraulic change diagram of the hydraulic leveling system, map the real-time tilt characteristics corresponding to different moments of the tractor in the hydraulic change diagram, and obtain the basic leveling values of the hydraulic leveling system for the tractor at different moments;

[0022] Step 22: Self-regulate the real-time tilt feature using the current basic leveling value of the tractor, evaluate the balance of the tractor based on the self-regulation result to obtain the real-time actual balance feature of the tractor. If the real-time actual balance feature is abnormal, construct the tilt structure of the tractor according to the real-time actual balance feature;

[0023] Step 23: Determine the balance adjustment range corresponding to each preset direction of the tractor by the hydraulic leveling system according to the real-time hydraulic value of the hydraulic leveling system in combination with the hydraulic threshold of the hydraulic leveling system, and conduct a leveling test on the tilt structure in the balance adjustment range in the preset direction to obtain several groups of leveling results;

[0024] Step 24: Obtain several target leveling results with successful leveling. According to the leveling scheme corresponding to each target leveling result, fuse and train the test leveling direction and test leveling value corresponding to each leveling scheme to obtain the to-be-leveled direction of the tractor and the to-be-leveled value corresponding to each to-be-leveled direction.

[0025] In an implementable manner,

[0026] Step 3 includes:

[0027] Step 31: Draw the leveled structure of the tractor according to the to-be-leveled direction, the to-be-leveled value, and the real-time load weight of the tractor, and identify the balance influence factor of the real-time load weight on the tractor in the leveled structure;

[0028] Step 32: Optimize the to-be-leveled value using the balance influence factor to obtain the optimized value corresponding to each to-be-leveled direction, determine the balance hydraulic value of the hydraulic leveling system, and simultaneously obtain the real-time hydraulic value of the leveling hydraulic system;

[0029] Step 33: Simulate the state change trend of the tractor during the process of the leveling hydraulic system adjusting from the real-time hydraulic value to the balance hydraulic value, find the device change process corresponding to each tractor device in the state change trend, and construct the leveling scheme of the tractor.

[0030] In an implementable manner,

[0031] It further includes:

[0032] When the balance influence factor is positive, analyze the positive influence direction of the real-time load weight on the tractor, and reduce and optimize the first to-be-leveled value corresponding to the first to-be-leveled direction within 60 degrees of the positive influence direction;

[0033] When the balance influence factor is negative, analyze the negative influence direction of the real-time load weight on the tractor, and increase and optimize the second leveling value corresponding to the second leveling direction within 60 degrees of the negative influence direction;

[0034] When the balance influence factor is 0, do not optimize any of the leveling values.

[0035] In an implementable manner,

[0036] Step 4 includes:

[0037] Step 41: Screen the front adjustment amount corresponding to the front suspension system and the rear adjustment amount corresponding to the rear suspension system in the adjustment plan, and control the hydraulic leveling system to drive the front suspension system and the rear suspension system to level the tractor simultaneously;

[0038] Step 42: Determine the target balance state of the tractor according to the adjustment plan, obtain the leveled state corresponding to the tractor at each leveling moment, and stop the leveling work when the cumulative leveled state of the tractor is consistent with the target balance state.

[0039] In an implementable manner,

[0040] Further included is:

[0041] Analyze the driving smoothness of the tractor according to the hydraulic change diagram;

[0042] When the driving smoothness is lower than the preset value, control the hydraulic leveling system to drive the front suspension system and the rear suspension system to perform emergency leveling on the tractor.

[0043] The present invention provides a synchronous coupling leveling system for a tractor suspension system, including:

[0044] A feature extraction module for determining the real-time tilt feature of the tractor according to the real-time front suspension feature corresponding to the front suspension system and the real-time rear suspension feature corresponding to the rear suspension system;

[0045] A hydraulic analysis module for obtaining the hydraulic change diagram of the hydraulic leveling system and determining the leveling direction and corresponding leveling value of the tractor in combination with the real-time tilt feature;

[0046] A scheme generation module for deriving the balance hydraulic value of the hydraulic leveling system according to the leveling direction and the leveling value, and constructing an adjustment plan from the real-time hydraulic value to the balance hydraulic value;

[0047] A synchronization adjustment module, configured to determine a front adjustment amount of the hydraulic leveling system driving the front suspension system and a rear adjustment amount of the hydraulic leveling system driving the rear suspension system based on the adjustment scheme, and perform corresponding adjustments.

[0048] In an implementable manner,

[0049] The hydraulic analysis module includes:

[0050] A basic analysis unit, configured to obtain the real-time hydraulic value of the hydraulic leveling system, construct a hydraulic change diagram of the hydraulic leveling system, map the real-time tilt characteristics corresponding to different moments of the tractor in the hydraulic change diagram, and obtain the basic leveling value of the hydraulic leveling system for the tractor at different moments;

[0051] A tilt analysis unit, configured to perform self-adjustment on the real-time tilt characteristics by using the current basic leveling value of the tractor, perform a balance evaluation on the tractor according to the self-adjustment result, obtain the real-time actual balance characteristics of the tractor, and if the real-time actual balance characteristics are abnormal, construct the tilt structure of the tractor according to the real-time actual balance characteristics;

[0052] A test execution unit, configured to determine the balance adjustment range of the hydraulic leveling system for each preset direction of the tractor according to the real-time hydraulic value of the hydraulic leveling system in combination with the hydraulic threshold of the hydraulic leveling system, and perform a leveling test on the tilt structure in the balance adjustment range in the preset direction to obtain several groups of leveling results;

[0053] A result training unit, configured to obtain several target leveling results with successful leveling, perform fusion training on the test leveling direction and the test leveling value corresponding to each leveling scheme according to the leveling scheme corresponding to each target leveling result, and obtain the direction to be leveled of the tractor and the leveling value corresponding to each direction to be leveled.

[0054] The achievable beneficial effects of the above technical solution are as follows: To avoid the tractor from tipping over, when the tractor is working, the real-time tilt feature of the tractor is determined based on the real-time front suspension feature of its front suspension system and the real-time rear suspension feature of its rear suspension system. Combining with the hydraulic change diagram of the hydraulic leveling system, the current leveling direction required by the tractor and the leveling value in each direction are determined, thereby deriving the balanced hydraulic value of the hydraulic leveling system, constructing an adjustment plan for this leveling, and finally controlling the hydraulic leveling system to drive the front suspension system and the rear suspension system to adjust under the guidance of this plan, ultimately completing the leveling of the tractor. In this way, leveling can be carried out in the early stage when the tractor is tilted, effectively avoiding the tractor from tipping over and ensuring the safety of the driver. At the same time, it can also assist the tractor to adapt to more complex environments, improving the practicability of the tractor.

[0055] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written specification and the drawings.

[0056] The technical solution of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0057] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0058] Figure 1 It is a schematic diagram of the working process of a synchronous coupling leveling method for a tractor suspension system in an embodiment of the present invention;

[0059] Figure 2 It is a schematic diagram of the composition of a synchronous coupling leveling system for a tractor suspension system in an embodiment of the present invention. Detailed Embodiments

[0060] The following describes the preferred embodiments of the present invention with reference to the drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0061] Embodiment 1

[0062] This embodiment provides a synchronous coupling leveling method for a tractor suspension system, as Figure 1 shown, including:

[0063] Step 1: Determine the real-time tilt feature of the tractor according to the real-time front suspension feature corresponding to the front suspension system and the real-time rear suspension feature corresponding to the rear suspension system;

[0064] Step 2: Obtain the hydraulic change diagram of the hydraulic leveling system, and determine the leveling direction to be adjusted and the corresponding leveling value of the tractor in combination with the real-time tilt feature;

[0065] Step 3: Deduce the balanced hydraulic value of the hydraulic leveling system according to the leveling direction to be adjusted and the leveling value, and construct an adjustment plan from the real-time hydraulic value to the balanced hydraulic value;

[0066] Step 4: Determine the front adjustment amount of the hydraulic leveling system driving the front suspension system and the rear adjustment amount of the hydraulic leveling system driving the rear suspension system based on the adjustment plan, and make corresponding adjustments.

[0067] In this example, the front suspension system refers to the device set in the front of the tractor to absorb the impact force from the front wheels and improve the controllability and driving comfort; the rear suspension system refers to the device set in the rear of the tractor, connected to the tractor through three connection points, and used to adjust the traction force and stability of the tractor and absorb the gravity of the load; the hydraulic leveling system refers to the device that adjusts the balance state of different devices in the tractor through a hydraulic device;

[0068] In this example, the real-time front suspension feature refers to the feature presented by the front suspension system during the operation of the tractor, and the real-time rear suspension feature refers to the feature presented by the rear suspension system during the operation of the tractor;

[0069] In this example, the real-time tilt feature refers to the feature presented when the tractor tilts;

[0070] In this example, the balanced hydraulic value refers to the balanced hydraulic value presented by the hydraulic leveling system when the tractor reaches the balanced state.

[0071] The working principle and beneficial effects of the above technical solution: In order to avoid the tractor from tipping over, when the tractor is working, determine the real-time tilt feature of the tractor according to the real-time front suspension feature of its front suspension system and the real-time rear suspension feature of its rear suspension system, and combine the hydraulic change diagram of the hydraulic leveling system to determine the direction that the tractor currently needs to be leveled and the leveling value of each direction, so as to deduce the balanced hydraulic value of the hydraulic leveling system, construct an adjustment plan to achieve this leveling, and finally control the hydraulic leveling system to drive the front suspension system and the rear suspension system to make adjustments under the guidance of this plan, and finally complete the leveling of the tractor. In this way, the leveling can be carried out in the early stage when the tractor tilts, effectively avoiding the tractor from tipping over and ensuring the safety of the driver. At the same time, it can also assist the tractor to adapt to more complex environments, improving the practicality of the tractor.

[0072] Embodiment 2

[0073] Based on Example 1, for the synchronous coupling leveling method of a tractor suspension system, Step 1 includes:

[0074] Step 11: When the tractor is in the working state, collect the real-time front suspension data of the front suspension system, construct the corresponding front suspension structure according to the system attributes corresponding to the front suspension system, adjust the state of the front suspension system to be consistent with the real-time front suspension data, and determine the real-time front suspension characteristics of the real-time front suspension system according to the current state of the front suspension structure;

[0075] Step 12: When the tractor is in the working state, collect the real-time rear suspension data of the rear suspension system and the real-time load weight of the tractor, construct the numerical relationship between the real-time load weight and the real-time rear suspension data of the tractor, analyze the real-time suspension value corresponding to each rear suspension position in the rear suspension system by using the numerical relationship, and determine the real-time rear suspension characteristics corresponding to the rear suspension system;

[0076] Step 13: Determine several force application positions of the tractor and the force value corresponding to each force application position according to the real-time front suspension characteristics and the real-time rear suspension characteristics, draw the real-time force analysis diagram of the tractor, locate the force balance point of the tractor in the real-time force analysis diagram, and determine the real-time tilt characteristics of the tractor.

[0077] In this example, the system attributes include two types: independent suspension type and beam suspension type;

[0078] In this example, the real-time front suspension data represents the data generated by the front suspension system during the tractor's driving process;

[0079] In this example, the real-time rear suspension data represents the data generated by the rear suspension system during the tractor's driving process;

[0080] In this example, the real-time load weight represents the weight of the additional load of the tractor;

[0081] In this example, the rear suspension system is a three-point suspension system, so the number of rear suspension positions is 3;

[0082] In this example, the force application position represents the position on the tractor that is subjected to external forces or forces due to the tractor's tilt.

[0083] Working principle and beneficial effects of the above technical solution: To improve the stability of the tractor, it is necessary to first determine whether the tractor is stable and balanced during its operation. When the tractor is in the working state, the real-time front suspension characteristics of the real-time front suspension system are determined by processing the real-time front suspension data of its front suspension system, and the real-time rear suspension characteristics of the real-time rear suspension system are determined by processing the real-time rear suspension data of its rear suspension system, so as to conduct a force analysis on the tractor, determine the force balance point of the tractor, and thus obtain the real-time tilt characteristics of the tractor. In this way, not only can the suspension system be used to monitor the driving situation of the tractor, but also the real-time tilt characteristics of the tractor can be determined, improving the efficiency of subsequent leveling work.

[0084] Embodiment 3

[0085] Based on Embodiment 2, the synchronous coupling leveling method for a tractor suspension system further includes:

[0086] When the force balance point of the tractor coincides with the center of gravity point of the tractor, it indicates that the tractor is in a critical balance state;

[0087] Determine the leveling direction of the tractor according to the center of gravity point, and control the hydraulic leveling system to perform compensation leveling on the tractor.

[0088] In this example, when the force balance point of the tractor coincides with the center of gravity point of the tractor, it indicates that the tractor has lost its center of gravity and may roll over at any time.

[0089] Working principle and beneficial effects of the above technical solution: When the tractor is prone to roll over due to losing its center of gravity, emergency leveling compensation is carried out in the opposite direction to avoid the tractor rolling over as much as possible.

[0090] Embodiment 4

[0091] Based on Embodiment 1, in the step 2 of the synchronous coupling leveling method for a tractor suspension system, it includes:

[0092] Step 21: Obtain the real-time hydraulic value of the hydraulic leveling system, construct a hydraulic change diagram of the hydraulic leveling system, and map the real-time tilt characteristics corresponding to different moments of the tractor in the hydraulic change diagram to obtain the basic leveling values of the hydraulic leveling system for the tractor at different moments;

[0093] Step 22: Self-regulate the real-time tilt characteristics using the current basic leveling value of the tractor, conduct a balance evaluation on the tractor according to the self-regulation result to obtain the real-time actual balance characteristics of the tractor. If the real-time actual balance characteristics are abnormal, construct the tilt structure of the tractor according to the real-time actual balance characteristics.

[0094] Step 23: Determine the balance adjustment range corresponding to each preset direction of the tractor by the hydraulic leveling system according to the real-time hydraulic value of the hydraulic leveling system in combination with the hydraulic threshold value of the hydraulic leveling system, and conduct a leveling test on the inclined structure in the preset direction within the balance adjustment range to obtain several groups of leveling results;

[0095] Step 24: Obtain several target leveling results with successful leveling. According to the leveling scheme corresponding to each target leveling result, perform fusion training on the test leveling direction and test leveling value corresponding to each leveling scheme to obtain the direction to be leveled of the tractor and the value to be leveled corresponding to each direction to be leveled.

[0096] In this example, the real-time hydraulic value represents the hydraulic value currently displayed by the hydraulic leveling system;

[0097] In this example, the basic leveling value represents the adjustment amount corresponding to the hydraulic leveling system's self-leveling of the tractor;

[0098] In this example, the hydraulic change diagram represents the hydraulic change situation of the hydraulic leveling system established by constructing the hydraulic values at different times;

[0099] In this example, the real-time actual balance feature represents the current balance feature of the tractor. When the inclination degree of the tractor in a certain direction exceeds 40 degrees, it indicates that the real-time actual balance feature of the tractor is abnormal;

[0100] In this example, the inclined structure represents the structure of the tractor when it is inclined in a simplified manner;

[0101] In this example, the preset directions are 8, namely the due front, due rear, due left, due right, front left, rear left, front right, and rear right;

[0102] In this example, the balance adjustment range represents the remaining range for the hydraulic system to adjust in each direction in the current state.

[0103] Working principle and beneficial effects of the above technical solution: By analyzing the hydraulic change diagram of the hydraulic leveling system and combining the real-time tilt characteristics of the tractor at different times to determine the basic leveling value of the hydraulic system, and then self-adjusting the real-time tilt characteristics. By evaluating the self-adjustment result of the tractor, the real-time actual balance characteristics of the tractor are determined. If the tractor is balanced after adjustment at this time, the subsequent adjustment work can be stopped. Otherwise, the tilt structure of the tractor is constructed, and the balance adjustment range of the hydraulic leveling system for each preset direction is determined according to the real-time hydraulic value and the hydraulic threshold of the hydraulic leveling system, and then a leveling test is carried out on the tilt structure. The leveling schemes for the target leveling results with successful leveling are fused and trained to determine the direction to be leveled of the tractor and the leveling value corresponding to the direction to be leveled. In this way, not only can the direction to be leveled of the tractor and its corresponding leveling value be quickly determined, but also the automatic adjustment amount of the hydraulic system on the tractor can be eliminated, avoiding the phenomenon of over-leveling in the subsequent process and affecting the performance of the tractor.

[0104] Embodiment 5

[0105] Based on Embodiment 1, for the synchronous coupling leveling method of a tractor suspension system, Step 3 includes:

[0106] Step 31: Draw the leveled structure of the tractor according to the direction to be leveled, the leveling value, and the real-time load weight of the tractor, and identify the balance influence factor of the real-time load weight on the balance of the tractor in the leveled structure;

[0107] Step 32: Optimize the leveling value by using the balance influence factor to obtain the optimized value corresponding to each direction to be leveled, determine the balance hydraulic value of the hydraulic leveling system, and simultaneously obtain the real-time hydraulic value of the leveling hydraulic system;

[0108] Step 33: Simulate the state change trend of the tractor during the process of the leveling hydraulic system adjusting from the real-time hydraulic value to the balance hydraulic value, find the device change process corresponding to each tractor device in the state change trend, and construct the leveling scheme of the tractor.

[0109] In this example, the balance influence factor represents the influence of the load on the balance of the tractor;

[0110] In this example, the leveled structure represents the structure presented by the tractor after the tractor is leveled;

[0111] In this example, the state change trend represents the trend presented by the changes of each tractor device during the process of the tractor changing from an unbalanced state to a balanced state;

[0112] In this example, the leveling scheme represents the process of adjusting each tractor machine of the tractor.

[0113] The working principle and beneficial effects of the above technical solution: In order to further ensure the quality of leveling and avoid the phenomena of over-adjustment or ineffective adjustment, the balance influence factor of the real-time load weight on the tractor is determined by drawing the leveled structure of the tractor, and then this factor is used to optimize the value to be leveled, and the balance hydraulic value of the hydraulic leveling system is determined. Combining the real-time hydraulic value of the hydraulic leveling system to simulate the state change trend of the tractor, and finally constructing a leveling scheme for the tractor according to the device change process of each tractor device. In this way, the tractor can be properly leveled, avoiding abnormal leveling results caused by the influence of the load, reasonably using the load when necessary, reducing the number of leveling times, and ensuring the stability of the tractor.

[0114] Embodiment 6

[0115] Based on Embodiment 5, the synchronous coupling leveling method for a tractor suspension system further includes:

[0116] When the balance influence factor is positive, analyze the positive influence direction of the real-time load weight on the tractor, and optimize by reducing the first value to be leveled corresponding to the first leveling direction within 60 degrees of the positive influence direction;

[0117] When the balance influence factor is negative, analyze the negative influence direction of the real-time load weight on the tractor, and optimize by increasing the second value to be leveled corresponding to the second leveling direction within 60 degrees of the negative influence direction;

[0118] When the balance influence factor is 0, do not optimize any of the values to be leveled.

[0119] The working principle and beneficial effects of the above technical solution: Determine the influence direction of the load weight on the tractor for different balance influence factors, and then optimize the leveling values corresponding to the leveling directions included within 60 degrees of the load, improving the quality of leveling.

[0120] Embodiment 7

[0121] Based on Embodiment 1, step 4 of the synchronous coupling leveling method for a tractor suspension system includes:

[0122] Step 41: Screen the front adjustment amount corresponding to the front suspension system and the rear adjustment amount corresponding to the rear suspension system in the adjustment scheme, and control the hydraulic leveling system to drive the front suspension system and the rear suspension system to level the tractor simultaneously;

[0123] Step 42: Determine the target balanced state of the tractor according to the adjustment scheme, and obtain the leveled state corresponding to the tractor at each leveling moment. When the cumulative leveled state of the tractor is consistent with the target balanced state, stop the leveling work.

[0124] The working principle and beneficial effects of the above technical solution: By controlling the hydraulic leveling system to drive the front suspension system and the rear suspension system to level the tractor, if the leveling scheme has not been completed, but the state of the tractor reaches the target balanced state, at this time, stop the leveling work, which further guarantees the leveling quality and avoids over-leveling.

[0125] Embodiment 8

[0126] Based on Embodiment 1, the synchronous coupling leveling method for a tractor suspension system further includes:

[0127] Analyze the driving smoothness of the tractor according to the hydraulic change diagram;

[0128] When the driving smoothness is lower than the preset value, control the hydraulic leveling system to drive the front suspension system and the rear suspension system to perform emergency leveling on the tractor.

[0129] In this example, the preset value is 45%.

[0130] The working principle and beneficial effects of the above technical solution: If the driving smoothness of the tractor is too low, by controlling the leveling system, the front suspension system and the rear suspension system are driven to perform emergency leveling on the tractor, reducing the jolting of the tractor.

[0131] Embodiment 9

[0132] This embodiment provides a synchronous coupling leveling system for a tractor suspension system, as Figure 2 shown, including:

[0133] A feature extraction module for determining the real-time tilt feature of the tractor according to the real-time front suspension feature corresponding to the front suspension system and the real-time rear suspension feature corresponding to the rear suspension system;

[0134] A hydraulic analysis module for obtaining the hydraulic change diagram of the hydraulic leveling system and determining the to-be-leveled direction and the corresponding to-be-leveled value of the tractor in combination with the real-time tilt feature;

[0135] A scheme generation module for deriving the balanced hydraulic value of the hydraulic leveling system according to the to-be-leveled direction and the to-be-leveled value, and constructing an adjustment scheme from the real-time hydraulic value to the balanced hydraulic value;

[0136] A synchronization adjustment module, configured to determine a front adjustment amount of the hydraulic leveling system driving the front suspension system and a rear adjustment amount of the hydraulic leveling system driving the rear suspension system based on the adjustment scheme, and perform corresponding adjustments.

[0137] In this example, the front suspension system refers to a device installed in the front of the tractor to absorb the impact force from the front wheels and improve the handling and riding comfort; the rear suspension system refers to a device installed in the rear of the tractor, connected to the tractor through three connection points, and used to adjust the traction force and stability of the tractor and absorb the gravity of the load; the hydraulic leveling system refers to a device that adjusts the balance state of different components in the tractor through a hydraulic device.

[0138] In this example, the real-time front suspension feature refers to the feature presented by the front suspension system during the operation of the tractor, and the real-time rear suspension feature refers to the feature presented by the rear suspension system during the operation of the tractor.

[0139] In this example, the real-time tilt feature refers to the feature presented when the tractor tilts.

[0140] In this example, the balanced hydraulic value refers to the balanced hydraulic value presented by the hydraulic leveling system when the tractor reaches a balanced state.

[0141] The working principle and beneficial effects of the above technical solution: In order to prevent the tractor from tipping over, when the tractor is working, the real-time tilt feature of the tractor is determined according to the real-time front suspension feature of its front suspension system and the real-time rear suspension feature of its rear suspension system. Combining with the hydraulic change diagram of the hydraulic leveling system, the current leveling direction of the tractor and the leveling value of each direction are determined, so as to deduce the balanced hydraulic value of the hydraulic leveling system, construct an adjustment scheme for realizing this leveling, and finally control the hydraulic leveling system to drive the front suspension system and the rear suspension system to adjust under the guidance of this scheme, and finally complete the leveling of the tractor. In this way, leveling can be carried out in the early stage when the tractor tilts, which can effectively prevent the tractor from tipping over and ensure the safety of the driver. At the same time, it can also assist the tractor to adapt to more and more complex environments and improve the practicability of the tractor.

[0142] Embodiment 10

[0143] Based on Embodiment 9, in the synchronous coupling leveling system of a tractor suspension system, the hydraulic analysis module includes:

[0144] A basic analysis unit, configured to obtain the real-time hydraulic value of the hydraulic leveling system, construct a hydraulic change diagram of the hydraulic leveling system, and map the real-time tilt features corresponding to different moments of the tractor in the hydraulic change diagram to obtain the basic leveling values of the hydraulic leveling system for the tractor at different moments.

[0145] An inclination analysis unit, configured to perform self - adjustment on the real - time inclination feature by using the current basic leveling value of the tractor, evaluate the balance of the tractor according to the self - adjustment result to obtain the real - time actual balance feature of the tractor. If the real - time actual balance feature is abnormal, construct the inclination structure of the tractor according to the real - time actual balance feature;

[0146] A test execution unit, configured to determine the balance adjustment range corresponding to each preset direction of the tractor by the hydraulic leveling system according to the real - time hydraulic value of the hydraulic leveling system in combination with the hydraulic threshold value of the hydraulic leveling system, and perform a leveling test on the inclination structure in the preset direction within the balance adjustment range to obtain several groups of leveling results;

[0147] A result training unit, configured to obtain several target leveling results with successful leveling, and perform fusion training on the test leveling direction and test leveling value corresponding to each leveling scheme according to the leveling scheme corresponding to each target leveling result to obtain the direction to be leveled of the tractor and the value to be leveled corresponding to each direction to be leveled.

[0148] In this example, the real - time hydraulic value represents the hydraulic value currently displayed by the hydraulic leveling system;

[0149] In this example, the basic leveling value represents the adjustment amount corresponding to the self - leveling of the tractor by the hydraulic leveling system;

[0150] In this example, the hydraulic change diagram represents the hydraulic change situation of the hydraulic leveling system established by constructing hydraulic values at different times;

[0151] In this example, the real - time actual balance feature represents the current balance feature of the tractor. When the inclination degree of the tractor in a certain direction exceeds 40 degrees, it indicates that the real - time actual balance feature of the tractor is abnormal;

[0152] In this example, the inclination structure represents the structure of the tractor when it is inclined in a simplified way;

[0153] In this example, the preset directions are 8, namely the due front, due rear, due left, due right, front - left, rear - left, front - right, and rear - right;

[0154] In this example, the balance adjustment range represents the remaining range for the hydraulic system to adjust in each direction in the current state.

[0155] Working principle and beneficial effects of the above technical solution: By analyzing the hydraulic change diagram of the hydraulic leveling system and combining the real-time tilt characteristics of the tractor at different times to determine the basic leveling value of the hydraulic system, then self-adjusting the real-time tilt characteristics, and determining the real-time actual balance characteristics of the tractor by evaluating the self-adjustment results of the tractor. If the adjusted tractor achieves balance at this time, then the subsequent adjustment work can be stopped. Otherwise, construct the tilt structure of the tractor, determine the balance adjustment range of the hydraulic leveling system for each preset direction according to the real-time hydraulic value and hydraulic threshold of the hydraulic leveling system, and then conduct a leveling test on the tilt structure. Carry out fusion training on the leveling scheme executed for the target leveling result with successful leveling, determine the leveling direction to be adjusted of the tractor and the corresponding leveling value to be adjusted in the leveling direction to be adjusted. In this way, not only can the leveling direction to be adjusted of the tractor and its corresponding leveling value to be adjusted be quickly determined, but also the automatic adjustment amount of the hydraulic system to the tractor can be eliminated, avoiding the phenomenon of excessive leveling in the subsequent process and affecting the performance of the tractor.

[0156] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A synchronous coupling leveling method for a tractor suspension system, characterized in that, Including: Step 1: Determine the real-time tilt feature of the tractor according to the real-time front suspension feature corresponding to the front suspension system and the real-time rear suspension feature corresponding to the rear suspension system; Step 2: Obtain the hydraulic change diagram of the hydraulic leveling system, and determine the leveling direction to be adjusted and the corresponding leveling value to be adjusted of the tractor in combination with the real-time tilt feature; Step 3: Deduce the balanced hydraulic value of the hydraulic leveling system according to the leveling direction to be adjusted and the leveling value to be adjusted, and construct an adjustment scheme from the real-time hydraulic value to the balanced hydraulic value; Step 4: Determine the front adjustment amount of the hydraulic leveling system driving the front suspension system and the rear adjustment amount of the hydraulic leveling system driving the rear suspension system based on the adjustment scheme, and make corresponding adjustments.

2. The synchronous coupling leveling method of a tractor suspension system according to claim 1, characterized in that The said Step 1 includes: Step 11: When the tractor is in the working state, collect the real-time front suspension data of the front suspension system, construct a corresponding front suspension structure according to the system attributes corresponding to the front suspension system, adjust the state of the front suspension system to be consistent with the real-time front suspension data, and determine the real-time front suspension feature of the real-time front suspension system according to the current state of the front suspension structure; Step 12: When the tractor is in the working state, collect the real-time rear suspension data of the rear suspension system and the real-time load weight of the tractor, construct the numerical relationship between the real-time load weight and the real-time rear suspension data of the tractor, and use the numerical relationship to analyze the real-time suspension value corresponding to each rear suspension position in the rear suspension system to determine the real-time rear suspension feature corresponding to the rear suspension system; Step 13: Determine several force application positions of the tractor and the corresponding force values at each force application position according to the real-time front suspension feature and the real-time rear suspension feature, draw the real-time force analysis diagram of the tractor, locate the force balance point of the tractor in the real-time force analysis diagram, and determine the real-time tilt feature of the tractor.

3. A synchronous coupling leveling method for a tractor suspension system according to claim 2, characterized in that, Also including: When the force balance point of the tractor coincides with the center of gravity point of the tractor, it indicates that the tractor is in a critical balance state; Determine the leveling direction of the tractor according to the center of gravity point, and control the hydraulic leveling system to perform compensation leveling on the tractor.

4. A synchronous coupling leveling method for a tractor suspension system according to claim 1, characterized in that, The said Step 2 includes: Step 21: Obtain the real-time hydraulic value of the hydraulic leveling system, construct the hydraulic change diagram of the hydraulic leveling system, map the real-time tilt features corresponding to different moments of the tractor in the hydraulic change diagram, and obtain the basic leveling values of the hydraulic leveling system for the tractor at different moments; Step 22: Use the current basic leveling value of the tractor to perform self-adjustment on the real-time tilt feature, perform balance evaluation on the tractor according to the self-adjustment result to obtain the real-time actual balance feature of the tractor, and if the real-time actual balance feature is abnormal, construct the tilt structure of the tractor according to the real-time actual balance feature; Step 23: Determine the balance adjustment range corresponding to each preset direction of the tractor by the hydraulic leveling system according to the real-time hydraulic value of the hydraulic leveling system in combination with the hydraulic threshold value of the hydraulic leveling system, and conduct a leveling test on the inclined structure in the balance adjustment range in the preset direction to obtain several groups of leveling results; Step 24: Obtain several target leveling results with successful leveling. According to the leveling scheme corresponding to each target leveling result, perform fusion training on the test leveling direction and the test leveling value corresponding to each leveling scheme to obtain the to-be-leveled direction of the tractor and the to-be-leveled value corresponding to each to-be-leveled direction.

5. A synchronous coupling leveling method for a tractor suspension system according to claim 1, characterized in that The said step 3 includes: Step 31: Draw the leveled structure of the tractor according to the to-be-leveled direction, the to-be-leveled value and the real-time load weight of the tractor, and identify the balance influence factor of the real-time load weight on the balance of the tractor in the leveled structure; Step 32: Optimize the to-be-leveled value by using the balance influence factor to obtain the optimized value corresponding to each to-be-leveled direction, determine the balance hydraulic value of the hydraulic leveling system, and at the same time obtain the real-time hydraulic value of the leveling hydraulic system; Step 33: Simulate the state change trend of the tractor during the process of the leveling hydraulic system adjusting from the real-time hydraulic value to the balance hydraulic value, find the device change process corresponding to each tractor device in the state change trend, and construct the leveling scheme of the tractor.

6. A synchronous coupling leveling method for a tractor suspension system according to claim 5, characterized in that, It also includes: When the balance influence factor is positive, analyze the positive influence direction of the real-time load weight on the tractor, and reduce and optimize the first to-be-leveled value corresponding to the first to-be-leveled direction within 60 degrees of the positive influence direction; When the balance influence factor is negative, analyze the negative influence direction of the real-time load weight on the tractor, and increase and optimize the second to-be-leveled value corresponding to the second to-be-leveled direction within 60 degrees of the negative influence direction; When the balance influence factor is 0, do not optimize any of the to-be-leveled values.

7. A method for synchronously coupling and leveling a tractor suspension system according to claim 1, characterized in that, The said step 4 includes: Step 41: Screen the front adjustment amount corresponding to the front suspension system and the rear adjustment amount corresponding to the rear suspension system in the adjustment scheme, and control the hydraulic leveling system to drive the front suspension system and the rear suspension system to level the tractor at the same time; Step 42: Determine the target balance state of the tractor according to the adjustment scheme, obtain the leveled state corresponding to the tractor at each leveling moment, and stop the leveling work when the cumulative leveling state of the tractor is consistent with the target balance state.

8. A synchronous coupling leveling method for a tractor suspension system according to claim 1, characterized in that It also includes: Analyze the driving smoothness of the tractor according to the hydraulic change diagram; When the driving smoothness is lower than the preset value, control the hydraulic leveling system to drive the front suspension system and the rear suspension system to perform emergency leveling on the tractor.

9. A synchronous coupling leveling system for a tractor suspension system, characterized in that, It includes: A feature extraction module, which is used to determine the real-time tilt feature of the tractor according to the real-time front suspension feature corresponding to the front suspension system and the real-time rear suspension feature corresponding to the rear suspension system; A hydraulic analysis module, which is used to obtain a hydraulic change diagram of the hydraulic leveling system, and determine the leveling direction to be adjusted and the corresponding leveling value to be adjusted of the tractor in combination with the real-time tilt feature; A scheme generation module, which is used to deduce the balanced hydraulic value of the hydraulic leveling system according to the leveling direction to be adjusted and the leveling value to be adjusted, and construct an adjustment scheme from the real-time hydraulic value to the balanced hydraulic value; A synchronous adjustment module, which is used to determine the front adjustment amount of the hydraulic leveling system driving the front suspension system and the rear adjustment amount of the hydraulic leveling system driving the rear suspension system based on the adjustment scheme, and perform corresponding adjustments.

10. A synchronous coupling leveling system for a tractor suspension system according to claim 9, characterized in that, The hydraulic analysis module includes: A basic analysis unit, which is used to obtain the real-time hydraulic value of the hydraulic leveling system, construct a hydraulic change diagram of the hydraulic leveling system, map the real-time tilt features corresponding to different moments of the tractor in the hydraulic change diagram, and obtain the basic leveling value of the hydraulic leveling system for the tractor at different moments; A tilt analysis unit, which is used to perform self-adjustment on the real-time tilt feature by using the current basic leveling value of the tractor, evaluate the balance of the tractor according to the self-adjustment result, obtain the real-time actual balance feature of the tractor, and if the real-time actual balance feature is abnormal, construct the tilt structure of the tractor according to the real-time actual balance feature; A test execution unit, which is used to determine the balance adjustment range corresponding to each preset direction of the tractor by the hydraulic leveling system according to the real-time hydraulic value of the hydraulic leveling system in combination with the hydraulic threshold of the hydraulic leveling system, and perform a leveling test on the tilt structure in the balance adjustment range in the preset direction to obtain several groups of leveling results; A result training unit, which is used to obtain several target leveling results with successful leveling, and perform fusion training on the test leveling direction and the test leveling value corresponding to each leveling scheme according to the leveling scheme corresponding to each target leveling result, so as to obtain the leveling direction to be adjusted of the tractor and the leveling value to be adjusted corresponding to each leveling direction.

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