Intelligent hilly and mountainous region tractor

Abstract

The invention belongs to the technical field of agricultural machinery, and particularly relates to an intelligent hilly and mountain tractor which comprises a tractor body, a chassis and a suspension system, the chassis is rotatably arranged at the bottom of the tractor body, the suspension system is arranged at the rear end of the tractor body, and the tractor body is provided with a power system and a rocker type control system connected with the power system. The bottom of the framework is provided with a plurality of thrust wheels and tensioning wheels, the thrust wheels and the tensioning wheels are sleeved with variable crawler wheel sets, the framework is provided with a self-adaptive terrain stabilizing system, and the self-adaptive terrain stabilizing system comprises a tilt angle sensor arranged on the vehicle body and an independent hydraulic module used for controlling self-adaptive terrain of the thrust wheels, the tensioning wheels and the variable crawler wheel sets. Through the self-adaptive terrain stabilization system, multi-degree-of-freedom cooperative control can be achieved, the chassis height, the crawler grounding angle and the tensioning degree are dynamically adjusted, the adhesive force and the anti-rollover capacity are remarkably improved, and the problem of dynamic unbalance of agricultural machinery in hills and mountains is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and in particular relates to an intelligent hilly and mountainous tractor. Background Art

[0002] In agricultural operations in hilly and mountainous areas, the track structure of traditional hilly and mountainous tractors is fixed, and it is difficult to dynamically adjust the contact area according to the slope and soil hardness, resulting in insufficient adhesion when operating on steep slopes, and easy slipping or rollover. Adjustable tracks can reduce the occurrence of the above phenomena, but the adjustment response speed of existing adjustable track structures is slow, and the center of gravity cannot be effectively balanced dynamically. Therefore, there is still insufficient adhesion when operating on steep slopes, and it is easy to slip or roll over. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent hilly and mountainous tractor to solve the problems existing in the above-mentioned prior art.

[0004] The technical solution adopted by the present invention to achieve the above-mentioned object is:

[0005] A hilly and mountainous tractor based on intelligence includes a body, a chassis and a suspension system. The chassis is rotatably arranged at the bottom of the body, the suspension system is arranged at the rear end of the body, the body is provided with a power system and a rocker-type control system connected to the power system, the chassis includes a skeleton, a plurality of supporting rollers and tensioning rollers are provided at the bottom of the skeleton, and variable track wheel groups are mounted on the supporting rollers and tensioning rollers. The skeleton is provided with an adaptive terrain stabilization system, and the adaptive stabilization system includes an inclination sensor arranged on the body and an independent hydraulic module for controlling the supporting rollers, tensioning rollers and variable track wheel groups to adapt to the terrain.

[0006] Furthermore, the independent hydraulic module includes a steering device and a rotating wheel. The steering device is arranged between the chassis and the vehicle body, and the rotating wheel is rotatably arranged on the frame and driven by the power system. The frame is provided with a vertical hydraulic device for adjusting the vertical position of the rotating wheel and a horizontal hydraulic device for adjusting the horizontal position of the tensioning wheel.

[0007] Furthermore, a connecting rod is provided on the frame, a vertical mounting groove is provided on the connecting rod, the rotating wheel is rotatably arranged in the connecting rod, and the vertical hydraulic device is arranged in the mounting groove and connected to the rotating wheel.

[0008] Furthermore, the rotating wheel is hinged to the working end of the vertical hydraulic device, the connecting rod is hinged to the frame, and the multiple supporting wheels are hinged to the frame.

[0009] Furthermore, the vertical hydraulic device and the horizontal hydraulic device are both hydraulic cylinders.

[0010] Furthermore, the steering device is arranged under the vehicle body, a shock-absorbing connector is provided at the bottom of the steering device, and a shock-absorbing spring is provided at the bottom of the shock-absorbing connector.

[0011] Furthermore, the variable track wheel set includes a track shoe and a track coupling body, the track shoe is used to contact the ground, the track coupling body is used to connect the front and rear of the track shoe, and the track shoe and the track coupling body are detachably connected by a fixing pin.

[0012] Furthermore, the power system is an oil-electric hybrid power system, including a diesel range extender and a lithium battery.

[0013] Furthermore, a millimeter-wave radar is provided on the upper front of the vehicle body, and a multi-spectral laser radar is provided on the lower front of the vehicle body.

[0014] Furthermore, the vehicle body is provided with a control box, and the control box is provided with a perception module for executing the tractor path optimization algorithm.

[0015] Beneficial effects:

[0016] 1. The present invention sets up an adaptive terrain stabilization system and uses a structure that can be adjusted vertically and laterally to achieve adjustment of the variable track wheel set. It can achieve multi-degree-of-freedom coordinated control and dynamically adjust the chassis height, track contact angle and tension. When operating on a 30° slope, the track contact area on the slope side can be increased by 30%, significantly improving adhesion and anti-rollover capabilities. It supports safe operation in complex scenarios with a lateral slope of more than 15°, and overcomes the problem of dynamic imbalance of agricultural machinery in hilly and mountainous areas.

[0017] 2. This invention uses an innovative hydraulic telescopic leveling system, combined with real-time feedback from tilt sensors and terrain perception data, to trigger hydraulic device action within 0.5 seconds. The single leveling response time is ≤5 seconds, the roll angle correction accuracy reaches ±0.5°, and the cab horizontal error is stabilized at <1°, which is more than 200% more efficient than traditional hydraulic systems.

[0018] 3. By setting up a perception module to execute the tractor path optimization algorithm, the present invention can reduce computational complexity. Compared with traditional single algorithms (such as pure APF) that calculate the potential field in real time throughout the entire process, the phased strategy of the present invention only initiates local optimization when necessary, reducing global repeated calculations. In addition, it can dynamically respond to environmental changes. In complex mountainous areas, local obstacles trigger the IAPF to adjust the path in real time, avoiding the time wasted in global replanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural diagram of an intelligent hilly and mountainous tractor;

[0020] Figure 2 It is a schematic diagram of the front structure of an intelligent hilly and mountainous tractor;

[0021] Figure 3 It is a right-side structural diagram of an intelligent hilly and mountainous tractor;

[0022] Figure 4 It is a schematic diagram of the upward structure of an intelligent hilly and mountainous tractor;

[0023] Figure 5 This is a comparison diagram of the status of the deformable track;

[0024] Figure 6 It is a structural diagram of a single variable track wheel set;

[0025] Figure 7 This is a flow chart of the IGWO-IAPF fusion algorithm based on the intelligent hilly mountain tractor of the present invention;

[0026] Figure 8 The present invention is based on the intelligent path planning algorithm flow chart of the hilly mountain tractor.

[0027] In the figure: 1-car body, 2-chassis, 3-suspension system, 11-UAV parking platform, 12-millimeter wave laser radar, 13-multi-spectral laser radar, 14-diesel range extender, 15-lithium battery, 16-control box, 21-steering device, 22-shock absorber connector, 23-shock absorber spring, 24-rotating wheel, 25-connecting rod, 26-connecting end cover, 27-vertical hydraulic device, 28-tensioning wheel, 29-transverse hydraulic device, 210-supporting wheel, 21 1-rolling bearing, 212-skeleton, 213-front universal joint, 214-transmission, 215-rear universal joint, 216-track shoe, 217-track coupling, 218-fixing pin, 219-drive shaft, 220-differential, 31-rear end bracket, 32-lower end adjusting rod, 33-connecting bracket, 34-hydraulic unit, 35-hydraulic rod, 36-upper left end adjusting rod, 37-upper right end adjusting rod, 38-upper end bracket. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "an" and "the" used in the embodiments of the present application are also intended to include plural forms, unless the context clearly indicates other meanings.

[0030] This application provides a specific embodiment based on an intelligent hilly mountain tractor, referring to Figures 1-6 The tractor of this embodiment includes a vehicle body 1, a chassis 2 and a suspension system 3, wherein the chassis 2 is arranged at the bottom of the vehicle body 1, and the suspension system 3 is arranged at the rear end of the vehicle body 1.

[0031] The vehicle body 1 is provided with a rocker-type control system, which is arranged at the upper front of the vehicle body 1. The rocker-type control system is connected to the hybrid power system and is used to control the movement of the vehicle body 1. A drone cooperation module is provided at the top rear of the vehicle body 1. The drone cooperation module is used for docking the drone. The rocker-type control system is an existing technology and will not be described in detail here.

[0032] Chassis 2 is equipped with a hybrid electric system, an adaptive terrain stabilization system, and variable track wheels. The intelligent hybrid system is used to power vehicle body 1 and includes a diesel range extender 14 and a lithium battery 15. The diesel range extender 14 provides power for vehicle body 1 when climbing slopes, while the lithium battery 15 provides electricity and stabilizes vehicle body 1 on the road.

[0033] The adaptive terrain stabilization system is used to maintain the levelness of the vehicle body 1 while the vehicle body is traveling. Compared with existing tractors, the chassis 2 of this embodiment includes a skeleton 212, and a plurality of supporting rollers 210 and a tensioning wheel 28 are provided at the bottom of the skeleton 212. A variable track wheel set is mounted on the supporting rollers 210 and the tensioning wheel 28.

[0034] Among them, an adaptive terrain stabilization system is provided on the skeleton 212, which includes a tilt sensor (not shown in the figure) arranged on the vehicle body, a control box 16 and an independent hydraulic module, and the independent hydraulic module includes a steering device 21, a shock-absorbing connector 22, a shock-absorbing spring 23, a rotating wheel 24, a connecting rod 25, a connecting end cover 26, a vertical hydraulic device 27, a tensioning wheel 28, a transverse hydraulic device 29, a supporting wheel connecting rod 210, a rolling bearing 211, a skeleton 212, a front universal joint 213, a transmission 214, and a rear universal joint 215.

[0035] Among them, the steering device 21 is arranged between the chassis 2 and the vehicle body 1, and the shock-absorbing connector 22 and the shock-absorbing spring 23 are connected in sequence to the rotating device 21 and arranged on the chassis 2. Specifically, the steering device 21 is arranged below the vehicle body 1, and a shock-absorbing connector 22 is provided at the bottom of the steering device 21. The bottom of the shock-absorbing connector 22 is arranged on the lug on the drive shaft 219 through the shock-absorbing spring 23, which is used for shock absorption when the vehicle body 1 rotates on the chassis 2. The steering device 21 and related shock absorption are all existing technologies and will not be repeated here.

[0036] In this embodiment, there are four skeletons 212 and a total of eight supporting wheels 210. The supporting wheels 210 are fixed as a whole on the four skeletons 212. Eight rolling bearings 211 are hinged to the four skeletons 212. A transmission 214 is provided at the bottom of the vehicle body 1. The front universal joint 213 is connected to the differential 220 in front, and the rear universal joint 215 is connected to the differential 220 in the rear.

[0037] The connecting rod 25 is relatively arranged on the skeleton 212, and a vertical mounting groove is provided on the connecting rod 25. A vertical hydraulic device 27 and a rotating wheel 24 driven by the vertical hydraulic device 27 for vertical reciprocating movement are provided in the mounting groove. The rotating wheel 24 is hinged to the working end of the vertical hydraulic device 27. The rotating wheel 24 is rotatably mounted on the connecting rod 25 and is connected to the transmission shaft 219 by bolts. The rotating wheel 24 is driven to rotate by the transmission shaft 219. The connecting end cover 26 is hinged to the connecting rod. The transmission shaft 219 is driven by an intelligent hybrid system. A clearance hole is provided at the top of the connecting rod 25 to allow the rotating wheel 24 to move under the drive of the vertical hydraulic device 27. In this embodiment, a rotating shaft 219 is provided at the front and rear of the tractor, each transmission shaft 219 is equipped with two connecting rods 25, and each transmission shaft 219 is driven by two vertical hydraulic devices 27. There are four rotating wheels 24 in total, and the four rotating wheels 24 are all hinged on the transmission shaft 219, wherein the connecting rod 25 is also hinged to the skeleton 212, and multiple supporting wheels 210 are hinged to the skeleton 212. The supporting wheels 210 are used to bear the weight of the vehicle body 1 and are in contact with the variable track wheel group. The rotating wheels 24 are used to indirectly drive the variable track wheel group to travel, and the rotating wheels 24 are hinged to the transmission shaft 219 and are in contact with the variable track wheel group.

[0038] A transverse hydraulic device 29 is provided on the skeleton 212. Both the transverse hydraulic device 29 and the vertical hydraulic device 27 are provided with a hydraulic cylinder and a hydraulic rod driven by the hydraulic cylinder. The transverse hydraulic device 29 is arranged horizontally, and the tensioning wheel 28 is driven by the hydraulic rod of the transverse hydraulic device 29. The tensioning wheel 28 is located at the front end of the tractor as a whole. In this embodiment, there are two transverse hydraulic devices 29 and two corresponding tensioning wheels 28. When working, the vertical hydraulic device 27 drives the drive shaft 219 to move vertically, and then drives the rotating wheel 24 to move, realizing adjustment in the vertical direction. When the transverse hydraulic device 29 is in action, the tensioning wheel 28 can be adjusted in the lateral position to realize the tensioning adjustment of the variable track wheel group, so that the tractor can adapt to various undulating terrains.

[0039] The variable track wheel assembly is used for turning of the vehicle body 1. The variable track wheel assembly includes a track shoe 216, a track coupling body 217, and a fixing pin 218. The track shoe 216 is used for ground contact, the track coupling body 217 is used for connecting the front and rear of the track shoe 216, and the track shoe 216 and the track coupling body 217 are connected by a fixing pin 218.

[0040] The suspension system 3 is used to mount agricultural implements. The suspension system can adopt conventional existing ones, for example, including a rear end bracket 31 and an upper end bracket 38 arranged at the rear end of the vehicle body 1, a lower end adjustment rod 32 and a connecting bracket 33 arranged on the rear end bracket 31, a hydraulic unit 34 and a hydraulic rod 35 arranged on the connecting bracket 33, and a left upper end adjustment rod 36 and a right upper end adjustment rod 37 arranged on the upper end bracket 38.

[0041] In this embodiment, a millimeter-wave radar 12 is provided on the upper front of the vehicle body 1, and a multispectral laser radar 13 is provided on the lower front of the vehicle body 1. The millimeter-wave laser radar 12 can scan the terrain in front of the vehicle body 1 in real time and generate an elevation grid model. The multispectral laser radar 13 is used to identify soil moisture differences and mark areas that require irrigation.

[0042] When working, the tractor can move forward, turn and level.

[0043] The forward movement is completed by the intelligent hybrid system. The diesel engine only serves as a diesel range extender 14, and combines with the lithium battery 15 to achieve instantaneous high torque output to meet the road starting requirements. When going downhill, it switches to generator mode and stores energy to power the lithium battery 14 group to extend the driving range.

[0044] The turning action is completed by the variable track wheel set. When the vehicle body 1 passes around an obstacle, the transmission shaft 219 drives the rotating wheel 24 to rotate, and the rotating wheel 24 drives the single track shoe 216 to complete the rotation. The following track connector 217 rotates with the previous track connector 217 to complete the turning of the vehicle body 1.

[0045] The leveling action is completed by the adaptive stability system. When the vehicle body 1 is unbalanced due to an obstacle on one side as the vehicle body 1 passes by, the electrical signals transmitted by the inclination sensor are collected by the control box 16 and commands are issued to control the elongation of the vertical hydraulic device 27 on the other side. At the same time, the lateral hydraulic device 29 will shorten. While keeping the crawler tensioned, the height of the other side of the vehicle body 1 is raised to complete the leveling of the vehicle body. When the vehicle body 1 completely passes by the obstacle, it returns to the initial state.

[0046] Combined with Figure 7 and Figure 8 As shown, a sensing module is provided in the tractor control box 16. The sensing module executes the tractor path optimization algorithm. The specific steps of this algorithm are as follows:

[0047] Step 1: Initialize parameters

[0048] Calculate the influence distance P between the tractor and the obstacle, and determine whether the tractor is in a relatively free space far from the obstacle. Based on the fast planning ability of the IAPF algorithm (artificial potential field method path planning algorithm), calculate the distance dis between the tractor and the obstacle. If dis > P, directly select the IAPF algorithm for path planning to reduce the planning time; when dis < P, the IGWO (improved grey wolf algorithm) is used for the initial path planning of the tractor.

[0049] Step 2: IGWO generates the initial path

[0050] Randomly generate the initial positions of grey wolf individuals, representing possible path nodes. Generate the first generation of wolves using a random distribution following a normal distribution and perform collision detection (flag judgment). If flag = 0, it means the path does not intersect with any obstacle, indicating that this path can be selected. If flag = 1, it means the path intersects with an obstacle, thus increasing the fitness value.

[0051] Step 3: Calculate the fitness value and update the grey wolf position [[ID=2�]]

[0052] According to the formula Calculate the fitness value of each path (comprehensively considering the path length, driving fuel consumption cost, and ground collision risk), and determine the positions of the α (optimal solution), β (sub-optimal solution), and δ (third-optimal solution) wolves according to the fitness value.

[0053] Use the following formula

[0054]

[0055] Update the convergence factor a to balance the global and local search capabilities. Assign a larger a value to individuals with a longer distance to enhance the global search, and vice versa to enhance the local search;

[0056] Then according to the following formula

[0057]

[0058]

[0059] Notes: represents the distance between the wolf and its prey, and are the position vectors of the wolf and prey respectively, t represents the number of iterations, and is the synergy vector determined by the coefficients, and is a random vector in [0,1], is the convergence factor.

[0060] Update the individual positions of gray wolves to simulate the hunting behavior of wolf packs.

[0061] Step 4: Determine whether t is greater than T. t is the number of iterations, and T represents the maximum iteration threshold. If t is less than T, increase t by 1 and return to step 2. Otherwise, the algorithm iteration ends and outputs the global optimal value and optimal path as the algorithm result.

[0062] Step 5: IAPF secondary path optimization

[0063] After a certain number of iterations, the IGWO algorithm retains the path points generated by the IGWO algorithm. This path is set as the initial path of the tractor. A gravitational force is assigned to the path point X closest to the tractor position to provide planning direction using the IAPF method. The IAPF algorithm is used to calculate the tractor's position at point X. i-1 The force field at the location and plan the next path point X i location.

[0064] Step 6: Compare X i and G i The fitness value of i >G i , keep Xi as the final path point of the tractor. If X i <G i , then select G i , G i+1 , G i+2 , G i+3 Four points, assign gravity to each point, update the force field, and replan point X i position, and again with G i Compare; if X′ i >G i , keep X i’ As the final path point of the tractor; if X′ i <Gi , then G i Update to X i .

[0065] Step 7: The loop is iterated and terminated when the distance between the tractor's current position and the target point is less than the preset threshold, indicating that the tractor has reached the target point.

[0066] It should be noted that the parts not described in detail herein are prior art, and the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention fall within the scope of protection of the present invention.

Claims

1. An intelligent hilly mountain tractor, comprising a vehicle body (1), a chassis (2) and a suspension system (3), wherein the chassis (2) is rotatably arranged at the bottom of the vehicle body (1), the suspension system (3) is arranged at the rear end of the vehicle body (1), the vehicle body (1) is provided with a power system and a rocker-type control system connected to the power system, and is characterized in that: The chassis (2) comprises a frame (212), a plurality of supporting rollers (210) and a tensioning roller (28) are provided at the bottom of the frame (212), and a variable track wheel assembly is sleeved on the supporting rollers (210) and the tensioning roller (28). The frame (212) is provided with an adaptive terrain stabilization system, and the adaptive terrain stabilization system comprises an inclination sensor provided on the vehicle body and an independent hydraulic module for controlling the supporting rollers (210), the tensioning roller (28) and the variable track wheel assembly to adapt to the terrain.

2. The intelligent hilly mountain tractor according to claim 1, characterized in that: The independent hydraulic module includes a steering device (21) and a rotating wheel (24), wherein the steering device (21) is arranged between the chassis (2) and the vehicle body (1), and the rotating wheel (24) is rotatably arranged on the frame (212) and driven by the power system, and the frame (212) is provided with a vertical hydraulic device (27) for adjusting the vertical position of the rotating wheel (24) and a horizontal hydraulic device (29) for adjusting the horizontal position of the tensioning wheel (28).

3. The intelligent hilly mountain tractor according to claim 2, characterized in that: The frame (212) is provided with a connecting rod (25), the connecting rod (25) is provided with a vertical mounting groove, the rotating wheel (24) is rotatably arranged in the connecting rod (25), and the vertical hydraulic device (27) is arranged in the mounting groove and connected to the rotating wheel (24).

4. The intelligent hilly mountain tractor according to claim 3, characterized in that: The rotating wheel (24) is hinged to the working end of the vertical hydraulic device (27), the connecting rod (25) is hinged to the frame (212), and the plurality of supporting wheels (210) are hinged to the frame (212).

5. The intelligent hilly mountain tractor according to claim 3, characterized in that: The vertical hydraulic device (27) and the horizontal hydraulic device (29) are both hydraulic cylinders.

6. The intelligent hilly mountain tractor according to claim 2, characterized in that: The steering device (21) is arranged below the vehicle body (1); a damping connector (22) is provided at the bottom of the steering device (21); and a damping spring (23) is provided at the bottom of the damping connector (22).

7. The intelligent hilly mountain tractor according to claim 1, characterized in that: The variable track wheel assembly comprises a track shoe (216) and a track coupling body (217), wherein the track shoe (216) is used for contacting the ground, and the track coupling body (217) is used for connecting the track shoe (216) front and rear, and the track shoe (216) and the track coupling body (217) are detachably connected by a fixing pin (218).

8. The intelligent hilly mountain tractor according to claim 1, characterized in that: The power system is an oil-electric hybrid power system, comprising a diesel range extender (14) and a lithium battery (15).

9. The intelligent hilly mountain tractor according to claim 1, characterized in that: A millimeter wave radar (12) is provided on the upper front of the vehicle body (1), and a multispectral laser radar (13) is provided on the lower front of the vehicle body (1).

10. The intelligent hilly mountain tractor according to claim 8, characterized in that: The vehicle body (1) is provided with a control box (16), and a perception module for executing a tractor path optimization algorithm is provided in the control box (16).

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