Tractor suspension control system capable of keeping stable operation

Abstract

The invention relates to the field of tractor stability control, in particular to a tractor suspension control system capable of keeping stable operation, and aims to solve the problem that the operation stability is insufficient due to the fact that the operation stability of tractor rear suspension machinery cannot be adaptively corrected and adjusted. According to the invention, by independently monitoring the pulling, vibration and shaking conditions of the instrument, the driving data of the suspension assembly and the tractor are obtained, and the quantitative fusion analysis of the data is carried out according to the monitoring result, so that the working stability of the instrument is efficiently and accurately evaluated, and when the working stability of the instrument is insufficient, the safety of the instrument is improved. A corresponding adjusting strategy is automatically generated by utilizing active analysis and adjustment of a database and an intelligent model, meanwhile, after each time of automatic adjustment, an adjusting effect is obtained, and the adjusting strategy is automatically replaced when the effect is insufficient, so that an unstable working condition can be rapidly detected and rapidly adjusted to be stable during operation of the instrument, and the working efficiency is improved. And the operation stability and safety of the instrument are ensured.

Description

Technical Field

[0001] The present invention relates to the field of tractor stability control, in particular to a tractor suspension control system for maintaining stable operation. Background Art

[0002] The tractor hitch is the main device used by the tractor to pull agricultural implements for agricultural operations. The hitch is the connecting rod between the implement and the tractor. It is an essential component on the tractor that enables the implement to be raised, lowered, and adjusted in working position through the hydraulic connection rod.

[0003] However, due to the non-uniform dimensions of the connecting parts for agricultural implements such as plows, existing hydraulically controlled traditional suspension mechanisms have poor connection stability for agricultural implements, which in turn affects the efficiency of plows and other agricultural implements in cultivating the land. To address these issues, researchers in the prior art have provided control systems for various tractor suspension assembly components to enhance the operational stability of tractors with multiple components attached. For example, patent application CN2010106208772 proposes a technical solution that uses closed-loop control with multi-parameter adjustment to input different control strategies according to different operating conditions. This solution can improve the operational stability of the connected components to a certain extent when the tractor is attached to multiple different components or in different terrains. However, the control strategy in this solution relies on manual input by the operator, and its application effect depends largely on the operator's judgment. In complex and changeable terrain, excessively frequent adjustment of the control strategy is obviously unsuccessful. Furthermore, when the tractor encounters unforeseen terrain or interference from rocks, roots, or other factors during operation, adaptive adjustment cannot be performed. As a result, the operational stability of tractors connected to various mechanical types via the rear suspension assembly still has significant room for improvement, thereby further improving operational stability.

[0004] In response to the above technical problems, this application proposes a solution. Summary of the Invention

[0005] The present invention monitors the suspension components and tractor driving data, and performs quantitative fusion analysis of the data based on the monitoring results, thereby performing an efficient and accurate evaluation of the working stability of the equipment. When the working stability of the equipment is insufficient, the active analysis and adjustment of the database and intelligent model is utilized to automatically generate a corresponding adjustment strategy, so that during the operation of the equipment, unstable working conditions can be quickly detected and quickly adjusted to restore stability, thereby ensuring the operating stability and safety of the equipment, solving the problem that the operating stability of the tractor rear suspension machinery cannot be adaptively corrected and adjusted, resulting in insufficient operating stability, and proposing a tractor suspension control system that maintains stable operation.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A tractor suspension control system for maintaining stable operation includes a suspension component monitoring module, a dynamic judgment and analysis module, a driving statistics module, a multi-directional adjustment module, and an early warning adjustment module. The suspension component monitoring module is used to monitor the operating parameters of the operating components suspended at the rear of the tractor and send the operating parameters to the dynamic judgment and analysis module.

[0008] The driving statistics module is used to collect the driving data of the tractor and send the collected driving data to the dynamic judgment and analysis module;

[0009] The dynamic judgment and analysis module compares the operating parameters with the set operating data, obtains the operating stability result according to the comparison result, and records the operating stability result;

[0010] The dynamic judgment and analysis module compares the operating parameters with the driving data to obtain a dynamic stability result under the influence of the driving data, and compares and analyzes the dynamic stability result and the operating stability result to obtain dynamic adjustment data, and sends the dynamic adjustment data to the multi-directional adjustment module and the early warning adjustment module at the same time;

[0011] The multi-directional adjustment module analyzes the dynamic adjustment data and generates adjustment parameters that are fed back to the suspension component monitoring module. The suspension component monitoring module executes the adjustment parameters. The dynamic judgment and analysis module and the multi-directional adjustment module perform correction and supervision during the execution process, and generate secondary adjustment parameters based on the results of the correction and supervision and send them to the driving statistics module. The driving statistics module executes the secondary adjustment parameters. The dynamic judgment and analysis module and the multi-directional adjustment module perform secondary correction and supervision on the execution process of the secondary adjustment parameters.

[0012] The early warning adjustment module makes effect judgment based on dynamic adjustment data, correction supervision and secondary correction supervision, and generates corresponding visual early warnings.

[0013] As a preferred embodiment of the present invention, the operating parameters monitored by the suspension component monitoring module include connection torque, connection vibration, and connection angle. When obtaining the connection torque, the suspension component monitoring module detects the tension exerted on the tractor's rear suspension component and the direction of the tension as the connection torque;

[0014] The suspension component monitoring module acquires the connection vibration by using a vibration monitoring sensor to monitor the vibration on the rear suspension component, and records the monitored vibration in the form of amplitude and frequency;

[0015] The method for the suspension component monitoring module to obtain the connection change angle is: counting the angle formed by the suspended component and the rear suspension component, and when the angle change is greater than the set threshold value, recording the changed angle value, and recording the time taken for the angle change to obtain the angle change speed, and recording the angle change speed and the changed angle value as the connection change angle.

[0016] As a preferred embodiment of the present invention, the driving data collected by the driving statistics module includes driving speed and driving inclination;

[0017] When acquiring the driving inclination angle, the driving statistics module records the inclination angle and the inclination direction of the tractor by using a sensor provided inside the tractor. The inclination direction is determined by creating a circular surface with the sensor as the center, the circular surface being consistent with the inclination of the tractor, and a horizontal plane passing through the center of the circle. The distance between each point on the edge of the circular surface and the horizontal plane is calculated, and the radius corresponding to the point farthest above the horizontal plane is projected onto the horizontal plane. At the same time, the driving statistics module acquires the current forward direction of the tractor, calculates the angle between the projection and the forward direction, and obtains the inclination direction.

[0018] The driving statistics module records the angle between the corresponding radius and the projection as the tilt angle.

[0019] As a preferred embodiment of the present invention, after obtaining the operating parameters, the dynamic judgment and analysis module compares the connection torque, connection vibration and connection angle in the operating parameters with the operating data in the set standard. The specific comparison method is:

[0020] The dynamic judgment and analysis module compares the connection vibration with the vibration data in the operation data, and obtains a vibration neglect index or a vibration abnormality index according to the comparison result;

[0021] The dynamic judgment and analysis module calculates the standard deviation of the connection torque to obtain the fluctuation of the connection torque, compares the fluctuation with the fluctuation range in the operation data, and obtains the connection stability index or the connection abnormality index;

[0022] The dynamic judgment and analysis module compares the connection change angle with the angle in the operation data, records the angle less than the set angle as an unstable change angle, compares the angle change speed greater than the set angle with the set standard speed, and records the angle change speed greater than the set standard speed as an unstable change angle. The dynamic judgment and analysis module generates an angle abnormality index based on the unstable change angle;

[0023] The dynamic judgment and analysis module records the angle abnormality index, the connection abnormality index and the vibration abnormality index as the operation stability result.

[0024] As a preferred embodiment of the present invention, the method for the dynamic judgment analysis module to obtain the dynamic stability result is:

[0025] The dynamic judgment analysis module quantifies the driving speed and driving inclination in the driving data and outputs them as driving interference. The dynamic judgment analysis module corrects the standard operating data in the generation of the operating stability result through the driving interference, performs dynamic threshold judgment, obtains a new dynamic stability result, makes a judgment based on the dynamic stability result, obtains abnormal indicators in the dynamic stability result, and obtains corresponding dynamic adjustment data based on the abnormal indicators through the database.

[0026] As a preferred embodiment of the present invention, the multi-directional adjustment module adjusts the dynamic adjustment data and the current parameters of the rear suspension component to obtain adjustment parameters;

[0027] After sending the adjustment parameters to the suspension component monitoring module and executing them, the multi-directional adjustment module monitors the changes of abnormal indicators in the dynamic stability results. If the abnormal indicators shrink, it indicates that the adjustment is effective. If the abnormal indicators do not shrink or new abnormal indicators appear, it indicates that the adjustment is invalid.

[0028] As a preferred embodiment of the present invention, the multi-directional adjustment module compares the dynamic adjustment data with the current driving data of the tractor to obtain secondary adjustment parameters. After the driving statistics module executes the secondary adjustment parameters, the abnormal indicators in the dynamic stability results are monitored for changes. If the abnormal indicators shrink, it indicates that the adjustment is effective. If the abnormal indicators do not shrink or new abnormal indicators appear, it indicates that the adjustment is invalid.

[0029] As a preferred embodiment of the present invention, the early warning adjustment module outputs and displays the adjustment data after obtaining the dynamic adjustment data, and quantifies the correction categories after obtaining the correction supervision and secondary correction supervision, and outputs the results of whether the adjustment is effective or invalid.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. In the present invention, by monitoring the suspension components and tractor driving data and performing quantitative fusion analysis of the data based on the monitoring results, the working stability of the equipment can be efficiently and accurately evaluated when the tractor is towing the rear machinery. When the working stability of the equipment is insufficient, the database and the active analysis and adjustment of the intelligent model are used to automatically generate a corresponding adjustment strategy. Therefore, during the operation of the equipment, unstable working conditions can be quickly detected and quickly adjusted to restore stability, thereby ensuring the operating stability and safety of the equipment.

[0032] 2. In the present invention, during the cyclic process of monitoring and adjusting the unstable working conditions of the equipment suspended at the rear of the tractor, feedback adjustment is performed on the adjustment effect, so that the adjustment effect can be obtained each time the system automatically adjusts the stability of the equipment, and the adjustment strategy is automatically changed when the effect is insufficient, further ensuring the effectiveness of the adjustment. The feedback on the effectiveness of the adjustment can also be used as a sample to expand the database again, thereby realizing the possibility of optimization for the automatic adjustment model.

[0033] 3. In the present invention, when monitoring the unstable working conditions of the equipment hanging behind the tractor, the pulling, vibration and shaking of the equipment are independently monitored to obtain each unstable phenomenon of the equipment to the greatest extent, thereby improving the accuracy of monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0035] Figure 1 is a system block diagram of the present invention;

[0036] Figure 2 It is a system flow chart of the present invention. DETAILED DESCRIPTION

[0037] The following is a clear and complete description of the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] Example 1:

[0039] See also Figure 1 - Figure 2 As shown, a tractor suspension control system for maintaining stable operation includes a suspension component monitoring module, a dynamic judgment and analysis module, a driving statistics module, a multi-directional adjustment module, and an early warning adjustment module. The suspension component monitoring module is used to monitor the operating parameters of the operating component suspended at the rear of the tractor and send the operating parameters to the dynamic judgment and analysis module. The operating parameters monitored by the suspension component monitoring module include connection torque, connection vibration, and connection variable angle.

[0040] When obtaining the connection torque, the suspension component monitoring module detects the pulling force and the direction of the pulling force on the tractor's rear suspension component as the connection torque;

[0041] The suspension component monitoring module acquires the connection vibration by using a vibration monitoring sensor on the rear suspension component to monitor the vibration, and records the monitored vibration in the form of amplitude and frequency;

[0042] The suspension component monitoring module obtains the connection angle by counting the angle formed by the suspended component and the rear suspension component, and recording the angle value when the angle changes by more than a set threshold. The angle change time is recorded to obtain the angle change speed, and the angle change speed and the angle change value are recorded as the connection angle.

[0043] The driving statistics module is used to collect the driving data of the tractor and send the collected driving data to the dynamic judgment and analysis module. The driving data collected by the driving statistics module includes driving speed and driving inclination;

[0044] When obtaining the driving inclination angle, the driving statistics module records it through the sensor installed inside the tractor to obtain the tractor's inclination angle and inclination direction;

[0045] The method for determining the tilt direction is as follows: with the sensor point as the center of the circle, a circular surface is created, and the circular surface is consistent with the tilt of the tractor. Specifically, the circular surface is based on the plane of the current tractor chassis obtained by the gyroscope sensor, and a horizontal plane passing through the center of the circle is created. The distance between each point on the edge of the circular surface and the horizontal plane is calculated, and the radius corresponding to the point farthest above the horizontal plane is projected onto the horizontal plane. At the same time, the driving statistics module obtains the current forward direction of the tractor, calculates the angle between the projection and the forward direction, and obtains the tilt direction. The angle between the corresponding radius and the projection is recorded as the tilt angle.

[0046] After obtaining the operating parameters, the dynamic judgment analysis module compares the operating parameters with the set operating data. The specific comparison method is:

[0047] Connection vibration comparison: The dynamic judgment and analysis module compares the connection vibration with the vibration data in the operating data, and obtains the vibration neglect index or vibration abnormality index based on the comparison results;

[0048] Connection torque comparison: The dynamic judgment analysis module calculates the standard deviation of the connection torque to obtain the fluctuation of the connection torque. The fluctuation is compared with the fluctuation range in the operating data to obtain the connection stability index or connection abnormality index;

[0049] Connection angle comparison: The dynamic judgment and analysis module compares the connection angle with the angle in the operating data. Angles smaller than the set angle are recorded as unstable angles. Angle change speeds greater than the set angle are compared with the set standard speed. Angle change speeds greater than the set standard speed are also recorded as unstable angles. The dynamic judgment and analysis module generates angle anomaly indicators based on the unstable angles.

[0050] The dynamic judgment and analysis module records the angle abnormality index, connection abnormality index and vibration abnormality index obtained by comparison as the operation stability result;

[0051] The dynamic judgment analysis module compares the operating parameters with the driving data to obtain the dynamic stability results under the influence of the driving data.

[0052] The method for the dynamic judgment analysis module to obtain dynamic stability results is:

[0053] The dynamic judgment analysis module quantifies the driving speed and driving inclination in the driving data, that is, the driving speed is used as the benchmark, and the changes in the inclination angle and inclination direction in each driving inclination angle are used as corrections, so as to comprehensively generate the degree of bumpiness during driving through a preset algorithm model, wherein the degree of bumpiness is positively correlated with the change amplitude of the inclination angle, the inclination direction and the driving speed, and the change amplitude of the inclination direction is the span of the inclination direction in two consecutive driving inclination angles. After the degree of bumpiness is quantified through the model, it is finally output as driving interference. The dynamic judgment analysis module corrects the standard operating data in the generation of the operation stability result through the driving interference, that is, as the driving interference increases, the tolerance of the standard operating data is also greater, so the threshold is higher, thereby performing dynamic threshold judgment, and re-comparing the connection vibration, connection torque and connection variable angle to obtain new angle abnormality indicators, connection abnormality indicators and vibration abnormality indicators, and record them as new dynamic stability results;

[0054] The dynamic judgment and analysis module extracts abnormal indicators from the dynamic stability results and uses the database to obtain corresponding dynamic adjustment data based on the abnormal indicators. For example, it can improve the angle abnormality indicator and vibration abnormality indicator by lowering the driving speed, and improve the overall rigidity of the rear suspension component by adjusting the connection clamping force of the rear suspension component, thereby reducing the vibration abnormality indicator.

[0055] Finally, the dynamic judgment and analysis module sends the dynamic adjustment data to the multi-directional adjustment module and the early warning adjustment module at the same time;

[0056] The multi-directional adjustment module analyzes the dynamic adjustment data, adjusts the dynamic adjustment data with the current parameters of the rear suspension component, obtains adjustment parameters, and feeds the adjustment parameters back to the suspension component monitoring module, which executes the adjustment parameters;

[0057] After the multi-directional adjustment module sends the adjustment parameters to the suspension component monitoring module and executes them, it performs correction supervision during the execution process and monitors changes in abnormal indicators in the dynamic stability results. If the abnormal indicators shrink, it indicates that the adjustment is effective. If the abnormal indicators do not shrink or new abnormal indicators appear, it indicates that the adjustment is invalid. The shrinkage of abnormal indicators refers to the reduction or disappearance of abnormal vibration indicators, abnormal connection indicators or abnormal angle indicators.

[0058] Example 2:

[0059] See also Figure 1 - Figure 2 As shown, after the multi-directional adjustment module obtains the correction supervision result, if the correction supervision result is that the adjustment is valid, no reaction is made. If the correction supervision result is that the adjustment is invalid, the multi-directional adjustment module compares the dynamic adjustment data with the current driving data of the tractor to obtain the secondary adjustment parameters, and sends the secondary adjustment parameters to the driving statistics module. The driving statistics module executes the secondary adjustment parameters. After the driving statistics module executes the secondary adjustment parameters, the dynamic judgment analysis module and the multi-directional adjustment module perform secondary correction supervision on the execution process of the secondary adjustment parameters, and monitor the changes of abnormal indicators in the dynamic stability results. If the abnormal indicators shrink, it indicates that the adjustment is effective. If the abnormal indicators do not shrink or new abnormal indicators appear, it indicates that the adjustment is invalid.

[0060] After obtaining dynamic adjustment data, the early warning adjustment module outputs and displays the adjustment data. After obtaining correction supervision and secondary correction supervision, it quantifies the correction categories and outputs the results of whether the adjustment is effective or invalid.

[0061] The above-mentioned preset values, preset ranges, etc. are set for result comparison and analysis in order to determine whether they are good or bad. The values of these values are set for entry and storage based on a combination of large-scale model analysis of sample data and manual experience. Appropriate adjustments can also be made based on seasonal or common sense influencing conditions.

[0062] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A tractor suspension control system for maintaining stable operation, characterized in that: It includes a suspension component monitoring module, a dynamic judgment and analysis module, a driving statistics module, a multi-directional adjustment module and an early warning adjustment module. The suspension component monitoring module is used to monitor the operating parameters of the operating components suspended at the rear of the tractor and send the operating parameters to the dynamic judgment and analysis module; The driving statistics module is used to collect the driving data of the tractor and send the collected driving data to the dynamic judgment and analysis module; The dynamic judgment and analysis module compares the operating parameters with the set operating data, obtains the operating stability result according to the comparison result, and records the operating stability result; The dynamic judgment and analysis module compares the operating parameters with the driving data to obtain a dynamic stability result under the influence of the driving data, and compares and analyzes the dynamic stability result and the operating stability result to obtain dynamic adjustment data, and sends the dynamic adjustment data to the multi-directional adjustment module and the early warning adjustment module at the same time; The multi-directional adjustment module analyzes the dynamic adjustment data and generates adjustment parameters that are fed back to the suspension component monitoring module. The suspension component monitoring module executes the adjustment parameters. The dynamic judgment and analysis module and the multi-directional adjustment module perform correction and supervision during the execution process, and generate secondary adjustment parameters based on the results of the correction and supervision and send them to the driving statistics module. The driving statistics module executes the secondary adjustment parameters. The dynamic judgment and analysis module and the multi-directional adjustment module perform secondary correction and supervision on the execution process of the secondary adjustment parameters. The early warning adjustment module makes effect judgment based on dynamic adjustment data, correction supervision and secondary correction supervision, and generates corresponding visual early warnings.

2. A tractor suspension control system for maintaining stable operation according to claim 1, characterized in that: The operating parameters monitored by the suspension component monitoring module include connection torque, connection vibration and connection angle. When obtaining the connection torque, the suspension component monitoring module detects the tension exerted on the tractor's rear suspension component and the direction of the tension as the connection torque; The suspension component monitoring module acquires the connection vibration by using a vibration monitoring sensor to monitor the vibration on the rear suspension component, and records the monitored vibration in the form of amplitude and frequency; The method for the suspension component monitoring module to obtain the connection change angle is: counting the angle formed by the suspended component and the rear suspension component, and when the angle change is greater than the set threshold value, recording the changed angle value, and recording the time taken for the angle change to obtain the angle change speed, and recording the angle change speed and the changed angle value as the connection change angle.

3. The tractor suspension control system for maintaining stable operation according to claim 1, characterized in that: The driving data collected by the driving statistics module includes driving speed and driving inclination; When acquiring the driving inclination angle, the driving statistics module records the inclination angle and the inclination direction of the tractor by using a sensor provided inside the tractor. The inclination direction is determined by creating a circular surface with the sensor as the center, the circular surface being consistent with the inclination of the tractor, and a horizontal plane passing through the center of the circle. The distance between each point on the edge of the circular surface and the horizontal plane is calculated, and the radius corresponding to the point farthest above the horizontal plane is projected onto the horizontal plane. At the same time, the driving statistics module acquires the current forward direction of the tractor, calculates the angle between the projection and the forward direction, and obtains the inclination direction. The driving statistics module records the angle between the corresponding radius and the projection as the tilt angle.

4. The tractor suspension control system for maintaining stable operation according to claim 1, characterized in that: After obtaining the operating parameters, the dynamic judgment and analysis module compares the connection torque, connection vibration and connection angle in the operating parameters with the operating data in the set standard. The specific comparison method is: The dynamic judgment and analysis module compares the connection vibration with the vibration data in the operation data, and obtains a vibration neglect index or a vibration abnormality index according to the comparison result; The dynamic judgment and analysis module calculates the standard deviation of the connection torque to obtain the fluctuation of the connection torque, compares the fluctuation with the fluctuation range in the operation data, and obtains the connection stability index or the connection abnormality index; The dynamic judgment and analysis module compares the connection change angle with the angle in the operation data, records the angle less than the set angle as an unstable change angle, compares the angle change speed greater than the set angle with the set standard speed, and records the angle change speed greater than the set standard speed as an unstable change angle. The dynamic judgment and analysis module generates an angle abnormality index based on the unstable change angle; The dynamic judgment and analysis module records the angle abnormality index, the connection abnormality index and the vibration abnormality index as the operation stability result.

5. The tractor suspension control system for maintaining stable operation according to claim 1, characterized in that: The method for the dynamic judgment analysis module to obtain dynamic stability results is: The dynamic judgment analysis module quantifies the driving speed and driving inclination in the driving data and outputs them as driving interference. The dynamic judgment analysis module corrects the standard operating data in the generation of the operating stability result through the driving interference, performs dynamic threshold judgment, obtains a new dynamic stability result, makes a judgment based on the dynamic stability result, obtains abnormal indicators in the dynamic stability result, and obtains corresponding dynamic adjustment data based on the abnormal indicators through the database.

6. The tractor suspension control system for maintaining stable operation according to claim 1, characterized in that: The multi-directional adjustment module adjusts the dynamic adjustment data and the current parameters of the rear suspension component to obtain adjustment parameters; After sending the adjustment parameters to the suspension component monitoring module and executing them, the multi-directional adjustment module monitors the changes of abnormal indicators in the dynamic stability results. If the abnormal indicators shrink, it indicates that the adjustment is effective. If the abnormal indicators do not shrink or new abnormal indicators appear, it indicates that the adjustment is invalid.

7. The tractor suspension control system for maintaining stable operation according to claim 1, characterized in that: The multi-directional adjustment module compares the dynamic adjustment data with the current driving data of the tractor to obtain secondary adjustment parameters. After the driving statistics module executes the secondary adjustment parameters, the module monitors the changes of abnormal indicators in the dynamic stability results. If the abnormal indicators shrink, it indicates that the adjustment is effective. If the abnormal indicators do not shrink or new abnormal indicators appear, it indicates that the adjustment is invalid.

8. The tractor suspension control system for maintaining stable operation according to claim 1, characterized in that: After obtaining the dynamic adjustment data, the early warning adjustment module outputs and displays the adjustment data. After obtaining the correction supervision and the secondary correction supervision, the early warning adjustment module quantifies and outputs the correction categories, and outputs the results of whether the adjustment is effective or invalid.

Images