A tractor suspension control system for maintaining stable operation

Abstract

This invention relates to the field of tractor stability control, addressing the problem of insufficient operational stability caused by the inability to adaptively correct and adjust the mechanical stability of the tractor's rear suspension. Specifically, it is a tractor suspension control system for maintaining stable operation. This invention independently monitors the tension, vibration, and swaying of the equipment, acquiring data on the suspension components and tractor movement. Based on the monitoring results, it performs quantitative fusion analysis of the data to efficiently and accurately assess the equipment's operational stability. When the equipment's operational stability is insufficient, it utilizes a database and intelligent model for proactive analysis and adjustment, automatically generating corresponding adjustment strategies. Furthermore, after each automatic adjustment, the adjustment effect is acquired, and if the effect is insufficient, the adjustment strategy is automatically changed. This allows for rapid detection of unstable conditions during equipment operation and swift adjustment to restore stability, ensuring the operational stability and safety of the equipment.

Description

Technical Field

[0001] This invention relates to the field of tractor stability control, specifically to a tractor suspension control system for maintaining stable operation. Background Technology

[0002] The tractor suspension mechanism is the main device for tractors to pull agricultural implements for agricultural operations. The suspension mechanism is the connecting rod between the implement and the tractor. Through hydraulic connecting rods, the implementation can be raised, lowered and its working position adjusted. It is an essential and important component of the tractor.

[0003] However, due to the inconsistent dimensions of connecting parts for agricultural implements such as plows, the existing hydraulically controlled traditional suspension mechanisms have poor connection stability for agricultural implements, thus affecting the working efficiency of plows and other agricultural implements in tilling the land. To solve the above-mentioned problems, researchers in the existing technical field have provided various control systems for tractor suspension components to enhance the operational stability of tractors with multiple suspension components. For example, the existing patent application CN2010106208772 proposes a technical solution that uses closed-loop control with multi-parameter adjustment to input different control strategies according to different working conditions. This can improve the operational stability of the connected components to a certain extent when the tractor is suspended with multiple different components or dealing with different terrains. However, the control strategy in this solution relies on manual input by the operator, so the application effect of the control strategy largely depends on the operator's judgment. When the terrain is complex and changeable, it is obviously impossible to adjust the control strategy too frequently. At the same time, when the tractor is running and encounters unforeseen terrain, rocks, roots, or other factors, it cannot make adaptive adjustments. Therefore, the operational stability of the tractor connected to various mechanical components through the rear suspension assembly still has considerable room for improvement, thus further improving operational stability.

[0004] To address the aforementioned technical problems, this application proposes a solution. Summary of the Invention

[0005] This invention monitors the suspension components and tractor driving data, and performs quantitative fusion analysis of the monitoring results to efficiently and accurately assess the working stability of the equipment. When the working stability of the equipment is insufficient, it utilizes the proactive analysis and adjustment of the database and intelligent model to automatically generate corresponding adjustment strategies. This allows for the rapid detection and quick adjustment to restore stability during equipment operation, ensuring the operational stability and safety of the equipment. It solves the problem that the mechanical stability of the tractor's rear suspension cannot be adaptively corrected and adjusted, resulting in insufficient operational stability. This invention proposes a tractor suspension control system that maintains stable operation.

[0006] The objective of this 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 working 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 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 based on 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 the dynamic stability result under the influence of the driving data. It then compares and analyzes the dynamic stability result with the operating stability result to obtain dynamic adjustment data, and simultaneously sends the dynamic adjustment data to the multi-directional adjustment module and the early warning adjustment module.

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

[0012] The early warning adjustment module judges the effect based on dynamic adjustment data, corrective supervision, and secondary corrective supervision, and generates corresponding visual early warnings.

[0013] In 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 acquiring the connection torque, the suspension component monitoring module detects the tension and direction of the tension on the rear suspension component of the tractor 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 terms of amplitude and frequency.

[0015] The method for the suspension component monitoring module to obtain the connection angle is as follows: the angle formed by the suspended component and the rear suspension component is counted, and when the angle changes more than the set threshold, the changed angle value is recorded. The time elapsed for the angle change is also recorded to obtain the angle change speed. The angle change speed and the changed angle value are recorded as the connection angle.

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

[0017] When acquiring the tilt angle, the driving statistics module records the tilt angle and tilt direction of the tractor through sensors installed inside the tractor. The method for determining the tilt direction is as follows: a circular surface is created with the sensor location as the center, and the circular surface is consistent with the tilt of the tractor. At the same time, 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. The radius corresponding to the point with the farthest distance above the horizontal plane is projected onto the horizontal plane. Meanwhile, the driving statistics module acquires the current forward direction of the tractor and calculates the angle between the projection and the forward direction to obtain the tilt direction.

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

[0019] In a preferred embodiment of the present invention, after acquiring 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 as follows:

[0020] The dynamic judgment and analysis module compares the vibration data in the connection vibration and the vibration data in the operation data, and obtains the vibration neglect index or vibration abnormality index based on the comparison results.

[0021] The dynamic judgment and analysis module calculates the standard deviation of the connection torque to obtain the fluctuation of the connection torque. It then compares the fluctuation with the fluctuation range in the operating data to obtain the connection stability index or connection anomaly index.

[0022] The dynamic judgment and analysis module compares the angle of the connection change with the angle in the running data. An angle smaller than the set angle is recorded as an unstable angle. The angle change speed greater than the set angle is compared with the set standard speed. An angle change speed greater than the set standard speed is also recorded as an unstable angle. The dynamic judgment and analysis module generates an angle anomaly index based on the unstable angle.

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

[0024] In a preferred embodiment of the present invention, the method by which the dynamic judgment and analysis module obtains the dynamic stability result is as follows:

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

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

[0027] After the multi-directional adjustment module sends the adjustment parameters to the suspension component monitoring module and executes them, it monitors the 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 ineffective.

[0028] In 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, it 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 ineffective.

[0029] In a preferred embodiment of the present invention, after acquiring dynamic adjustment data, the early warning adjustment module outputs and displays the adjustment data. After acquiring correction supervision and secondary correction supervision, it quantifies and outputs the correction categories, and outputs the results of effective or ineffective adjustment.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. In this invention, by monitoring the suspension components and tractor driving data, and performing quantitative fusion analysis of the monitoring results, the working stability of the machinery can be efficiently and accurately evaluated during the process of the tractor towing the machinery behind it. When the working stability of the machinery is insufficient, the active analysis and adjustment of the database and intelligent model are used to automatically generate corresponding adjustment strategies. Thus, unstable working conditions can be quickly detected and quickly adjusted to restore stability during the operation of the machinery, ensuring the operational stability and safety of the machinery.

[0032] 2. In this invention, during the cyclical process of monitoring and adjusting the unstable working conditions of the equipment suspended behind the tractor, the adjustment effect is adjusted in a feedback manner. Thus, each time the system automatically adjusts the stability of the equipment, the adjustment effect can be obtained, and the adjustment strategy can be automatically changed when the effect is insufficient, which further ensures 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 of the automatic adjustment model.

[0033] 3. In this invention, when monitoring unstable working conditions of the equipment suspended at the rear of the tractor, the pulling, vibration and swaying of the equipment are monitored independently, so as to obtain each unstable phenomenon of the equipment to the greatest extent and improve the accuracy of monitoring. Attached Figure Description

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

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

[0036] Figure 2 This is a system flowchart of the present invention. Detailed Implementation

[0037] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0038] Example 1:

[0039] Please see 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 a warning adjustment module. The suspension component monitoring module is used to monitor the operating parameters of the working components 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 angle.

[0040] When acquiring the connection torque, the suspension component monitoring module uses the tension and direction of the tension force on the tractor's rear suspension component as the connection torque.

[0041] The suspension component monitoring module acquires the connection vibration by using vibration monitoring sensors to monitor the vibration on the rear suspension component and records the monitored vibration in terms of amplitude and frequency.

[0042] The method for the suspension component monitoring module to obtain the connection angle is as follows: the angle formed by the suspended component and the rear suspension component is counted, and when the angle changes more than the set threshold, the changed angle value is recorded. The time elapsed for the angle change is also recorded to obtain the angle change speed. The angle change speed and the changed angle value are recorded as the connection angle.

[0043] The driving statistics module is used to collect 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 tilt angle.

[0044] When acquiring the driving tilt angle, the driving statistics module records the tilt angle and tilt direction of the tractor through sensors installed inside the tractor.

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

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

[0047] Vibration comparison: The dynamic judgment and analysis module compares the vibration of the connection with the vibration data in the operation data, and obtains the vibration neglect index or vibration abnormal index based on the comparison results;

[0048] Connection torque comparison: The dynamic judgment and analysis module calculates the standard deviation of the connection torque to obtain the fluctuation of the connection torque. It compares the fluctuation with the fluctuation range in the running data to obtain the connection stability index or connection anomaly index.

[0049] Connection Angle Comparison: The dynamic judgment and analysis module compares the connection angle with the angle in the running data. Angles smaller than the set angle are recorded as unstable angles. Angles larger than the set angle are compared with the set standard speed. Angles larger than the set standard speed are also recorded as unstable angles. The dynamic judgment and analysis module generates an angle anomaly index based on unstable angles.

[0050] The dynamic judgment and analysis module records the angle anomaly index, connection anomaly index, and vibration anomaly index obtained from the comparison as the operational stability result;

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

[0052] The method for the dynamic judgment and analysis module to obtain the dynamic stability result is as follows:

[0053] The dynamic judgment and analysis module quantifies the driving speed and tilt angle in the driving data. It uses the driving speed as a benchmark and the changes in the tilt angle and tilt direction in each tilt angle as corrections. Through a preset algorithm model, it comprehensively generates the bumpiness during the driving process. The bumpiness is positively correlated with the change in tilt angle and tilt direction and the driving speed. The change in tilt direction is the span of the tilt direction between two consecutive tilt angles. After the bumpiness is quantified by the model, the final output is driving interference. The dynamic judgment and analysis module corrects the standard operating data in the generation of the running stability result through driving interference. That is, as the driving interference increases, the tolerance of the standard operating data also increases, and therefore the threshold is higher. Dynamic threshold judgment is then performed to re-compare the connection vibration, connection torque, and connection angle change to obtain new angle anomaly indicators, connection anomaly indicators, and vibration anomaly indicators, which are recorded as new dynamic stability results.

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

[0055] Finally, the dynamic judgment and analysis module sends the dynamic adjustment data to both the multi-directional adjustment module and the early warning adjustment module simultaneously.

[0056] The multi-directional adjustment module analyzes the dynamic adjustment data, adjusts the dynamic adjustment data with the current parameters of the rear suspension components to obtain adjustment parameters, and feeds the adjustment parameters back to the suspension component monitoring module, which then 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 and monitoring during the execution process. It 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 ineffective. 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] Please see Figure 1 - Figure 2 As shown, after the multi-directional adjustment module obtains the correction monitoring result, if the correction monitoring result is that the adjustment is effective, it will not react. If the correction monitoring result is that the adjustment is ineffective, the multi-directional adjustment module will compare the dynamic adjustment data with the current driving data of the tractor to obtain the secondary adjustment parameters, and send the secondary adjustment parameters to the driving statistics module. The driving statistics module will execute the secondary adjustment parameters. After the driving statistics module executes the secondary adjustment parameters, the dynamic judgment and analysis module and the multi-directional adjustment module will perform secondary correction monitoring 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 ineffective.

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

[0061] The aforementioned preset values ​​and preset ranges are set for result comparison and analysis to determine whether they are good or bad. The magnitude of these values ​​is determined by a combination of large-scale model analysis of sample data and human experience. They can also be appropriately adjusted based on seasonal or rational influencing factors.

[0062] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The 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 a warning adjustment module. The suspension component monitoring module is used to monitor the operating parameters of the working 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 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 based on 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 the dynamic stability result under the influence of the driving data. It then compares and analyzes the dynamic stability result with the operating stability result to obtain dynamic adjustment data, and simultaneously sends the dynamic adjustment data to the multi-directional adjustment module and the early warning adjustment module. The multi-directional adjustment module analyzes the dynamic adjustment data and generates adjustment parameters, which are then fed back to the suspension component monitoring module. The suspension component monitoring module executes the adjustment parameters. During the execution process, the dynamic judgment and analysis module and the multi-directional adjustment module perform correction and monitoring, and generate secondary adjustment parameters based on the results of the correction and monitoring, which are then sent to the driving statistics module. The driving statistics module executes the secondary adjustment parameters, and the dynamic judgment and analysis module and the multi-directional adjustment module perform secondary correction and monitoring on the execution process of the secondary adjustment parameters. The early warning adjustment module judges the effect based on dynamic adjustment data, corrective supervision, and secondary corrective supervision, and generates corresponding visual early warnings. The operating parameters monitored by the suspension component monitoring module include connection torque, connection vibration, and connection angle. When acquiring the connection torque, the suspension component monitoring module detects the tension and direction of the tension on the tractor's rear suspension component 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 terms of amplitude and frequency. The method for the suspension component monitoring module to obtain the connection angle is as follows: the angle formed by the suspended component and the rear suspension component is counted, and when the angle changes more than the set threshold, the changed angle value is recorded. The time elapsed for the angle change is also recorded to obtain the angle change speed. The angle change speed and the changed angle value are recorded as the connection angle. After acquiring the operating parameters, the dynamic judgment and analysis module compares the connection torque, connection vibration, and connection angle among the operating parameters with the operating data in the set standard. The specific comparison method is as follows: The dynamic judgment and analysis module compares the vibration data in the connection vibration and the vibration data in the operation data, and obtains the vibration neglect index or vibration abnormality index based on the comparison results. The dynamic judgment and analysis module calculates the standard deviation of the connection torque to obtain the fluctuation of the connection torque. It then compares the fluctuation with the fluctuation range in the operating data to obtain the connection stability index or connection anomaly index. The dynamic judgment and analysis module compares the angle of the connection change with the angle in the running data. An angle smaller than the set angle is recorded as an unstable angle. The angle change speed greater than the set angle is compared with the set standard speed. An angle change speed greater than the set standard speed is also recorded as an unstable angle. The dynamic judgment and analysis module generates an angle anomaly index based on the unstable angle. The dynamic judgment and analysis module records the angle anomaly index, connection anomaly index, and vibration anomaly index as the operational stability result. The method by which the dynamic judgment and analysis module obtains the dynamic stability result is as follows: The dynamic judgment and analysis module quantifies and generates driving speed and driving tilt angle from driving data and outputs them as driving interference. The dynamic judgment and analysis module corrects the standard operating data in the generation of the running stability result through driving interference, performs dynamic threshold judgment, obtains new dynamic stability result, judges based on the dynamic stability result, obtains abnormal indicators in the dynamic stability result, and obtains corresponding dynamic adjustment data through the database based on the abnormal indicators.

2. The tractor suspension control system for maintaining stable operation according to claim 1, characterized in that, The driving statistics module collects driving data including driving speed and driving tilt angle; When acquiring the tilt angle, the driving statistics module records the tilt angle and tilt direction of the tractor through sensors installed inside the tractor. The method for determining the tilt direction is as follows: a circular surface is created with the sensor location as the center, and the circular surface is consistent with the tilt of the tractor. At the same time, 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. The radius corresponding to the point with the farthest distance above the horizontal plane is projected onto the horizontal plane. Meanwhile, the driving statistics module acquires the current forward direction of the tractor and calculates the angle between the projection and the forward direction to obtain the tilt direction. The driving statistics module records the angle between the corresponding radius and the projection as the tilt angle.

3. A 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 with the current parameters of the rear suspension components to obtain the adjustment parameters; After the multi-directional adjustment module sends the adjustment parameters to the suspension component monitoring module and executes them, it monitors the 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 ineffective.

4. A 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 tractor's current driving data to obtain secondary adjustment parameters. After the driving statistics module executes the secondary adjustment parameters, it monitors the 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 ineffective.

5. A tractor suspension control system for maintaining stable operation according to claim 1, characterized in that, After acquiring dynamic adjustment data, the early warning adjustment module outputs and displays the adjustment data. After acquiring correction supervision and secondary correction supervision, it quantifies and outputs the correction categories, and outputs the results of effective or ineffective adjustment.

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