Control method, device and equipment for tractor and readable storage medium

Abstract

The invention discloses a control method, device and equipment for a tractor and a readable storage medium. The method comprises the steps that in the working process of the tractor, the working states of the manual operation mechanism and the electric driving mechanism are obtained; determining selectable working modes according to the working states of the manual operation mechanism and the electric driving mechanism, wherein the selectable working modes comprise at least one of a manual mode, a semi-automatic mode and a full-automatic mode; obtaining a target working mode selected by the user from the selectable working modes; and controlling the tractor to enter the target working mode, and starting a corresponding driving power distribution strategy according to the target driving mode.

Description

Technical Field

[0001] This application relates to the field of tractor technology, and more specifically to a control method, device, equipment, and readable storage medium for a tractor. Background Technology

[0002] Mechanical gear shifting is a technology that uses a combination of mechanical structure and manual operation to switch gears on a tractor. Its core lies in the driver's full manual intervention, relying on physical changes in the rigid transmission structure to adjust the gear ratio to meet different operational needs.

[0003] In existing technology, for a driver to achieve power distribution, three mechanically linked actions must be performed simultaneously: clutch disengagement, transfer case engagement, and differential lock engagement. Specifically, clutch disengagement requires the driver to precisely control the master clutch to cut off power transmission between the engine and transmission; transfer case engagement requires the driver to move the transfer case lever to guide the power distribution to the front and rear drive wheels; and differential lock engagement requires the driver to pull the differential lock cable to prevent wheel slippage and ensure a stable power supply.

[0004] While the aforementioned mechanical linkage method can meet basic operational requirements to some extent, each gear shift requires manual intervention from the driver, a process that is cumbersome and time-consuming. Therefore, existing tractor control methods are insufficient in terms of flexibility. Summary of the Invention

[0005] The purpose of this application is to provide a control method, device, equipment, and storage medium for a tractor.

[0006] To achieve the above objectives, the first aspect of this application provides a control method for a tractor, the tractor including a manual operating mechanism and an electric drive mechanism, the method comprising: During tractor operation, the working status of the manual operating mechanism and the electric drive mechanism is acquired; The selectable working mode is determined based on the working status of the manual operating mechanism and the electric drive mechanism. The selectable working mode includes at least one of manual mode, semi-automatic mode and fully automatic mode. Retrieve the target working mode selected by the user from the available working modes; Control the tractor to enter the target working mode and activate the corresponding drive power distribution strategy according to the target drive mode.

[0007] In this embodiment, the working state includes a normal state and a fault state. Determining the selectable working mode based on the working state of the manual operating mechanism and the electric drive mechanism includes: when both the manual operating mechanism and the electric drive mechanism are in a normal state, the selectable working modes include manual mode, semi-automatic mode, and fully automatic mode; when the manual operating mechanism is in a fault state and the electric drive mechanism is in a normal state, the selectable working mode is fully automatic mode; and when the manual operating mechanism is in a normal state and the electric drive mechanism is in a fault state, the selectable working mode is manual mode.

[0008] In this embodiment of the application, when the manual operating mechanism is in a normal state and the electric drive mechanism is in a fault state, determining the selectable working mode as manual mode includes: when the manual operating mechanism is in a normal state and the electric drive mechanism is in a fault state, acquiring an abnormal signal of the electric drive mechanism; when the abnormal signal is a preset key signal, determining the selectable working mode as manual mode, wherein the preset key signal refers to an abnormal signal that indicates a serious fault in the electric drive mechanism.

[0009] In this embodiment, the tractor includes front and rear axles and a transfer case. Activating the corresponding drive power distribution strategy according to the target drive mode includes: when the target operating mode is fully automatic and the target drive mode is four-wheel drive, acquiring the tractor's travel speed and the tilt angle values ​​of the front and rear axles; when the tractor's travel speed is greater than a first threshold and the tilt angle values ​​of the front and rear axles are greater than a preset angle, determining a speed correction coefficient based on the difference between the tractor's travel speed and the first threshold, and determining a tilt angle correction coefficient based on the difference between the tilt angle values ​​of the front and rear axles and the preset angle; correcting the default drive power distribution ratio based on the speed correction coefficient and the tilt angle correction coefficient to obtain the target drive power distribution ratio; and controlling the transfer case to distribute drive power to the front and rear axles according to the target drive power distribution ratio.

[0010] In this embodiment, the tractor includes a braking device. Activating the corresponding drive power distribution strategy according to the target drive mode includes: when the target working mode is fully automatic and the target drive mode is two-wheel drive, acquiring the tractor's moving speed and the braking signal of the braking device; when the tractor's moving speed is greater than a second threshold and the braking signal of the braking device indicates that the braking device is in a normal state, controlling the tractor to switch from two-wheel drive mode to four-wheel drive mode, and activating the corresponding drive power distribution strategy according to the four-wheel drive mode.

[0011] In this embodiment, the manual operating mechanism includes a clutch pedal and a gear lever. The method further includes: when the target operating mode is semi-automatic, acquiring the angle changes of the clutch pedal and gear lever; determining a first auxiliary force component based on the range of the angle change rate of the clutch pedal and gear lever, and determining a second auxiliary force component based on the range of the angle change amplitude of the clutch pedal and gear lever; performing a weighted summation of the first auxiliary force component and the second auxiliary force component to obtain a target auxiliary force, and outputting the torque corresponding to the target auxiliary force to the clutch pedal and gear lever.

[0012] A second aspect of this application provides a control device for a tractor, comprising: a memory configured to store instructions; a processor configured to retrieve instructions from the memory and to implement a control method for the tractor when executing the instructions.

[0013] A third aspect of this application provides a tractor, comprising: a control device for the tractor; a manual operating mechanism; and an electric drive mechanism.

[0014] In this embodiment, the manual operating mechanism includes a clutch pedal and a gear shift lever.

[0015] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform a control method for a tractor.

[0016] Unlike traditional tractors that rely solely on mechanical operation, this application integrates a manual operating mechanism and an electric drive mechanism, providing a flexible and efficient power control system. This system includes three modes: manual, semi-automatic, and fully automatic. Depending on the malfunction of the manual operating mechanism or the electric drive mechanism, at least one mode is provided to the user, allowing them to choose according to the actual operating conditions. The semi-automatic mode achieves partial automation, while the fully automatic mode completely frees the driver's hands, realizing a high degree of automation in the operation process and significantly improving the tractor's work efficiency and operating experience.

[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 A schematic flowchart of a control method for a tractor according to an embodiment of this application is shown. Figure 2A schematic flowchart of a control method for a tractor according to an embodiment of this application is shown. Figure 3 A schematic flowchart of a control method for a tractor according to an embodiment of this application is shown. Figure 4 A schematic diagram of a control device for a tractor according to an embodiment of this application is shown. Figure 5 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] Figure 1 A schematic flowchart illustrating a control method for a tractor according to an embodiment of this application is shown. Figure 1 As shown in the figure, this application provides a control method for a tractor, which may include the following steps: Step 101: During the operation of the tractor, obtain the working status of the manual operation mechanism and the electric drive mechanism.

[0021] In this embodiment, a design concept of collaborative operation between an electric drive mechanism and a manual operating mechanism is adopted, realizing dual-mode control through an integrated transmission system. The transmission system adopts a modular architecture design, supporting independent or combined operation of electric and manual modes, and ensuring a natural, smooth, and seamless transition between the two control methods.

[0022] The manual operating mechanism refers to the collection of components on a tractor that allow the driver to directly control them physically, including key components such as the gearshift lever and clutch pedal. The gearshift lever is connected to the transmission via a mechanical linkage, allowing the driver to manually shift gears simply by pushing or pulling it. The clutch pedal, through a hydraulic or mechanical transmission mechanism, controls the engagement and disengagement of the clutch; when the driver depresses the pedal, the power transmission path is quickly cut off. As a fundamental safety feature of the tractor, the manual operating mechanism allows the driver to intervene directly in special circumstances, ensuring that power remains within a controllable range and providing a solid guarantee for the safe operation of the tractor.

[0023] The electric drive mechanism constitutes the execution terminal of the tractor's automated control system, centrally managed by the Electronic Control Unit (ECU). This mechanism executes commands generated by intelligent control algorithms to automate power distribution and gear shifting, primarily comprising core components such as the motor and transmission mechanism. Throughout the automated control process, the ECU acts as the central hub, integrating advanced intelligent control algorithms. It can collect real-time vehicle status information and precisely control the transmission system based on this information, while also providing fault diagnosis and alarm functions. The motor connects the transmission mechanism to the gearbox and transfer case via gears or chains, driving gear shifting and power distribution. In practical applications, motors with high torque and low energy consumption designs can be selected to ensure reliable tractor operation even in complex terrain conditions.

[0024] Understandably, during the actual operation of a tractor, especially during critical stages such as power transmission, gear shifting, and task execution, it is necessary to monitor the status of both the manual operating mechanism and the electric drive mechanism in real time to ensure control accuracy and safety. The specific implementation steps are as follows: First, identify the key components in the tractor's manual operating mechanism and electric drive mechanism, such as the gear shift lever in the manual operating mechanism and the motor in the electric drive mechanism. For each key component, determine the corresponding sensor configuration scheme, including sensor selection and installation location design; for example, configuring a displacement sensor for the gear shift lever and a speed sensor for the motor. Second, based on the tractor's design specifications, technical parameters, and historical operating data, establish precise electrical signal reference ranges for various sensors.

[0025] During tractor operation, signals from various sensors are collected in real time according to a preset sampling frequency. The raw sensor electrical signals are preprocessed, including filtering, amplification, and noise reduction. Then, each sensor signal is compared to a pre-defined reference range. If a sensor signal value exceeds the reference range, the corresponding component is identified as potentially faulty. Based on the component indicated by the abnormal signal, the operating status of the mechanism containing that component is further determined, providing a basis for subsequent fault diagnosis and handling.

[0026] Step 102: Determine the selectable working mode based on the working status of the manual operating mechanism and the electric drive mechanism. The selectable working mode includes at least one of manual mode, semi-automatic mode and fully automatic mode.

[0027] Understandably, the operating modes are divided into three categories: manual, semi-automatic, and fully automatic. In manual mode, the tractor is entirely operated by the driver through direct manual control of the manual operating mechanism. In this mode, the driver has complete control; all operating commands are issued and executed manually, and the ECU does not intervene in any automated control. In fully automatic mode, the electric drive mechanism takes over full control. Based on preset control algorithms or received external commands, the ECU autonomously completes decision-making and executes all operating procedures, achieving intelligent operation of the tractor without human intervention. Semi-automatic mode is a human-machine collaborative working method, organically combining manual operation with automatic control. In this mode, after the driver operates the manual operating mechanism, the electric drive mechanism automatically completes a series of subsequent actions based on preset programs or information from sensor feedback, achieving partial automated operation of the tractor.

[0028] Depending on the operating status of the manual operating mechanism and the electric drive mechanism, various rules can be used to determine the optional operating mode. The following is a feasible example rule.

[0029] When both the manual operating mechanism and the electric drive mechanism are functioning normally, the tractor possesses multiple operating capabilities, offering selectable working modes including manual, semi-automatic, and fully automatic. This flexibility caters to the usage habits of different operators and the needs of various tasks. For example, experienced operators may prefer manual mode for more precise control, semi-automatic mode can improve efficiency for routine, repetitive tasks, while fully automatic mode is suitable for tasks requiring high precision and efficiency in stable environments. If the manual operating mechanism malfunctions, the operator cannot effectively control the tractor manually. However, if the electric drive mechanism is functioning normally, the tractor possesses its own automated operation capability. In this case, the selectable working mode is fully automatic, relying on the automated control of the electric drive mechanism to complete the task and preventing the tractor from becoming inoperable due to a manual operating mechanism malfunction. Conversely, if the electric drive mechanism malfunctions, the tractor cannot automatically perform tasks, but the manual operating mechanism is functioning normally, the operator can directly control the tractor manually. Therefore, the selectable working mode is manual, ensuring the tractor can continue operating even when the electric drive mechanism fails.

[0030] The multi-mode design of this solution provides redundancy and a safety net for tractor operation. Even in the event of a failure in the manual or electric drive mechanism, a suitable operating mode can still be provided to ensure the tractor can continue to operate. This dynamic mode judgment based on the actual working conditions allows the tractor to better adapt to different operating scenarios.

[0031] This approach focuses on a specific combination of a normal manual operating mechanism and a malfunctioning electric drive mechanism. The electric drive mechanism may encounter various malfunctions during operation. To address these malfunctions more scientifically, they can be categorized into minor, moderate, and severe malfunctions. The core logic of this embodiment is that manual mode is only selected as the optional operating mode when a severe malfunction occurs. For other malfunction types, such as a minor malfunction in the electric drive mechanism, the ECU only issues an alarm and displays a fault code, without restricting function usage. Similarly, when a moderate malfunction occurs, the ECU issues an alarm, informing the specific problem with the malfunctioning part and disabling functions related to that part, while other functions continue to operate normally to minimize the impact of the malfunction on operations. This tiered approach ensures that the tractor can continue operating in manual mode to avoid work interruption when a severe malfunction occurs in the electric drive mechanism, while avoiding unnecessary mode switching during minor malfunctions, thereby reducing potential risks and operational complexity.

[0032] Specifically, once it is determined that the manual operating mechanism is in normal condition and the electric drive mechanism is in a faulty state, the processor will acquire abnormal signals generated by the electric drive mechanism. Since technicians have pre-set a series of key signals based on actual conditions, these signals are specifically designed to characterize serious faults in the electric drive mechanism, such as motor overload protection triggering, motor winding short circuit, and transmission system jamming. Thus, in practical applications, the acquired abnormal signals from the electric drive mechanism are simply compared with the pre-set key signals. If the abnormal signal belongs to any of the pre-set key signals, it indicates that the electric drive mechanism has suffered a serious fault. In this case, to ensure that the tractor can continue to perform basic tasks and avoid work interruption due to complete failure of the electric drive mechanism, the processor will determine the selectable operating mode as manual mode, allowing the driver to control the tractor's operation manually.

[0033] Step 103: Obtain the target working mode selected by the user from the optional working modes.

[0034] Step 104: Control the tractor to enter the target working mode and activate the corresponding drive power distribution strategy according to the target drive mode.

[0035] The selectable working modes constitute the user's range of choices, providing feasible operating methods. In this context, users will autonomously select from the selectable working modes based on their own needs, experience, and the characteristics of the current task. This process is usually achieved through a human-computer interaction interface, such as a touchscreen, button, or voice command receiving device. The processor monitors the user's operations on the interface in real time and accurately identifies and obtains the selected target working mode after the user completes the selection.

[0036] For example, the touchscreen displays "Optional operating modes: [Fully Automatic Mode] [Semi-Automatic Mode] [Manual Mode]". The user can select one of these options by tapping the touchscreen, based on their needs. For instance, the user taps "[Semi-Automatic Mode]". The processor monitors and captures this tap in real time, identifying the selected "Semi-Automatic Mode" as the user's chosen operating mode.

[0037] Furthermore, after confirming the target operating mode, the processor will call the parameter settings corresponding to that mode to put the tractor into that mode. For example, when the manual mode is selected, the processor will monitor the angle change of the gear lever in real time to accurately identify the driver's operating intentions and achieve smooth acceleration, deceleration, and gear shifting operations.

[0038] Furthermore, the drive mode refers to the driving method of the tractor's drive wheels, including four-wheel drive and two-wheel drive modes. The processor automatically determines the target drive mode based on the tractor's speed and surrounding road conditions, or detects the target drive mode manually selected by the user. It then activates the corresponding drive power distribution strategy according to the target drive mode to ensure optimal traction and driving performance under various operating conditions. Specifically, when the target drive mode is four-wheel drive, the processor controls the transfer case to engage, distributing engine power to all four wheels, thereby enhancing the tractor's passability and stability in complex road conditions, preventing wheel slippage, and ensuring effective power output. When the target drive mode is two-wheel drive, the processor controls the transfer case to disengage the front axle, so the front wheels no longer receive power, and the tractor is driven only by the rear wheels. This mode is typically suitable for scenarios with good road conditions, high traction, and light loads, reducing power loss, improving fuel economy, and simplifying operation.

[0039] In this embodiment, selectable operating modes are determined based on the working states of the manual operating mechanism and the electric drive mechanism, including at least one of manual mode, semi-automatic mode, and fully automatic mode. Then, the target operating mode selected by the user based on the selectable operating modes is obtained, and the tractor is controlled to enter the target operating mode and power distribution is completed according to the target drive mode. Although the manual mode still requires manual intervention from the driver, it, together with the semi-automatic and fully automatic modes, constitutes a flexible operating system. The driver can select the mode according to the actual working conditions, instead of having to manually intervene for each gear shift as in existing technologies. The semi-automatic mode cleverly integrates manual and automatic operation, with some operations being automatically completed by the electric drive mechanism, reducing the steps and time spent on manual gear shifting. The fully automatic mode achieves a high degree of automation, requiring no manual intervention from the driver, greatly saving operating time and effort.

[0040] Figure 2A schematic flowchart illustrating a control method for a tractor according to an embodiment of this application is shown. Figure 2 As shown in the figure, this application provides a control method for a tractor, which may include the following steps: Step 201: When the target working mode is fully automatic and the target drive mode is four-wheel drive, obtain the tractor's moving speed and the tilt angle values ​​of the front and rear axles.

[0041] When it is determined that the tractor needs to be operated in "fully automatic mode" and "four-wheel drive mode", the ECU will obtain the current moving speed of the tractor through devices such as vehicle speed sensors, and measure the tilt angle values ​​of the front and rear axles through tilt sensors or gyroscopes installed on the front and rear axles.

[0042] Taking a magnetoelectric vehicle speed sensor as an example, it is typically installed near the output shaft of the tractor's gearbox or the wheel hub. When the gearbox output shaft or wheel rotates, it drives the magnet or induction coil inside the sensor to rotate, thereby generating an alternating induced electromotive force (EMF) in the sensor. The frequency of this induced EMF is proportional to the wheel's rotational speed. By measuring this frequency and combining it with the wheel's circumference, the tractor's speed can be calculated.

[0043] Taking a capacitive tilt sensor as an example, it consists of two fixed electrodes and one movable electrode. When the sensor tilts, the capacitance between the movable electrode and the fixed electrode changes. The tilt angle can be calculated by measuring the change in capacitance.

[0044] Step 202: When the tractor's moving speed is greater than the first threshold and the tilt angle of the front and rear axles is greater than the preset angle, determine the speed correction coefficient based on the difference between the tractor's moving speed and the first threshold, and determine the tilt angle correction coefficient based on the difference between the tilt angle of the front and rear axles and the preset angle.

[0045] Step 203: Correct the default drive power distribution ratio based on the speed correction coefficient and the tilt angle correction coefficient to obtain the target drive power distribution ratio.

[0046] Step 204: Control the transfer case to distribute drive power to the front and rear axles according to the target drive power distribution ratio.

[0047] The ECU performs a detailed evaluation of the tractor's operating status. Specifically, it compares the tractor's speed with a preset first threshold and the tilt angles of the front and rear axles with preset angles. If the speed exceeds the first threshold and the tilt angles of the front and rear axles exceed the preset angles, it indicates that the tractor may be traveling at high speed on inclines, declines, or bumpy roads, requiring adjustment of the drive power distribution.

[0048] A speed correction coefficient is calculated based on the difference between the tractor's moving speed and a first threshold. A larger difference indicates a greater degree of speed exceeding the limit, and the higher the speed correction coefficient may be. This reduces power distribution to the rear axle and increases power distribution to the front axle, improving stability. A tilt angle correction coefficient is calculated based on the difference between the tilt angle values ​​of the front and rear axles and a preset angle. A larger difference indicates a more severe road tilt, and the higher the tilt angle correction coefficient may be. This adjusts the power distribution between the front and rear axles to prevent vehicle skidding or rollover.

[0049] The default drive power distribution ratio is the preset power distribution ratio between the front and rear axles under standard conditions. However, under complex driving conditions, the ECU will adjust the default drive power distribution ratio with calculated speed correction coefficients and tilt angle correction coefficients to obtain the target drive power distribution ratio.

[0050] Finally, the ECU sends a command containing the target drive power distribution ratio to the transfer case. The transfer case is responsible for distributing the engine's output power to the front and rear drive axles. Upon receiving the command, the transfer case precisely distributes the drive torque to the front and rear axles according to the calculated target drive power distribution ratio.

[0051] For example, a preset first threshold is set to 15 km / h, and a preset front and rear axle tilt angle threshold is set to 5 degrees. Currently, sensors installed on the tractor monitor a real-time travel speed of 16 km / h and a front axle tilt angle of 7 degrees. Comparing these, 16 km / h > 15 km / h, and the front and rear axle tilt angles of 7 degrees > 5 degrees. Therefore, it is determined that the tractor may be traveling at high speed on an incline, slope, or bumpy road, requiring adjustment of the drive power distribution. The speed difference is calculated as 16 km / h - 15 km / h = 1 km / h. Assuming a preset value of 0.05 for every 1 km / h exceeding the threshold, the speed correction coefficient is 0.05. The tilt angle difference is calculated as 7 degrees - 5 degrees = 2 degrees. Assuming a preset value of 0.08 for every 1 degree exceeding the threshold, the tilt angle correction coefficient is 0.16. The default drive power distribution ratio is known to be 40% (front axle) / 60% (rear axle). Assuming the control algorithm is: Target front axle ratio = Default front axle ratio + (Speed ​​correction coefficient + Tilt angle correction coefficient) × Adjustment weight (e.g., 10%), then the target front axle ratio = 40% + (0.05 + 0.16) × 10% = 40% + 0.21 × 10% = 40% + 2.1% = 42.1%. Correspondingly, the target rear axle ratio = 100% - 42.1% = 57.9%. Therefore, the target drive power distribution ratio is approximately 42% (front axle) / 58% (rear axle). Finally, the ECU sends a control command containing the target drive power distribution ratio (42% for the front axle, 58% for the rear axle) to the transfer case. Upon receiving the command, the transfer case precisely distributes the drive torque from the engine to the front and rear axles according to the 42% / 58% ratio.

[0052] In this embodiment, when the tractor is in fully automatic and four-wheel drive mode, the system acquires the travel speed and front and rear axle tilt angles. This allows for timely perception of the tractor's status when it is traveling at high speed and facing complex conditions such as uphill / downhill slopes and bumpy roads. For example, in mountain terraced field operations, the tractor frequently needs to go uphill / downhill, and changes in travel speed and tilt angle can be accurately captured. By dynamically adjusting the power distribution using speed and tilt angle correction coefficients, the power distribution to the front axle can be increased, while the power distribution to the rear axle can be decreased. This prevents rear wheel slippage and fishtailing when the vehicle is traveling at high speed downhill, thus improving driving stability.

[0053] Figure 3 A schematic flowchart illustrating a control method for a tractor according to an embodiment of this application is shown. Figure 3 As shown in the figure, this application provides a control method for a tractor, which may include the following steps: Step 301: When the target working mode is fully automatic mode and the target drive mode is two-wheel drive mode, acquire the tractor's moving speed and the braking signal of the braking device. Step 302: When the tractor's moving speed is greater than the second threshold and the braking signal of the braking device indicates that the braking device is in normal condition, control the tractor to switch from two-wheel drive mode to four-wheel drive mode, and activate the corresponding drive power distribution strategy according to the four-wheel drive mode.

[0054] Understandably, a second threshold is pre-set, which is based on the tractor's design performance and safety standards. This threshold is usually lower than the limit speed for switching to four-wheel drive mode, in order to ensure that the mode is switched before the speed becomes too high, thus ensuring safety.

[0055] When the tractor is determined to be in fully automatic mode and the drive mode is two-wheel drive, the ECU will obtain the current moving speed of the tractor through devices such as vehicle speed sensors, and monitor the operation status of the brake pedal through sensors or gyroscopes installed on the braking device to obtain braking signals.

[0056] When the tractor's speed exceeds a preset second threshold and the braking signal indicates that the braking device is in normal condition, the ECU determines that the current two-wheel drive mode may not meet the requirements for driving stability. At this time, the ECU sends a command to the transfer case. This command triggers the mechanical or hydraulic connection device inside the transfer case to change the power from the engine being transmitted to only one drive axle to being transmitted to both drive axles simultaneously, thus switching from two-wheel drive mode to four-wheel drive mode. After the mode switch is successful, the ECU automatically calls and activates the drive power distribution strategy corresponding to the four-wheel drive mode to optimize traction and handling.

[0057] When a tractor is traveling at high speed in two-wheel drive mode, its limited power distribution may affect vehicle stability in the event of unexpected situations or complex road conditions. To address this challenge, this solution automatically switches the drive mode to four-wheel drive mode, provided the braking system is functioning properly. This ensures all four wheels receive driving force, significantly enhancing the vehicle's grip and handling, effectively reducing the probability of potential hazards such as skidding and fishtailing, and ensuring driving safety.

[0058] In one embodiment, such as Figure 4 As shown, a control device 400 for a tractor is provided, including a first acquisition module, a determination module, a second acquisition module, and a control module, wherein: The first acquisition module 401 is used to acquire the working status of the manual operating mechanism and the electric drive mechanism during the operation of the tractor.

[0059] The determining module 402 is used to determine the selectable working mode based on the working status of the manual operating mechanism and the electric drive mechanism. The selectable working mode includes at least one of manual mode, semi-automatic mode and fully automatic mode.

[0060] The second acquisition module 403 is used to acquire the target working mode selected by the user from the optional working modes.

[0061] The control module 404 is used to control the tractor to enter the target working mode and to activate the corresponding drive power distribution strategy according to the target drive mode.

[0062] The control device for the tractor includes a processor and a memory. The first acquisition module, the determination module, the second acquisition module, and the control module are all stored as program units in the memory. The processor executes the program modules stored in the memory to implement the corresponding functions.

[0063] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and the control method for the tractor can be implemented by adjusting the kernel parameters.

[0064] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0065] This application provides a storage medium storing a program that, when executed by a processor, implements the aforementioned control method for a tractor.

[0066] This application provides a processor for running a program, wherein the program executes the above-described control method for a tractor.

[0067] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores working status data, working mode data, etc. The network interface A02 is used for communication with external terminals via a network connection. When executed by the processor A01, the computer program B02 implements a control method for a tractor.

[0068] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0069] This application provides a computer (electronic) device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the above control methods for a tractor.

[0070] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program that initializes a control method step for a tractor.

[0071] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0073] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0074] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0076] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0077] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0078] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0079] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a tractor, characterized in that, The tractor includes a manual operating mechanism and an electric drive mechanism, and the method includes: During the operation of the tractor, the working status of the manual operating mechanism and the electric drive mechanism is acquired; The selectable working mode is determined based on the working status of the manual operating mechanism and the electric drive mechanism. The selectable working mode includes at least one of manual mode, semi-automatic mode and fully automatic mode. Obtain the target working mode selected by the user from the optional working modes; The tractor is controlled to enter the target working mode, and the corresponding drive power distribution strategy is activated according to the target drive mode.

2. The control method for a tractor according to claim 1, characterized in that, The operating states include normal and fault states. Based on the operating states of the manual operating mechanism and the electric drive mechanism, the selectable operating modes include: When both the manual operating mechanism and the electric drive mechanism are in the normal state, the selectable operating modes are determined to include the manual mode, the semi-automatic mode, and the fully automatic mode; When the manual operating mechanism is in the fault state and the electric drive mechanism is in the normal state, the selectable working mode is determined to be the fully automatic mode; When the manual operating mechanism is in the normal state and the electric drive mechanism is in the fault state, the selectable operating mode is determined to be the manual mode.

3. The control method for a tractor according to claim 2, characterized in that, When the manual operating mechanism is in the normal state and the electric drive mechanism is in the fault state, determining the selectable operating mode as the manual mode includes: When the manual operating mechanism is in the normal state and the electric drive mechanism is in the fault state, an abnormal signal of the electric drive mechanism is acquired. If the abnormal signal is a preset critical signal, the selectable working mode is determined to be the manual mode, wherein the preset critical signal refers to an abnormal signal that indicates a serious malfunction of the electric drive mechanism.

4. The control method for a tractor according to claim 1, characterized in that, The tractor includes front and rear axles and a transfer case. The corresponding drive power distribution strategy activated according to the target drive mode includes: When the target working mode is the fully automatic mode and the target drive mode is the four-wheel drive mode, the tractor's moving speed and the tilt angle values ​​of the front and rear axles are obtained. When the tractor's moving speed is greater than a first threshold and the tilt angle of the front and rear axles is greater than a preset angle, a speed correction coefficient is determined based on the difference between the tractor's moving speed and the first threshold, and a tilt angle correction coefficient is determined based on the difference between the tilt angle of the front and rear axles and the preset angle. The target drive power distribution ratio is obtained by correcting the default drive power distribution ratio based on the speed correction coefficient and the tilt angle correction coefficient. The transfer case is controlled to distribute drive power to the front and rear axles according to the target drive power distribution ratio.

5. The control method for a tractor according to claim 1, characterized in that, The tractor includes a braking device, and the corresponding drive power distribution strategy is activated according to the target drive mode, including: When the target working mode is the fully automatic mode and the target drive mode is the two-wheel drive mode, the tractor's moving speed and the braking signal of the braking device are acquired. When the tractor's moving speed is greater than the second threshold and the braking signal of the braking device indicates that the braking device is in a normal state, the tractor is controlled to switch from the two-wheel drive mode to the four-wheel drive mode, and the corresponding drive power distribution strategy is activated according to the four-wheel drive mode.

6. The control method for a tractor according to claim 1, characterized in that, The manual operating mechanism includes a clutch pedal and a gear lever, and the method further includes: When the target working mode is semi-automatic, obtain the angle changes of the clutch pedal and gear lever. The first auxiliary force component is determined based on the range of the angle change rate of the clutch pedal and the gear lever, and the second auxiliary force component is determined based on the range of the angle change amplitude of the clutch pedal and the gear lever. The target auxiliary force is obtained by weighted summation of the first and second auxiliary force components, and the torque corresponding to the target auxiliary force is output to the clutch pedal and gear lever.

7. A control device for a tractor, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for a tractor according to any one of claims 1 to 6.

8. A tractor, characterized in that, include: The control device for a tractor according to claim 7; Manual operating mechanism and electric drive mechanism.

9. The tractor according to claim 8, characterized in that, The manual operating mechanism includes a clutch pedal and a gear lever.

10. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform the control method for a tractor according to any one of claims 1 to 6.

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