Auxiliary testing device and testing method for field reliability test of tractor

Abstract

The invention relates to an auxiliary testing device and method for a field reliability test of a tractor, and the device comprises a rapid fixed supporting rod which is supported in a cab of the tractor; the steering wheel driving mechanism comprises a steering motor with a friction head on an output shaft and a torsion rotating piece connected between the steering motor and the quick fixing support rod; the torsion rotating piece is configured to apply torque to the steering motor with the torsion rotating piece as the rotating center, so that the friction head abuts against the steering wheel in a friction mode. The auxiliary testing device is used for assisting a driver in reliability testing and can be quickly disassembled and assembled, and the preparation time of an early-stage test is shortened; according to the test method, the driver can be assisted in automatically collecting and monitoring the operation data and the working state of the vehicle in the test process, the working intensity of the driver is greatly reduced, and meanwhile fault statistics and rapid solution are facilitated.

Description

Technical Field

[0001] This invention relates to the field of tractor testing technology, specifically to an auxiliary testing device and method for tractor field reliability testing. Background Technology

[0002] Tractor reliability testing is a crucial method for simulating real-world user conditions and evaluating the durability and stability of tractors before they are released to the market. Reliability testing can be divided into laboratory testing and field testing, with field testing being more widely used due to its closer resemblance to actual tractor operating conditions. During testing, drivers need to attach implements and drive the tractor for hundreds of hours under heavy workloads, sometimes lasting for months. They also need to collect and report various tractor malfunctions, resulting in a high workload. Currently, tractor malfunctions encountered during reliability testing rely entirely on driver feedback. Technicians must then travel to the site to collect data and diagnose the problem before developing a solution, leading to low efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an auxiliary testing device and method for tractor field reliability testing. The device is used to assist the driver in conducting reliability testing and can be quickly disassembled and assembled, reducing the preparation time for the initial test. The testing method can assist the driver in automatically collecting and monitoring the vehicle's operating data and working status during the test, which greatly reduces the driver's workload and is also conducive to fault statistics and rapid resolution.

[0004] The technical solution adopted in this invention is: an auxiliary testing device for tractor field reliability testing, comprising: A quick-fix support rod is provided, which is supported in the tractor's cab. A steering wheel drive mechanism includes a steering motor with a friction head on an output shaft and a torque rotating member connected between the steering motor and a quick-release bracket; the torque rotating member is configured to apply torque to the steering motor about itself as a center of rotation, so that the friction head rubs against the steering wheel. The pedal drive mechanism includes a pedal motor fixed to the quick-fixing support rod and a pedal linkage connecting the output shaft of the pedal motor and the tractor pedal. Control mechanism, including components mounted on the tractor: The GNSS antenna is used to acquire satellite data and transmit it to the control box; The control box is used to analyze the tractor's real-time geographic coordinates, speed, and heading angle based on satellite data; Used to generate work paths within the reliable working area of ​​a tractor in the field; and This is used to determine the rotation speed and steering angle commands of the steering motor and pedal motor based on the tractor's geographical coordinates, speed, heading angle, and work path, so as to control the tractor to travel along the work path; The touch screen is electrically connected to the control box and is used for human-computer interaction.

[0005] As a preferred embodiment, the quick-fixing support rod includes a lower support rod and an upper sliding support rod that slide together, and the lower support rod and the upper sliding support rod are locked together by a locking mechanism. The lower support rod is equipped with a lower support pad for supporting the tractor cab floor; the upper sliding support rod is equipped with an upper support pad for supporting the tractor cab roof. The pedal motor and the torque rotating component are both fixed to the lower support rod.

[0006] As a preferred embodiment, the locking mechanism includes a rack mechanism fixed on the upper sliding support rod and a mounting groove fixed on the lower support rod. A tensioning handle is rotatably disposed in the mounting groove. The tensioning handle has teeth that mesh with the rack mechanism. The lower support rod is also provided with a locking buckle that can lock or separate from the tensioning handle.

[0007] As a preferred embodiment, it also includes a support adjustment member for limiting the pitch angle of the steering motor; The support adjustment component includes an adjustment bolt fixed to the quick-fixing support rod and a height adjustment rod threadedly engaged with the adjustment bolt. One end of the height adjustment rod can abut against the outer wall of the steering motor housing.

[0008] As a preferred embodiment, the torque rotating component includes a torsion disc and a torsion disc position adjustment bracket, the torsion disc position adjustment bracket being fixed to the quick-fixing support rod; The torsion disc includes a rear end cover and a motor side end cover that are rotatably engaged, and a torsion spring located between the rear end cover and the motor side end cover. The center coil and the outer coil of the torsion spring are fixedly connected to the rear end cover and the motor side end cover, respectively. The rear end cover is fixedly connected to the torsion disc position adjustment bracket, and the motor side end cover is fixedly connected to the side wall of the steering motor.

[0009] As a preferred embodiment, the control box includes: The GNSS+IMU inertial navigation module is used to analyze the satellite signals received by the GNSS antenna and transmit the analyzed geographic coordinates, speed, and heading angle of the tractor to the central processing unit. The CAN module is used to read engine status data and fault data and send them to the central processing unit; The central processing unit is used to generate a work path within the reliable working area of ​​the tractor in the field, and to determine the rotation speed and angle commands of the steering motor and pedal motor based on the tractor's geographical coordinates, speed, heading angle and work path, and send the rotation speed and angle commands to the motor drive module. The motor drive module is used to receive rotation speed and angle commands from the central processing unit, and control the steering motor and pedal motor to work through the rotation speed and angle commands; The 4G module is used to send the rotation speed and angle commands of the steering motor and pedal motor, engine status data and fault data received by the central processing unit to the cloud platform, so as to monitor the tractor through the cloud platform.

[0010] As a preferred embodiment, the 4G module is also configured to: transmit the current geographic coordinates of the tractor to the RTK server, receive the RTK correction signal fed back by the RTK server in real time, and update and correct the current geographic coordinates, speed, and heading angle of the tractor according to the RTK correction signal.

[0011] A method for testing the reliability of a tractor in the field involves installing an auxiliary testing device for tractor field reliability testing onto the tractor and performing the following steps: The driver drives the tractor around the field boundary line, defining the enclosed area within the boundary line as the tractor's field reliability working area. The control box generates a working path within the tractor's field reliability working area. The tractor then enters the field reliability working area and lowers its implements to initiate the field reliability test. The system acquires satellite data via a GNSS antenna and analyzes the tractor's real-time geographic coordinates, speed, and heading angle based on the satellite data. The system then determines the rotation speed and angle of the steering motor and pedal motor based on the tractor's geographic coordinates, speed, heading angle, and work path, controlling the tractor to move along the work path. The system monitors engine status data and fault data and sends them to the control box; the control box then sends the rotation speed and angle commands of the steering motor and pedal motor, as well as the engine status data and fault data, to the cloud platform for monitoring the tractor.

[0012] As a preferred option, before starting the field reliability test, the steering motor and pedal motor are first calibrated to obtain the steering angle control proportional coefficient and the pedal travel speed ratio. The central processing unit calculates the required steering wheel and pedal angles based on the tractor's geographical coordinates, speed, heading angle, and working path, and calculates the rotation speed and steering angle of the steering motor and pedal motor respectively based on the steering wheel and pedal angles, the steering angle control proportional coefficient, and the pedal travel speed ratio. System calibration includes: The tractor's steering is controlled by a steering motor. The tractor's heading angle is analyzed by a GNSS antenna and a central processing unit. The steering angle control ratio coefficient is calculated based on the heading angle and the actual number of rotations of the steering motor. The tractor's movement is controlled by a pedal motor. The tractor's speed is analyzed by a GNSS antenna and a central processing unit. The pedal travel-to-speed ratio is calculated based on the vehicle speed and the pedal motor's rotation angle.

[0013] As a preferred option, after starting the field reliability test, the tractor's speed, heading angle, and the rotation speed and angle of the steering motor and pedal motor are stored as sensor data, and a standard sequence of each sensor data item at each geographical coordinate on the working path of the tractor is established. The correlation coefficient of each sensor data in the standard sequence is calculated based on the mean of the standard sequence; a correlation coefficient threshold is set, and an alarm message is generated when the correlation coefficient at the current geographic coordinates is lower than the correlation coefficient threshold; the alarm message is transmitted to the touch screen and / or cloud platform.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. Tractor field reliability testing auxiliary testing device: This device requires no disassembly of the steering wheel or drilling, is low-cost, and quick to install. Configuration can be completed in just a few simple steps, reducing pre-test preparation time. Furthermore, the auxiliary testing device is reliable and can quickly complete self-calibration during testing.

[0015] 2. Auxiliary testing method for tractor field reliability testing: After the device is installed, it can assist the driver in controlling the vehicle and automatically collect the vehicle's operating data and monitor the vehicle's working status. When a problem occurs, it can automatically perform fault statistics and report, which can greatly reduce the driver's workload and provide technicians with effective status data to help them analyze vehicle problems.

[0016] 3. In the auxiliary testing method for tractor field reliability testing, the system uses 4G network to acquire RTK differential information to compensate for GNSS data, providing centimeter-level positioning accuracy. The system can automatically collect vehicle operating data, compare the collected data with historical data, comprehensively judge the tractor's working status, and automatically report vehicle operating data and fault data, reducing the driver's workload.

[0017] 4. Technicians can view fault data and information through the cloud platform, improving data support for reliability. The system uses an MPC predictive control model and correlation coefficient calculations to determine the tractor's status; both control accuracy and status monitoring meet the requirements of reliability testing. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the auxiliary testing device in this invention; Figure 2 This is a cross-sectional schematic diagram of the quick-fixing support rod in this invention; Figure 3 This is a three-dimensional schematic diagram of the torsion disc in this invention; Figure 4 This is a cross-sectional schematic diagram of the torsion disc in this invention; Figure 5 This is a schematic diagram of the interface of the control box in this invention; Figure 6 This is a schematic diagram of the control box module in this invention; Figure 7 This is a schematic diagram of the tractor's travel trajectory.

[0020] Reference numerals: 1. Quick-fixing support rod; 2. Torsion disc; 3. Steering motor; 4. Friction head; 5. Torsion disc position adjustment bracket; 6. Height adjustment rod; 7. Pedal motor; 8. Pedal linkage; 9. Control box; 10. Touch screen; 11. GNSS antenna; 12. Lower support rod; 13. Lower support pad; 14. Upper sliding support rod; 15. Upper support pad; 16. Rack and pinion mechanism; 17. Tensioning handle; 18. Locking buckle; 19. Mounting slot; 20. Rear end cover; 21. Motor side. 22. End cap, 23. Torsion spring, 24. Adjusting bolt, 25. Steering motor power supply data interface, 26. Pedal motor power supply data interface, 27. GNSS antenna interface, 28. CAN bus interface, 29. Additional power supply interface, 30. Touch screen interface, 31. Central processing unit, 32. Power supply module, 33. GNSS+IMU inertial navigation module, 34. CAN module, 35. Motor drive module, 36. 4G module, 37. WIFI module, 38. Storage unit. Detailed Implementation

[0021] The present invention will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0022] It should be noted that, unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "a," "an," or "the," etc., used in the specification and claims of this patent application do not express a limitation on quantity, but rather indicate the presence of at least one; the terms "first," "second," and "third," as used herein, should not be considered as a limitation on the order of components, but are merely for distinguishing different components; the terms "comprising," "including," etc., indicate that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, but do not exclude other elements or objects having the same function.

[0023] To more clearly describe the auxiliary testing device and testing method for the field reliability test of this tractor, in conjunction with the appendix... Figure 1-7 This embodiment is described as follows: like Figure 1-7 As shown, a field reliability testing auxiliary device for tractors includes a quick-fix support rod 1, a steering wheel drive mechanism, a pedal drive mechanism, a control mechanism, and a cloud platform. The quick-release support rod 1 is supported in the cab of the tractor; the quick-release support rod 1 has a quick-release structure, which facilitates quick installation and removal; The steering wheel drive mechanism includes a steering motor 3 with a friction head 4 on the output shaft and a torque rotating component connected between the steering motor 3 and the quick-fix support rod 1; the torque rotating component is configured to apply torque to the steering motor 3 with itself as the center of rotation, so that the friction head 4 rubs against the steering wheel; the friction head 4 drives the steering wheel of the tractor to rotate, thereby controlling the heading angle of the tractor during driving. This control method does not require disassembling the steering wheel of the tractor, nor does it require the installation of additional sensors; The pedal drive mechanism includes a pedal motor 7 fixed to a quick-release support rod 1 and a pedal linkage 8 connecting the output shaft of the pedal motor 7 and the tractor pedal. The pedal linkage 8 can specifically adopt a double-link structure, including a first linkage and a second linkage rotatably connected at adjacent ends. The non-adjacent end of the first linkage is fixed to the output shaft of the pedal motor 7, and the non-adjacent end of the second linkage is connected to the tractor pedal. The end of the pedal linkage 8 is connected to the tractor accelerator pedal via bolts or clamps. The pedal motor 7 outputs a certain rotation angle, corresponding to a segment of the accelerator pedal's travel. The pedal motor 7 directly controls the angle change of the tractor pedal, thereby controlling the tractor's movement and braking. This method also eliminates the need to disassemble the tractor pedal and install additional sensors. The control mechanism includes a GNSS antenna 11 mounted on the tractor, a control box 9, and a touch screen 10. The GNSS antenna 11 is used to acquire satellite data and transmit it to the control box 9; there are two GNSS antennas 11, which are installed at the front and rear of the tractor respectively.

[0024] The control box 9 is used to analyze the real-time geographic coordinates, speed and heading angle of the tractor based on satellite data, and to generate a work path within the reliable working area of ​​the tractor in the field; and to determine the rotation speed and angle commands of the steering motor 3 and the pedal motor 7 based on the geographic coordinates, speed, heading angle and work path of the tractor, so as to control the tractor to move along the work path. The touch screen 10 is electrically connected to the control box 9 for human-computer interaction.

[0025] See Figure 1 and Figure 2 The quick-fixing support rod 1 is a telescopic structure that can be directly installed into the tractor cab as an auxiliary testing device, eliminating the need for drilling holes in the cab during installation. Specifically, the quick-fixing support rod 1 includes a lower support rod 12 and an upper sliding support rod 14 that slide against each other, locked together by a locking mechanism. The lower support rod 12 has a lower support pad 13 for supporting the tractor cab floor, and the upper sliding support rod 14 has an upper support pad 15 for supporting the tractor cab roof. During installation, the quick-fixing support rod 1 is placed vertically, with the lower support pad 13 pressing against the cab floor. The upper sliding support rod 14 is pulled up so that the upper support pad 15 presses against the cab roof, and the locking mechanism locks the lower support rod 12 and upper sliding support rod 14 in place, keeping them stable.

[0026] The pedal motor 7 and the torque rotating component can both be fixed on the lower support rod 12.

[0027] For example, the locking mechanism includes a rack mechanism 16 fixed to the upper sliding support rod 14 and a mounting groove 19 fixed to the lower support rod 12. A tensioning handle 17 is rotatably disposed in the mounting groove 19. The tensioning handle 17 has teeth that mesh with the rack mechanism 16. The lower support rod 12 is also provided with a locking buckle 18 that can lock or disengage from the tensioning handle 17. Moving the tensioning handle 17 downward will cause the rack mechanism 16 to slide upward. The rack mechanism 16 pushes the upper sliding support rod 14 upward, causing the upper support pad 15 on the upper sliding support rod 14 to contact the roof and generate tension, thereby fixing it in the cab. Rotating the tensioning handle 17 downward to the locking buckle 18 can lock the position and quickly fix the installation of the support rod 1. The locking buckle 18 has multiple fixing grooves for locking the tensioning handle 17.

[0028] See Figure 3 and Figure 4The torque rotating component includes a torsion disc 2 and a torsion disc position adjustment bracket 5, which is fixed to the quick-fix support rod 1. The friction head 4 drives the tractor's steering wheel to rotate through friction, and the magnitude of the friction is adjusted by the clamping force of the torsion disc 2. Multiple bolt holes are vertically arranged on the quick-fix support rod 1. The torsion disc position adjustment bracket 5 engages with these bolts. During use, the height of the torsion disc position adjustment bracket 5 on the quick-fix support rod 1 is adjusted by changing the bolt holes, thereby adjusting the clamping force of the torsion disc 2. After the steering motor 3 is installed, a certain number of rotations of the friction head 4 corresponds to a certain steering wheel angle.

[0029] Specifically, the torsion disc 2 includes a rear end cover 20 and a motor side end cover 21 that are rotatably coupled, and a torsion spring 22 located between the rear end cover 20 and the motor side end cover 21. The center coil and outer coil of the torsion spring 22 are fixedly connected to the rear end cover 20 and the motor side end cover 21, respectively. The rear end cover 20 is fixedly connected to the torsion disc position adjustment bracket 5, and the motor side end cover 21 is fixedly connected to the side wall of the steering motor 3. During installation, the rear end cover 20 and the motor side end cover 21 are ensured to have a certain relative rotation angle, so that the torsion spring 22 connected between the rear end cover 20 and the motor side end cover 21 can torsionally store energy. Under the action of the deformation recovery of the torsion spring 22, the steering motor 3 is driven to rotate around the torsion disc 2 as the rotation center, so that the friction head 4 presses against the steering wheel of the tractor without slippage. An anti-slip structure can be set on the friction head 4 to improve the friction transmission capability with the steering wheel.

[0030] See Figure 1 The quick-fixing support rod 1 is also equipped with a support adjustment component for limiting the pitch angle of the steering motor 3. When the quick-fixing support rod 1 is not installed, the support adjustment component limits the steering motor 3 to prevent the steering motor 3 from twisting under the connection of the torsion disc 2, thus ensuring that the steering motor 3 remains stationary. When the quick-fixing support rod 1 is installed, the support adjustment component limits the steering motor 3 to prevent the friction head 4 from being subjected to excessive force, thereby improving the stability of the steering motor 3 and the friction head 4 under working conditions.

[0031] Specifically, the support adjustment component includes an adjusting bolt 23 fixed to the quick-fixing support rod 1 and a height adjusting rod 6 threadedly engaged with the adjusting bolt 23. The height adjusting rod 6 is threaded, and one end of the height adjusting rod 6 can abut against the outer wall of the steering motor 3 housing. Rotating the height adjusting rod 6 raises or lowers it relative to the adjusting bolt 23. When the height adjusting rod 6 is rotated to rise, the end of the steering motor 3 away from the torsion disc 2 is raised; when the height adjusting rod 6 is rotated to fall, the end of the steering motor 3 away from the torsion disc 2 is lowered.

[0032] See Figure 5The control box 9 has the following interfaces: a steering motor power supply data interface 24, a pedal motor power supply data interface 25, two GNSS antenna interfaces 26, a CAN bus interface 27, an additional power supply interface 28, and a touch screen interface 29. The steering motor power supply data interface 24 and the pedal motor power supply data interface 25 are used to drive the motor and receive motor feedback data; the GNSS antenna interface 26 is used to connect to the GNSS antenna 11 to receive satellite signals and analyze the tractor's speed and position; the CAN bus interface 27 is used to read engine status data and fault data; the additional power supply interface 28 is used to supply power to the control box and the motors; and the touch screen interface 29 is used to connect to the touch screen 10.

[0033] See Figure 6 The control box 9 includes the following modules: central processing unit 30, power supply module 31, GNSS+IMU inertial navigation module 32, CAN module 33, motor drive module 34, 4G module 35, WIFI module 36 and storage unit 37; The GNSS+IMU inertial navigation module 32 is connected to the GNSS antenna interface 26, which is used to analyze the satellite signals received by the GNSS antenna 11 and transmit the analyzed geographic coordinates, speed, and heading angle of the tractor to the central processing unit 30. CAN module 33 is connected to CAN bus interface 27 and is used to read engine status data and fault data and send them to central processing unit 30; The central processing unit 30 is used to generate a work path within the reliable working area of ​​the tractor in the field, and to determine the rotation speed and angle commands of the steering motor 3 and the pedal motor 7 based on the geographical coordinates, speed, heading angle and work path of the tractor, and to send the rotation speed and angle commands to the motor drive module 34. The motor drive module 34 is used to receive the rotation number and angle commands issued by the central processing unit 30, and control the steering motor 3 and pedal motor 7 to work through the rotation number and angle commands; The 4G module 35 is used to send the rotation and angle commands of the steering motor 3 and pedal motor 7, engine status data and fault data received by the central processing unit 30 to the cloud platform, so as to monitor the tractor through the cloud platform.

[0034] The 4G module 35 is also configured to transmit the tractor's current geographic coordinates to the RTK server, receive RTK correction signals from the RTK server in real time, and update and correct the tractor's current geographic coordinates, speed, and heading angle based on the RTK correction signals.

[0035] A method for testing the reliability of a tractor in the field involves installing an auxiliary testing device for tractor field reliability testing onto the tractor and performing the following steps: The driver drives the tractor around the field boundary line, defining the enclosed area within the boundary line as the tractor's field reliability working area. Control box 9 generates a working path within this area. The tractor then enters the field reliability working area and lowers its implements to initiate the field reliability test. The GNSS antenna 11 acquires satellite data and analyzes the real-time geographic coordinates, speed, and heading angle of the tractor based on the satellite data; the rotation speed and angle of the steering motor 3 and pedal motor 7 are determined based on the geographic coordinates, speed, heading angle, and work path of the tractor, and the tractor is controlled to move along the work path. The engine status data and fault data are monitored and sent to the control box 9; the control box 9 sends the rotation speed and angle commands of the steering motor 3 and pedal motor 7, as well as the engine status data and fault data, to the cloud platform, and the tractor is monitored through the cloud platform.

[0036] The above method also includes the following steps: Before starting the field reliability test, the steering motor 3 and pedal motor 7 are first calibrated to obtain the steering angle control proportional coefficient and the pedal travel speed ratio. The central processing unit 30 calculates the required steering wheel and pedal angles based on the tractor's geographical coordinates, speed, heading angle and working path, and calculates the number of revolutions and the steering angle of the steering motor 3 and pedal motor 7 respectively based on the steering wheel and pedal angles, the steering angle control proportional coefficient and the pedal travel speed ratio. System calibration includes: The tractor is steered by steering motor 3. The tractor's heading angle is analyzed by GNSS antenna 11 and central processing unit 30. The steering angle control ratio coefficient is calculated based on the heading angle and the actual number of rotations of steering motor 3. The tractor is controlled by the pedal motor 7. The tractor speed is analyzed by the GNSS antenna 11 and the central processing unit 30. The pedal travel-to-speed ratio is calculated based on the vehicle speed and the rotation angle of the pedal motor 7.

[0037] Tractor field reliability testing specifically includes the following procedures: Step 1: Install quick-fix support rod 1, adjust the height of height adjustment rod 6 so that the steering motor friction head 4 is tangent to the steering wheel; connect the end of pedal linkage 8 to the tractor accelerator pedal bolt; place two GNSS antennas 11 on the front and rear of the tractor exterior.

[0038] Step 2: The driver drives the tractor in a straight line with the implements not in operation. On the touch screen 10, the driver selects "one-click calibration". The steering motor 3 rotates 20 times and then stops. The tractor's heading angle changes. The heading angle is calculated from the latitude and longitude coordinates of the two GNSS antennas 11. The central processing unit 30 calculates the steering angle control ratio coefficient based on the heading angle and the number of rotations of the steering motor 3, thus completing the heading angle calibration.

[0039] Step 3: After the heading angle calibration is completed, the pedal motor 7 rotates 90°, the tractor speed changes, the GNSS antenna 11 obtains the satellite signal and sends it to the central processing unit 30 to analyze the tractor speed. The central processing unit 30 calculates the pedal travel-speed ratio from the turning angle and the vehicle speed, and the calibration process ends.

[0040] Step 4: After completing the calibration, the driver selects "Boundary Construction" on the touch screen 10, and then drives the tractor around the edge of the field. When the tractor travels back to the vicinity of the starting point, the boundary trajectory is automatically constructed, forming the reliable working area of ​​the tractor in the field.

[0041] Step 5: The driver selects "Auxiliary Test" on the touchscreen 10. The central processing unit 30 automatically plans the operation path based on the collected field reliability working area data. To facilitate the tractor's turning at the end of the field boundary when the implements are attached, the planned operation path adopts a "U"-shaped spiral, such as... Figure 7 As shown.

[0042] Step Six: The driver lowers the agricultural implements to initiate the field reliability test. After the test begins, the GNSS+IMU inertial navigation module 32 in the control box 9 acquires satellite data through the GNSS antenna 11 and sends it to the central processing unit 30. The central processing unit 30 analyzes the tractor's current latitude and longitude coordinates and speed, and finds the coordinates to be reached at the next moment from the planned work path trajectory points. This data is then input into the built-in MPC control model to predict the number of revolutions the steering motor 3 should make and the rotation angle of the pedal motor 7, among other control data. The central processing unit 30 sends the control data to the motor drive module 34 to drive the steering motor 3 and pedal motor 7, completing the auxiliary test of the field reliability test.

[0043] Step 7: Connect the CAN bus interface 27 to the tractor's OBD interface. The central processing unit 30 controls the CAN module 33 to read engine operating data and attempt to read vehicle fault data. When the central processing unit 30 cannot read operating data or vehicle fault data, it generates fault information, which is sent to the cloud platform by the 4G module 35 for statistics and processing. Technicians can remotely log in to the cloud platform to view the fault. During the test, after the driver discovers a reliability fault, they can use their mobile phone to take a picture, connect to the hotspot emitted by the WIFI module 36, upload the fault image, and select the fault type to complete the fault statistics and reporting, assisting the driver in completing the field reliability test fault statistics work.

[0044] Step 8: After the field reliability auxiliary test begins, the IMU in the GNSS+IMU inertial navigation module 32 inside the control box 9 collects the tractor's driving acceleration and angular velocity and sends it to the central processing unit 30. The central processing unit 30 will analyze the tractor's driving attitude and package the tractor's speed, heading angle, and the rotation speed and angle of the steering motor 3 and pedal motor 7 as sensor data and store them in the storage unit 37. A standard sequence of each sensor data at each geographic coordinate on the working path is established. The correlation coefficient of each sensor data in the standard sequence is calculated based on the mean of the standard sequence. If the correlation coefficient of one of the sensor data at the current geographic coordinate is lower than the correlation coefficient threshold, an alarm message is generated. The alarm message is transmitted to the touch screen 10 to remind the driver to check the vehicle, and the abnormality is sent to the cloud platform through the 4G module 35 to assist in completing the vehicle status monitoring for the field reliability test.

[0045] Step eight specifically includes the following steps: 1. After generating the work path, a set of latitude and longitude coordinates (geographic coordinates) will be collected every 5m along the path as a data comparison point.

[0046] 2. For a given geographic coordinate point, when the tractor travels to this coordinate point for the 10th time, a set of standard sequence datasets will be generated, including the steering motor revolution sequence, heading angle sequence, pedal motor rotation angle sequence, and vehicle speed sequence. For ease of understanding, taking the steering motor revolution as an example, assume that the standard sequence data of the steering motor revolution generated when the tractor travels to this coordinate point for the first 10 times is [x1,x2,x3,x4,x5,x6,x7,x8,x9,x10], and the mean xn of this sequence will be calculated.

[0047] 3. If the tractor passes near this latitude and longitude coordinate 10 more times, a set of steering motor revolutions driving sequence data will be generated [y1,y2,y3,y4,y5,y6,y7,y8,y9,y10]. At the same time, the mean yn of this sequence will be calculated.

[0048] 4. Then, the central processing unit 30 will calculate the correlation coefficient according to the Pearson correlation coefficient formula, which is the covariance of x and y divided by the product of the standard deviations of x and y, to calculate the steering motor speed correlation coefficient. In fact, it will generate four sets of correlation coefficients: steering motor speed correlation coefficient, yaw angle correlation coefficient, pedal motor angle correlation coefficient, and vehicle speed correlation coefficient.

[0049] 5. Use 0.8 as the threshold for the correlation coefficient. If one of the four sets of correlation coefficients is within 0.8, for example, if the correlation coefficient of the steering motor speed is within 0.8, it is determined that there is a problem with the transmission system, while if the correlation coefficient of the vehicle speed is within 0.8, it is determined that there is a problem with the running system.

[0050] In the above process, steps one through five only need to be completed on the first day of each reliability test. During routine reliability testing, simply power on the system, and the control box 9 will control the tractor to automatically complete a steering and acceleration test to calibrate the steering angle control proportional coefficient and the pedal travel speed ratio.

[0051] The parts not described in detail in the above embodiments are existing technologies.

[0052] It should be noted that although the present invention has been described through the above embodiments, the present invention may have many other embodiments. Without departing from the spirit and scope of the present invention, those skilled in the art can obviously make various corresponding changes and modifications to the present invention, but all such changes and modifications should fall within the scope of protection of the appended claims and their equivalents.

Claims

1. A tractor field reliability test auxiliary testing device, characterized in that, include: Quick-fixing support rod (1), which is supported in the cab of the tractor; The steering wheel drive mechanism includes a steering motor (3) with a friction head (4) on its output shaft and a torque rotating member connected between the steering motor (3) and the quick-fix support rod (1); the torque rotating member is configured to apply torque to the steering motor (3) with itself as the center of rotation, so that the friction head (4) rubs against the steering wheel. The pedal drive mechanism includes a pedal motor (7) fixed on the quick-fix support rod (1) and a pedal linkage (8) connected between the output shaft of the pedal motor (7) and the tractor pedal. Control mechanism, including components mounted on the tractor: GNSS antenna (11) is used to acquire satellite data and transmit it to the control box (9); The control box (9) is used to analyze the real-time geographic coordinates, speed and heading angle of the tractor based on satellite data; Used to generate work paths within the reliable working area of ​​a tractor in the field; as well as The steering motor (3) and pedal motor (7) are used to determine the number of revolutions and the steering angle command based on the tractor's geographical coordinates, speed, heading angle and work path, so as to control the tractor to travel along the work path; A touch screen (10) is electrically connected to the control box (9) for human-computer interaction.

2. The tractor field reliability test auxiliary testing device according to claim 1, characterized in that: The quick-fixing support rod (1) includes a lower support rod (12) and an upper sliding support rod (14) that slide against each other, and the lower support rod (12) and the upper sliding support rod (14) are locked together by a locking mechanism; The lower support rod (12) is provided with a lower support pad (13) for supporting the floor of the tractor cab; the upper sliding support rod (14) is provided with an upper support pad (15) for supporting the roof of the tractor cab. The pedal motor (7) and the torque rotating component are both fixed on the lower support rod (12).

3. The auxiliary testing device for tractor field reliability testing according to claim 2, characterized in that: The locking mechanism includes a rack mechanism (16) fixed on the upper sliding support rod (14) and a mounting groove (19) fixed on the lower support rod (12). A tensioning handle (17) is rotatably disposed in the mounting groove (19). The tensioning handle (17) has teeth that mesh with the rack mechanism (16). The lower support rod (12) is also provided with a locking buckle (18) that can lock or separate from the tensioning handle (17).

4. The auxiliary testing device for tractor field reliability testing according to claim 1, characterized in that: It also includes a support adjustment component for limiting the pitch angle of the steering motor (3); The support adjustment component includes an adjustment bolt (23) fixed to the quick-fixing support rod (1) and a height adjustment rod (6) threadedly engaged with the adjustment bolt (23). One end of the height adjustment rod (6) can abut against the outer wall of the housing of the steering motor (3).

5. The auxiliary testing device for tractor field reliability testing according to claim 1, characterized in that: The torque rotating component includes a torsion disc (2) and a torsion disc position adjustment bracket (5), which is fixed to the quick-fixing support rod (1); The torsion disc (2) includes a rear end cover (20) and a motor side end cover (21) that are rotatably engaged, and a torsion spring (22) located between the rear end cover (20) and the motor side end cover (21). The center ring and the outer ring of the torsion spring (22) are fixedly connected to the rear end cover (20) and the motor side end cover (21) respectively. The rear end cover (20) is fixedly connected to the torsion disc position adjustment bracket (5), and the motor side end cover (21) is fixedly connected to the side wall of the steering motor (3).

6. The auxiliary testing device for tractor field reliability testing according to claim 1, characterized in that, The control box (9) includes: The GNSS+IMU inertial navigation module (32) is used to analyze the satellite signals received by the GNSS antenna (11) and transmit the analyzed geographical coordinates, speed and heading angle of the tractor to the central processing unit (30). The CAN module (33) is used to read engine status data and fault data and send them to the central processing unit (30). The central processing unit (30) is used to generate a work path in the reliable working area of ​​the tractor in the field, and to determine the rotation number and angle command of the steering motor (3) and pedal motor (7) according to the geographical coordinates, speed, heading angle and work path of the tractor, and send the rotation number and angle command to the motor drive module (34). The motor drive module (34) is used to receive the rotation number and angle commands issued by the central processing unit (30), and control the steering motor (3) and pedal motor (7) to work through the rotation number and angle commands; The 4G module (35) is used to send the rotation and angle commands of the steering motor (3) and pedal motor (7), engine status data and fault data received by the central processing unit (30) to the cloud platform to monitor the tractor through the cloud platform.

7. The auxiliary testing device for tractor field reliability testing according to claim 1, characterized in that: The 4G module (35) is also configured to transmit the current geographic coordinates of the tractor to the RTK server and receive the RTK correction signal fed back by the RTK server in real time, and update and correct the current geographic coordinates, speed and heading angle of the tractor according to the RTK correction signal.

8. A method for testing the reliability of tractors in the field, characterized in that, The tractor field reliability test auxiliary testing device as described in any one of claims 1-7 is installed on the tractor, and the following steps are performed: The driver drives the tractor around the field boundary line, defining the enclosed area within the boundary line as the tractor's field reliability working area; the control box (9) generates a working path within the tractor's field reliability working area; the tractor enters the tractor's field reliability working area and lowers its implements to start the field reliability test: The GNSS antenna (11) acquires satellite data and analyzes the real-time geographic coordinates, speed and heading angle of the tractor based on the satellite data; the rotation speed and turning angle of the steering motor (3) and pedal motor (7) are determined based on the geographic coordinates, speed, heading angle and working path of the tractor, and the tractor is controlled to move along the working path. Monitor engine status data and fault data and send them to the control box (9); the control box (9) sends the rotation and angle commands of the steering motor (3) and pedal motor (7), engine status data and fault data to the cloud platform, and monitors the tractor through the cloud platform.

9. A method for testing the field reliability of a tractor according to claim 8, characterized in that: Before starting the field reliability test, the steering motor (3) and pedal motor (7) are first calibrated to obtain the steering angle control proportional coefficient and the pedal travel speed ratio; the central processing unit (30) calculates the required steering wheel and pedal angles based on the tractor's geographical coordinates, speed, heading angle and working path, and calculates the number of revolutions and the steering angle of the steering motor (3) and pedal motor (7) based on the steering wheel and pedal angles, the steering angle control proportional coefficient and the pedal travel speed ratio respectively; System calibration includes: The tractor is steered by the steering motor (3), and the tractor's heading angle is analyzed by the GNSS antenna (11) and the central processing unit (30). The steering angle control ratio coefficient is calculated based on the heading angle and the actual number of rotations of the steering motor (3). The tractor is controlled to move by the pedal motor (7), and the tractor speed is analyzed by the GNSS antenna (11) and the central processing unit (30). The pedal travel-to-speed ratio is calculated based on the vehicle speed and the rotation angle of the pedal motor (7).

10. A method for testing the field reliability of a tractor according to claim 8, characterized in that: After the field reliability test is started, the speed, heading angle, and the number of revolutions and angles of the steering motor (3) and pedal motor (7) of the tractor are stored as sensor data, and a standard sequence of each sensor data at each geographical coordinate on the working path of the tractor is established. The correlation coefficient of each sensor data in the standard sequence is calculated based on the mean of the standard sequence; a correlation coefficient threshold is set, and an alarm message is generated when the correlation coefficient under the current geographic coordinates is lower than the correlation coefficient threshold; the alarm message is transmitted to the touch screen (10) and / or the cloud platform.

Images