Energy recovery control method and device for tractor, electronic equipment and storage medium

Abstract

The present disclosure discloses an energy recovery control method and device of a tractor, an electronic device and a storage medium, which realizes accurate identification of working conditions based on the driving speed of the tractor and the lifting height of the agricultural implement, designs a scene energy recovery mechanism for the brake kinetic energy in the transportation working condition and the implement potential energy in the operation working condition, and converts the originally unused potential energy and brake kinetic energy into electrical energy storage through the collaborative control of the hydraulic motor and the motor, fills the technical gap of hydraulic energy and electrical energy collaborative recovery, and achieves the technical effects of improving the overall energy utilization rate of the tractor, reducing the power battery power consumption, prolonging the endurance mileage, improving the continuous operation efficiency, and optimizing the energy management effect of the new energy tractor.

Description

Technical Field

[0001] This disclosure relates to the field of data processing technology, and in particular to an energy recovery control method and apparatus for a tractor, electronic equipment and storage medium. Background Technology

[0002] New energy tractors, as core equipment for the electrification of modern agricultural machinery, are widely used in field operations and logistics transportation. With the development of electric drive technology, related technologies have constructed an energy management system that includes kinetic energy recovery through the coordinated operation of motors, hydraulic systems, and vehicle controllers.

[0003] Existing energy recovery methods lack a coordinated strategy for integrated control of hydraulic motors and electric motors, resulting in a significant amount of hydraulic energy generated during implement descent failing to be converted into electrical energy for storage. This technological limitation leads to low energy utilization of tractors under both operation and transport conditions, exacerbating battery depletion and requiring frequent charging, which severely restricts continuous operation efficiency and range. Summary of the Invention

[0004] This disclosure provides a method, apparatus, electronic device, and storage medium for energy recovery control of a tractor.

[0005] According to a first aspect of this disclosure, an energy recovery control method for a tractor is provided, comprising: Obtain information on the tractor's travel speed and the lifting height of the agricultural implements; The operating conditions of the tractor are identified based on the travel speed information and the lifting height information; wherein, the operating conditions include transportation conditions and work conditions; When the transportation condition is identified and braking is detected, the control motor converts the tractor's braking kinetic energy into electrical energy and stores it in the power battery. When the working condition is identified and the descent of the agricultural implement is detected, the hydraulic motor is controlled to convert the potential energy generated by the descent of the agricultural implement into mechanical energy to drive the motor, so that the motor generates electrical energy and stores it in the power battery.

[0006] Optionally, identifying the tractor's operating condition based on the travel speed information and the lifting height information includes: The speed value represented by the driving speed information is compared with a preset speed threshold. When the speed value is greater than the preset speed threshold, it is identified as the transportation condition. When the speed value is less than or equal to the preset speed threshold, and the height value represented by the lifting height information is greater than the preset height threshold, it is identified as the working condition.

[0007] Optionally, when the transportation condition is identified and a braking operation is detected, controlling the motor to convert the tractor's braking kinetic energy into electrical energy and store it in the power battery includes: Acquire the brake pedal opening signal and the state of charge signal of the power battery; The base recovery torque is determined based on the brake pedal opening signal and the preset recovery mapping relationship, and the base recovery torque is corrected based on the state of charge signal to obtain the target recovery torque. The motor outputs a resistance torque corresponding to the target recovery torque to convert braking kinetic energy into electrical energy.

[0008] Optionally, when the working condition is identified and a lowering operation of the agricultural machinery is detected, controlling the hydraulic motor to convert the potential energy generated by the lowering of the agricultural machinery into mechanical energy to drive the motor includes: By monitoring the status of the electronically controlled lifter and the lift valve, it can be confirmed that the agricultural machinery is performing a lowering action; The control transmission switching mechanism establishes the power transmission path between the electric motor and the hydraulic motor; Adjust the flow control valve in the hydraulic circuit according to the descent requirements of the agricultural machinery, so that the hydraulic oil drives the hydraulic motor to rotate, thereby driving the motor to generate electrical energy.

[0009] Optionally, acquiring the tractor's travel speed information and the lifting height information of the agricultural implements includes: The system receives the rotational speed signal from the motor controller via the communication bus and calculates the driving speed information based on the rotational speed signal. Vertical distance data of agricultural implements is collected by displacement sensors installed on the lifting device, and the data is preprocessed to obtain the lifting height information.

[0010] Optionally, the method further includes: During the energy recovery process, the state of charge and temperature of the power battery are monitored; When the state of charge reaches a preset upper limit or the temperature exceeds the safe operating range, energy recovery is interrupted and a status indication signal is output. Accumulate and store the recovered electricity and operating time during the energy recovery period.

[0011] According to a second aspect of this disclosure, an energy recovery control device for a tractor is provided, comprising: The acquisition unit is used to acquire information on the tractor's travel speed and the lifting height of the agricultural implements; The identification unit is used to identify the operating condition of the tractor based on the travel speed information and the lifting height information; wherein the operating condition includes transportation condition and work condition; The kinetic energy unit is used to control the motor to convert the braking kinetic energy of the tractor into electrical energy and store it in the power battery when the transportation condition is identified and braking operation is detected. The potential energy unit is used to control the hydraulic motor to convert the potential energy generated by the descent of the agricultural implement into mechanical energy to drive the motor when the working condition is identified and the descent of the agricultural implement is detected, so that the motor generates electrical energy and stores it in the power battery.

[0012] Optionally, the identification unit is further configured to: The speed value represented by the driving speed information is compared with a preset speed threshold. When the speed value is greater than the preset speed threshold, it is identified as the transportation condition. When the speed value is less than or equal to the preset speed threshold, and the height value represented by the lifting height information is greater than the preset height threshold, it is identified as the working condition.

[0013] Optionally, the kinetic energy unit is further used for: Acquire the brake pedal opening signal and the state of charge signal of the power battery; The base recovery torque is determined based on the brake pedal opening signal and the preset recovery mapping relationship, and the base recovery torque is corrected based on the state of charge signal to obtain the target recovery torque. The motor outputs a resistance torque corresponding to the target recovery torque to convert braking kinetic energy into electrical energy.

[0014] Optionally, the potential energy unit is further used for: By monitoring the status of the electronically controlled lifter and the lift valve, it can be confirmed that the agricultural machinery is performing a lowering action; The control transmission switching mechanism establishes the power transmission path between the electric motor and the hydraulic motor; Adjust the flow control valve in the hydraulic circuit according to the descent requirements of the agricultural machinery, so that the hydraulic oil drives the hydraulic motor to rotate, thereby driving the motor to generate electrical energy.

[0015] Optionally, the acquisition unit is further configured to: The system receives the rotational speed signal from the motor controller via the communication bus and calculates the driving speed information based on the rotational speed signal. Vertical distance data of agricultural implements is collected by displacement sensors installed on the lifting device, and the data is preprocessed to obtain the lifting height information.

[0016] Optionally, a monitoring unit may also be included; The monitoring unit is used for: During the energy recovery process, the state of charge and temperature of the power battery are monitored; When the state of charge reaches a preset upper limit or the temperature exceeds the safe operating range, energy recovery is interrupted and a status indication signal is output. Accumulate and store the recovered electricity and operating time during the energy recovery period.

[0017] According to a third aspect of this disclosure, an electronic device is provided, comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect above.

[0018] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method described in the first aspect above.

[0019] According to a fifth aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0020] The present disclosure discloses an energy recovery control method, device, electronic equipment, and storage medium for tractors. Based on the tractor's travel speed and the lifting height of the implements, it achieves precise identification of working conditions. It designs a scenario-specific energy recovery mechanism for braking kinetic energy during transport and the descending potential energy of the implements during operation. Through the coordinated control of the hydraulic motor and the electric motor, the previously unused potential energy and braking kinetic energy are converted into electrical energy for storage. This fills the technical gap in the coordinated recovery of hydraulic and electrical energy, achieving the technical effects of improving the overall energy utilization rate of the tractor, reducing power battery power consumption, extending the driving range, improving continuous operation efficiency, and optimizing the energy management effect of new energy tractors.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0022] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein: Figure 1 A schematic flowchart illustrating an energy recovery control method for a tractor provided in an embodiment of this disclosure; Figure 2This is a schematic diagram of the structure of an energy recovery control device for a tractor provided in an embodiment of the present disclosure; Figure 3 A schematic diagram of the structure of another energy recovery control device for a tractor provided in an embodiment of this disclosure; Figure 4 A schematic block diagram of an example electronic device provided for embodiments of this disclosure. Detailed Implementation

[0023] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0024] The following description, with reference to the accompanying drawings, outlines an energy recovery control method, apparatus, electronic device, and storage medium for a tractor according to embodiments of the present disclosure.

[0025] Figure 1 This is a schematic flowchart of an energy recovery control method for a tractor provided in an embodiment of the present disclosure.

[0026] like Figure 1 As shown, the method includes the following steps: Step 101: Obtain the tractor's travel speed information and the lifting height information of the agricultural implements; The status parameters include the driving status parameters of the operating machinery and the operating parameters of the operating components. This application embodiment provides a data foundation for dynamic verification and closed-loop management of permissions by real-time collection and comprehensive utilization of multi-dimensional information characterizing the dynamic movement of the operating machinery and the working conditions of the operating components.

[0027] In one specific implementation, the status parameters of the aforementioned operating machinery may include the acquired tractor speed information and the lifting height information of the agricultural implements mounted on it.

[0028] Step 102: Identify the operating condition of the tractor based on the travel speed information and the lifting height information; wherein, the operating condition includes transportation condition and work condition; By analyzing the inherent correlation between parameters characterizing driving dynamics and parameters characterizing the state of working components, the current working stage of the machinery can be automatically determined, thus providing a prerequisite for enabling differentiated access control strategies under different operating modes. In one application scenario, this step can be specifically implemented as follows: based on the acquired tractor speed information and the lifting height information of the implements, identify whether the tractor is currently in transport or working condition.

[0029] Step 103: When the transportation condition is identified and a braking operation is detected, the control motor converts the braking kinetic energy of the tractor into electrical energy and stores it in the power battery. By associating the operating mode recognition results with specific energy management actions, the operating machinery only responds to braking operations and initiates kinetic energy recovery when it is in a non-operating driving state. This ensures that the power response is not disturbed during operating conditions while improving the overall energy utilization efficiency of the vehicle. As a specific application example, this step can be presented as follows: when the operating condition is identified as transportation and braking operation is detected, the control motor converts the tractor's braking kinetic energy into electrical energy and stores it in the power battery.

[0030] By deeply integrating intelligent access control with energy management strategies, and precisely controlling energy recovery based on operating modes, we can achieve effective reuse of braking energy while avoiding the potential impact of unnecessary energy flow switching on operational accuracy in the work scenario.

[0031] Step 104: When the working condition is identified and the lowering operation of the agricultural machinery is detected, the hydraulic motor is controlled to convert the potential energy generated by the lowering of the agricultural machinery into mechanical energy to drive the motor, so that the motor generates electrical energy and stores it in the power battery.

[0032] By associating operating mode recognition with specific actions of working components, the potential energy generated by the descent of agricultural implements or working mechanisms due to gravity can be actively captured and recovered during field operations, converting it into reusable energy. This broadens the application scenarios of energy recovery and enables comprehensive utilization of bidirectional energy flow. In a specific implementation, this process can be manifested as follows: when an operating condition is identified and the descent of agricultural implements is detected, the hydraulic motor is controlled to convert the potential energy generated by the descent of the agricultural implements into the mechanical energy of the drive motor, enabling the motor to act as a generator to produce electrical energy and store it in the power battery.

[0033] In some embodiments, identifying the tractor's operating condition based on the travel speed information and the lifting height information includes: The speed value represented by the driving speed information is compared with a preset speed threshold. When the speed value is greater than the preset speed threshold, it is identified as the transportation condition. When the speed value is less than or equal to the preset speed threshold, and the height value represented by the lifting height information is greater than the preset height threshold, it is identified as the working condition.

[0034] The system compares the real-time speed value, represented by the acquired travel speed information, with a preset speed threshold. When the real-time speed value is determined to be greater than the preset speed threshold, it means that the operating machinery is in a high-speed travel state, which is inconsistent with the low-speed characteristics of field operations. Therefore, its operating mode is identified as transportation mode. Conversely, when the real-time speed value is less than or equal to the preset speed threshold, it indicates that the current travel speed is in the low-speed range. In this case, the system does not immediately draw a conclusion, but further incorporates the status of the operating components for joint evaluation.

[0035] In this situation, the system retrieves the real-time height value represented by the lifting height information and compares it with a preset height threshold. If the real-time height value is greater than the preset height threshold, it indicates that the working component is currently in a descending or low-position working posture. Combined with the low-speed driving condition, it can accurately determine that the working machinery is currently working in the field, thus identifying its operating mode as a working mode. The preset speed threshold and preset height threshold here are both empirical parameters that are pre-calibrated and stored in the control unit, and their values ​​can be adapted and adjusted according to the specific machine model and work type.

[0036] In some embodiments, when the transport condition is identified and a braking operation is detected, controlling the motor to convert the tractor's braking kinetic energy into electrical energy and store it in the power battery includes: Acquire the brake pedal opening signal and the state of charge signal of the power battery; The base recovery torque is determined based on the brake pedal opening signal and the preset recovery mapping relationship, and the base recovery torque is corrected based on the state of charge signal to obtain the target recovery torque. The motor outputs a resistance torque corresponding to the target recovery torque to convert braking kinetic energy into electrical energy.

[0037] The system first synchronously acquires the brake pedal opening signal generated by the driver's operation of the brake pedal, as well as the state of charge (SOC) signal representing the current remaining charge of the power battery. Then, based on the brake pedal opening signal, it queries a pre-calibrated and stored recovery mapping relationship within the control unit. This mapping relationship defines the corresponding curves or lookup tables between different pedal openings and the basic recovery torque, thereby determining the basic recovery torque value that matches the current braking intention. To ensure battery safety and lifespan, the system further corrects the basic recovery torque based on the acquired SOC signal. This correction strategy can be manifested as follows: when the SOC signal indicates that the battery charge is close to saturation, the basic recovery torque is reduced proportionally to avoid overcharging; when the battery charge is in the efficient recovery range, the basic recovery torque is maintained or slightly adjusted. After this correction step, the system generates the final target recovery torque command.

[0038] The control motor executes the command to output a resistance torque that is equivalent to the target recovery torque. This resistance torque is used to efficiently convert driving kinetic energy into electrical energy during braking and deliver it to the power battery for storage.

[0039] In some embodiments, when the working condition is identified and a lowering operation of the agricultural machinery is detected, controlling the hydraulic motor to convert the potential energy generated by the lowering of the agricultural machinery into mechanical energy to drive the motor includes: By monitoring the status of the electronically controlled lifter and the lift valve, it can be confirmed that the agricultural machinery is performing a lowering action; The control transmission switching mechanism establishes the power transmission path between the electric motor and the hydraulic motor; Adjust the flow control valve in the hydraulic circuit according to the descent requirements of the agricultural machinery, so that the hydraulic oil drives the hydraulic motor to rotate, thereby driving the motor to generate electrical energy.

[0040] The system accurately identifies the intention of the agricultural machinery to descend. This identification does not rely solely on the operating handle signal, but rather on real-time monitoring of the displacement or angle feedback information of the electronically controlled lifter, combined with the current or valve core position status of the lift valve for double confirmation. This ensures that the agricultural machinery is currently performing a conscious descent operation, rather than a passive sinking caused by uneven terrain or hydraulic leakage.

[0041] After confirming the descent is effective, the system sends a command to the transmission switching mechanism, located between the electric motor and the hydraulic motor. This mechanism changes the power transmission topology according to the command. In response, the switching mechanism engages, physically establishing a power transmission path that allows mechanical energy to be transferred unidirectionally from the hydraulic motor to the electric motor. Subsequently, the system enters the core adjustment stage of potential energy recovery: based on the real-time descent requirements of the agricultural machinery, i.e., the desired descent speed or position, the opening of the flow control valve in the hydraulic circuit is dynamically adjusted. By precisely controlling the valve's opening, the hydraulic oil discharged from the cylinder due to the machinery's descent under gravity is forced into the hydraulic motor's inlet with controlled flow and pressure, driving the motor's rotor to rotate stably.

[0042] The rotating hydraulic motor drives the motor rotor to rotate via an established power transmission path, forcing the motor to operate in generator mode, thereby efficiently converting the descending potential energy of the agricultural machinery into electrical energy. The entire process achieves reliable triggering and smooth operation of potential energy recovery through the status confirmation of the electronically controlled lifter and lift valve, the establishment of the transmission switching mechanism path, and the coordinated regulation of the flow control valve.

[0043] In some embodiments, acquiring the tractor's travel speed information and the agricultural implement's lifting height information includes: The system receives the rotational speed signal from the motor controller via the communication bus and calculates the driving speed information based on the rotational speed signal. Vertical distance data of agricultural implements is collected by displacement sensors installed on the lifting device, and the data is preprocessed to obtain the lifting height information.

[0044] For travel speed information, the system does not rely on a separate vehicle speed sensor. Instead, it receives motor speed signals periodically broadcast by the motor controller in real time via the communication bus of the machinery. The control unit uses this speed signal, combined with pre-configured transmission reduction ratios and tire rolling radius, to calculate the current actual travel speed using a conversion formula. For lifting height information, the system directly measures the height using displacement sensors located on the lifting mechanism of the implement. These sensors can be rotary angle sensors or linear wire sensors, with their sensing ends linked to the lifting arm or suspension rods.

[0045] The raw electrical signal output by the sensor, representing the vertical distance data of the agricultural machinery relative to its mounting base, is preprocessed through filtering and calibration conversion at the control unit's internal circuitry or software level. This process converts the signal into a digital quantity that can be directly used in subsequent calculations and comparisons, serving as the lift height information. This design fully utilizes the existing speed feedback capability of the motor controller, avoiding the cost of adding additional speed sensing hardware. Simultaneously, it uses a simple, direct-response displacement sensor to accurately capture the spatial position of the working components, providing a real-time, accurate two-dimensional data source for operational condition identification.

[0046] In some embodiments, the method further includes: During the energy recovery process, the state of charge and temperature of the power battery are monitored; When the state of charge reaches a preset upper limit or the temperature exceeds the safe operating range, energy recovery is interrupted and a status indication signal is output. Accumulate and store the recovered electricity and operating time during the energy recovery period.

[0047] During kinetic or potential energy recovery, the system continuously acquires the state of charge (SOC) signal of the power battery and the temperature signal collected by temperature sensors deployed inside the battery module through the battery management system. The control unit continuously compares the SOC with a preset upper limit corresponding to the maximum allowable charging capacity of the battery, and simultaneously compares the temperature with a preset upper temperature threshold corresponding to the upper limit of the battery's safe operating range. If the SOC is detected to be greater than or equal to the preset upper limit, it indicates that the battery is close to full charge, and continued recovery will lead to overcharging risk; or, if the battery temperature is detected to exceed the upper limit of the safe operating range, it indicates that the thermal management capability is approaching the critical point, and continued high-current charging may trigger thermal runaway.

[0048] When any of the above triggering conditions is met, the system immediately executes a protection action: sending a torque zeroing command to the motor controller or a separation command to the transmission switching mechanism to interrupt the current energy recovery process; simultaneously, it outputs a status indication signal to the instrument panel or human-machine interface via the vehicle communication bus to illuminate a warning icon or display a prompt message. Furthermore, throughout the entire energy recovery process, the control unit performs time integration calculations on the recovered power, accumulating the energy value for the current and historical recovery periods, and simultaneously records the effective working time in the energy recovery state. Finally, this accumulated energy and working time data is written to a non-volatile storage unit.

[0049] Corresponding to the above-described energy recovery control method for tractors, this invention also proposes an energy recovery control device for tractors. Since the device embodiments of this invention correspond to the method embodiments described above, details not disclosed in the device embodiments can be referred to in the method embodiments described above, and will not be repeated here.

[0050] Figure 2 This is a schematic diagram of the structure of an energy recovery control device for a tractor provided in an embodiment of the present disclosure, as shown below. Figure 2 As shown, it includes: The acquisition unit 21 is used to acquire the tractor's travel speed information and the lifting height information of the agricultural implements; The identification unit 22 is used to identify the operating condition of the tractor based on the travel speed information and the lifting height information; wherein the operating condition includes transportation condition and work condition; The kinetic energy unit 23 is used to control the motor to convert the braking kinetic energy of the tractor into electrical energy and store it in the power battery when the transportation condition is identified and braking operation is detected. Potential energy unit 24 is used to control the hydraulic motor to convert the potential energy generated by the descent of the agricultural implement into mechanical energy to drive the motor when the working condition is identified and the descent of the agricultural implement is detected, so that the motor generates electrical energy and stores it in the power battery.

[0051] Furthermore, in one possible implementation of this disclosure, the identification unit 22 is further configured to: The speed value represented by the driving speed information is compared with a preset speed threshold. When the speed value is greater than the preset speed threshold, it is identified as the transportation condition. When the speed value is less than or equal to the preset speed threshold, and the height value represented by the lifting height information is greater than the preset height threshold, it is identified as the working condition.

[0052] Furthermore, in one possible implementation of this disclosure embodiment, the kinetic energy unit 23 is further used for: Acquire the brake pedal opening signal and the state of charge signal of the power battery; The base recovery torque is determined based on the brake pedal opening signal and the preset recovery mapping relationship, and the base recovery torque is corrected based on the state of charge signal to obtain the target recovery torque. The motor outputs a resistance torque corresponding to the target recovery torque to convert braking kinetic energy into electrical energy.

[0053] Furthermore, in one possible implementation of this disclosure embodiment, the potential energy unit 24 is further used for: By monitoring the status of the electronically controlled lifter and the lift valve, it can be confirmed that the agricultural machinery is performing a lowering action; The control transmission switching mechanism establishes the power transmission path between the electric motor and the hydraulic motor; Adjust the flow control valve in the hydraulic circuit according to the descent requirements of the agricultural machinery, so that the hydraulic oil drives the hydraulic motor to rotate, thereby driving the motor to generate electrical energy.

[0054] Furthermore, in one possible implementation of this disclosure, the acquisition unit 21 is further configured to: The system receives the rotational speed signal from the motor controller via the communication bus and calculates the driving speed information based on the rotational speed signal. Vertical distance data of agricultural implements is collected by displacement sensors installed on the lifting device, and the data is preprocessed to obtain the lifting height information.

[0055] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 3 As shown, it also includes a monitoring unit 25; The monitoring unit 25 is used for: During the energy recovery process, the state of charge and temperature of the power battery are monitored; When the state of charge reaches a preset upper limit or the temperature exceeds the safe operating range, energy recovery is interrupted and a status indication signal is output. Accumulate and store the recovered electricity and operating time during the energy recovery period.

[0056] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of the embodiments of this disclosure, and the principle is the same. Therefore, the embodiments of this disclosure are not limited thereto.

[0057] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0058] Figure 4A schematic block diagram of an example electronic device 400 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0059] like Figure 4 As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in ROM (Read-Only Memory) 402 or a computer program loaded from storage unit 408 into RAM (Random Access Memory) 403. RAM 403 may also store various programs and data required for the operation of device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via bus 404. I / O (Input / Output) interface 405 is also connected to bus 404.

[0060] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of monitors, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0061] The computing unit 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), various special-purpose AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSPs (Digital Signal Processors), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as the energy recovery control method for a tractor. For example, in some embodiments, the energy recovery control method for a tractor can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the methods described above can be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the aforementioned energy recovery control method for the tractor by any other suitable means (e.g., by means of firmware).

[0062] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System-on-Chip), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0063] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0064] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0065] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0066] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include LANs (Local Area Networks), WANs (Wide Area Networks), the Internet, and blockchain networks.

[0067] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system that addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0068] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0069] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0070] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for controlling energy recovery in a tractor, characterized in that, include: Obtain information on the tractor's travel speed and the lifting height of the agricultural implements; The operating conditions of the tractor are identified based on the travel speed information and the lifting height information; wherein, the operating conditions include transportation conditions and work conditions; When the transportation condition is identified and braking is detected, the control motor converts the tractor's braking kinetic energy into electrical energy and stores it in the power battery. When the working condition is identified and the descent of the agricultural implement is detected, the hydraulic motor is controlled to convert the potential energy generated by the descent of the agricultural implement into mechanical energy to drive the motor, so that the motor generates electrical energy and stores it in the power battery.

2. The method according to claim 1, characterized in that, The step of identifying the tractor's operating condition based on the travel speed information and the lifting height information includes: The speed value represented by the driving speed information is compared with a preset speed threshold. When the speed value is greater than the preset speed threshold, it is identified as the transportation condition. When the speed value is less than or equal to the preset speed threshold, and the height value represented by the lifting height information is greater than the preset height threshold, it is identified as the working condition.

3. The method according to claim 1, characterized in that, When the transportation condition is identified and a braking operation is detected, controlling the motor to convert the tractor's braking kinetic energy into electrical energy and store it in the power battery includes: Acquire the brake pedal opening signal and the state of charge signal of the power battery; The base recovery torque is determined based on the brake pedal opening signal and the preset recovery mapping relationship, and the base recovery torque is corrected based on the state of charge signal to obtain the target recovery torque. The motor outputs a resistance torque corresponding to the target recovery torque to convert braking kinetic energy into electrical energy.

4. The method according to claim 1, characterized in that, When the operating condition is identified as described and a descent of the agricultural machinery is detected, controlling the hydraulic motor to convert the potential energy generated by the descent of the agricultural machinery into mechanical energy to drive the motor includes: By monitoring the status of the electronically controlled lifter and the lift valve, it can be confirmed that the agricultural machinery is performing a lowering action; The control transmission switching mechanism establishes the power transmission path between the electric motor and the hydraulic motor; Adjust the flow control valve in the hydraulic circuit according to the descent requirements of the agricultural machinery, so that the hydraulic oil drives the hydraulic motor to rotate, thereby driving the motor to generate electrical energy.

5. The method according to claim 1, characterized in that, The acquisition of tractor speed information and implement lifting height information includes: The system receives the rotational speed signal from the motor controller via the communication bus and calculates the driving speed information based on the rotational speed signal. Vertical distance data of agricultural implements is collected by displacement sensors installed on the lifting device, and the data is preprocessed to obtain the lifting height information.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: During the energy recovery process, the state of charge and temperature of the power battery are monitored; When the state of charge reaches a preset upper limit or the temperature exceeds the safe operating range, energy recovery is interrupted and a status indication signal is output. Accumulate and store the recovered electricity and operating time during the energy recovery period.

7. An energy recovery control device for a tractor, characterized in that, include: The acquisition unit is used to acquire information on the tractor's travel speed and the lifting height of the agricultural implements; The identification unit is used to identify the operating condition of the tractor based on the travel speed information and the lifting height information; wherein the operating condition includes transportation condition and work condition; The kinetic energy unit is used to control the motor to convert the braking kinetic energy of the tractor into electrical energy and store it in the power battery when the transportation condition is identified and braking operation is detected. The potential energy unit is used to control the hydraulic motor to convert the potential energy generated by the descent of the agricultural implement into mechanical energy to drive the motor when the working condition is identified and the descent of the agricultural implement is detected, so that the motor generates electrical energy and stores it in the power battery.

8. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1-6.

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