A method of coordinated control of wheel speed and body lift motion

Abstract

The application provides a kind of wheel speed and fuselage lifting movement coordinated control method, it is related to agricultural machinery technical field.The method includes: based on the structural parameters of machine body, the coordinated control model of wheel and fuselage is constructed;Obtain the current operation mode of machine body, the lifting mode of fuselage and the telescopic speed of telescopic driving element;According to the telescopic speed and the coordinated control model, the wheel movement speed caused by the telescopic driving of telescopic driving element is solved, and it is used as the compensation speed of wheel;According to the current operation mode, the lifting mode and the compensation speed, the output speed of each wheel is corrected.The method can ensure the stable operation of machine body lifting adjustment.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a method for coordinated control of wheel speed and body lifting motion. Background Technology

[0002] Wide-span agricultural machinery is increasingly widely used in agricultural operations due to its high efficiency. In related technologies, the body of wide-span agricultural machinery needs to have a lifting function. As the body rises and falls, the wheels move horizontally towards or away from the body. However, due to the significant resistance of the soil environment in the field, the lifting adjustment of the body faces considerable resistance, and in severe cases, may even be impossible. Summary of the Invention

[0003] The purpose of this invention is to provide a method for coordinated control of wheel speed and body lifting movement, so as to solve the technical problem that the lifting movement of the body of existing wide-span agricultural machinery affects the stable movement of the machine and the smooth attachment of implements.

[0004] To address the aforementioned problems, this invention provides a method for coordinated control of wheel speed and body lifting motion, applied to the body of wide-span agricultural machinery. The body includes a frame and four sets of support structures corresponding to the four corners of the frame. Each support structure includes a telescopic drive member, a connecting arm, and wheels. The connecting arm has a first hinged end hinged to the wheel, a second hinged end hinged to the corresponding corner, and a third hinged end hinged to the first telescopic end of the telescopic drive member. The second telescopic end of the telescopic drive member is hinged to the corresponding corner and located above the connecting arm. The method includes: A collaborative control model for wheels and fuselage is constructed based on the structural parameters of the machine body; The current operating mode of the machine body, the lifting mode of the machine body, and the extension and retraction speed of the telescopic drive component are obtained. The wheel speed caused by the telescopic drive of the telescopic drive component is calculated based on the telescopic speed and the cooperative control model, and is used as the compensation speed of the wheel. The output speed of each wheel is corrected according to the current operating mode, the lifting mode, and the compensation speed.

[0005] Alternatively, the compensated speed of the wheel can be calculated using the following formula: ; Among them, v susp L is the compensated speed of the wheel, measured in m / s. HI L is the straight-line distance between the first hinge end and the second hinge end, in meters (m). GJ∠GHK is the straight-line distance between the first and second telescopic ends, in meters; ∠GHK is the angle of inclination between the line connecting the second telescopic end and the second hinge end and the corresponding corner, in degrees; ∠IHJ is the angle between the line connecting the first and second hinge ends and the line connecting the second and third hinge ends, in degrees; L GH L is the straight-line distance between the second hinge end and the second telescopic end, in meters. HJ The straight-line distance between the second hinge end and the third hinge end is in meters (m). The telescopic drive component represents the amount of telescopic change, expressed in meters (m). The time for the telescopic actuator to extend or retract is measured in seconds (s).

[0006] Optionally, the step of correcting the output speed of each wheel according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is driving mode and the machine body is in lifting mode, then the speed of the drive wheel in the wheel is corrected: if the drive wheel is the front wheel, then the drive wheel is decelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel; if the drive wheel is the rear wheel, then the drive wheel is accelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel.

[0007] Optionally, the step of correcting the output speed of each wheel according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is driving mode and the machine body is descending mode, then the speed of the drive wheels is corrected: if the drive wheel is the front wheel, then the drive wheel is accelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel; if the drive wheel is the rear wheel, then the drive wheel is decelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel.

[0008] Optionally, the step of correcting the output speed of each wheel according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is driving mode, and the machine body is in ascending or descending mode, then the speed of the drive wheels in the wheels is corrected: If the drive wheel is a front wheel, its output speed is calculated according to the following formula: ; Among them, v out The corrected output speed of the drive wheel, in m / s; v now The output speed of the drive wheel before correction, in m / s; v suspThe compensated speed of the drive wheel is expressed in m / s.

[0009] Optionally, the step of correcting the output speed of each wheel according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is driving mode, and the machine body is in ascending or descending mode, then the speed of the drive wheels in the wheels is corrected: If the drive wheel is a rear wheel, its output speed is calculated according to the following formula: ; Among them, v out The corrected output speed of the drive wheel, in m / s; v now The output speed of the drive wheel before correction, in m / s; v susp The compensated speed of the drive wheel is expressed in m / s.

[0010] Optionally, the driving mode includes a single-wheel mode: a single wheel acts as the drive wheel, and the other three wheels act as follower wheels; And / or, the driving mode includes a two-wheel-set mode facing the same direction: according to the direction of travel, the two wheels located on the front or rear side are used as drive wheels, and the other two wheels are used as follower wheels; And / or, the driving mode includes an opposite-direction two-wheel set mode: according to the direction of travel, one of the wheels located on the front side and one of the wheels located on the rear side serve as drive wheels, and the other two wheels serve as follower wheels; And / or, the driving mode includes an opposite-direction four-wheel configuration: all four wheels are used as drive wheels.

[0011] Optionally, the step of correcting the output speed of each wheel according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is the implement attachment mode in the lateral mode, then at least one wheel on the side furthest from the implement in the forward / backward direction serves as a correction wheel, and speed correction is performed on the correction wheel: The absolute value of the compensation speed of the correction wheel is the first compensation amount, and the absolute value of the compensation speed of the wheel on the same side as the correction wheel in the left-right direction is the second compensation amount. The sum of the first compensation amount and the second compensation amount is taken as the total compensation amount, and the total compensation amount is taken as the speed magnitude value of the output speed of the correction wheel. Wherein, if the machine body is in ascending mode, the direction of travel of the correction wheel toward the machine is taken as the speed direction of the correction wheel output speed; And / or, if the machine body is in descent mode, the direction in which the correction wheel is away from the traveling direction of the machine is taken as the speed direction of the output speed of the correction wheel.

[0012] Optionally, the step of correcting the output speed of each wheel according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is the implement attachment mode in the lateral mode, then at least one wheel on the side furthest from the implement in the forward / backward direction serves as a correction wheel, and speed correction is performed on the correction wheel: The magnitude of the output speed of the correction wheel is calculated according to the following formula: ; In the formula, v out The output speed after correction by the correction wheel, in m / s; v susp v is the compensation speed of the correction wheel, in m / s; tcsusp The compensation speed of the wheel on the same side in the left and right directions of the correction wheel is expressed in m / s. Wherein, if the machine body is in ascending mode, the direction of travel of the correction wheel toward the machine is taken as the speed direction of the correction wheel output speed; And / or, if the machine body is in descent mode, the direction in which the correction wheel is away from the traveling direction of the machine is taken as the speed direction of the output speed of the correction wheel.

[0013] Optionally, when the lifting mode of the machine body is not in operation, the wheels do not perform speed compensation.

[0014] The collaborative control method provided by this invention, based on the current operating mode of the machine, the lifting mode of the machine body, and the calculated compensation speed, can determine the influence of the telescopic drive of the telescopic drive component and the lifting motion of the machine body on the speed of each wheel. Accordingly, it performs speed corrections on each wheel related to the compensation speed and direction, controlling each wheel to run at the corrected output speed. This ensures that during the lifting process, after the speed correction of the wheels, the relative motion between the wheels and the machine body is consistent with the relative motion caused by the telescopic drive component's telescopic movement. Consequently, the horizontal movement of the wheels relative to the machine body against the resistance of the field soil is achieved by the speed correction of the wheels, rather than by the telescopic drive of the telescopic drive component. This effectively reduces the telescopic drive load of the telescopic drive component and the lifting adjustment resistance of the machine body in the lifting mode, thereby ensuring the stable operation of the machine body's lifting adjustment. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 A flowchart illustrating the coordinated control method for wheel speed and fuselage lifting motion provided in an embodiment of the present invention; Figure 2 Axonometric drawing of the longitudinal mode of a wide-span agricultural machine in which the coordinated control method of wheel speed and body lifting motion provided in the embodiments of the present invention is applied; Figure 3 A top view of the longitudinal mode of a wide-span agricultural machine in which the coordinated control method of wheel speed and body lifting motion provided in the embodiments of the present invention is applied; Figure 4 A partial schematic diagram of the single-wheel mode in the transverse mode of the machine body in the coordinated control method of wheel speed and body lifting motion provided in the embodiments of the present invention. Figure 5 A schematic diagram of the linkage mechanism of the support structure and the fuselage structure in the coordinated control method of wheel speed and fuselage lifting motion provided in the embodiments of the present invention; Figure 6 The axle-view diagram of the coordinated control method for wheel speed and fuselage lifting motion provided in the embodiments of the present invention when the fuselage is in the same direction two-wheel group mode in the transverse mode; Figure 7 The main view of the machine body in the sideways mode with two wheel sets facing opposite directions in the coordinated control method of wheel speed and body lifting motion provided in the embodiments of the present invention; Figure 8 The axle-view diagram of the coordinated control method for wheel speed and body lifting motion provided in the embodiments of the present invention when the body is in a transverse four-wheel group mode in the lateral mode; Figure 9 The main view of the machine body in the horizontal mode and the implement attachment mode in the coordinated control method of wheel speed and body lifting motion provided in the embodiment of the present invention is shown.

[0017] Explanation of reference numerals in the attached figures: 100-Body; 110-Frame; 111-Steering and slewing shaft; A-Support structure; 120-Telescopic drive component; 121-First telescopic end; 122-Second telescopic end; 130-Connecting shaft arm; 131-First arm body; 132-Second arm body; 133-First hinge end; 134-Second hinge end; 135-Third hinge end; 140-Wheel; 141-Left front wheel; 142-Right front wheel; 143-Left rear wheel; 144-Right rear wheel; 200-Tool. Detailed Implementation

[0018] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Figure 1 A flowchart illustrating the coordinated control method for wheel speed and fuselage lifting motion provided in an embodiment of the present invention. Figure 2 Axonometric drawing of the longitudinal mode of a wide-span agricultural machine for applying the coordinated control method of wheel speed and body lifting motion provided in the embodiments of the present invention. Figure 3 A top view of the longitudinal mode of a wide-span agricultural machine in which the coordinated control method of wheel speed and body lifting motion provided in the embodiments of the present invention is applied. Figure 4 This is a partial schematic diagram of the single-wheel mode in the transverse mode of the machine body in the coordinated control method of wheel speed and body lifting motion provided in the embodiments of the present invention. Figure 5 This is a schematic diagram of the linkage mechanism of the support structure and the fuselage structure in the coordinated control method of wheel speed and fuselage lifting motion provided in the embodiments of the present invention.

[0022] First, we will introduce the wide-span agricultural machinery that uses the collaborative control method provided in this embodiment: such as Figure 2 and Figure 3 As shown, the wide-span agricultural machinery includes implements 200 for operation and a body 100 capable of movement to propel the implements 200. The body 100 includes a frame 110 and support structures A. The frame 110 has four corners, and the support structures A consist of four sets, each corresponding to one of the four corners of the frame 110. Figure 4 As shown, the support structure A specifically includes a suspension and a wheel 140. The suspension includes a telescopic drive member 120 and a connecting arm 130. The connecting arm 130 has a first hinge end 133 hinged to the wheel 140, a second hinge end 134 hinged to a corresponding corner, and a third hinge end 135 hinged to the first telescopic end 121 of the telescopic drive member 120. The second telescopic end 122 of the telescopic drive member 120 is hinged to a corresponding corner and located above the connecting arm 130.

[0023] Specifically, such as Figure 4 As shown, in the suspension, the telescopic drive member 120 can extend and retract along its length to change its length. Its first end in the length direction is called the first telescopic end 121, and its second end is called the second telescopic end 122. The connecting arm 130 includes a first arm body 131 and a second arm body 132. The first end of the first arm body 131 is hinged to the axle of the wheel 140 as the first hinge end 133, and the second end of the first arm body 131 is hinged to the corresponding corner as the second hinge end 134. The first end of the second arm body 132 is fixed to the arm segment of the first arm body 131, and the second end of the second arm body 132 is hinged to the first telescopic end 121 of the telescopic drive member 120 as the third hinge end 135. The second telescopic end 122 of the telescopic drive member 120 is hinged to the corresponding corner. The hinge point of the second telescopic end 122 is located directly above or obliquely above the hinge point of the second hinge end 134, and the entire telescopic drive member 120 is higher than the connecting arm 130.

[0024] The axes of the first hinge end 133 and the hinge shaft of the wheel 140, the second hinge end 134 and the hinge shaft of the corner, the third hinge end 135 and the hinge shaft of the first telescopic end 121, and the second telescopic end 122 and the hinge shaft of the corner are all arranged parallel to each other; and the second hinge end 134 and the second telescopic end 122 can be hinged to the steering shaft 111 at the corner of the body 110 to realize the steering adjustment of the wheel 140.

[0025] This embodiment provides a method for coordinated control of wheel speed and body lifting motion, applied to the body 100 of wide-width agricultural machinery, such as... Figure 1 As shown, the collaborative control method includes the following steps: S102 constructs a collaborative control model between wheels 140 and fuselage 110 based on the structural parameters of fuselage 100.

[0026] According to the manufacturer's instructions for the machine body 100 or actual measurements, the driving stroke of the telescopic drive component 120, the position of the telescopic drive component 120 hinged at the corner, the dimensional parameters of the connecting shaft arm 130, and the position of the connecting shaft arm 130 hinged to the wheel 140 and the corner, etc., the hinge shafts of the first hinge end 133, the second hinge end 134, the third hinge end 135, the second telescopic end 122, and the axis of the wheel 140 are all arranged in parallel; for example Figure 5 As shown, one of the planes perpendicular to the aforementioned hinge axes is taken as the target plane. The support structure A, consisting of the telescopic drive member 120, the connecting shaft arm 130, and the wheel 140, and its corner are projected onto the target plane to establish a linkage mechanism with corresponding dimensions and connection relationships. Based on this linkage mechanism, the correlation between the telescopic movement of the telescopic drive member 120 and the lifting movement of the fuselage 110 and the horizontal movement of the wheel 140 is constructed, thereby constructing a collaborative control model between the wheel 140 and the fuselage 110.

[0027] S104 acquires the current operating mode of the machine body 100, the lifting mode of the machine body 110, and the extension speed of the telescopic drive component 120.

[0028] The current operating modes of the machine body 100 include a driving mode in which the machine body 100 moves and a machine attachment mode in which the machine body 100 is stationary and is attached to the machine tool 200 by lifting and lowering. The driving mode also includes the direction of travel of the base and the distribution of the drive wheels and follower wheels in this mode. The lifting and lowering modes of the machine body 110 include an ascending mode, a descending mode and a stationary state. The lifting and lowering movement of the machine body 110 is achieved by the telescopic movement of the telescopic drive component 120. During the lifting and lowering movement of the machine body 110, the horizontal distance between the wheels 140 and the machine body 110 will change, and the speed of the wheels 140 will change accordingly.

[0029] The telescopic drive components 120 of the four support structures A extend synchronously, driving the fuselage 110 to rise. Simultaneously, the wheels 140 move closer to the fuselage 110, and the extension speed of the telescopic drive components 120 is directly related to the rising speed of the fuselage 110 and the speed at which the wheels 140 move closer to the fuselage 110. Conversely, the telescopic drive components 120 of the four support structures A retract synchronously, driving the fuselage 110 to fall. Simultaneously, the wheels 140 move away from the fuselage 110, and the retraction speed of the telescopic drive components 120 is directly related to the falling speed of the fuselage 110 and the speed at which the wheels 140 move away from the fuselage 110. Combined with the direction of travel of the fuselage 100, the lifting and lowering motion of the fuselage 110, i.e., the extension speed of the telescopic drive components 120... The retraction motion has different speed effects on the wheels 140, either hindering or promoting their movement: In driving mode, when the four sets of telescopic drive members 120 extend to drive the body 110 to rise, the front wheels at the front and the rear wheels at the rear move closer to the body 110 according to the direction of travel, thus hindering the front wheels' movement and promoting the rear wheels' movement; In driving mode, when the four sets of telescopic drive members 120 retract to drive the body 110 to descend, the front wheels at the front and the rear wheels at the rear move away from the body 110 according to the direction of travel, thus promoting the front wheels' movement and hindering the rear wheels' movement. In the machine attachment mode, i.e. in the stationary state, when the four sets of telescopic drive components 120 extend and drive the machine body 110 to rise, both the front and rear wheels move closer to the machine body 110; when the four sets of telescopic drive components 120 extend and drive the machine body 110 to descend, both the front and rear wheels move away from the machine body 110.

[0030] S106 calculates the wheel speed caused by the telescopic drive of the telescopic drive component 120 based on the telescopic speed and the cooperative control model, and uses it as the compensation speed of the wheel 140.

[0031] The telescopic drive component 120's telescopic movement simultaneously causes the lifting and lowering of the fuselage 110 and the horizontal movement of the wheels 140 relative to the fuselage 110. The telescopic speed of the drive component 120 directly determines the lifting and lowering mode and speed of the fuselage 110, as well as the direction and speed of the wheels 140 relative to the fuselage 110. The telescopic speed of the drive component 120 can be directly acquired through a control module, and is a directional vector. When the drive component 120 extends, its telescopic speed is positive; when it shortens, its telescopic speed is negative. Based on the acquired telescopic speed, the lifting and lowering mode of the fuselage 110 can also be deduced: a positive telescopic speed indicates an ascending mode, and a negative telescopic speed indicates a descending mode.

[0032] Based on the collaborative control model constructed by the wheel 140, the telescopic drive 120, and the corner, and the obtained telescopic speed, the lifting speed of the fuselage 110 and the horizontal movement speed of the wheel 140 relative to the fuselage 110 can be obtained. The horizontal movement speed of the wheel 140 relative to the fuselage 110 is used as the compensation speed of the wheel 140.

[0033] S108 adjusts the output speed of each wheel by 140 based on the current operating mode, lifting mode, and compensation speed.

[0034] Based on the current operating mode of the machine body 100, the lifting mode of the machine body 110, and the calculated compensation speed, it can be determined that the speed of each wheel 140 is affected by the telescopic drive of the telescopic drive component 120 and the lifting motion of the machine body 110. Accordingly, the speed of each wheel 140 is corrected in relation to the compensation speed and direction, and each wheel 140 is controlled to run at the corrected output speed.

[0035] During the lifting and lowering process of the fuselage 110, the speed remains approximately constant compared to the speed before lifting and lowering. The speed changes of each wheel 140 before and after correction are consistent with the speed changes of the wheels 140 caused by the telescopic drive 120's telescopic movement. Therefore, during the lifting and lowering process of the fuselage 110, after the speed correction of the wheels 140, the relative motion between the wheels 140 and the fuselage 110 is consistent with the relative motion between the wheels 140 and the fuselage 110 caused by the telescopic drive 120's telescopic movement. Correspondingly, the horizontal movement of the wheels 140 relative to the fuselage 110 against the resistance of the field soil is achieved by the speed correction of the wheels 140, rather than by the telescopic drive 120. This effectively reduces the telescopic drive load of the telescopic drive 120 and the lifting and lowering adjustment resistance of the fuselage in the lifting and lowering mode, thereby ensuring the stable lifting and lowering adjustment of the fuselage 110.

[0036] In this embodiment, when the lifting mode of the machine body 110 is not in operation, the wheels 140 do not perform speed compensation. When the telescopic drive component 120 does not perform telescopic movement and its telescopic speed is zero, it indicates that the machine body 110 is not in lifting mode. In driving mode, the speed of the wheels 140 is no longer corrected, and the output speed of each wheel 140 is controlled to return to the state before correction to ensure the continued stable operation of the machine body 100. In the tool attachment mode, the speed of the wheels 140 is no longer corrected, and the static state of each wheel 140 is controlled to return to the state before correction to ensure the attachment stability of the machine body 100 and the tool 200.

[0037] like Figure 5 As shown, point I is the hinge point between the wheel axle and the first hinge end; point H is the hinge point between the second hinge end and the corner; point J is the hinge point between the third hinge end and the first telescopic end; point G is the hinge point between the second telescopic end and the corner; and line KM is the vertical line passing through point H. Let be the horizontal displacement from point I to line KM.

[0038] Based on this linkage mechanism, we can obtain... Calculate according to formula (1): (1); In formula (1), L represents the horizontal displacement from the wheel axle center to the vertical line KM (i.e., the corner of the fuselage), in meters. HI ∠GHK is the straight-line distance between the first hinge end and the second hinge end, in meters; ∠GHK is the angle of inclination between the line connecting the second telescopic end and the second hinge end and the corresponding corner, in degrees; ∠IHJ is the angle between the line connecting the first hinge end and the second hinge end and the line connecting the second hinge end and the third hinge end, in degrees; L GH L is the straight-line distance between the second hinge end and the second telescopic end, in meters. HJ This is the straight-line distance between the second and third hinge ends, in meters (m).

[0039] Differentiating both sides of equation (1) with respect to the telescopic drive mechanism, we obtain equation (2): (2); In formula (2), The horizontal displacement change from the wheel axle center to the vertical line KM is expressed in meters. L represents the amount of extension and retraction of the telescopic drive component, expressed in meters (m). HI L is the straight-line distance between the first hinge end and the second hinge end, in meters (m). GJ ∠GHK is the straight-line distance between the first and second telescopic ends, in meters; ∠GHK is the angle of inclination between the line connecting the second telescopic end and the second hinge end and the corresponding corner, in degrees; ∠IHJ is the angle between the line connecting the first and second hinge ends and the line connecting the second and third hinge ends, in degrees; L GH L is the straight-line distance between the second hinge end and the second telescopic end, in meters. HJ This is the straight-line distance between the second and third hinge ends, in meters (m).

[0040] Multiply both sides of the equal sign in formula (2) by And by differentiating with respect to time, we get formula (3): (3); In the formula, v susp This is the compensated speed of the wheel, in m / s; This represents the change in horizontal displacement from the wheel axle center to the vertical line KM, in meters. The time for the telescopic actuator to extend or retract is expressed in seconds (s); L HIL is the straight-line distance between the first hinge end and the second hinge end, in meters (m). GJ ∠GHK is the straight-line distance between the first and second telescopic ends, in meters; ∠GHK is the angle of inclination between the line connecting the second telescopic end and the second hinge end and the corresponding corner, in degrees; ∠IHJ is the angle between the line connecting the first and second hinge ends and the line connecting the second and third hinge ends, in degrees; L GH L is the straight-line distance between the second hinge end and the second telescopic end, in meters. HJ The straight-line distance between the second hinge end and the third hinge end is in meters (m). This represents the amount of extension and retraction of the telescopic drive component, expressed in meters (m).

[0041] in, / This refers to the extension and retraction speed of the telescopic drive component, measured in m / s. When the telescopic drive component extends, the extension and retraction speed is positive. The wheel's compensating speed is v. susp The value is negative; when the telescopic drive component shortens, the telescopic speed is negative, and the wheel's compensating speed v is negative. susp It is a positive value.

[0042] In this embodiment, the step S108, which corrects the output speed of each wheel 140 according to the current operating mode, lifting mode, and compensation speed, includes: If the current operating mode is driving mode and the body 110 is in lifting mode, then the speed of the drive wheel in the wheel 140 is corrected: if the drive wheel is the front wheel, then the drive wheel is decelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel; if the drive wheel is the rear wheel, then the drive wheel is accelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel.

[0043] In the driving mode, some of the four wheels 140 act as drive wheels and the rest as follower wheels, or all of the wheels 140 act as drive wheels. Only the speed of the drive wheels is corrected, and the output speed of the follower wheels does not need to be corrected. In particular, when the fuselage 110 is in the ascending mode, according to the direction of travel, if the drive wheels are located on the front side, that is, one or two front wheels act as drive wheels, the fuselage 110 will move upward and exert a speed influence on the front wheels, causing them to move closer to the fuselage 110 and hindering their forward movement. The magnitude of this speed is the absolute value of the compensation speed calculated for the corresponding front wheel, and the direction of the speed is the direction in which the front wheel moves closer to the fuselage 110, which is opposite to the direction of travel of the front wheel. Therefore, the drive wheels acting as front wheels are decelerated and compensated, and the absolute value of the compensation speed is reduced from their current speed to obtain the corrected output speed.

[0044] When the fuselage 110 is in ascending mode, according to the direction of travel, if the drive wheels are located at the rear, that is, one or two rear wheels are used as drive wheels, the fuselage 110 will move upward and exert a speed influence on the rear wheels, causing them to move closer to the fuselage 110 and promoting their forward movement. The magnitude of this speed is the absolute value of the compensation speed calculated for the corresponding rear wheel, and the direction of the speed is the direction in which the rear wheel moves closer to the fuselage 110, which is the same as the direction of travel of the rear wheel. Therefore, acceleration compensation is performed on the drive wheel that is used as the rear wheel, and the absolute value of the compensation speed is added to its current speed as the corrected output speed.

[0045] This ensures that, in the ascending mode, after the speed of the drive wheel is corrected, the relative motion between the drive wheel and the follower wheel relative to the machine body 110 is consistent with the relative motion of each wheel 140 approaching the machine body 110 caused by the extension movement of the telescopic drive component 120. The speed correction of the drive wheel enables each wheel 140 to overcome the resistance of the field soil and move closer to the machine body 110. This effectively reduces the extension drive load of the telescopic drive component 120 and the ascending adjustment resistance of the machine body in the ascending mode, thereby ensuring the stable ascending adjustment of the machine body 110.

[0046] Similarly, in this embodiment, the step S108, which corrects the output speed of each wheel 140 according to the current operating mode, lifting mode, and compensation speed, includes: If the current operating mode is driving mode and the machine body 110 is in descent mode, then the speed of the drive wheel in the wheel 140 is corrected: if the drive wheel is the front wheel, then the drive wheel is accelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel; if the drive wheel is the rear wheel, then the drive wheel is decelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel.

[0047] In the driving mode, some of the four wheels 140 act as drive wheels and the rest as follower wheels, or all of the wheels 140 act as drive wheels. Only the speed of the drive wheels is corrected, and the output speed of the follower wheels does not need to be corrected. In particular, when the fuselage 110 is in the descent mode, according to the direction of travel, if the drive wheels are located on the front side, that is, one or two front wheels act as drive wheels, the fuselage 110 will move downwards and exert a speed influence on the front wheels, causing them to move away from the fuselage 110 and promoting their forward movement. The magnitude of this speed is the absolute value of the compensation speed calculated for the corresponding front wheel, and the direction of the speed is the direction in which the front wheel moves away from the fuselage 110, which is the same as the direction of travel of the front wheel. Therefore, the drive wheel acting as the front wheel is accelerated and compensated, and the absolute value of the compensation speed is added to its current speed as the corrected output speed.

[0048] When the fuselage 110 is in descent mode, according to the direction of travel, if the drive wheels are located at the rear, i.e., one or both rear wheels are used as drive wheels, the descent of the fuselage 110 will exert a speed effect on the rear wheels, causing them to move away from the fuselage 110 and hindering their forward movement. The magnitude of this speed is the absolute value of the compensation speed calculated for the corresponding rear wheel, and the direction of the speed is the direction in which the rear wheel moves away from the fuselage 110, opposite to the direction of travel of the rear wheels. Therefore, deceleration compensation is performed on the drive wheels acting as rear wheels, reducing the absolute value of the compensation speed from their current speed to obtain the corrected output speed. This ensures that, in the descent mode, after the speed of the drive wheels is corrected, the relative motion between the drive wheels and the follower wheels relative to the body 110 is consistent with the relative motion of each wheel 140 away from the body 110 caused by the shortening motion of the telescopic drive component 120. The speed correction of the drive wheels enables each wheel 140 to overcome the field soil resistance and move away from the body 110. Consequently, the shortening drive load of the telescopic drive component 120 and the descent adjustment resistance of the body are effectively reduced in the descent mode, thereby ensuring the stable descent adjustment of the body 110.

[0049] In this embodiment, the wheel compensation speed v is calculated according to formula (3). susp When the telescopic drive component extends and the fuselage is in ascending mode, the telescopic speed is positive, and the wheel compensation speed v susp The value is negative; when the telescopic drive component shortens and the fuselage is in descent mode, the telescopic speed is negative, and the wheel's compensating speed v is negative. susp The value is positive; correspondingly, the step S108 in correcting the output speed of each wheel based on the current operating mode, lifting mode, and compensation speed includes: If the current operating mode is driving mode and the machine body is in ascending or descending mode, then the speed of the drive wheel in the wheel is corrected, and the output speed of the follower wheel does not need to be corrected; where, if the drive wheel is the front wheel, its output speed is calculated according to formula (4): (4); Among them, v out The corrected output speed for the drive wheels, in m / s; v now The output speed of the drive wheels before correction, in m / s; v susp This is the compensated speed of the drive wheel, measured in m / s.

[0050] When the fuselage is in ascent mode, the compensating speed v of the front wheel is... susp If the calculated value is negative, but the direction is opposite to the direction of travel of the front wheels, then v out Numerically, it is v now The absolute value and v susp The absolute difference; when the fuselage is in descent mode, the compensation speed v of the front wheel.susp If the calculated value is positive, but the direction is the same as the direction of travel of the front wheels, then v out Numerically, it is v now The absolute value and v susp The sum of the absolute values ​​of . If the current operating mode is driving mode and the machine body is in ascending or descending mode, the speed of the drive wheel in the wheel is corrected, and the follower wheel maintains the output speed before correction; where, if the drive wheel is the rear wheel, its output speed is calculated according to formula (5): (5); Among them, v out The corrected output speed for the drive wheels, in m / s; v now The output speed of the drive wheels before correction, in m / s; v susp This is the compensated speed of the drive wheel, measured in m / s.

[0051] When the fuselage is in ascent mode, the compensation speed v of the rear wheels susp If the calculated value is negative, but the direction is the same as the direction of travel of the rear wheels, then v out Numerically, it is v now The absolute value and v susp The sum of absolute values; when the fuselage is in descent mode, the compensation speed v of the rear wheel. susp If the calculated value is positive, but the direction is opposite to the direction of the rear wheel's movement, then v out Numerically, it is v now The absolute value and v susp The difference in absolute values. When the machine body 100 is in driving mode and the front wheel is the drive wheel, the output speed of the drive wheel is calculated and corrected according to the above formula (4); when the rear wheel is the drive wheel, the output speed of the drive wheel is calculated and corrected according to the above formula (5); the output speed of the follower wheel does not need to be corrected, so as to ensure the stable lifting and lowering adjustment of the machine body.

[0052] Specifically, in this embodiment, the driving mode may include a single-wheel mode, a two-wheel group mode with the same direction, a two-wheel group mode with opposite directions, and a four-wheel group mode with opposite directions: Single-wheel mode: A single wheel 140 acts as the drive wheel, and the other three wheels 140 act as follower wheels. For example... Figure 4 As shown, the machine is in a horizontal mode. The direction of the black straight arrow is the direction of travel, the direction of the red straight arrow is the direction of extension and retraction of the telescopic drive component 120, and the direction of the curved arrow is the direction of rotation of the drive wheel. Figure 4 In the figure, only the left rear wheel 143 is used as the drive wheel, and the other three wheels 140 are used as follower wheels (not shown in the figure). The output speed of the left rear wheel 143 is corrected according to formula (5). The output speed of the three follower wheels does not need to be corrected. The specific output speed of each wheel is as shown in formula (6): (6); In formula (6), v blout The output speed after correction for the left rear wheel as the drive wheel, in m / s; v blnow The output speed of the left rear wheel before correction, in m / s; v susp The compensated speed of the left rear wheel is expressed in m / s; v brout The output speed of the right rear wheel is expressed in m / s; v brnow The output speed of the right rear wheel before correction, in m / s; v flout The output speed of the left front wheel is expressed in m / s; v flnow The output speed of the left front wheel before correction, in m / s; v frout The output speed of the right front wheel is expressed in m / s; v frnow This is the output speed of the right front wheel before correction, in m / s.

[0053] Two-wheel configuration in the same direction: Depending on the direction of travel, the two wheels 140 located at the front or rear serve as drive wheels, and the other two wheels 140 serve as follower wheels. For example... Figure 6 As shown, the machine is in a horizontal mode. The black straight arrow indicates the direction of travel, the blue straight arrow indicates the lifting direction of the body 110, the red straight arrow indicates the extension direction of the telescopic drive component 120, and the red arc arrow indicates the rotation direction of the drive wheel. Figure 6 In the middle, the left rear wheel 143 and the right rear wheel 144 are the drive wheels, and the left front wheel 141 and the right front wheel 142 are the follower wheels. The output speed of the left rear wheel 143 and the right rear wheel 144 is corrected according to formula (5). The two follower wheels maintain the output speed before correction. The specific output speed of each wheel is as shown in formula (7): (7); In formula (7), v blout The output speed after correction for the left rear wheel as the drive wheel, in m / s; v blnow The output speed of the left rear wheel before correction, in m / s; v susp v is the compensated speed of the drive wheels, measured in m / s. brout The output speed after correction for the right rear wheel as the drive wheel, in m / s; v brnow The output speed of the right rear wheel before correction, in m / s; v flout The output speed of the left front wheel is expressed in m / s; v flnow The output speed of the left front wheel before correction, in m / s; v frout The output speed of the right front wheel is expressed in m / s; v frnow This is the output speed of the right front wheel before correction, in m / s.

[0054] Two-wheel configuration with opposite orientation: In the direction of travel, one wheel 140 at the front and one wheel 140 at the rear serve as drive wheels, while the other two wheels 140 act as follower wheels. For example... Figure 7 As shown, the machine body is in a horizontal mode. The green straight arrow indicates the direction of travel, the red straight arrow indicates the direction of extension and retraction of the telescopic drive 120, and the red arc arrow indicates the direction of rotation of the drive wheels. Among them, the left front wheel 141 and the left rear wheel 143 are the drive wheels, and the right front wheel 142 (not shown in the figure) and the right rear wheel 144 (not shown in the figure) are the follower wheels. The output speed of the left front wheel 141 is corrected according to formula (4), and the output speed of the left rear wheel 143 is corrected according to formula (5). The two follower wheels maintain the output speed before correction. The specific output speed of each wheel is as shown in formula (8): (8); In formula (8), v blout The output speed after correction for the left rear wheel as the drive wheel, in m / s; v blnow The output speed of the left rear wheel before correction, in m / s; v susp v is the compensated speed of the drive wheels, measured in m / s. brout The output speed of the right rear wheel is expressed in m / s; v brnow The output speed of the right rear wheel before correction, in m / s; v flout The output speed after correction for the left front wheel as the drive wheel, in m / s; v flnow The output speed of the left front wheel before correction, in m / s; v frout The output speed of the right front wheel is expressed in m / s; v frnow This is the output speed of the right front wheel before correction, in m / s.

[0055] Driving modes include an alternate-direction four-wheel drive mode: all four wheels (140°) act as drive wheels. For example... Figure 8 As shown, the machine body is in a horizontal mode. The black arrow indicates the direction of travel, the blue straight arrow indicates the lifting direction of the body 110, the red straight arrow indicates the extension direction of the telescopic drive component 120, and the red arc arrow indicates the rotation direction of the drive wheel. Among them, the left front wheel 141, right front wheel 142, left rear wheel 143, and right rear wheel 144 are all drive wheels with no follower wheels. The output speed of the left front wheel 141 and right front wheel 142 is corrected according to formula (4), and the output speed of the left rear wheel 143 and right rear wheel 144 is corrected according to formula (5). The specific output speed of each wheel is as shown in formula (9): (9); In formula (9), v bloutThe output speed after correction for the left rear wheel as the drive wheel, in m / s; v blnow The output speed of the left rear wheel before correction, in m / s; v susp v is the compensated speed of the drive wheels, measured in m / s. brout The output speed after correction for the right rear wheel as the drive wheel, in m / s; v brnow The output speed of the right rear wheel before correction, in m / s; v flout The output speed after correction for the left front wheel as the drive wheel, in m / s; v flnow The output speed of the left front wheel before correction, in m / s; v frout The corrected output speed for the right front wheel as the drive wheel, in m / s; v frnow This is the output speed of the right front wheel before correction, in m / s.

[0056] In this embodiment, the step S108, which corrects the output speed of each wheel 140 according to the current operating mode, lifting mode, and compensation speed, includes: If the current operating mode is the machine attachment mode in the horizontal mode, with the wheels located on the front and rear sides of the machine body 110 and the machine 200 located on one side of the machine body 100 in the horizontal direction (i.e., the front-to-back direction), then at least one wheel 140 on the side of the machine away from the machine 200 in the front-to-back direction is used as a correction wheel to correct the speed of the correction wheel: the absolute value of the correction wheel's compensation speed is the first compensation amount, and the absolute value of the compensation speed of the wheel 140 on the same side as the correction wheel in the left-to-right direction is the second compensation amount. The sum of the first compensation amount and the second compensation amount is used as the total compensation amount, and the total compensation amount is used as the speed magnitude of the correction wheel's output speed. Wherein, if the machine body 110 is in the ascending mode, then the direction of travel of the correction wheel closer to the machine 200 is used as the speed direction of the correction wheel's output speed; if the machine body 110 is in the descending mode, then the direction of travel of the correction wheel away from the machine 200 is used as the speed direction of the correction wheel's output speed.

[0057] In the tool attachment mode, the tool 200 is located in front of or behind the machine body 100. After the machine body 100 approaches the tool 200, it stops moving and becomes stationary. Then, the height of the machine body 110 is adjusted by the lifting drive component to achieve attachment between the machine body 100 and the tool 200.

[0058] When the machine body 110 is in the ascending mode, all four wheels 140 on the front and rear sides move close to the machine body 110. At least one wheel 140 on the side laterally away from the machine tool 200 is set as a correction wheel. The first compensation amount for the speed influence of the correction wheel caused by the ascending movement of the machine body 110, and the second compensation amount for the speed influence of the wheel 140 on the same side as the correction wheel in the left and right directions are both compensated to the correction wheel. During the ascending process of the machine body 110, the correction wheel acts as the driving wheel. Only the wheel 140 on the side away from the machine tool 200 moves close to the machine tool 200 to adapt to the ascending movement of the machine body 110. The position of the wheel 140 on the side close to the machine tool 200 is approximately fixed. Thus, while achieving stable ascending adjustment of the machine body 110, the collision and pushing caused by the wheel 140 to the machine tool 200 are effectively reduced.

[0059] When the machine body 110 is in descent mode, as the machine body 110 descends, it simultaneously drives the four wheels 140 to move away from the machine body 110. At least one wheel 140 on the side away from the machine tool 200 in the front-rear direction is set as a correction wheel. The first compensation amount for the speed influence of the correction wheel caused by the descent of the machine body 110, and the second compensation amount for the speed influence of the wheel 140 on the same side as the correction wheel in the left-right direction are both compensated to the correction wheel. During the descent of the machine body 110, the correction wheel acts as the drive wheel. Only the wheel 140 on the side away from the machine tool 200 adapts to the descent of the machine body 110 and moves away from the machine tool 200. The position of the wheel 140 on the side closer to the machine tool 200 is approximately fixed. Thus, while achieving stable descent adjustment of the machine body 110, the collision and pushing caused by the wheels 140 to the machine tool 200 are effectively reduced.

[0060] Specifically, in this embodiment, step S108, which corrects the output speed of each wheel 140 according to the current operating mode, lifting mode, and compensation speed, includes: If the current operating mode is the implement attachment mode in the lateral mode, then at least one wheel 140 on the side away from the implement 200 in the forward and backward direction is used as a correction wheel to correct the speed of the correction wheel: The magnitude of the output speed of the correction wheel is calculated according to formula (10): (10); In formula (10), v out The corrected output speed of the correction wheel, in m / s; v susp The compensation speed of the correction wheel, in m / s; v tcsusp The compensation speed for wheels on the same side in the left and right directions is given, and the unit is m / s.

[0061] like Figure 9As shown, the machine body is in a horizontal mode. The red straight arrow indicates the extension direction of the telescopic drive component 120, and the red curved arrow indicates the rotation direction of the drive wheel. The machine tool 200 is located in front of the machine body 100. The left front wheel 141 and the right front wheel 142 (not shown in the figure) are close to the machine tool 200, while the left rear wheel 143 and the right rear wheel 144 (not shown in the figure) are away from the machine tool 200. Both the left rear wheel 143 and the right rear wheel 144 are correction wheels. Therefore, the left front wheel 141 and the left rear wheel 143 are located on the same side in the left and right directions. The absolute value of the compensation speed of the left rear wheel 143 is the first compensation amount, and the absolute value of the compensation speed of the left front wheel 141 is the second compensation amount. The sum of the first compensation amount and the second compensation amount is taken as the total compensation amount, which is used as the speed magnitude of the output speed of the left rear wheel 143.

[0062] Similarly, the right front wheel 142 and the right rear wheel 144 are located on the same side in the left and right directions. The absolute value of the compensation speed of the right rear wheel 144 is the first compensation amount, and the absolute value of the compensation speed of the right front wheel 142 is the second compensation amount. The sum of the first compensation amount and the second compensation amount is taken as the total compensation amount. This total compensation amount is taken as the speed magnitude value of the output speed of the right rear wheel 144. The direction of travel of the right rear wheel 144 away from the machine 200 is taken as the speed direction of its output speed.

[0063] In ascending mode, the direction of travel of the left rear wheel 143 and the right rear wheel 144 toward the machine 200 is taken as the speed direction of their output speed; in descending mode, the direction of travel of the left rear wheel 143 and the right rear wheel 144 away from the machine 200 is taken as the speed direction of their output speed.

[0064] The specific output speed values ​​for each wheel are shown in formula (11): (11); In formula (11), v blout The output speed after correction by using the left rear wheel as the correction wheel, in m / s; v blsusp The compensated speed of the left rear wheel is expressed in m / s; v flsusp The compensated speed of the left front wheel is expressed in m / s; v brout The output speed after correction by using the right rear wheel as the correction wheel, in m / s; v brsusp The compensated speed of the right rear wheel is expressed in m / s; v frsusp v is the compensated speed of the right front wheel, in m / s. flout The output speed of the left front wheel is expressed in m / s; v frout This represents the output speed of the right front wheel, in m / s.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for coordinated control of wheel speed and fuselage lifting motion, characterized in that, A body (100) for use in wide-span agricultural machinery, the body (100) comprising a frame (110) and four sets of support structures (A) corresponding to the four corners of the frame (110), each support structure (A) comprising a telescopic drive member (120), a connecting arm (130), and a wheel (140), the connecting arm (130) having a first hinge end (133) hinged to the wheel (140), a second hinge end (134) hinged to the corresponding corner, and a third hinge end (135) hinged to the first telescopic end (121) of the telescopic drive member (120), the second telescopic end (122) of the telescopic drive member (120) being hinged to the corresponding corner and located above the connecting arm (130); the method includes: A collaborative control model of wheels (140) and fuselage (110) is constructed based on the structural parameters of the body (100); The current operating mode of the machine body (100), the lifting mode of the machine body (110), and the extension speed of the telescopic drive component (120) are obtained. The wheel speed caused by the telescopic drive of the telescopic drive (120) is calculated based on the telescopic speed and the cooperative control model, and is used as the compensation speed of the wheel (140). The output speed of each wheel (140) is corrected according to the current operating mode, the lifting mode, and the compensation speed.

2. The collaborative control method according to claim 1, characterized in that, The compensated speed of the wheel is calculated using the following formula: ； Among them, v susp L is the compensated speed of the wheel, measured in m / s. HI L is the straight-line distance between the first hinge end and the second hinge end, in meters. GJ ∠GHK is the straight-line distance between the first and second telescopic ends, in meters; ∠GHK is the angle of inclination between the line connecting the second telescopic end and the second hinge end and the corresponding corner, in degrees; ∠IHJ is the angle between the line connecting the first and second hinge ends and the line connecting the second and third hinge ends, in degrees; L GH L is the straight-line distance between the second hinge end and the second telescopic end, in meters. HJ The straight-line distance between the second hinge end and the third hinge end is in meters (m). The telescopic drive component represents the amount of telescopic change, expressed in meters (m). The time for the telescopic actuator to extend or retract is measured in seconds (s).

3. The collaborative control method according to claim 1, characterized in that, The step of correcting the output speed of each wheel (140) according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is driving mode and the body (110) is in lifting mode, then the speed of the drive wheel in the wheel (140) is corrected: if the drive wheel is the front wheel, then the drive wheel is decelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel; if the drive wheel is the rear wheel, then the drive wheel is accelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel.

4. The collaborative control method according to claim 1, characterized in that, The step of correcting the output speed of each wheel (140) according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is driving mode and the body (110) is descending mode, then the speed of the drive wheel in the wheel (140) is corrected: if the drive wheel is the front wheel, then the drive wheel is accelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel; if the drive wheel is the rear wheel, then the drive wheel is decelerated and the compensation amount is the absolute value of the compensation speed of the drive wheel.

5. The cooperative control method according to claim 2, characterized in that, The step of correcting the output speed of each wheel according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is driving mode, and the machine body is in ascending or descending mode, then the speed of the drive wheels in the wheels is corrected: If the drive wheel is a front wheel, its output speed is calculated according to the following formula: ； Among them, v out The corrected output speed of the drive wheel, in m / s; v now The output speed of the drive wheel before correction, in m / s; v susp The compensated speed of the drive wheel is expressed in m / s.

6. The cooperative control method according to claim 2, characterized in that, The step of correcting the output speed of each wheel according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is driving mode, and the machine body is in ascending or descending mode, then the speed of the drive wheels in the wheels is corrected: If the drive wheel is a rear wheel, its output speed is calculated according to the following formula: ； Among them, v out The corrected output speed of the drive wheel, in m / s; v now The output speed of the drive wheel before correction, in m / s; v susp The compensated speed of the drive wheel is expressed in m / s.

7. The cooperative control method according to any one of claims 3-6, characterized in that, The driving mode includes a single-wheel mode: a single wheel (140) serves as the drive wheel, and the other three wheels (140) serve as follower wheels; And / or, the driving mode includes a two-wheel-set mode with the same direction: according to the direction of travel, the two wheels (140) located on the front or rear side are used as drive wheels, and the other two wheels (140) are used as follower wheels; And / or, the driving mode includes a two-wheel configuration with opposite orientation: one of the wheels (140) located on the front side and one of the wheels (140) located on the rear side serve as drive wheels, and the other two wheels (140) serve as follower wheels, according to the direction of travel. And / or, the driving mode includes an opposite-direction four-wheel configuration: all four wheels (140) are used as drive wheels.

8. The cooperative control method according to claim 1, characterized in that, The step of correcting the output speed of each wheel (140) according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is the implement attachment mode in the lateral mode, then at least one of the wheels (140) on the side away from the implement (200) in the forward and backward direction serves as a correction wheel, and speed correction is performed on the correction wheel: The absolute value of the compensation speed of the correction wheel is the first compensation amount, and the absolute value of the compensation speed of the wheel (140) on the same side as the left and right directions of the correction wheel is the second compensation amount. The sum of the first compensation amount and the second compensation amount is taken as the total compensation amount, and the total compensation amount is taken as the speed magnitude value of the output speed of the correction wheel. If the fuselage (110) is in ascending mode, the direction of travel of the correction wheel toward the machine (200) is taken as the speed direction of the correction wheel output speed. And / or, if the fuselage (110) is in descent mode, the direction in which the correction wheel moves away from the traveling direction of the machine (200) shall be taken as the speed direction of the output speed of the correction wheel.

9. The cooperative control method according to claim 2, characterized in that, The step of correcting the output speed of each wheel according to the current operating mode, the lifting mode, and the compensation speed includes: If the current operating mode is the implement attachment mode in the lateral mode, then at least one wheel on the side furthest from the implement in the forward / backward direction serves as a correction wheel, and speed correction is performed on the correction wheel: The magnitude of the output speed of the correction wheel is calculated according to the following formula: ； In the formula, v out The output speed after correction by the correction wheel, in m / s; v susp v is the compensation speed of the correction wheel, in m / s; tcsusp The compensation speed of the wheel on the same side in the left and right directions of the correction wheel is expressed in m / s. Wherein, if the machine body is in ascending mode, the direction of travel of the correction wheel toward the machine is taken as the speed direction of the correction wheel output speed; And / or, if the machine body is in descent mode, the direction in which the correction wheel is away from the traveling direction of the machine is taken as the speed direction of the output speed of the correction wheel.

10. The cooperative control method according to claim 1, characterized in that, When the lifting mode of the machine body is not in operation, the wheels do not perform speed compensation.

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