CN109398080A - Intelligent agricultural machinery and its differential lock and differential lock control method - Google Patents
Intelligent agricultural machinery and its differential lock and differential lock control method Download PDFInfo
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- CN109398080A CN109398080A CN201811252470.1A CN201811252470A CN109398080A CN 109398080 A CN109398080 A CN 109398080A CN 201811252470 A CN201811252470 A CN 201811252470A CN 109398080 A CN109398080 A CN 109398080A
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- agricultural machinery
- differential
- lock
- differential lock
- road
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 135
- 238000004458 analytical method Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 100
- 230000009184 walking Effects 0.000 claims description 88
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000012360 testing method Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 15
- 238000005507 spraying Methods 0.000 description 7
- 239000000575 pesticide Substances 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
- F16H48/30—Arrangements for suppressing or influencing the differential action, e.g. locking devices using externally-actuatable means
Abstract
The present invention provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, wherein the intelligent agricultural machinery includes an agricultural machinery host, a detection system, an intelligent operating system, and an at least differential lock.The detection system is arranged at the agricultural machinery host, the traffic information of road where wherein the detection system be used to detect the agricultural machinery host, wherein the differential lock is configured in the agricultural machinery host, wherein the differential lock controls the distribution of the driving force of the agricultural machinery host based on the traffic information that the detection system detects, wherein the intelligent operating system receives the traffic information that the detection system detects, the case where with the road is passed through based on agricultural machinery host described in the traffic information discriminatory analysis, wherein the detection system, which is also set, controls the differential lock based on judging result.
Description
Technical field
The present invention relates to a kind of agricultural machinery more particularly to a kind of intelligent agricultural machinery and its differential lock and differential lock controlling parties
Method.
Background technique
Differential mechanism is primarily used to the rotational speed difference of interior foreign steamer when balancing vehicle turning, thus so that vehicle is smoothly turned and
Excessive energy need not be expended, too big abrasion will not be caused to the wheel of vehicle because of during turning.And exactly because
For differential mechanism differential principle and wait torques to act on, when agricultural machine work when, wheel can often get down hopeless in a quagmire or field and enable some
Wheel-slip is even hanging, so that so that vehicle is got into a difficult position can not extricate oneself.
In order to solve the asynchrony phenomenon of the two sides wheel of vehicle in the process of running, it is poor to install in the differential mechanism of vehicle
Speed lock.Differential lock can be by the differential mechanism locking of vehicle, to stop the work of the differential mechanism.When differential mechanism stops working
When, differential mechanism both ends connect wheel or power output shaft by synchronous rotation, so that torque to be re-assigned to the vehicle of two sides
Wheel, so that vehicle is driven out to from the road surface of mud pit or skidding.Existing differential lock is applied primarily to automobile, especially offroad vehicle
In, to enhance the cross-country ability of the vehicle.
And existing vehicle, especially off-road vehicle, it is generally the case that be to detect currently to turn from the wheels of vehicle two sides
Speed difference and the current speed of vehicle determine the differential of the either unlocking vehicle by way of vehicle operator is manually operated
Lock.Only when the velocity of rotation of the two sides wheel of vehicle be lower than particular value when, and the travel speed of current vehicle also by
Control the differential lock that could start in current vehicle when being lower than certain speed.
Apply the differential lock in automobile especially offroad vehicle that can not be directly applied in agricultural machinery.Farm machinery it is this
Working environment determines that agricultural machinery inevitably will cause during the work time and often stops or be trapped in heavy road face.
When agricultural vehicle gets down hopeless in a quagmire either some wheel-slip of vehicle, the operating system of agricultural machinery, such as harvesting device, agriculture
Medicine flusher or broadcast application device etc. will not stop working because of halting for vehicle.If agricultural machinery stops in situ
Or it is trapped in heavy road face, the operating system of agricultural machinery continues to run the waste that will result in resource, while also can be to farming
Object impacts, and is also possible to that vehicle can be impacted in severe cases.
For existing agricultural machinery, driver can select according to the current travel route of vehicle and current road conditions
Operate with the operating system of the differential lock and current agricultural machinery.The agricultural machinery of the prior art, either traditional has driver
The agricultural machinery or automatic Pilot agricultural machinery of operation all can not shift to an earlier date or in time operate the differential lock, to drive to when agricultural machinery
Can smoothly it pass through when rugged or heavy road face.
Summary of the invention
Main advantage of the invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, wherein
The differential lock is applied to intelligent agricultural machinery, passes through energy to improve the intelligent agricultural machinery in rough ground or muddy road surface
Power.
Another advantage of the present invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, described
Differential lock is configured in an at least differential mechanism for the intelligent agricultural machinery, to prevent intelligent agricultural machinery wheel in the process of walking
Idle running is skidded, and the cross-country ability of the intelligent agricultural machinery is improved.
Another advantage of the present invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, described
Most torque even all torsion torque is transmitted to the drive axle or driving wheel not trackslipped by differential lock, makes full use of the attached of driving wheel
Put forth effort and generate enough tractive force, intelligent agricultural machinery is made to can continue to travel.
Another advantage of the present invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, wherein
The intelligent agricultural machinery operates the differential lock in advance or in time according to the traffic information of current vehicle, avoids agricultural machinery traveling in mud
It falls into and cannot pass through when muddy or rough ground.
Another advantage of the present invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, described
Intelligent agricultural machinery detects the traffic information of current agricultural machinery institute driving path, and judges that current vehicle is opened based on the result of current detection
Open the differential lock.
Another advantage of the present invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, described
Intelligent agricultural machinery detects traffic information and travel speed of current agricultural machinery of current agricultural machinery institute driving path etc., and is based on current agricultural machinery
Travel speed and traffic information close the differential lock in real time, to prevent agricultural machinery in high speed differential mechanism quilt when driving of turning
It closes and vehicle is impacted.
Another advantage of the present invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, described
Intelligent agricultural machinery can automatically detect the traffic information of current vehicle during traveling, and based on current traffic information
Automatically open and be closed the differential lock of current agricultural machinery.
Another advantage of the present invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, described
At least one differential lock is configured at the differential mechanism of the intelligent agricultural machinery by intelligent agricultural machinery, to control the agricultural machinery host extremely
A few driving wheel.
Another advantage of the present invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, described
The differential lock is respectively arranged in the front axle differential and rear axle differential of the intelligent agricultural machinery by intelligent agricultural machinery, by being set to
The two front wheels of intelligent agricultural machinery described in the differential lock control of the front axle differential, by being set to the rear axle differential
Two rear-wheels of intelligent agricultural machinery described in the differential lock control.
Another advantage of the present invention is that it provides a kind of intelligent agricultural machinery and its differential lock and differential lock control method, described
One differential lock is configured at the center differential of the intelligent agricultural machinery by intelligent agricultural machinery, passes through the differential of the center differential
The synchronous rotation of the front and back power output shaft of intelligent agricultural machinery described in lock control.
Another advantage of the present invention is that it provides a kind of differential lock suitable for intelligent agricultural machinery, and wherein the differential lock does not need
Accurate component and complicated structure, manufacturing process is simple, low in cost.
Other advantage and characteristics of the invention are able to fully demonstrate and can be by appended rights by following detailed descriptions
The combination of the means and device specially pointed out in it is required that is achieved.
According to the present invention, an intelligent agricultural machinery of the invention for foregoing purpose and other purposes and advantage can be realized, comprising:
One agricultural machinery host；
One detection system, wherein the detection system is arranged at the agricultural machinery host, wherein the detection system by with
The traffic information of road where detecting the agricultural machinery host；And
An at least differential lock, wherein the differential lock is configured in the agricultural machinery host, wherein the differential lock is based on institute
State the distribution that the traffic information that detection system detects controls the driving force of the agricultural machinery host.
According to some embodiments of the present invention, the intelligent agricultural machinery further comprises an intelligent operating system, wherein described
Intelligent operating system receives the traffic information that the detection system detects, and based on agriculture described in the traffic information discriminatory analysis
Machine host passes through the case where road, wherein the detection system, which is also set, controls the differential lock based on judging result.
According to some embodiments of the present invention, the detection system further comprises an at least road detection apparatus, described
Road detection apparatus is arranged at the agricultural machinery host, wherein the road detection apparatus be used to detect the agricultural machinery host institute
The intelligent operating system is transmitted to the road information that will test or be collected into the road information of road.
According to some embodiments of the present invention, the agricultural machinery host further comprises carload bracket, at least two walkings
Unit, and an at least power unit, wherein the walking unit and the power unit are arranged at the vehicle bracket, institute
The walking unit can be drivingly connected to by stating power unit, and the movement of the walking unit is driven by the power unit,
Described in road detection apparatus further comprise detection device after detection device and one before one, wherein the preceding detection device and institute
The front-end and back-end that rear detection device is arranged at the vehicle bracket respectively are stated, to detect or collect the agricultural machinery host traveling
The traffic information of the road in direction.
According to some embodiments of the present invention, the agricultural machinery host further comprises an at least differential mechanism, wherein the difference
Fast device is arranged at the vehicle bracket of the agricultural machinery host, and an at least walking unit can be drivingly connected to the differential
Device, wherein the differential lock is arranged at the differential mechanism described at least one.
According to some embodiments of the present invention, after the vehicle bracket of the agricultural machinery host further comprises Qian Qiao and one
Bridge, wherein the preceding bridge and the rear axle can be drivingly coupled to a few walking unit respectively, wherein the differential mechanism is further
Including a front axle differential, the front axle differential is arranged at the preceding bridge, is drivingly connected by the front axle differential in institute
The movement of the walking unit of bridge before stating, wherein the differential lock further comprises bridge differential lock before one, wherein the preceding bridge
Differential lock is arranged at the front axle differential, by the preceding bridge differential lock adjust the front axle differential lockup state and
Unlocked state.
According to some embodiments of the present invention, after the vehicle bracket of the agricultural machinery host further comprises Qian Qiao and one
Bridge, wherein the preceding bridge and the rear axle can be drivingly coupled to a few walking unit respectively, wherein the differential mechanism is further
Including a rear axle differential, the rear axle differential is arranged at the rear axle, is drivingly connected by the rear axle differential in institute
The movement of the walking unit of rear axle is stated, wherein the differential lock further comprises a back bridge differential lock, wherein the rear axle
Differential lock is arranged at the rear axle differential, by the back bridge differential lock adjust the rear axle differential lockup state and
Unlocked state.
According to some embodiments of the present invention, the agricultural machinery host further comprises a center differential, wherein in described
Centre differential mechanism can be drivingly connected to the power unit, wherein driving force is transmitted to the walking by the center differential
Unit, wherein the differential lock further comprises at least one central differential lock, wherein the center differential lock be arranged at it is described
Center differential adjusts the lockup state and unlocked state of the center differential by the central differential lock.
According to some embodiments of the present invention, the differential lock further comprises a lock main body and differential lock operation machine
Structure, wherein the lock main body is arranged at institute's differential mechanism, the differential lock operating mechanism is operably connected to the lock main body,
The lock main body is driven by differential lock operating mechanism, so that the differential mechanism is cut between a lockup state and a unlocked state
It changes.
According to some embodiments of the present invention, the differential lock operating mechanism of the differential lock further comprises a lock body
Driving device and a tractor, wherein the tractor is driven and moved by the lock body driving device, wherein the tractor
It is connected to the lock main body, the tractor is under the driving effect of the lock body driving device by the differential mechanism by unlock shape
State is adjusted to the lockup state.
According to some embodiments of the present invention, each walking unit further comprises to described in two wheels and connection
Two wheel shafts of wheel, wherein the detection system further comprises a vehicle detection apparatus, wherein the vehicle detection apparatus
It is used to detect the revolving speed of the wheel of the walking unit, when the vehicle detection apparatus detects the vehicle of the walking unit
Wheel as it is hanging or skid and caused by faster rotating wheel it is different, the differential is operated by intelligent operating system control
Driving force, is transmitted to another wheel of the walking unit by lock.
According to some embodiments of the present invention, the differential lock is an electronic differential lock, wherein the intelligent operating system
Based on the road data that the detection system detects, start the electronic differential lock in advance or in time.
According to some embodiments of the present invention, the intelligent agricultural machinery further comprises an at least operating system, wherein described
Operating system is arranged at the agricultural machinery host.
According to some embodiments of the present invention, the intelligent operating system further comprises a differential lock control module,
Described in differential lock control module be used to control the working condition of the differential lock.
According to some embodiments of the present invention, the differential lock control module further comprises a road analysis module, one
Judgment module and a differential lock operation module are travelled, wherein what the road analysis module was detected based on the detection system
Road information analyzes the road conditions of the road, wherein traveling judgment module prediction judges that the intelligent agricultural machinery is in the road
It is no to need to start the differential lock, wherein the differential lock operation module is used for the knot based on the traveling judgment module judgement
Fruit operation controls the differential lock.
According to another aspect of the present invention, the present invention further provides a differential locks, are suitable for a differential mechanism, comprising:
One lock main body, wherein the lock main body is arranged at the differential mechanism；With
One differential lock operating mechanism, wherein the differential lock operating mechanism can drivingly be connected to the lock main body, by institute
It states differential lock operation structure and adjusts the control lock main body, so that the differential mechanism is between a lockup state and a unlocked state
Switching.
According to some embodiments of the present invention, the differential lock operating mechanism further comprises a lock body driving device and one
Tractor, wherein the tractor is driven and moved by the lock body driving device, wherein the tractor is connected to the lock
Main body, the tractor are adjusted the differential mechanism to described by unlocked state under the driving effect of the lock body driving device
Lockup state.
It is described the present invention further provides the differential lock control method of an intelligent agricultural machinery according to another aspect of the present invention
Control method includes following method and step:
(a) traffic information of road where detecting presently described intelligent agricultural machinery；
(b) based on the traffic information detected, analyze and determine whether the intelligent agricultural machinery needs to start the differential lock；With
And
(c) shift to an earlier date or in time operate the differential lock of the intelligent agricultural machinery.
According to some embodiments of the present invention, in above method step (a), by a detection system of the intelligent agricultural machinery
The traffic information of present road is detected, and detects the velocity of rotation of the wheel of the walking unit of the intelligent agricultural machinery.
According to some embodiments of the present invention, it in above method step (b), further includes steps of
(b1) road information for the present road that the information detecting system detection is collected into is received；With
(b2) analyze and determine the type of the road, and the prediction intelligent agricultural machinery whether need to start in the road it is described
Differential lock.
By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated.
These and other objects of the invention, feature and advantage, by following detailed descriptions, drawings and claims are obtained
To fully demonstrate.
Detailed description of the invention
Fig. 1 is the overall schematic of an intelligent agricultural machinery according to a preferred embodiment of the present invention.
Fig. 2 is the whole decomposition diagram of the intelligent agricultural machinery of above preferred embodiment according to the present invention.
Fig. 3 is the whole perspective view of the explosion of the intelligent agricultural machinery of above preferred embodiment according to the present invention.
Fig. 4 A to Fig. 4 C is the differential lock operative scenario of the intelligent agricultural machinery of above-mentioned preferred embodiment according to the present invention
Figure.
Fig. 5 is the differential lock operative scenario figure of the intelligent agricultural machinery of above-mentioned preferred embodiment according to the present invention, wherein
The detection system detection road conditions of the intelligent agricultural machinery shift to an earlier date or in time start the differential lock.
Fig. 6 is the system frame of the intelligent operating system of the intelligent agricultural machinery of above-mentioned preferred embodiment according to the present invention
Figure.
Fig. 7 is the overall schematic of an intelligent agricultural machinery according to a further advantageous embodiment of the invention, wherein the intelligence
The differential lock of energy agricultural machinery is electronic differential lock.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
Referring to shown in Fig. 1 to Fig. 6 of invention attached drawing, according to an intelligent agricultural machinery of the first preferred embodiment of the invention in the case where connecing
It is set forth in the description come.The intelligent agricultural machinery includes an agricultural machinery host 10, and be set to the agricultural machinery host 10 at least one makees
Industry system 20 and an intelligent operating system 30.The operating system 20 and the intelligent operating system 30 are configured in the agriculture
Machine host 10 controls the work of the operating system by the intelligent operating system 30, and controls the agricultural machinery host 10
Operation.It is understood that the operating system 20 is arranged at the agricultural machinery host 10, it is described by the agricultural machinery host 10
The operation of operating system 20 provides support and power.The intelligent agricultural machinery further comprises an at least differential lock 40, wherein institute
The agricultural machinery host 10 that differential lock 40 is configured in the intelligent agricultural machinery is stated, by agricultural machinery host described in the differential lock control
10 driving force or the distribution of driving torque.
It is noted that the first preferred embodiment according to the present invention, wherein the intelligent operating system 30 is configured
In the agricultural machinery host 10 of the intelligent agricultural machinery, and control by the intelligent operating system 30 operation of current agricultural machinery host 10
With the work for controlling the operating system 20.Preferably, the intelligent operating system 30 is unattended system.Simply,
The intelligent agricultural machinery is a unmanned agricultural machinery.That is, the intelligent agricultural machinery according to the signal instruction received and/or can work as
The operation and operation for the information control current vehicle that vehicle in front detects.It is understood that the information that the vehicle detection arrives
The road information etc. that self-operating information and current vehicle including current vehicle are travelled.
Correspondingly, the intelligent agricultural machinery further comprises a detection system 50, wherein the detection system 50 be used to examine
The road information etc. that the operation information and detection current vehicle for surveying current vehicle are travelled.It is understood that the detection system
The operation information and road information for the current vehicle that system 50 detects can be the intelligent operating system of the intelligent agricultural machinery
30 provide the foundation of control.In addition, the intelligent operating system 30 of the intelligent agricultural machinery can also receive a remote controler or
The control instruction of the controller in the person external world, and control according to the control instruction received the operation of presently described intelligent agricultural machinery.
As shown in Fig. 2, the agricultural machinery host 10 is arranged to carry the operating system 20 of the intelligent agricultural machinery, and it is
Presently described operating system 20 provides power support.The agricultural machinery host 10 include carload bracket 11, a power unit 12, until
Lack two walking units 13 and at least one party to control unit 14.The operating system 20 of the intelligent agricultural machinery is set
In the vehicle bracket 11 of the agricultural machinery host 10, wherein the power unit 12, the walking unit 13 and the side
It is arranged at the vehicle bracket 11 respectively to control unit 14, the operating system is connected and supported by the vehicle bracket 11
20, the power unit 12, the walking unit 13 and the direction controlling unit 14.The agricultural machinery host 10 is further
Including an at least differential mechanism 15, wherein the differential mechanism 15 is arranged at the walking unit 13 of the agricultural machinery host 10, or
Person is arranged between two walking units 13, allows the two sides of the agricultural machinery host 10 or preceding by the differential mechanism 15
Rear output shaft has rotational speed difference.
As shown in Fig. 2, the operating system 20 of the intelligent agricultural machinery is arranged at the described whole of the agricultural machinery host 10
Kickstand 11, wherein the operating system 20 controls its working condition by the intelligent operating system 30.Preferably, the intelligence
The operating system 20 of agricultural machinery is a Multifunction working platform, wherein the Multifunction working platform can be switched using a variety of
Agricultural operation equipment of type, such as broadcast application device, pesticide spraying device, harvesting device or arable land device etc..
As shown in Figures 2 and 3, the power unit 12 is arranged at the vehicle bracket 11, by the power unit 12
Power is provided for the agricultural machinery host 11.Preferably, the intelligent agricultural machinery is electronic agricultural machinery, therefore, the agricultural machinery host 10
The power unit 12 is electronic power device.Optionally, the power unit 12 can also be implemented as fuel power dress
It sets.Optionally, the power unit 12 can also be implemented as mixed power plant, that is to say, that the power unit 12 was both
It further include having fuel-oil power plant including electronic power device.
The walking unit 13 of the agricultural machinery host 10 is arranged at the vehicle bracket 11, wherein the power unit
12 can drivingly be connected to the walking unit 13, and the movement of the walking unit 13 is driven by the power unit 12.It can
With understanding, the walking unit 13 is set and supports the vehicle bracket 11 upward, and passes through the walking unit 13
Movement drive the movement of the vehicle bracket 11, such as movement forward or backward.It is understood that the agricultural machinery host
The walking unit 13 of at least the one of 10 includes an at least wheel 131, and the wheel shaft 132 of the connection wheel 131.Preferably,
Each walking unit 13 of the agricultural machinery host 10 includes two wheels 131 and two wheel shafts 132, wherein
The wheel shaft 132 is supported in the wheel 131, and drives the wheel 131 being attached thereto by least one wheel shaft 132
Rotation, and then drive the walking of the vehicle bracket 11.
Preferably, the agricultural machinery host 10 includes two walking units 13, and the walking unit 13 is set
In the front and rear part of the vehicle bracket 11 of the agricultural machinery host 10, to drive the vehicle bracket 11 by the walking unit 13
Movement forward or backward.It is highly preferred that each walking unit 13 of the intelligent agricultural machinery is driven by the running gear 12
It moves and moves, that is to say, that for front and back the common driving of the agricultural machinery host 10 of the intelligent agricultural machinery.It is highly preferred that described
Agricultural machinery host 10 is front and back four-wheel drive, that is to say, that each vehicle of the walking unit 13 of the agricultural machinery host 10
Wheel 131 is driven and rotated by the power unit 12.Optionally, the power unit 12 of the intelligent agricultural machinery can individually or
Respectively drive any walking unit 13.That is, the intelligent agricultural machinery can also be implemented as forerunner's agricultural machinery or after
Drive agricultural machinery.
The direction controlling unit 14 of the agricultural machinery host 10 be used to control the direction of motion of the agricultural machinery host 10.
The direction controlling unit 14 is arranged between the wheel shaft 132 of the walking unit 13 of the agricultural machinery host 10, by
The rotation of the wheel shaft 132 of the walking unit 13 is driven by the direction controlling unit 14, and then it is single to change the walking
The traffic direction of the wheel 131 of member 13.Preferably, the agricultural machinery host 10 includes two direction controlling units 14,
And the direction controlling unit 14 is arranged at the walking unit 13 of rear and front end respectively, by the direction controlling list
Member 14 synchronously controls the direction of travel of the walking unit 13 of rear and front end.That is, before the agricultural machinery host 10
Wheel and rear-wheel rotate synchronously and advance, when the intelligent agricultural machinery is advanced forward, the traveling of the rear-wheel of the intelligent agricultural machinery
Running track is parallel or coincides with the run trace of front-wheel, can largely reduce vehicle during traveling in this way
Damage of the wheel to crops.Optionally, the agricultural machinery host 10 includes a direction controlling unit 14, wherein the side
It may be placed at the walking unit 13 of 10 front of agricultural machinery host or the walking unit at rear portion to control unit 14
13。
As shown in Fig. 2, the differential lock 40 of the intelligent agricultural machinery be configured in the agricultural machinery host 10 it is at least one poor
Fast device 15, wherein the differential lock 40 has a locking state and a unlocked state, and the differential lock 40 can be conditioned ground
Switch between the locking state and the unlocked state.When the differential lock 40 is in the locking state, the agriculture
The differential mechanism 15 of machine host 10 is locked and makes having the same turn of output shaft that is connected to 15 both ends of differential mechanism
Dynamic speed.In other words, when the differential lock 40 is in the locking state, the differential mechanism 15 will drive two sides simultaneously
Power output shaft rotates synchronously, to prevent the differential mechanism 15 from power or torque are all exported unilateral output shaft.Work as institute
When stating differential lock 40 and being in the unlocked state, the differential mechanism 15 is unlocked, and the differential mechanism 15 allows the power at both ends defeated
Shaft has different revolving speeds, in order to intelligent agricultural machinery turning.
According to the first preferred embodiment of the invention, wherein the differential lock 40 is mechanical speed difference lock, wherein the differential
Lock 40 can be forced locking formula differential lock, and high friction self-locking formula differential lock is also possible to other kinds of mechanical speed difference lock,
The type of the differential lock is herein with no restrictions in the present invention.
As shown in Figures 2 and 3, the vehicle bracket 11 of the agricultural machinery host 10 further comprises bridge 111 and one before one
Rear axle 112, wherein the walking unit 13 of the agricultural machinery host 10 be arranged at respectively the vehicle bracket 11 it is described before
Bridge 111 and the rear axle 112 are separately connected by the preceding bridge 111 and the rear axle 112 and support the agricultural machinery host 10
The walking unit 13.When the agricultural machinery host 10 of the intelligent agricultural machinery is front and back driving or four-wheel drive, the preceding bridge
111 and the rear axle 112 respectively drive the walking unit 13 the wheel shaft 132 rotation, and by the wheel shaft 132 drive
Move the rotation of the wheel 131.The preceding bridge 111 and the rear axle 112 of the vehicle bracket 11 can be drivingly connected to
The power unit 12 of the agricultural machinery host 10, from the power unit 12 to the preceding bridge 111 and/or the rear axle 112
Transmit power.
Correspondingly, the differential mechanism 15 further comprises a front axle differential 151, in a rear axle differential 152 and one
Differential mechanism 153 is entreated, wherein the front axle differential 151 is arranged at the preceding bridge 111 of the vehicle bracket 11, the rear axle
Differential mechanism 152 is arranged at the rear axle 112 of the vehicle bracket 11, and the center differential 153 is arranged at the agriculture
The power unit 12 of machine host 10.The power unit 12 of the agricultural machinery host 10 is driveably connected to the center
Differential mechanism 153, by the center differential 153 by the power output of the power unit 12 to the front axle differential 151
With the rear axle differential 152.It is understood that the center differential 153 is arranged at 151 He of front axle differential
Between the rear axle differential 152, the front axle differential 151 and institute are driveably connected to by the center differential 153
State rear axle differential 152.
It is noted that the agricultural machinery host 10 of the intelligent agricultural machinery also may be implemented as individual front wheel driving
It is dynamic, or it is implemented as individual rear wheel drive, when the agricultural machinery host 10 is implemented as front-wheel drive, the differential mechanism 15
Including the front axle differential 151, when the agricultural machinery host 10 is implemented as individual rear wheel drive, the differential mechanism 15
Including the rear bridge driven device 152.Preferably, the agricultural machinery host 10 is the agricultural machinery of front and back driving.
As shown in Figures 2 and 3, the agricultural machinery host 10 further comprises power output after power output shaft 16 and one before one
Axis 17.The preceding power output shaft 16 is pivotably connected to the front axle differential 151 and the center differential 153,
The center differential 153 drives the rotation of the front axle differential 151, and then the company of driving by the preceding power output shaft 16
It is connected to the movement of the walking unit 13 of the preceding bridge 111.The rear power output shaft 17 is pivotably connected to described
Rear axle differential 152 and the center differential 153, the center differential 153 are driven by the rear power output shaft 17
The rotation of the rear axle differential 152, and then be drivingly connected in the movement of the walking unit 13 of the rear axle 112.
The power unit 12 generates power, and described in the power of generation is transmitted to by the center differential 153
Preceding power output shaft 16 and the rear power output shaft 17.According to the first preferred embodiment of the invention, the power unit 12
Including a power supply module 121 and an at least motor 122, wherein the power supply module 121 is electrically connected to the motor, by institute
Motor 122 is stated to 153 output power of center differential.The power supply module 121 of the power unit 12 is set
In the vehicle bracket 11 of the agricultural machinery host 10, wherein the power supply module 121.The motor 122 is arranged at
The lower part of the vehicle bracket 11 of the agricultural machinery host 10, the center differential 153 can be drivingly connected to the electricity
Motivation 122, the motor 122 drives the rotation of the center differential 153, and then is driven by the center differential 153
The preceding power output shaft 16 and the rotation for driving the rear power output shaft 17.
As shown in figure 3, the differential lock 40 is configured in the differential of the agricultural machinery host 10 of the intelligent agricultural machinery
Device 15.The differential lock 40 can switch with being adjusted between the lockup state and the unlocked state, when the differential lock
40 be in the lockup state when, the differential mechanism 15 for being configured the differential lock 40 is lockable, 15 both ends of differential mechanism
The synchronous rotation of rotation axis；When the differential lock 40 is in the unlocked state, it is configured the described of the differential lock 40
Differential mechanism 15 is in normal operating conditions, that is to say, that the differential mechanism 15 allows the rotation axis at both ends to have different rotation speed
Degree.It is understood that the differential lock 40 is in when the agricultural machinery host 10 of the intelligent agricultural machinery is in turn condition
Unlocked state, and when the one or more wheel 131 of the agricultural machinery host 10 is in skidding or vacant state, the difference
Speed lock 40 prevents a wherein wheel at 13 both ends of walking unit in the lockup state to lock the differential mechanism 15
131 idle running, and prevent the power loss of the agricultural machinery host 10.
According to the first preferred embodiment of the invention, wherein the intelligent agricultural machinery includes an at least differential lock 40, wherein institute
It states differential lock 40 and is configured in the front axle differential 151, the rear axle differential 152 or the center differential 153.It is preferred that
Ground, the differential lock 40 further comprise bridge differential lock 41 before one, a back bridge differential lock 42 and a central differential lock 43, wherein
The preceding bridge differential lock 41 is arranged at the front axle differential 151, to control locking and the unlock of the front axle differential 151
State；The back bridge differential lock 42 is arranged at the rear axle differential 152, to control the locking of the rear axle differential 152
And unlocked state；The center differential lock 43 is arranged at the center differential 153, to control the center differential 153
Locking and unlocked state.
As shown in figure 3, the preceding bridge differential lock 41 of the differential lock 40 further comprises a lock main body 411, a differential
Operating mechanism 412 is locked, wherein the lock main body 411 is operably connected to the differential lock operating mechanism 412, by the difference
The speed lock operation of operating mechanism 412 adjusts the locking and unlocked state of the lock main body 411.The lock of the preceding bridge differential lock 41
Main body 411 is arranged at the front axle differential 151, operates and adjust the lock main body by the differential lock operating mechanism 412
411 working condition, and then by the locking and unlocked state locked the control of main body 411 and adjust the preceding bridge differential lock 151.
The differential lock operating mechanism 412 of the preceding bridge differential lock 41 is arranged at the vehicle bracket of the agricultural machinery host 10
11, and the differential lock operating mechanism 412 is operably connected to the lock main body 411.The differential lock operating mechanism
412 further comprise a lock body driving device 4121, a tractor 4122 and a resetting apparatus 4123, wherein the lock body drives
Dynamic device 4121 is arranged at the vehicle bracket 11 of the agricultural machinery host 10.The tractor 4122 is driveably connected
In the lock body driving device 4121, and the tractor 4122 is connected to the lock main body 411, wherein the lock body drives
Device 4121 be used to drive the tractor 4122, and then draw the lock main body 411 by described by the tractor 4122
Unlocked state is adjusted to the unlocked state.The resetting apparatus 4123 is driveably connected to the preceding bridge differential lock 41
The lock main body 411 is adjusted the lock main body 411 to the unlocked state by locking state by the resetting apparatus 4123.
Preferably, the tractor 4122 of the differential lock operating mechanism 412 is drivingly coupled to the lock by a drag rope
Main body 411.
As shown in figure 3, the back bridge differential lock 42 of the differential lock 40 further comprise a rear axle lock main body 421, one
Back bridge differential lock operating mechanism 422, wherein rear axle lock main body 421 is operably connected to the back bridge differential lock operation
Mechanism 422 is adjusted the locking and unlocked state of the rear axle lock main body 421 by the back bridge differential lock operating mechanism 422 operation.
The central differential lock 43 of the differential lock 40 further comprises a center lock main body 431, a central differential lock operating mechanism
432, wherein the center lock main body 431 is operably connected to the central differential lock operating mechanism 432, by the center
The operation of differential lock operating mechanism 432 adjusts the locking and unlocked state of the center lock main body 431.It is understood that described
The structure of the structure and function and preceding bridge differential lock 41 of the back bridge differential lock 42 of differential lock 40 and the central differential lock 43
It is similar.
The detection system 50 of the intelligent agricultural machinery be used to detect the driving condition of current agricultural machinery host 10 and current
The routing information etc. of working condition and current vehicle the institute driving path of operating system 20.What the detection system 50 detected
The driving condition information of current vehicle and the routing information are transferred to the intelligent operating system 30, by the intelligent operation
System 30 controls the traveling of presently described agricultural machinery host 10 and the working condition of the control differential lock 40.The detection system 50
The working condition of the operating system 20 detected, and the operating system 20 is adjusted according to the working condition detected.Phase
Ying Di, the detection system 50 further comprise an operating system detection device 51, an at least vehicle detection apparatus 52 and extremely
A few road detection apparatus 53, wherein the operating system detection device 51 be used to detect the work shape of current work system 20
State, such as the pesticide spraying amount of current pesticide spraying device, surplus etc., and detection is based on by the intelligent operating system 30
The data arrived control presently described operating system 20.The vehicle detection apparatus 52 be used to detect the described of current intelligent agricultural machinery
The travel speed of agricultural machinery host 10, and detect the wheel 131 or power of the walking unit 13 of the agricultural machinery host 10
The velocity of rotation of output shaft.The running data for the vehicle that the vehicle detection apparatus 52 will test and the operation letter of current vehicle
Breath etc. is transmitted to the intelligent operating system 30 of the intelligent agricultural machinery, and is based on acquisition testing by the intelligent operating system 30
The traveling of the data information control current vehicle arrived, such as the travel speed of control current vehicle, control the traveling of current vehicle
Direction, and the stopping brake etc. of control current vehicle.
The walking unit 13 that the intelligent operating system 30 can also be detected based on the vehicle detection apparatus 52
The velocity of rotation of the wheel 131 control the working condition of the differential lock 40, and then regulate and control the agricultural machinery host 10
The locking and unlocking state of the differential mechanism 15.It is understood that when vehicle is in negotiation of bends, the intelligent agricultural machinery its
Described in walking unit 13 two wheels 131 have different velocities of rotation, in outer ring traveling wheel rotation
Speed is greater than the velocity of rotation of the wheel of inner ring.The differential lock 40 at this time is in the unlocked state, and the differential mechanism 15 allows
The left and right sides wheel of agricultural machinery host rear and front end or vehicle has different velocities of rotation.
Preferably, the vehicle detection apparatus 52 includes at least one speed/angular transducer, wherein the speed/angle
Sensor is arranged in the wheel 131 of the walking unit 13, is detected by the vehicle detection apparatus 52 each described
The velocity of rotation of wheel 131.
As shown in Figure 4 and Figure 5, when one of a wherein walking unit 13 for the agricultural machinery host 10 of the intelligent agricultural machinery
Or two wheels 131, when being in hanging or slipping state, the speed or angle of the vehicle detection apparatus 52 pass
Sensor detect the wheel 131 of current walking unit 13 whether velocity of rotation identical and revolving speed difference, and will test
Data result is transmitted to the intelligent operating system 30, operates the differential lock in time by the intelligent operating system 30
40, the differential lock 40 is adjusted to locking state, is in avoid 10 long-time of agricultural machinery host of the intelligent agricultural machinery
Dead state.
As shown in Figure 4 A, when wherein the one of a walking unit 13 of the agricultural machinery host 10 of the intelligent agricultural machinery
When the wheel 131 is in hanging or slipping state, for example, the agricultural machinery host 10 the near front wheel it is hanging when, be arranged at institute
The front axle differential 151 for stating the preceding bridge 111 of agricultural machinery host 10 is in the unlocked state.Therefore the front axle differential
151 allow to be connected to the nonsynchronous rotation of front-wheel at 111 both ends of preceding bridge, thus will appear, the front axle differential 151
Kinetic energy wholly or largely is transmitted to described the near front wheel, and off-front wheel cannot be driven.It is arranged at the walking unit
The vehicle detection apparatus 52 of 13 wheel 131 detect the walking unit 13 velocity of rotation it is asynchronous when, will examine
It surveys result and is transmitted to the intelligent operating system 30, the preceding bridge of the differential lock 40 is controlled by the intelligent operating system 30
Differential lock 41 is adjusted to lockup state by unlocked state, is worked with stopping the front axle differential 151.The front axle differential
151 by preceding 41 locking of bridge differential lock, and two wheels 131 for being arranged at the walking unit 13 at the both ends Qian Qiao are synchronous
Rotation, the front axle differential 151 of the differential mechanism 15 is by most or all of torque or power transmission to the right side
Front-wheel to drive the rotation of the off-front wheel, and then drives moving ahead or retreating for the agricultural machinery host 10.
As shown in Figure 4 B, before former and later two described walking units 13 of the agricultural machinery host 10 of the intelligent agricultural machinery
When latter two described wheel is in hanging or slipping state, for example the near front wheel and off hind wheel of agricultural machinery host 10 are in vacant state
When, it is arranged at the front axle differential 151 of the preceding bridge 111 of the agricultural machinery host 10 and is arranged at the rear axle
112 rear axle differential 152 is in the unlocked state.The front axle differential 151 and the rear axle differential 152 at this time
The two sides wheel of the agricultural machinery host 10 is allowed asynchronously to rotate simultaneously, the front axle differential 151 and the rear axle differential
Whole power or torque are transmitted in the wheel 131 that is hanging or skidding by device 152.Described in the intelligent agricultural machinery
When one of front-wheel of agricultural machinery host 10 and rear-wheel are in hanging or slipping state simultaneously, the institute of the agricultural machinery host 10
Stating wheel 131 cannot drive, and cannot continue to travel so as to cause described agricultural machinery the machine 10.It is arranged at the walking unit 13
The vehicle detection apparatus 52 of the wheel 131 detect the walking unit 13 velocity of rotation it is asynchronous when, the intelligence
The data information that operating system 30 is detected based on the vehicle detection apparatus 52, the preceding bridge for starting the differential lock 40 are poor
Speed lock 41 and the back bridge differential lock 42, the differential mechanism 15 of the agricultural machinery host 10 as described in preceding 41 locking of bridge differential lock
The front axle differential 151, the rear axle differential 152 of the agricultural machinery host 10 as described in 42 locking of back bridge differential lock.When
When the front axle differential 151 and the rear axle differential 152 are by locking simultaneously, the front axle differential 151 and the rear axle
The wheel 131 of 152 two sides of differential mechanism rotates synchronously respectively.
As shown in Figure 4 C, two of one of them walking unit 13 of the agricultural machinery host 10 of the intelligent agricultural machinery
When the wheel 131 is in skidding or vacant state, such as when the walking unit 13 of leading portion is in vacant state, quilt
The central differential lock 43 for being set to the center differential 153 of the agricultural machinery host 10 is in the unlocked state.In described
Centre differential mechanism 153 allow 153 front and rear sides of center differential the preceding power output shaft 16 and it is described after power output
Axis 17 asynchronously rotates.When the walking unit 13 of 10 front end of agricultural machinery host is in hanging or slipping state, institute
It states center differential 153 to export most or all of power or torque to front-wheel, cannot move ahead so as to cause vehicle.It is set
The vehicle detection apparatus 52 for being placed in the wheel 131 of the walking unit 13 detects the rotation speed of the walking unit 13
When spending asynchronous, the data information that the intelligent operating system 30 is detected based on the vehicle detection apparatus 52, starting setting
In the central differential lock 43 of the center differential 153, the center differential 153 is locked by the central differential lock
Only, so that the preceding power output shaft 16 of 153 front and rear sides of the center differential is synchronous with the rear power output shaft 17
Ground rotation, and then the power or torque that the power unit 12 generates are transmitted to rear drive sprocket.
It is noted that when the agricultural machinery host 10 of the intelligent agricultural machinery is due to the drive of one or more power
When driving wheel is in hanging or slipping state, presently described intelligent agricultural machinery is in halted state.Correspondingly, in order to avoid vehicle exists
When halted state, the operating system 20 of the intelligent agricultural machinery is in running order, and the control of intelligent operating system 30 is adjusted
The whole operating system 20 is to non-job state or reduces the working efficiency of the operating system 20, for example reduces current work
Pesticide spraying speed of the pesticide spraying device of system 20 etc..
The road detection apparatus 53 of the detection system 50 be used to detect the agriculture of presently described intelligent agricultural machinery
The road data information of 10 travel of machine host, such as the obstacle information of present road, the roughness letter of present road
Breath and present road.The road data information that wherein road detection apparatus 53 detects is transferred to the intelligence behaviour
Make system 30, the data information detected by the intelligent operating system 30 based on the road detection apparatus 53 received
Judge the driving path of current intelligent agricultural machinery, travel speed, the work of the working condition of operating system 20 and the differential lock 40
Make state etc..Preferably, there are barriers or present road to deposit for the present road detected when the road detection apparatus 53
In rough ground, the data information that the road detection apparatus 53 detects is transferred to the intelligent operating system 30, by
The intelligent operating system judges the traveling side of current vehicle based on the data information that the road detection apparatus 53 detection obtains
The differential lock 40 is operated to, travel speed and in advance or in time, so as to the agricultural machinery host 10 of the intelligent agricultural machinery
Pass through the rugged section.
Preferably, the road detection apparatus 53 is arranged at the described whole of the agricultural machinery host 10 of the intelligent agricultural machinery
Kickstand 11.It is highly preferred that the detection system 50 includes two road detection apparatus 53, wherein the Road Detection fills
53 front-end and back-end for being arranged at the agricultural machinery host 10 are set, to detect the agricultural machinery by the road detection apparatus 53
The road conditions in the section of 10 front and back of host.It will be appreciated by persons skilled in the art that the road detection apparatus
53 may be implemented as a kind of laser detector, radar detection device, microwave detecting device or image pick-up detection device.
It is understood that the road detection apparatus 53 is able to detect the driving path of the intelligent agricultural machinery, and institute
It states the data information that road detection apparatus 53 detects and is transferred to the intelligent operating system 30, by the intelligent operation system
System 30 is detected based on the road detection apparatus 53 or collected data information judges whether present road belongs to rugged path
Or wet and slippery road, also or cross-country road.When the path that the intelligent operating system 30 judges that the intelligent agricultural machinery travels is
The rugged path, the wet and slippery path or cross-country path etc. are controlled behaviour by the intelligent operating system 30 in advance or in time
Make the differential lock 40, the differential mechanism 15 of agricultural machinery host 10 described in locking, so that the agricultural machinery host 10 obtains more preferably
Cross-country ability.
As shown in figure 5, the road detection apparatus 53 further comprises detection device after detection device 531 and one before one
532, wherein the preceding detection device 531 is arranged at the front end of the vehicle bracket 11 of the agricultural machinery host 10, by described
Preceding detection device 531 detects the traffic information of the road in front of current vehicle.The road that the preceding detection device 531 will test
Data information transfer is based on the preceding detection device 531 by the intelligent operating system 30 to the intelligent operating system 30
The road data information detected judges the working condition of the differential mechanism 15 of current agricultural machinery host 10.Detection device after described
532 are arranged at the rear end of the vehicle bracket 11 of the agricultural machinery host 10, detect current agriculture by the rear detection device 532
The traffic information of the road at machine rear.The road condition data information feedback transmission that will test of detection device 532 is to described after described
Intelligent operating system 30 is believed by the road data that the intelligent operating system 30 is detected based on the rear detection device 532
Breath judges the working condition of the differential mechanism 15 of current agricultural machinery host 10.It is noted that working as the intelligent agricultural machinery forward
When traveling, described in the data information judgement that is detected as the intelligent operating system 30 based on the preceding detection device 531
The working condition of the differential mechanism 15 of agricultural machinery host 10；When the intelligent agricultural machinery the agricultural machinery host 10 backward when driving,
The intelligent operating system 30 judges the institute of the agricultural machinery host 10 based on the data information that the rear detection device 532 detects
State the working condition of differential mechanism 15.
The preceding detection device 531 of the road detection apparatus 53 and the rear detection device 532 be used to detect institute
State a certain range of traffic information of 10 front or behind of agricultural machinery host of intelligent agricultural machinery.For example, the Road Detection dress
The preceding detection device 531 for setting 53 be used to detect the road conditions letter of road within the scope of one of 10 front of the agricultural machinery host
Breath, wherein the detection range of the preceding detection device 531 is between 0~20 meter.It is understood that the preceding detection device
531 road conditions detected may be the current intelligent agricultural machinery road to be travelled.
It is noted that the data information that the road detection apparatus 53 detects is transferred to the intelligent operation system
System 30, the intelligent operating system 30 can judge in advance institute based on the collected data information of the road detection apparatus 53
State the operating status of agricultural machinery host 10.Correspondingly, the intelligent operating system 30 can be examined based on the road detection apparatus 53
It surveys collected data information in advance or in time operates the differential lock 40, to shift to an earlier date described in agricultural machinery host 10 described in locking
Differential mechanism 15, and then prevent due to the differential mechanism 15 power list that is in the unlocked state and leading to the agricultural machinery host 10
Member 12 is extremely skidded by power transmission or hanging wheel.Simply, the intelligent operating system 30 is based on the Road Detection
The collected data information of device 53 judges the operating status of the agricultural machinery host 10, and then differential described in advance operation in advance
Lock 40, to prevent agricultural machinery host 10 in the process of moving since the wheel 131 skids or vacantly comes to a halt.
As shown in fig. 6, the intelligent operating system 30 of the intelligent agricultural machinery be used to control the agricultural machinery host 10
Traveling, the working condition of the operating system 20 and the lockup state of the differential lock 40 etc..Correspondingly, the intelligence behaviour
Making system 30 further comprises a host computer control module 31, an Operation control module 32, a differential lock control module 33.The master
Machine control module 31 be used to control the driving status of the agricultural machinery host 10；The Operation control module 32 be used to control institute
State the operating system 20 of intelligent agricultural machinery；The differential lock control module 33 be used to control the differential lock of the intelligent agricultural machinery
40 working condition, further to control the locking and unlocked state of the differential mechanism 15 of the agricultural machinery host 10.
Correspondingly, the host computer control module 31 of the intelligent operating system 30 be used to control presently described agricultural machinery master
The driving status of machine 10, such as the travel speed of the agricultural machinery host 10, driving direction etc..The institute of the intelligent operating system 30
The working condition that Operation control module 32 be used to control the operating system 20 of the intelligent agricultural machinery is stated, such as described in control
The sprinkling state of the pesticide spraying device of operating system 20, spraying efficiency etc..The difference of the intelligent operating system 30
Fast lock control module 33 be used to control the working condition of the differential lock 40 for adjusting the intelligent agricultural machinery, and then adjust
The locking and unlocked state of the differential mechanism 15 of the agricultural machinery host 10.
The data information that the differential lock control module 33 is detected based on the detection system 50, and it is based on the detection
The data information that system 50 is acquired or detected is in due course or operates the differential lock 40 in advance, so that the agricultural machinery host 10
The differential mechanism 15 is adjusted to the lockup state, or is adjusted by the lockup state to the unlocked state.
The differential lock control module 33 further comprises a road analysis module 331, and one travels judgment module 332, with
And a differential lock operation module 333, wherein the road analysis module 331 receives the Road Detection of the detection system 50
The traffic information for a certain range of road of current 10 front or behind of agricultural machinery host that device 53 detects, and it is based on the road
Cross-country ability required for the type and present road of condition information analysis present road.The analysis of road analysis module 331 is worked as
Whether there are obstacles for the road that the preceding agricultural machinery host 10 is travelled, the wheel 131 of especially presently described agricultural machinery host 10
The road information on path locus that will be walked, in order to accurately judge it is described whether current intelligent agricultural machinery needs to start
Differential lock 40.
The traveling judgment module 332 of the differential lock control module 33 be used to judge or prejudge the intelligent agricultural machinery
Whether traveling needs to start the differential lock 40 in present road, and starts the differential lock of which position.The traveling judges mould
The type for the road that block 332 is analyzed based on the road analysis module 331, judges whether the intelligent agricultural machinery needs to start
The differential lock 40.The differential lock operation module 333 be used to control the starting differential lock 40, adjust the differential lock 40
Working condition, adjusted by lockup state to the unlocked state than differential lock 40 as will be described, or by the original solution
Lock status is adjusted to the lockup state, to meet the driving performance or cross-country ability of the intelligent agricultural machinery.
It is noted that the road analysis module 331 when the differential lock control module 33 analyzes to obtain current road
The road conditions on road are bad, and the traveling judgment module 332 judges that presently described intelligent agricultural machinery traveling needs to start institute in the road
When stating differential lock, the differential lock operation module 333 in advance or in time differential lock 40 described in start-up operation, thus avoid due to
The cross-country ability of the intelligent agricultural machinery is insufficient caused by the starting too late of differential lock 40.
According to the first preferred embodiment of the invention, the present invention further provides the differential lock controlling parties of an intelligent agricultural machinery
Method, wherein the control method comprises the following methods:
(a) traffic information of road where detecting presently described intelligent agricultural machinery；
(b) based on the traffic information detected, analyze and determine whether the intelligent agricultural machinery needs to start the differential lock 40；
And
(c) shift to an earlier date or in time operate the differential lock 40 of the intelligent agricultural machinery.
In above-mentioned control method step (a), by the road of a detection system 50 detection present road of the intelligent agricultural machinery
Condition information, and detect the velocity of rotation of the wheel 131 of the walking unit 13 of the intelligent agricultural machinery.The detection system
When detecting the velocity of rotation difference of the wheel 131 of the walking unit 13 of the agricultural machinery host 10, the walking unit is operated
The differential lock 40 of the 13 corresponding differential mechanisms 15, with the corresponding differential mechanism of walking unit 13 described in timely locking
15。
It is understood that the vehicle detection apparatus 52 of the detection system 50 detects presently described intelligent agricultural machinery
The agricultural machinery host stays cool or wherein the wheel 131 of a walking unit 13 is in skidding or vacant state
When, the differential controls module 33 control of the intelligent operating system 30 adjusts the differential lock of the intelligent agricultural machinery
40, by 15 locking of the differential mechanism of the walking unit 13.
In above method step (b), the road for the 10 place road of current agricultural machinery host that the detection system 30 detects
Road situation further comprises the steps that (b1) receives the road that the information detecting system 50 detects the present road being collected into
Information；(b2) analyzes and determines the type of the road, and the prediction intelligent agricultural machinery whether need to start in the road it is described
Differential lock 40.
In above-mentioned control method step (c), when 33 base of differential lock control module of the intelligent operating system 30
In the monitoring system 50 monitor as a result, judging that the intelligent agricultural machinery needs to start the differential lock in the road
40, it is lockup state that the differential lock control module 33, which adjusts the differential lock 40, to improve the cross-country ability of the intelligent agricultural machinery
Energy；When the differential lock control module 33 based on the monitoring system 50 monitor as a result, judging the intelligent agricultural machinery in institute
It states and does not need to start the differential lock 40 in road, the differential lock control module 33 adjusts the differential lock 40 as unlock shape
State.
It is noted that the differential lock control module 33 of the intelligent operating system 30 is in the agricultural machinery host 10
It enters before rugged section, operates the differential lock 40, in advance with differential mechanism 15 described in locking.
Referring to shown in Fig. 7 of invention attached drawing, according to an intelligent agricultural machinery of the second preferred embodiment of the invention next
It is set forth in description.The intelligent agricultural machinery includes an agricultural machinery host 10, is set to an at least operation system for the agricultural machinery host 10
System 20, an intelligent operating system 30, at least a differential lock 40, and an at least detection system 50.It is noted that in this hair
In the second bright preferred embodiment, the agricultural machinery host 10 of the intelligent agricultural machinery, the operating system 20, the intelligent operation
The structure and function of system 30 and the detection system 50 is identical as the structure and function of above-mentioned preferred embodiment, and difference exists
In the differential lock 40.The differential lock 40 is implemented as an electronic differential lock 44A in the second preferred embodiment of the invention
(Electronic Differential System, EDS).When the revolving speed for generating two sides wheel due to wheel-slip is different
When, EDS system will brake the wheel of skidding side, by carrying out the braking of appropriate intensity to the wheel, to improve
The attachment utilization rate of another side drive wheel, improves the handling capacity of vehicle.It is understood that the electronic differential lock 44A is
It is braked by the wheel to skidding side, to improve power and torque that another side drive wheel obtains, and then improves institute
The performance stating the cross-country of agricultural machinery host 10 or breaking the barriers.
The electronic differential lock 44A is configured in the agricultural machinery host 10 of the intelligent agricultural machinery, poor by the electronics
Speed lock 44A controls the distribution of the driving force of the agricultural machinery host 10.The intelligent operating system 30 passes through the electronic differential lock
44A controls the on-position of the wheel of one or more walking units 13 of the agricultural machinery host 10, and then by power and torque
It is transmitted to the other side wheel of the walking unit 13.
It is to this hair that those skilled in the art, which would appreciate that the embodiment of the present invention shown in the drawings and described above only,
Bright example rather than limit.
It can thus be seen that the object of the invention can be efficiently accomplished sufficiently.It is used to explain the present invention function and structure principle
The embodiment is absolutely proved and is described, and the present invention is not limited by based on the change on these embodiment basis.
Therefore, the present invention includes all modifications covered within appended claims claimed range and spirit.
Claims (20)
1. an intelligent agricultural machinery characterized by comprising
One agricultural machinery host；
One detection system, wherein the detection system is arranged at the agricultural machinery host, wherein the detection system be used to examine
The traffic information of road where surveying the agricultural machinery host；And
An at least differential lock, wherein the differential lock is configured in the agricultural machinery host, wherein the differential lock is based on the inspection
The traffic information that examining system detects controls the distribution of the driving force of the agricultural machinery host.
2. intelligent agricultural machinery according to claim 1, wherein the intelligent agricultural machinery further comprises an intelligent operating system,
Described in intelligent operating system receive the traffic information that the detection system detects, and be based on the traffic information discriminatory analysis
The agricultural machinery host pass through the road the case where, wherein the detection system be also set based on judging result in advance or in time
Control the differential lock.
3. intelligent agricultural machinery according to claim 2, wherein the detection system further comprises at least Road Detection dress
It sets, the road detection apparatus is arranged at the agricultural machinery host, wherein the road detection apparatus be used to detect the agriculture
The road information of road where machine host and the road information that will test or be collected into are transmitted to the intelligent operating system.
4. according to claim 1 to 3 any intelligent agricultural machinery, wherein the agricultural machinery host further comprises carload branch
Frame, at least two walking units, and an at least power unit, wherein the walking unit and the power unit are arranged at
The vehicle bracket, the power unit can drivingly be connected to the walking unit, drive the row by the power unit
The movement of unit is walked, wherein the road detection apparatus further comprises detection device after detection device and one before one, wherein institute
Detection device and the rear detection device are arranged at the front-end and back-end of the vehicle bracket respectively before stating, to detect or collect
The traffic information of the road of the agricultural machinery host driving direction.
5. intelligent agricultural machinery according to claim 4, wherein the agricultural machinery host further comprises an at least differential mechanism, wherein
The differential mechanism is arranged at the vehicle bracket of the agricultural machinery host, and an at least walking unit can be drivingly connected to institute
Differential mechanism is stated, wherein the differential lock is arranged at the differential mechanism described at least one.
6. intelligent agricultural machinery according to claim 5, wherein before the vehicle bracket of the agricultural machinery host further comprises
Bridge and a rear axle, wherein the preceding bridge and the rear axle can be drivingly coupled to a few walking unit respectively, wherein the differential
Device further comprises a front axle differential, and the front axle differential is arranged at the preceding bridge, is driven by the front axle differential
It is connected to the movement of the walking unit of the preceding bridge, wherein the differential lock further comprises bridge differential lock before one, wherein
The preceding bridge differential lock is arranged at the front axle differential, and the lock of the front axle differential is adjusted by the preceding bridge differential lock
Only state and unlocked state.
7. intelligent agricultural machinery according to claim 5, wherein before the vehicle bracket of the agricultural machinery host further comprises
Bridge and a rear axle, wherein the preceding bridge and the rear axle can be drivingly coupled to a few walking unit respectively, wherein the differential
Device further comprises a rear axle differential, and the rear axle differential is arranged at the rear axle, is driven by the rear axle differential
It is connected to the movement of the walking unit of the rear axle, wherein the differential lock further comprises a back bridge differential lock, wherein
The back bridge differential lock is arranged at the rear axle differential, and the lock of the rear axle differential is adjusted by the back bridge differential lock
Only state and unlocked state.
8. according to any intelligent agricultural machinery of claim 5 to 7, wherein the agricultural machinery host further comprises a central differential
Device, wherein the center differential is by can be drivingly connected to the power unit, wherein the center differential is by driving force
It is transmitted to the walking unit, wherein the differential lock further comprises at least one central differential lock, wherein the center differential
Lock is arranged at the center differential, and lockup state and the unlock of the center differential are adjusted by the central differential lock
State.
9. according to any intelligent agricultural machinery of claim 5 to 8, wherein the differential lock further comprises a lock main body and one
Differential lock operating mechanism, wherein the lock main body is arranged at institute's differential mechanism, the differential lock operating mechanism is operably connected
In the lock main body, the lock main body is driven by differential lock operating mechanism, so that the differential mechanism is in a lockup state and one
Switch between unlocked state.
10. intelligent agricultural machinery according to claim 9, wherein the differential lock operating mechanism of the differential lock further wraps
A lock body driving device and a tractor are included, wherein the tractor is driven and moved by the lock body driving device, wherein institute
It states tractor and is connected to the lock main body, the tractor is under the driving effect of the lock body driving device by the differential mechanism
It is adjusted by unlocked state to the lockup state.
11. intelligent agricultural machinery according to claim 4, wherein each walking unit further comprise to two wheels and
Two wheel shafts of the wheel are connected, wherein the detection system further comprises a vehicle detection apparatus, wherein the vehicle
Detection device be used to detect the revolving speed of the wheel of the walking unit, when the vehicle detection apparatus detects the walking
The wheel of unit as it is hanging or skid and caused by faster rotating wheel it is different, operation institute is controlled by the intelligent operating system
Differential lock is stated, driving force is transmitted to another wheel of the walking unit.
12. intelligent agricultural machinery according to claim 2, wherein the differential lock is an electronic differential lock, wherein the intelligence
The road data that operating system is detected based on the detection system starts the electronic differential lock in advance or in time.
13. intelligent agricultural machinery described according to claim 1 or 2 or 12, wherein the intelligent agricultural machinery further comprises at least one work
Industry system, wherein the operating system is arranged at the agricultural machinery host.
14. intelligent agricultural machinery according to claim 2, wherein the intelligent operating system further comprises a differential lock control
Module, wherein the differential lock control module be used to control the working condition of the differential lock.
15. intelligent agricultural machinery according to claim 14, wherein the differential lock control module further comprises a road point
Module, a traveling judgment module and a differential lock operation module are analysed, wherein the road analysis module is based on the detection system
The road information detected of uniting analyzes the road conditions of the road, wherein traveling judgment module prediction judges that the intelligent agricultural machinery exists
Whether need to start the differential lock in the road, wherein the differential lock operation module be used to judge mould based on the traveling
The results operation of block judgement controls the differential lock.
16. a differential lock is suitable for a differential mechanism characterized by comprising
One lock main body, wherein the lock main body is arranged at the differential mechanism；With
One differential lock operating mechanism, wherein the differential lock operating mechanism can drivingly be connected to the lock main body, by the difference
Speed lock operation structure, which is adjusted, controls the lock main body, so that the differential mechanism is cut between a lockup state and a unlocked state
It changes.
17. differential lock according to claim 16, wherein the differential lock operating mechanism further comprises lock body driving
Device and a tractor, wherein the tractor is driven and moved by the lock body driving device, wherein the tractor connects
In the lock main body, the tractor is under the driving effect of the lock body driving device by the differential mechanism by unlocked state tune
The lockup state.
18. the differential lock control method of an intelligent agricultural machinery, which is characterized in that the control method includes following method and step:
(a) traffic information of road where detecting presently described intelligent agricultural machinery；
(b) based on the traffic information detected, analyze and determine whether the intelligent agricultural machinery needs to start the differential lock；And
(c) shift to an earlier date or in time operate the differential lock of the intelligent agricultural machinery.
19. control method according to claim 18, wherein in above method step (a), by the intelligent agricultural machinery
One detection system detects the traffic information of present road, and detect the wheel of the walking unit of the intelligent agricultural machinery
Velocity of rotation.
20. control method according to claim 18, wherein further comprising following step in above method step (b)
It is rapid:
(b1) road information for the present road that the information detecting system detection is collected into is received；With
(b2) analyze and determine whether the type of the road, and the prediction intelligent agricultural machinery need to start the differential in the road
Lock.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811252470.1A CN109398080A (en) | 2018-10-25 | 2018-10-25 | Intelligent agricultural machinery and its differential lock and differential lock control method |
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| CN201811252470.1A CN109398080A (en) | 2018-10-25 | 2018-10-25 | Intelligent agricultural machinery and its differential lock and differential lock control method |
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Cited By (6)
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| CN110001779A (en) * | 2019-04-04 | 2019-07-12 | 丰疆智能科技研究院(常州)有限公司 | Hybrid power high-speed transplanter and its heading control loop |
| CN110001778A (en) * | 2019-04-04 | 2019-07-12 | 丰疆智能科技研究院(常州)有限公司 | Hybrid power high-speed transplanter and its forward method |
| WO2020244090A1 (en) * | 2019-06-06 | 2020-12-10 | 丰疆智能科技研究院(常州)有限公司 | Rice seedling transplanter and axle |
| CN112855889A (en) * | 2020-08-28 | 2021-05-28 | 丰疆智能(深圳)有限公司 | Rice transplanter, differential lock system thereof and control method |
| WO2022174678A1 (en) * | 2021-02-18 | 2022-08-25 | 长城汽车股份有限公司 | Method and apparatus for controlling differential lock of vehicle, and vehicle |
| CN115596033A (en) * | 2022-11-09 | 2023-01-13 | 徐州工程学院（Cn） | Energy-saving transmission control system and method for loader |
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| CN115596033B (en) * | 2022-11-09 | 2024-05-03 | 徐州工程学院 | Energy-saving transmission control system and method for loader |
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Address after: 441100 No. 1 Dongfengjingguan Avenue, Xiangzhou International Logistics Park, Xiangyang City, Hubei Province Applicant after: FENGJIANG INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 441100 No. 1 Dongfengjingguan Avenue, Xiangzhou International Logistics Park, Xiangyang City, Hubei Province Applicant before: FENGJIANG WISDOM AGRICULTURE Co.,Ltd. |
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Application publication date: 20190301 |