CN109955810A - A kind of sunken vehicle grading forewarning system system of wheeled tractor - Google Patents
A kind of sunken vehicle grading forewarning system system of wheeled tractor Download PDFInfo
- Publication number
- CN109955810A CN109955810A CN201711334303.7A CN201711334303A CN109955810A CN 109955810 A CN109955810 A CN 109955810A CN 201711334303 A CN201711334303 A CN 201711334303A CN 109955810 A CN109955810 A CN 109955810A
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- vehicle
- computer module
- upper computer
- real
- slip rate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The present invention discloses a kind of sunken vehicle grading forewarning system system of wheeled tractor, specifically includes that upper computer module 1, upper computer module 2 and slave computer module.It is characterized by: the upper computer module 1 includes two big Class Options of vehicle condition and road conditions, vehicle condition option includes tire information, complete vehicle quality and driving method, road conditions option includes soil moisture content, soil compaction, soil content and gradient gradient, upper computer module 2 mainly includes database, fall into vehicle early warning value, discriminant function and the judgement of sunken vehicle warning level, slave computer module obtains the real-time slip rate of tractor by acquisition vehicle body velocities and wheel velocity in real time, real-time slip rate monitor value is input in upper computer module 2 by data communication, discriminant function in upper computer module 2, which compares, falls into vehicle early warning value and slip rate real-time monitoring value, it finally carries out falling into the judgement of vehicle warning level.
Description
Technical field
The present invention relates to a kind of wheeled tractors to fall into vehicle grading forewarning system system, its main feature is that system according to the vehicle condition of input and
Road conditions obtain in the database falls into vehicle early warning value, and system slave computer real-time monitoring vehicle body velocities and driving wheel speed are calculated and slided in real time
Shifting rate judges to fall into vehicle warning level finally by discriminant function, realizes grading forewarning system function.
Background technique
Unmanned technology is significantly universal in recent years in agri-vehicle field, but for agri-vehicle, unmanned skill
Art needs to cope with emergency case more complicated and changeable, and falling into vehicle is exactly one of them, and tractor causes to fall into vehicle when skidding serious.
In operation process, when driving wheel speed and suitable vehicle body velocities, in ideal driving states；When driving wheel speed is greater than vehicle
When body speed, sliding phenomenon takes place in tractor, causes to fall into vehicle when sliding serious.Sliding and this kind of improper traveling of sunken vehicle
Phenomenon occurs more universal in wheeled tractor operation process.
The present invention proposes that a kind of wheeled tractor falls into vehicle grading forewarning system system, is obtained by host computer database and falls into vehicle early warning
Value, slave computer real-time monitoring slip rate, discriminant function judge to fall into vehicle warning level, realization function, the modularized design, think of
Road is clear, can fall into vehicle early warning for wheeled tractor and provide reliable basis.
Summary of the invention
By selecting vehicle condition and road conditions in host computer, to provide sunken vehicle early warning value in the database, slave computer is real-time
Slip rate is monitored, discriminant function, which compares, falls into vehicle early warning value and real-time slip rate monitor value, provides sunken vehicle grading forewarning system.
The technical solution adopted by the present invention to solve the technical problems is a kind of sunken vehicle grading forewarning system system of wheeled tractor,
Specifically include that upper computer module 1, upper computer module 2 and slave computer module.It is characterized by: the upper computer module 1 includes vehicle
Two big Class Options of condition and road conditions, vehicle condition option includes tire information, complete vehicle quality and driving method, and road conditions option includes soil
Moisture content, soil compaction, soil content and gradient gradient, upper computer module 2 mainly include database, fall into vehicle early warning
Value, discriminant function and the judgement of sunken vehicle warning level, slave computer module are dragged by acquisition vehicle body velocities and wheel velocity in real time
Real-time slip rate monitor value is input in upper computer module 2 by the real-time slip rate of machine drawing by data communication.
A kind of above-mentioned wheeled tractor falls into vehicle grading forewarning system system, and vehicle condition option includes three masters in upper computer module 1
Factor is wanted, wherein tire information includes level, cord material, load and air pressure, wheel rim specification, load-carrying index and the degree of wear again
Sub- option；Driving method includes forerunner, rear-guard and the sub- option of four-wheel drive.
Slave computer module is mainly responsible for the data acquisition of vehicle body velocities and car speed, and the data acquired back pass through slave computer
Real-time slip rate is calculated in resume module, and real-time slip rate calculated here is the real-time slip rate of each wheel, different
The slip rate that the tractor slave computer module of driving method provides is different, and respectively corresponds the real-time cunning of driving wheel and driven wheel
Shifting rate.
Upper computer module 2 has selected vehicle condition and the sub- option of road conditions according in upper computer module 1, selects in the database pair
The sunken vehicle early warning value answered falls into vehicle early warning value and changes at any time with the replacement of 1 option of upper computer module, guarantees selected early warning value
Reliability.
Slave computer module and upper computer module 2 will slide in real time rate score by data communication and be input to upper computer module 2
In, sunken vehicle early warning value and real-time slip rate monitor value is compared in the discriminant function in upper computer module 2, finally obtains sunken vehicle
Warning level judgement.
Detailed description of the invention
Fig. 1 is the work flow diagram that a kind of wheeled tractor falls into vehicle grading forewarning system system.
Specific embodiment
1 the present invention will be further explained with reference to the accompanying drawing:
A kind of sunken vehicle grading forewarning system system of wheeled tractor, specifically includes that upper computer module 1, upper computer module 2 and slave computer mould
Block.It is characterized by: the upper computer module 1 include two big Class Options of vehicle condition and road conditions, vehicle condition option include tire information,
Complete vehicle quality and driving method, road conditions option include soil moisture content, soil compaction, soil content and gradient gradient,
Upper computer module 2 mainly includes that database, sunken vehicle early warning value, discriminant function and the judgement of sunken vehicle warning level, slave computer module are logical
It crosses acquisition vehicle body velocities and wheel velocity in real time and obtains the real-time slip rate of tractor, supervised real-time slip rate by data communication
Measured value is input in upper computer module 2.
A kind of above-mentioned wheeled tractor falls into vehicle grading forewarning system system, selects tractor corresponding in upper computer module 1
Vehicle condition and road conditions, so that the database in upper computer module 2 provides corresponding sunken vehicle early warning value, slave computer module is by tractor
The real-time monitoring value of slip rate is input in upper computer module 2, discriminant function in upper computer module 2 compare fall into vehicle early warning value and
Slip rate real-time monitoring value finally carries out falling into the judgement of vehicle warning level.
Claims (3)
1. a kind of wheeled tractor falls into vehicle grading forewarning system system, upper computer module 1, upper computer module 2 and slave computer are specifically included that
Module.
2. a kind of wheeled tractor according to claim 1 falls into vehicle grading forewarning system system, it is characterised in that: described upper
Machine module 1 includes two big Class Options of vehicle condition and road conditions, and vehicle condition option includes tire information, complete vehicle quality and driving method, road
Condition option includes soil moisture content, soil compaction, soil content and gradient gradient, and upper computer module 2 mainly includes number
According to library, vehicle early warning value, discriminant function and the judgement of sunken vehicle warning level are fallen into, slave computer module by acquiring vehicle body velocities and vehicle in real time
Wheel speed obtains the real-time slip rate of tractor, and real-time slip rate monitor value is input to upper computer module 2 by data communication
In.
3. a kind of wheeled tractor according to claim 2 falls into vehicle grading forewarning system system, it is characterised in that: in host computer
The corresponding vehicle condition of tractor and road conditions are selected in module 1, so as to provide corresponding sunken vehicle pre- for the database in upper computer module 2
Alert value, the real-time monitoring value of tractor slip rate is input in upper computer module 2 by slave computer module, in upper computer module 2
Discriminant function, which compares, falls into vehicle early warning value and slip rate real-time monitoring value, finally carries out falling into the judgement of vehicle warning level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711334303.7A CN109955810A (en) | 2017-12-14 | 2017-12-14 | A kind of sunken vehicle grading forewarning system system of wheeled tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711334303.7A CN109955810A (en) | 2017-12-14 | 2017-12-14 | A kind of sunken vehicle grading forewarning system system of wheeled tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109955810A true CN109955810A (en) | 2019-07-02 |
Family
ID=67017617
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711334303.7A Pending CN109955810A (en) | 2017-12-14 | 2017-12-14 | A kind of sunken vehicle grading forewarning system system of wheeled tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109955810A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110715665A (en) * | 2019-11-15 | 2020-01-21 | 南京农业大学 | Field crop phenotype monitoring robot and navigation method thereof |
| CN112455464A (en) * | 2020-11-25 | 2021-03-09 | 三一重机有限公司 | Vehicle trapping early warning method and device and engineering machinery |
| CN112824991A (en) * | 2019-11-21 | 2021-05-21 | 西北农林科技大学 | Tractor soil preparation operation early warning system that borders on |
| CN115047207A (en) * | 2022-04-14 | 2022-09-13 | 华南农业大学 | Early warning method for vehicle sinking of unmanned agricultural machine |
-
2017
- 2017-12-14 CN CN201711334303.7A patent/CN109955810A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110715665A (en) * | 2019-11-15 | 2020-01-21 | 南京农业大学 | Field crop phenotype monitoring robot and navigation method thereof |
| CN112824991A (en) * | 2019-11-21 | 2021-05-21 | 西北农林科技大学 | Tractor soil preparation operation early warning system that borders on |
| CN112455464A (en) * | 2020-11-25 | 2021-03-09 | 三一重机有限公司 | Vehicle trapping early warning method and device and engineering machinery |
| CN115047207A (en) * | 2022-04-14 | 2022-09-13 | 华南农业大学 | Early warning method for vehicle sinking of unmanned agricultural machine |
| CN115047207B (en) * | 2022-04-14 | 2023-03-14 | 华南农业大学 | Early warning method for vehicle sinking of unmanned agricultural machine |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190702 |
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| WD01 | Invention patent application deemed withdrawn after publication |